WO2022178989A1

WO2022178989A1 - Adhesive dispensing system and adhesive dispensing control method

Info

Publication number: WO2022178989A1
Application number: PCT/CN2021/095785
Authority: WO
Inventors: 张富亮; 陈建泽; 骆帅; 郑延青; 黄锦浩; 杜义贤; 周俊雄
Original assignee: 广东利元亨智能装备股份有限公司
Priority date: 2021-02-26
Filing date: 2021-05-25
Publication date: 2022-09-01
Also published as: CN113000301B; CN113000301A

Abstract

An adhesive dispensing system and an adhesive dispensing control method. In an adhesive dispensing system (100), a master control device (110) is configured to send a first starting adhesive dispensing signal to a microcontroller (120) and send a driving signal to a moving driver (131) so that the moving driver (131) starts running according to the driving signal, and an adhesive dispensing head is driven to move; the opening and closing states of an adhesive head valve connected to the adhesive dispensing head are controlled by an adhesive discharge controller (132); the microcontroller (120) is configured to obtain a first target frequency value corresponding to the first starting adhesive dispensing signal after receiving the first starting adhesive dispensing signal sent by the master control device (110), and obtain the current moving speed of the adhesive dispensing head to calculate an adhesive dispensing frequency value according to the first target frequency value and the current moving speed, such that the adhesive discharge controller (132) controls the opening and closing states according to the adhesive dispensing frequency value, thereby controlling the adhesive dispensing frequency of the adhesive dispensing head. The adhesive dispensing system and the adhesive dispensing control method can enable formed adhesive lines to be uniform.

Description

Dispensing system and dispensing control method

CROSS-REFERENCE TO RELATED APPLICATIONS

The present disclosure claims the priority of the Chinese patent application with the application number CN202110221002.3 and the title "Dispensing System and Dispensing Control Method" filed with the Chinese Patent Office on February 26, 2021, the entire contents of which are incorporated herein by reference Public.

technical field

The present disclosure relates to the technical field of electronic process product manufacturing, and in particular, to a glue dispensing system and a glue dispensing control method.

Background technique

With the advancement of science and technology, the demand for electronic craft products has increased, and in the electronics industry, dispensing technology has been widely used, and at the same time, the requirements for dispensing technology are also getting higher and higher. The traditional dispensing system can only control the dispensing head to discharge glue at a fixed frequency. Therefore, when the moving speed of the dispensing head changes, the dispensing frequency cannot be changed. Eventually, the formed glue line is uneven. For example, the dispensing head When the moving speed of the dispensing head is large, the formed glue line is relatively thin, and even the glue will be broken. When the moving speed of the dispensing head is small, the formed glue line is relatively wide, and even glue stacking may occur.

SUMMARY OF THE INVENTION

The purpose of the present disclosure is to provide a glue system and a glue dispensing control method to solve the above problems.

In the first aspect, the glue dispensing system provided by the embodiments of the present disclosure includes a master control device, a microcontroller and a glue valve control device, the glue valve control device includes a mobile driver and a glue discharge controller, and the master control device is respectively connected with the microcontroller and the mobile device. The driver is connected, and the microcontroller is also connected with the mobile driver and the glue controller respectively;

The master control device is configured to send a first start dispensing signal to the microcontroller and a driving signal to the mobile driver, so that the mobile driver can start running according to the driving signal, thereby driving the dispensing head to move, and the glue head connected to the dispensing head The valve controls the opening and closing state through the glue controller;

The microcontroller is configured to obtain the first target frequency value corresponding to the first starting dispensing signal after receiving the first starting dispensing signal sent by the master control device, and obtain the current moving speed of the dispensing head, so as to obtain the current moving speed of the dispensing head according to the first A target frequency value and the current moving speed are used to calculate the dispensing frequency value, so that the dispensing controller can control the opening and closing state according to the dispensing frequency value, thereby controlling the dispensing frequency of the dispensing head.

In the glue dispensing system provided by the embodiment of the present disclosure, the master control device is configured to send a first glue starting signal to the microcontroller and a driving signal to the mobile driver, so that the mobile driver can start running according to the driving signal, thereby driving the glue dispensing The head moves, the glue head valve connected with the glue head is controlled by the glue discharge controller to open and close, and the microcontroller is configured to obtain the first start point after receiving the first start glue signal sent by the master control device. The first target frequency value corresponding to the glue signal, and the current moving speed of the dispensing head to calculate the dispensing frequency value according to the first target frequency value and the current moving speed, so that the glue controller can control the opening and closing according to the dispensing frequency value. status to control the dispensing frequency of the dispensing head. Obviously, in the dispensing system provided by the present disclosure, the dispensing frequency value is obtained in real time according to the set first target frequency value and the current moving speed of the dispensing head. Therefore, it can be changed with the current moving speed. Compared with the prior art, the dispensing system can only control the dispensing head to discharge glue at a fixed frequency. Therefore, when the moving speed of the dispensing head changes, the dispensing frequency cannot be changed. Evenly, for example, when the moving speed of the dispensing head is large, increase the dispensing frequency value to avoid glue breakage. When the moving speed of the dispensing head is small, reduce the dispensing frequency value to avoid glue stacking. Case.

In conjunction with the first aspect, the embodiment of the present disclosure also provides a first optional implementation manner of the first aspect. The master control device is further configured to send a first starting glue dispensing signal to the microcontroller, and to send a drive to the mobile driver. Before the signal, it is detected whether the glue removal command is generated, and if the glue removal command is generated, the glue removal command is sent to the microcontroller;

The microcontroller is further configured to control the glue dispensing controller to switch the opening and closing state to the open state after receiving the glue discharging instruction, so as to control the dispensing head to discharge the old glue.

