CN-116851212-B - Dispensing device, control method of dispensing device and storage medium

Abstract

The application discloses dispensing equipment, a control method of the dispensing equipment and a storage medium, which are applied to the technical field of dispensing and comprise a main shaft driving assembly; the device comprises a driven shaft driving assembly, a dispensing device and a control device, wherein the driven shaft driving assembly comprises a driven shaft and a driven shaft driving device, the dispensing device is arranged on the driven shaft in a sliding mode, and the driven shaft driving device is used for driving the dispensing device to reciprocate along the driven shaft. According to the application, the main shaft driving assembly and the slave shaft driving assembly drive the dispensing device to move, when the dispensing device and the dispensing positions are kept relatively stable, the dispensing device performs multiple dispensing on the current dispensing position, after the dispensing of the current dispensing position is completed, the slave shaft driving assembly can drive the dispensing device to reciprocate along the slave shaft so as to realize resetting, and the slave shaft driving assembly can sequentially perform multiple dispensing on the dispensing positions under the condition that the slave shaft driving assembly always keeps moving, so that the dispensing is performed without breaking the dispensing, and the dispensing efficiency is improved.

Inventors

• PENG YI
• ZENG LEI

Assignees

• 广东安达智能装备股份有限公司

Dates

Publication Date

20260508

Application Date

20230630

Claims (10)

1. 1. A dispensing apparatus, comprising: a spindle drive assembly; a slave axis drive assembly including a slave axis drive device; The dispensing device is arranged on the slave shaft in a sliding manner, and the slave shaft driving device is used for driving the dispensing device to reciprocate along the slave shaft; a control device for: controlling the main shaft driving assembly to drive the main shaft to move along the direction of the dispensing position of the product to be dispensed axially; controlling the motion starting position corresponding to the dispensing position to drive the dispensing device to move along the direction opposite to the driving direction of the main shaft driving assembly from the shaft driving device, so that the relatively stable time between the dispensing device and the dispensing position lasts for a first duration; Controlling the dispensing device to perform dispensing for target times on the dispensing position within the first time period; When the current dispensing frequency of the dispensing position reaches the target frequency, controlling the driven shaft driving device to drive the dispensing device to reset so as to dispense the next dispensing position.
2. 2. The utility model provides a control method of dispensing equipment, its characterized in that, dispensing equipment includes main shaft drive assembly, from axle drive assembly and adhesive deposite device, from axle drive assembly includes from axle and from axle drive device, adhesive deposite device slide set up in on the axle, the control method includes: controlling the main shaft driving assembly to drive the main shaft to move along the direction of the dispensing position of the product to be dispensed axially; controlling the motion starting position corresponding to the dispensing position to drive the dispensing device to move along the direction opposite to the driving direction of the main shaft driving assembly from the shaft driving device, so that the relatively stable time between the dispensing device and the dispensing position lasts for a first duration; Controlling the dispensing device to perform dispensing for target times on the dispensing position within the first time period; When the current dispensing frequency of the dispensing position reaches the target frequency, controlling the driven shaft driving device to drive the dispensing device to reset so as to dispense the next dispensing position.
3. 3. The method of controlling a dispensing apparatus according to claim 2, wherein the controlling the movement of the dispensing device from the shaft driving device in a direction opposite to the driving direction of the spindle driving assembly at the movement start position corresponding to the dispensing position includes: Acquiring a first speed, a first acceleration and a second speed of the main shaft driving assembly driving the main shaft to move at the movement starting position, wherein the first speed and the first acceleration are used for driving the main shaft to move, and the second speed is used for driving the product to be dispensed to move; Determining a first driving parameter of the shaft driving device from the motion starting position to the first dispensing of the current dispensing position according to a first preset dispensing position corresponding to the dispensing position during the first dispensing, and the first speed, the first acceleration and the second speed; Determining a second driving parameter from the current time of dispensing to the next time of dispensing when the slave axis driving device drives the dispensing device to perform the remaining time of dispensing; And controlling the slave shaft driving device to drive the dispensing device to move along the direction opposite to the driving direction of the main shaft driving assembly according to the first driving parameter and the second driving parameter.
4. 4. The method for controlling a dispensing apparatus according to claim 3, wherein determining the first driving parameter of the slave axis driving device from the movement start position to the first dispensing of the current dispensing position according to the first preset dispensing position corresponding to the dispensing position at the first dispensing, the first speed, the first acceleration, and the second speed comprises: acquiring a first preset movement time from