In the above-mentioned embodiment, the master control device is further configured to detect whether a glue discharge instruction is generated before sending the first starting glue dispensing signal to the microcontroller and the driving signal to the mobile driver, and if a glue discharge command is generated, then The glue command is sent to the microcontroller, so that the microcontroller can control the glue discharge controller to switch the opening and closing state to the open state after receiving the glue discharge command, so as to control the dispensing head to discharge the old glue, so as to avoid the dispensing head The old colloid in the glue is smeared on the dispensing object, and the adhesion effect is not good, which affects the final dispensing effect.

In combination with the first optional implementation manner of the first aspect, the embodiment of the present disclosure also provides the second optional implementation manner of the first aspect, the master control device is specifically configured to send the first starting point to the microcontroller The glue signal, and before sending the drive signal to the mobile driver, obtain the glue dispensing time difference between the historical glue dispensing time and the current time, so as to judge whether it is necessary to generate the glue discharge instruction according to the glue dispensing time difference, and after the glue discharge command is generated, the glue commands are sent to the microcontroller.

In the above embodiment, the generation method of the glue discharge instruction is as follows: the master control device obtains the difference between the historical glue dispensing time and the current time before sending the first starting glue dispensing signal to the microcontroller and sending the driving signal to the mobile driver. The glue dispensing time difference between the two is to judge whether it is necessary to generate the glue removal instruction according to the glue dispensing time difference, and after the glue removal command is generated, the glue removal command is sent to the microcontroller. Since the generation of the glue removal command is automatic, it can be Improve the automation of the dispensing system.

In combination with the first aspect, an embodiment of the present disclosure also provides a third optional implementation manner of the first aspect, the moving driver includes a first motor and a second motor, and the first motor is configured to control the dispensing head to move in a first direction , the second motor is configured to control the dispensing head to move in the second direction, and the second direction is perpendicular to the first direction;

The microcontroller is configured to count the number of pulses output by the motor driver of the first motor in a unit time to obtain a first pulse count value, so as to obtain the speed of the dispensing head moving in the first direction according to the first pulse count value, as first moving speed;

The microcontroller is configured to count the number of pulses output by the motor driver of the second motor in a unit time to obtain a second pulse count value, so as to obtain the speed of the dispensing head moving in the second direction according to the second pulse count value, as the second movement speed;

The microcontroller is further configured to obtain the current movement speed of the dispensing head according to the first movement speed and the second movement speed.

In the above embodiment, the moving driver includes a first motor and a second motor, the first motor is configured to control the dispensing head to move in the first direction, the second motor is configured to control the dispensing head to move in the second direction, and the second direction perpendicular to the first direction. Under this premise, the microcontroller is configured to count the number of pulses output by the motor driver of the first motor in a unit time to obtain a first pulse count value, so as to obtain a first direction of the dispensing head according to the first pulse count value The moving speed, as the first moving speed, is configured to count the number of pulses output by the motor driver of the second motor per unit time to obtain the second pulse count value, so as to obtain the dispensing head according to the second pulse count value The speed of moving in the second direction is used as the second moving speed, and then the current moving speed of the dispensing head is obtained according to the first moving speed and the second moving speed, so as to realize the movement control of the dispensing head in the two-dimensional space, and finally, Realize curve dispensing in two-dimensional space.

In combination with the third optional implementation manner of the first aspect, the embodiment of the present disclosure further provides a fourth optional implementation manner of the first aspect, the mobile driver further includes a third motor, and the third motor is configured to control the dispensing of glue The head moves in a third direction, and the third direction is perpendicular to the first direction and the second direction respectively;

The microcontroller is configured to count the number of pulses output by the motor driver of the third motor in a unit time to obtain a third pulse count value, so as to obtain the speed of the dispensing head moving in the third direction according to the third pulse count value, as the third movement speed;

The microcontroller is specifically configured to obtain the current moving speed of the dispensing head according to the first moving speed and the second moving speed in combination with the third moving speed.

In the above embodiment, the moving driver includes a third motor in addition to the first motor and the second motor. The third motor is configured to control the dispensing head to move in a third direction. The third direction is respectively related to the first and second directions. The second direction is vertical. Under this premise, the microcontroller is further configured to count the number of pulses output by the motor driver of the third motor per unit time to obtain the third pulse count value, so as to obtain the direction of the dispensing head toward the third pulse according to the third pulse count value. The speed of the direction movement is used as the third movement speed, and then the current movement speed of the dispensing head is obtained according to the first movement speed and the second movement speed, combined with the third movement speed, so as to realize the movement control of the dispensing head in the three-dimensional space. , and finally, realize the curve dispensing in three-dimensional space.

In conjunction with the first aspect, the embodiment of the present disclosure also provides a fifth optional implementation manner of the first aspect, and the master control device is further configured to set at least one reference frequency before sending the first glue start signal to the microcontroller value and send at least one reference frequency value to the microcontroller;

The microcontroller is specifically configured to obtain a first target frequency value corresponding to the first starting dispensing signal from at least one reference frequency value, and obtain a dispensing head after receiving the first starting dispensing signal sent by the master control device. to calculate the dispensing frequency value according to the first target frequency value and the current moving speed.

In the above embodiment, the master control device is further configured to set at least one reference frequency value before sending the first glue start signal to the microcontroller, and send the at least one reference frequency value to the microcontroller, and the microcontroller Then it is specifically configured to obtain the first target frequency value corresponding to the first start dispensing signal from at least one reference frequency value after receiving the first start dispensing signal sent by the master control device, and obtain the current value of the dispensing head Movement speed to calculate the dispensing frequency value according to the first target frequency value and the current movement speed. Since at least one reference frequency value is preset before the master control device sends the first starting glue dispensing signal to the microcontroller, the working efficiency of the glue dispensing system can be improved.

In conjunction with the fifth optional implementation manner of the first aspect, the embodiment of the present disclosure also provides the sixth optional implementation manner of the first aspect, where the glue dispensing controller controls the opening and closing states according to the dispensing frequency value, thereby controlling The dispensing frequency of the dispensing head is determined in the process of dispensing the first target segment on the dispensing object. If the second starting dispensing signal sent by the master control device is received, it will be determined from at least one reference frequency. The second target frequency value corresponding to the newly received second starting dispensing signal is obtained from the value, and the current moving speed of the dispensing head is obtained to recalculate the dispensing frequency value according to the second target frequency value and the current moving speed. ;

The glue dispensing controller controls the opening and closing state according to the dispensing frequency value, so as to control the dispensing frequency of the dispensing head, so that in the process of dispensing the first target segment on the dispensing object, if the general control device is not received The second start dispensing signal sent will switch the open and closed state to the closed state.

In the above-mentioned embodiment, the glue dispensing controller controls the opening and closing states according to the dispensing frequency value, thereby controlling the dispensing frequency of the dispensing head, so as to perform the dispensing operation on the first target segment on the dispensing object. If the second starting dispensing signal sent by the master control device is received, the second target frequency value corresponding to the newly received second starting dispensing signal is obtained from at least one reference frequency value, and the dispensing head is obtained to recalculate the dispensing frequency value according to the second target frequency value and the current moving speed. After that, the dispensing controller can control the opening and closing states according to the recalculated dispensing frequency value, thereby improving the dispensing system. degree of automation.

In conjunction with the first aspect, the embodiment of the present disclosure also provides a seventh optional implementation manner of the first aspect. The microcontroller is specifically configured to obtain a target gain variable, and will use the first target frequency value, the current moving speed and the target The product of the gain variable as the dispense frequency value.

In the above embodiment, the microcontroller is specifically configured to obtain the target gain variable, and use the product of the first target frequency value, the current moving speed and the target gain variable as the dispensing frequency value, and the calculation logic of the dispensing frequency value is simple , therefore, the calculation time is less, and the working efficiency of the dispensing system can be improved.

In combination with the glue dispensing system provided by the first aspect or any of the above-mentioned optional embodiments of the first aspect, the embodiment of the present disclosure also provides an eighth optional embodiment of the first aspect. In the glue dispensing system Set up multiple sets of glue valve control equipment to control the working status of multiple dispensing heads.

In the above embodiment, multiple sets of glue valve control devices are provided in the dispensing system to control the working states of multiple dispensing heads. Since the dispensing system can control the working states of multiple dispensing heads at the same time, it is possible to improve the The efficiency of the dispensing system.

In the second aspect, the dispensing control method provided by the embodiment of the present disclosure is applied to the dispensing system provided by the first aspect, or any optional embodiment of the first aspect, and the dispensing control method includes:

The master control device sends the first starting dispensing signal to the microcontroller, and the driving signal to the mobile driver, so that the mobile driver can start the operation according to the driving signal, thereby driving the dispensing head to move, and the valve of the glue head connected to the dispensing head passes through The glue controller controls the opening and closing state;

After receiving the first starting dispensing signal sent by the master control device, the microcontroller obtains the first target frequency value corresponding to the first starting dispensing signal, and obtains the current moving speed of the dispensing head, so as to obtain the first target frequency according to the first target. The frequency value and the current moving speed are used to calculate the dispensing frequency value, so that the dispensing controller can control the opening and closing state according to the dispensing frequency value, thereby controlling the dispensing frequency of the dispensing head.

With the glue dispensing control method provided by the embodiment of the present disclosure, the master control device can send the first glue starting signal to the microcontroller and the driving signal to the mobile driver, so that the mobile driver can start running according to the driving signal, thereby driving the glue dispensing The head moves, and the valve of the glue head connected to the glue head is controlled by the glue discharge controller to open and close the state, and the microcontroller can obtain the first glue start signal after receiving the first start glue signal sent by the master control device. The first target frequency value corresponding to the signal, and the current moving speed of the dispensing head to calculate the dispensing frequency value according to the first target frequency value and the current moving speed, so that the glue discharge controller can control the opening and closing state according to the dispensing frequency value. , so as to control the dispensing frequency of the dispensing head. Obviously, in the dispensing control method provided by the present disclosure, the dispensing frequency value is obtained in real time according to the set first target frequency value and the current moving speed of the dispensing head, so it can be changed with the current moving speed. , compared with the prior art, the dispensing system can only control the dispensing head to discharge glue at a fixed frequency. Therefore, when the moving speed of the dispensing head changes, the dispensing frequency cannot be changed. The line is uniform. For example, when the moving speed of the dispensing head is large, increase the dispensing frequency value to avoid glue breakage. When the moving speed of the dispensing head is small, reduce the dispensing frequency value to avoid the occurrence of glue stacking. Happening.

Description of drawings

In order to illustrate the technical solutions of the embodiments of the present disclosure more clearly, the following briefly introduces the drawings that need to be used in the embodiments of the present disclosure. It should be understood that the following drawings only show some embodiments of the present disclosure, therefore It should not be regarded as a limitation of the scope. For those of ordinary skill in the art, other related drawings can also be obtained from these drawings without any creative effort.

FIG. 1 is a schematic structural block diagram of a glue dispensing system according to an embodiment of the present disclosure.

FIG. 2 is another schematic structural block diagram of a glue dispensing system provided by an embodiment of the present disclosure.

FIG. 3 is a working flowchart of the glue dispensing system provided by the embodiment of the present disclosure.

FIG. 4 is a flow chart of steps of a glue dispensing control method provided by an embodiment of the present disclosure.

Reference number: 100-dispensing system; 110-master control device; 120-microcontroller; 130-glue valve control device; 131-mobile driver; 132-gluing controller.

Detailed ways

In order to make the purposes, technical solutions and advantages of the embodiments of the present disclosure clearer, the technical solutions in the embodiments of the present disclosure will be described below with reference to the accompanying drawings in the embodiments of the present disclosure. Furthermore, it should be noted that like numerals and letters refer to like items in the following figures, so once an item is defined in one figure, it need not be further defined and defined in subsequent figures. explain.

Referring to FIG. 1 , the glue dispensing system 100 provided by the embodiment of the present disclosure includes a master control device 110, a microcontroller 120, and a glue valve control device 130. The glue valve control device 130 includes a mobile driver 131 and a glue discharge controller 132. The device 110 is connected to the microcontroller 120 and the mobile driver 131, respectively, and the microcontroller 120 is also connected to the mobile driver 131 and the gluing controller 132, respectively.

Wherein, the master control device 110 may be a programmable logic controller (Programmable Logic Controller, PLC), and the microcontroller 120 may be an integrated circuit chip with signal processing capability, that is, a single-chip (Single-Chip Microcomputer). In addition, in the embodiment of the present disclosure, only one set of the valve control device 130 may be provided, or multiple sets may be provided. If multiple sets of the valve control device 130 are provided, the multiple sets of the valve control device 130 may have the same composition and configuration , and since the multiple glue valve control devices 130 can simultaneously control the working states of multiple glue dispensing heads, the working efficiency of the glue dispensing system 100 can be improved. Hereinafter, the glue dispensing system 100 provided by the embodiment of the present disclosure will be described by taking as an example that only one set of the glue valve control device 130 is provided.

The master control device 110 is configured to send a first starting dispensing signal to the microcontroller 120, and a driving signal to the mobile driver 131, so that the mobile driver 131 starts running according to the driving signal, thereby driving the dispensing head to move, and the dispensing head is connected with the dispensing head. The connected glue head valve is controlled by the glue discharge controller 132 to open and close, and the microcontroller 120 is configured to obtain the first glue start signal corresponding to the first glue start signal after receiving the first glue start signal sent by the master control device 110. The first target frequency value, and the current moving speed of the dispensing head, to calculate the dispensing frequency value according to the first target frequency value and the current moving speed, and send the calculated dispensing frequency value to the glue controller 132, The glue-dispensing controller 132 controls the opening and closing states according to the glue-dispensing frequency value, thereby controlling the glue-dispensing frequency of the glue-dispensing head.

In the embodiment of the present disclosure, the first dispensing start signal can be understood as a trigger signal, which is used to trigger the microcontroller 120 to acquire the first target frequency value corresponding to the first dispensing start signal, and to obtain the current moving speed of the dispensing head , to calculate the dispensing frequency value according to the first target frequency value and the current moving speed, and the drive signal can be understood as a speed control signal, which is used to control the moving speed of the dispensing head when the mobile driver 131 drives the dispensing head to move, that is, , the current moving speed of the dispensing head is determined by the drive signal.

Since the dispensing frequency value is obtained in real time according to the set first target frequency value and the current moving speed of the dispensing head, it can be changed with the current moving speed. Compared with the prior art, the dispensing system 100 can only control the dispensing head to discharge glue at a fixed frequency. Therefore, when the moving speed of the dispensing head changes, the dispensing frequency cannot be changed. It can make the formed glue line uniform, thereby improving the dispensing effect. For example , When the moving speed of the dispensing head is large, increase the dispensing frequency value to avoid glue breakage. When the moving speed of the dispensing head is small, reduce the dispensing frequency value to avoid glue stacking.

In order to further improve the glue dispensing effect, in the embodiment of the present disclosure, the master control device 110 may be further configured to detect whether a glue discharge is generated before sending the first glue starting signal to the microcontroller 120 and sending the driving signal to the mobile driver 131 If a glue removal command is generated, the glue removal command is sent to the microcontroller 120, and the microcontroller 120 is further configured to control the glue discharge controller 132 to switch the opening and closing state to the open state after receiving the glue removal command. , so as to control the dispensing head to discharge the solidified old colloid, so as to avoid applying the old colloid on the dispensing object, resulting in poor adhesion effect and affecting the final dispensing effect. The dispensing object can be a battery cell , electronic technology products such as semiconductor products and mobile phone accessories.

For the generation of the glue removal instruction, in the embodiment of the present disclosure, as a first optional implementation, it can be manually judged by the staff whether it needs to be generated. The difference in dispensing time between the two determines whether a glue removal command needs to be generated. For example, when the glue dispensing time is greater than the target time length, the staff can control the master control device 110 to generate a glue removal command and send the glue removal command to the microcontroller 120.

For the generation of the glue removal instruction, in the embodiment of the present disclosure, as a second optional implementation, it can also be automatically completed by the master control device 110 , that is, the master control device 110 can send the first command to the microcontroller 120. A glue starting signal, and before sending the driving signal to the mobile driver 131, obtain the glue dispensing time difference between the historical glue dispensing time and the current time, so as to judge whether it is necessary to generate a glue discharge instruction according to the glue dispensing time difference, and generate the glue discharge command After that, the glue removal instruction is sent to the microcontroller 120. For example, the master control device 110 can generate a glue removal instruction when it is determined that the glue dispensing time is greater than the target time length, and send the glue removal instruction to the microcontroller 120. Here In this case, since the generation of the glue discharging instruction is automated, the automation degree of the glue dispensing system 100 can be improved.

It should be noted that, in the embodiment of the present disclosure, the historical dispensing time is the end time of the last dispensing operation before the dispensing system 100 performs this dispensing operation, which can be recorded by the master control device 110, and the target The time length can be specifically set according to the actual situation and stored in the master control device 110, for example, can be set according to the properties of the colloid.

Further, in the embodiment of the present disclosure, the moving driver 131 may include a first motor and a second motor, the first motor is configured to control the dispensing head to move in the first direction, and the second motor is configured to control the dispensing head to move in the second direction For movement, the second direction is perpendicular to the first direction, that is, the first direction and the second direction may form a two-dimensional space.

Under the above premise, in the embodiment of the present disclosure, the microcontroller 120 may be configured to count the number of pulses output by the motor driver of the first motor in a unit time to obtain the first pulse count value, so as to obtain the first pulse count value according to the first pulse count value. The speed of the dispensing head moving in the first direction is obtained as the first moving speed. At the same time, it is configured to count the number of pulses output by the motor driver of the second motor per unit time to obtain the second pulse count value, so as to obtain the second pulse count value according to the first movement speed. The second pulse count value obtains the speed of the dispensing head moving in the second direction, which is used as the second moving speed, and then obtains the current moving speed of the dispensing head according to the first moving speed and the second moving speed, so that the dispensing head can be moved in two dimensions. Movement control in space, and ultimately, curve dispensing in two-dimensional space. It can be understood that, in the embodiment of the present disclosure, the pulse output by the motor driver of the first motor is the single-ended or differential coded signal output by it, and similarly, the pulse output by the motor driver of the second motor is the output single-ended signal. or differentially encoded signals.

Since the mobile driver 131 includes the first motor and the second motor, correspondingly, the driving signal includes the first motor driving signal and the second motor driving signal. The first motor drive signal is used to instruct the motor driver of the first motor to output 10,000 pulses to control the dispensing head to move 5mm, and the second motor drive signal is used to instruct the motor driver of the second motor to output every 10,000 pulses, then Control the dispensing head to move 10mm, and the unit time is 1S. For example, if the first pulse count is 10,000 and the second pulse count is 8,000, the first movement speed is calculated by the following speed calculation formula to be 5mm/ s, the second moving speed is 8mm/s.

Among them, V is the moving speed, S is the moving distance of the dispensing head, and T is the time length.

Since the second direction is perpendicular to the first direction, after obtaining the first moving speed and the second moving speed, the current moving speed of the dispensing head can be obtained according to the first moving speed and the second moving speed according to the Pythagorean theorem, The specific calculation logic is as follows:

Wherein, V _is the current moving speed of the dispensing head, V ₁ is the first moving speed, and V ₂ is the second moving speed.

Further, in order to realize the curve dispensing in the three-dimensional space, in the embodiment of the present disclosure, in addition to the first motor and the second motor, the mobile driver 131 may further include a third motor, and the third motor is configured to control the dispensing head Moving toward a third direction, the third direction is perpendicular to the first direction and the second direction respectively, that is, the first direction, the second direction and the third direction may constitute a two-dimensional space.

Under the above premise, in the embodiment of the present disclosure, the microcontroller 120 may also be configured to count the number of pulses output by the motor driver of the third motor in a unit time to obtain a third pulse count value, so as to count according to the third pulse value to obtain the speed of the dispensing head moving in the third direction, as the third moving speed, and then obtain the current moving speed of the dispensing head according to the first moving speed and the second moving speed combined with the third moving speed, so as to realize the dispensing The movement control of the head in the three-dimensional space, and finally, the curve dispensing in the three-dimensional space is realized.

Since the mobile driver 131 includes the third motor in addition to the first motor and the second motor, correspondingly, the drive signal includes the third motor drive signal in addition to the first motor drive signal and the second motor drive signal. . The first motor drive signal is used to instruct the motor driver of the first motor to output 10,000 pulses to control the dispensing head to move 5mm, and the second motor drive signal is used to instruct the motor driver of the second motor to output every 10,000 pulses, then Control the dispensing head to move 10mm, the third motor drive signal is used to instruct the motor driver of the third motor to output 10000 pulses, control the dispensing head to move 20mm, and the unit time is 1S, for example, if the first pulse count value is 10000, the second pulse count value is 8000, and the third pulse count value is 5000, then the same speed calculation formula can be used to obtain the first moving speed is 5mm/s, the second moving speed is 8mm/s, and the first moving speed is 5mm/s. The third moving speed is 10mm/s.

Since the third direction is perpendicular to the first direction and the second direction, respectively, after obtaining the first moving speed, the second moving speed and the third moving speed, according to the Pythagorean theorem, according to the first moving speed, the second moving speed and the third moving speed The moving speed and the third moving speed are used to obtain the current moving speed of the dispensing head. The specific calculation logic is as follows:

Wherein, V _is the current moving speed of the dispensing head, V ₁ is the first moving speed, V ₂ is the second moving speed, and V ₃ is the third moving speed.

In addition, in order to realize the comprehensiveness of data display, in the embodiment of the present disclosure, after obtaining the current moving speed of the dispensing head, the microcontroller 120 can send the current moving speed of the dispensing head to the master control device 110, and through the total control device 110 display on the display set on the control device 110.

In order to further improve the work efficiency and the degree of automation of the glue dispensing system 100, in the embodiment of the present disclosure, the master control device 110 is further configured to set at least one reference frequency value before sending the first glue start signal to the microcontroller 120, and Send the at least one reference frequency value to the microcontroller 120, and the microcontroller 120 is specifically configured to obtain, from the at least one reference frequency value, after receiving the first start dispensing signal sent by the master control device 110 The first target frequency value corresponding to the start dispensing signal, and the current moving speed of the dispensing head to calculate the dispensing frequency value according to the first target frequency value and the current moving speed, and send the calculated dispensing frequency value to The glue dispensing controller 132 is used to control the opening and closing states of the glue dispensing controller 132 according to the dispensing frequency value, thereby controlling the dispensing frequency of the dispensing head. In addition, in order to ensure the accuracy of the dispensing operation, in the embodiment of the present disclosure, after receiving the at least one reference frequency value sent by the master control device 110, the microcontroller 120 may also return the received at least one reference frequency value to the The master control device 110 is displayed on the display set on the master control device 110, so that the staff can determine whether the microcontroller 120 correctly receives data through the displayed at least one reference frequency value.

As for the specific method of calculating the dispensing frequency value according to the first target frequency value and the current moving speed, in the embodiment of the present disclosure, as an optional implementation, the microcontroller 120 may obtain the target gain variable, and use it according to the The product of the first target frequency value, the current moving speed and the target gain variable is used as the dispensing frequency value, and the specific calculation method is represented as follows:

f _m = a*f _n *V _combined

Among them, f _m is the dispensing frequency value, a is the target gain variable, f _n is the first target frequency value, and V _is the current moving speed of the dispensing head.

In actual implementation, the target gain variable may be set by the staff in real time and sent to the microcontroller 120 through the master control device 110 , which is not specifically limited in this embodiment of the present disclosure.

In addition, the glue dispensing controller 132 controls the opening and closing state according to the dispensing frequency value, thereby controlling the dispensing frequency of the dispensing head, so as to perform the dispensing operation on the first target segment on the dispensing object. The second starting dispensing signal sent by the master control device 110, the second target frequency value corresponding to the newly received second starting dispensing signal is obtained from at least one reference frequency value, and the current value of the dispensing head is obtained. Movement speed to recalculate the dispensing frequency value based on the second target frequency value and the current movement speed. On the contrary, the glue dispensing controller 132 controls the opening and closing states according to the dispensing frequency value, thereby controlling the dispensing frequency of the dispensing head, so that during the dispensing operation for the first target segment on the dispensing object, if no To the second starting glue dispensing signal sent by the master control device 110, the open-close state is switched to the closed state. After that, the master control device 110 can record the end time of this dispensing operation, and at the same time, generate a reset control command, and send the reset control command to the mobile driver 131, so that the mobile driver 131 can drive the dispensing head to move to the mobile driver 131 according to the reset control command. The initial position in order to wait for the next dispensing operation. In the embodiment of the present disclosure, the first target segment is the dispensing path segment corresponding to the first target frequency value on the dispensing object, which can be preset.

It can be understood that, in the embodiment of the present disclosure, the specific method of recalculating the dispensing frequency value according to the second target frequency value and the current moving speed may be the same as the above-mentioned specific method of calculating the dispensing frequency value according to the first target frequency value and the current moving speed. The method is the same and will not be repeated here.

In order to further realize the comprehensiveness of data display, in the embodiment of the present disclosure, after obtaining the dispensing frequency value, the microcontroller 120 can send the dispensing frequency value to the master control device 110, and through the display set on the master control device 110 to display.

In order to make the composition structure and connection method of the glue dispensing system 100 provided by the embodiment of the present disclosure clearer, the following, in conjunction with FIG. The composition structure and connection method of the glue system 100 will be further described.

Taking the glue dispensing system 100 shown in FIG. 2 as an example, the two sets of glue valve control devices 130 are respectively characterized as a first glue valve control device and a second glue valve control device, wherein the first glue valve control device includes a first mobile driver and a second glue valve control device. The first gluing controller, the first motor included in the first moving driver is characterized as the first X-axis motor, the second motor included in the first moving driver is characterized as the first Y-axis motor, and similarly, the second glue valve control device It includes a second mobile driver and a second glue discharge controller, the first motor included in the second mobile driver is characterized as a second X-axis motor, and the second motor included in the second mobile driver is characterized as a second Y-axis motor. The glue dispensing frequency value corresponding to the first glue valve control device is represented as a first glue dispensing frequency value, and the glue dispensing frequency value corresponding to the second glue valve control device is represented as a second glue dispensing frequency value.

In actual implementation, the master control device 110 can be connected to the microcontroller 120 through several IO signal ports, including a signal port IO1, a signal port IO2, a signal port IO3, a signal port IO4 and at least one frequency setting port.

For example, the signal io1 sent by the signal port IO1 can determine whether to send the first glue dispensing frequency value to the first glue dispensing controller, and the signal io2 sent through the signal port IO2 can determine whether to send the second dispensing frequency value to the first glue dispensing controller. Second glue controller, here, the signal io1 and the signal io2 can be collectively referred to as the glue discharge command.

For another example, the signal io3 sent by the signal port IO3 can be used to control whether the first glue discharge controller discharges glue. Exemplarily, if the signal io3 is "1", it can be considered as a glue discharge command, and the first glue discharge controller Then switch the opening and closing state to the open state, so as to control the corresponding dispensing head to discharge the solidified stale colloid. Similarly, the signal io4 sent by the signal port IO4 can be used to control whether the second glue discharge controller discharges glue or not. Exemplary, If the signal io4 is "1", it can be regarded as a glue discharge command, and the second glue discharge controller switches the opening and closing state to the open state, thereby controlling the corresponding dispensing head to discharge the solidified old colloid.

For another example, if at least one reference frequency value is essentially two reference frequency values, which are respectively characterized as high frequency and low frequency, then the first glue controller and the second glue controller can be controlled by the signal io5 sent by the signal port IO5 to The glue dispensing operation is performed at a high frequency, and the signal io6 sent by the signal port IO6 controls the first glue dispensing controller and the second glue dispensing controller to execute the dispensing operation at a low frequency. Specifically referring to the relevant description of the dispensing system 100 above, the first starting dispensing signal is either the signal io5 or the signal io6. If the first starting dispensing signal is the signal io5, the second actual dispensing signal is io6. If the first starting dispensing signal is the signal io5 The dispensing signal is signal io6, and the second actual dispensing signal is io5.

In addition, communication between the master control device 110 and the microcontroller 120 may also be implemented through Transmission Control Protocol/Internet Protocol (TCP/IP), for realizing at least one reference frequency value and dispensing frequency value Transmission between the master control device 110 and the microcontroller 120 .

Hereinafter, the workflow of the glue dispensing system 100 provided by the embodiment of the present disclosure will be described with reference to FIG. 3 .

First, the master control device 110 can set at least one reference frequency value and send it to the microcontroller 120. Then, the master control device 110 sends a glue discharge instruction to the microcontroller 120. After that, if the master control device 110 generates a glue discharge command, Then the glue discharge instruction is sent to the microcontroller 120, and the microcontroller 120 controls the glue discharge controller 132 to switch the opening and closing state to the open state, thereby controlling the dispensing head to discharge the solidified old colloid, and the dispensing head to discharge the solidified colloid. After the colloid is aged, the microcontroller 120 obtains the corresponding target frequency value (corresponding to the aforementioned "first dispensing signal corresponding to the first starting dispensing signal") according to the received starting dispensing signal (corresponding to the aforementioned "first starting dispensing signal"). "target frequency value"), if the master control device 110 does not generate a glue discharge command, the microcontroller 120 also obtains the corresponding target frequency value according to the received initial glue dispensing signal.

After acquiring the target frequency value, the master control device 110 sends a driving signal to the mobile driver 131 for the mobile driver 131 to start running according to the driving signal, thereby driving the dispensing head to move, while the microcontroller 120 is in the process of moving the dispensing head. , obtain the current moving speed of the dispensing head, and calculate the dispensing frequency value according to the target frequency value and the current moving speed, and then send the calculated dispensing frequency value to the glue controller 132 for the glue discharge controller 132 according to The dispensing frequency value controls the opening and closing state, thereby controlling the dispensing frequency of the dispensing head. During this process, if the microcontroller 120 receives the next starting dispensing signal (corresponding to the aforementioned "second starting dispensing signal"), it obtains the corresponding target frequency value (corresponding to the aforementioned "second starting dispensing signal") according to the next starting dispensing signal The second target frequency value corresponding to the second starting dispensing signal”), to recalculate the dispensing frequency value according to the new target frequency value and the current moving speed, if the microcontroller 120 does not receive the next starting dispensing signal , after the dispensing operation corresponding to the target segment is completed, the master control device 110 can send a stop dispensing instruction to the microcontroller 120, and at the same time, control the mobile driver 131 to drive the dispensing head to move to the initial position, so as to wait for the next dispensing operate.

Please refer to FIG. 4 , which is a flow chart of the steps of the glue dispensing control method provided by the embodiment of the present disclosure, which is applied to the above glue dispensing system. It should be noted that the glue dispensing control method provided by the embodiments of the present disclosure is not limited to the sequence shown in FIG. 4 and the following. The following describes the step flow of the glue dispensing control method with reference to FIG. 4 .

Step S100, the master control device sends a first starting glue dispensing signal to the microcontroller, and sends a driving signal to the mobile driver, so that the mobile driver starts running according to the driving signal, thereby driving the dispensing head to move, and the glue connected to the dispensing head The opening and closing state of the head valve is controlled by the glue discharge controller.

Step S200, after receiving the first start dispensing signal sent by the master control device, the microcontroller obtains the first target frequency value corresponding to the first starting dispensing signal, and obtains the current moving speed of the dispensing head, so as to determine the The first target frequency value and the current moving speed are used to calculate the dispensing frequency value, so that the dispensing controller can control the opening and closing state according to the dispensing frequency value, thereby controlling the dispensing frequency of the dispensing head.

It should be noted that, in the glue dispensing control method provided by the embodiments of the present disclosure, for more specific steps and processes, reference may be made to the relevant descriptions in the above-mentioned glue dispensing system embodiments, which will not be repeated here.

To sum up, the glue dispensing system provided by the embodiments of the present disclosure includes a master control device, a microcontroller and a glue valve control device, the glue valve control device includes a mobile driver and a glue discharge controller, and the master control device is respectively connected with the microcontroller and the glue valve control device. The mobile driver is connected, and the microcontroller is also connected to the mobile driver and the glue dispensing controller, respectively, wherein the master control device is configured to send a first starting glue dispensing signal to the microcontroller, and to the mobile driver. The operation is started according to the driving signal, thereby driving the dispensing head to move. The valve of the glue head connected to the dispensing head is controlled by the dispensing controller to open and close the state, and the microcontroller is configured to receive the first starting point sent by the master control device. After the glue signal, obtain the first target frequency value corresponding to the first initial dispensing signal, and obtain the current moving speed of the dispensing head, so as to calculate the dispensing frequency value according to the first target frequency value and the current moving speed, so as to supply glue The controller controls the opening and closing state according to the dispensing frequency value, thereby controlling the dispensing frequency of the dispensing head. Obviously, in the dispensing system provided by the present disclosure, the dispensing frequency value is obtained in real time according to the set first target frequency value and the current moving speed of the dispensing head. Therefore, it can be changed with the current moving speed. Compared with the prior art, the dispensing system can only control the dispensing head to discharge glue at a fixed frequency. Therefore, when the moving speed of the dispensing head changes, the dispensing frequency cannot be changed. Evenly, for example, when the moving speed of the dispensing head is large, increase the dispensing frequency value to avoid glue breakage. When the moving speed of the dispensing head is small, reduce the dispensing frequency value to avoid glue stacking. Case.

The glue dispensing control method provided by the embodiment of the present disclosure has the beneficial effects of the above-mentioned glue dispensing system, which will not be repeated here.

In the description of the present disclosure, it should be noted that, unless otherwise expressly specified and limited, the terms "connected" and "disposed" should be construed in a broad sense, for example, it may be a mechanically fixed connection, a detachable connection or an integral The connection can be an electrical connection or a communication connection, wherein the communication connection can be a wired communication connection or a wireless communication connection. In addition, it can be directly connected, or indirectly connected through an intermediate medium, or it can be an internal connection between two components. For those skilled in the art, the specific meanings of the above terms in the present disclosure can be understood according to specific situations. Furthermore, the terms "first," "second," and "third," etc. are only used to differentiate the description and should not be construed to indicate or imply relative importance.

The above descriptions are only some embodiments of the present disclosure, and are not intended to limit the present disclosure. For those skilled in the art, the present disclosure may have various modifications and changes. Any modifications, equivalent replacements or improvements made within the spirit and principles of the present disclosure should be included within the protection scope of the present disclosure.

Claims

A glue dispensing system is characterized in that it includes a master control device, a microcontroller and a glue valve control device, the glue valve control device includes a mobile driver and a glue discharge controller, the master control device is respectively connected with the micro controller The controller is connected with the mobile driver, and the microcontroller is also connected with the mobile driver and the glue discharge controller respectively;

The master control device is configured to send a first start dispensing signal to the microcontroller and a driving signal to the mobile driver, so that the mobile driver can start running according to the driving signal, thereby driving the dispensing head Move, the glue head valve connected with the glue dispensing head controls the opening and closing state through the glue dispensing controller;

The microcontroller is configured to obtain a first target frequency value corresponding to the first start glue signal after receiving the first start glue signal sent by the master control device, and obtain the point The current moving speed of the glue head, to calculate the dispensing frequency value according to the first target frequency value and the current moving speed, so that the glue dispensing controller can control the opening and closing state according to the dispensing frequency value, thereby controlling The dispensing frequency of the dispensing head.
The glue dispensing system according to claim 1, wherein the master control device is further configured to detect a first glue dispensing start signal to the microcontroller before sending a driving signal to the mobile driver. Whether to generate a glue removal instruction, if a glue removal instruction is generated, send the glue removal instruction to the microcontroller;

The microcontroller is further configured to, after receiving the glue discharge instruction, control the glue discharge controller to switch the opening and closing state to the open state, so as to control the glue dispensing head to discharge old glue.
The glue dispensing system according to claim 2, wherein the master control device is specifically configured to obtain the first glue dispensing signal to the microcontroller before sending the driving signal to the mobile driver. The glue dispensing time difference between the historical dispensing time and the current time, so as to judge whether the glue removal instruction needs to be generated according to the glue dispensing time difference, and after the glue removal instruction is generated, the glue removal instruction is sent to the described microcontroller.
The glue dispensing system according to claim 1, wherein the moving driver comprises a first motor and a second motor, the first motor is configured to control the glue dispensing head to move in a first direction, and the first motor is configured to move in a first direction. two motors are configured to control the dispensing head to move in a second direction, and the second direction is perpendicular to the first direction;

The microcontroller is configured to count the number of pulses output by the motor driver of the first motor in a unit time to obtain a first pulse count value, so as to obtain the direction of the dispensing head according to the first pulse count value. the speed of moving in the first direction, as the first moving speed;

The microcontroller is configured to count the number of pulses output by the motor driver of the second motor in a unit time to obtain a second pulse count value, so as to obtain the direction of the dispensing head according to the second pulse count value. The speed of the movement in the second direction, as the second movement speed;

The microcontroller is further configured to obtain a current movement speed of the dispensing head according to the first movement speed and the second movement speed.
The glue dispensing system according to claim 4, wherein the moving driver further comprises a third motor, and the third motor is configured to control the glue dispensing head to move in a third direction, and the third directions are respectively perpendicular to the first direction and the second direction;

The microcontroller is configured to count the number of pulses output by the motor driver of the third motor in a unit time to obtain a third pulse count value, so as to obtain the direction of the dispensing head according to the third pulse count value. the speed of moving in the third direction, as the third moving speed;

The microcontroller is specifically configured to obtain the current moving speed of the dispensing head according to the first moving speed and the second moving speed in combination with the third moving speed.
The glue dispensing system according to claim 1, wherein the master control device is further configured to set at least one reference frequency value before sending the first start dispensing signal to the microcontroller, and set the sending at least one reference frequency value to the microcontroller;

The microcontroller is specifically configured to acquire a first target corresponding to the first glue start signal from the at least one reference frequency value after receiving the first start glue signal sent by the master control device frequency value, and obtain the current moving speed of the dispensing head to calculate the dispensing frequency value according to the first target frequency value and the current moving speed.
The glue dispensing system according to claim 6, wherein the glue dispensing controller controls the opening and closing states according to the dispensing frequency value, thereby controlling the dispensing frequency of the dispensing head, so as to control the dispensing object In the process of dispensing operation on the first target segment on the device, if the second starting dispensing signal sent by the master control device is received, the at least one reference frequency value is obtained from the at least one reference frequency value and the newly received all the second target frequency value corresponding to the second initial dispensing signal, and obtaining the current moving speed of the dispensing head to recalculate the dispensing frequency value according to the second target frequency value and the current moving speed;

The glue dispensing controller controls the opening and closing state according to the dispensing frequency value, thereby controlling the dispensing frequency of the dispensing head, so as to perform the dispensing operation on the first target segment on the dispensing object during the dispensing operation. , if the second starting glue dispensing signal sent by the master control device is not received, the opening and closing state is switched to the closing state.
The glue dispensing system according to claim 1, wherein the microcontroller is specifically configured to obtain a target gain variable, and will use the first target frequency value, the current moving speed and the target gain variable The product of , as the dispensing frequency value.
The glue dispensing system according to any one of claims 1 to 8, wherein a plurality of sets of the glue valve control devices are provided in the glue dispensing system to control the working states of the plurality of glue dispensing heads.
A glue dispensing control method, characterized in that it is applied to the glue dispensing system according to any one of claims 1 to 9, and the glue dispensing control method comprises:

The master control device sends a first dispensing start signal to the microcontroller, and sends a driving signal to the mobile driver, so that the mobile driver starts running according to the driving signal, thereby driving the dispensing head to move, The glue head valve connected with the glue dispensing head controls the opening and closing state through the glue dispensing controller;

After receiving the first starting dispensing signal sent by the master control device, the microcontroller obtains a first target frequency value corresponding to the first starting dispensing signal, and obtains the current value of the dispensing head. moving speed, to calculate the dispensing frequency value according to the first target frequency value and the current moving speed, so that the glue dispensing controller can control the opening and closing state according to the dispensing frequency value, so as to control the dispensing frequency The dispensing frequency of the head.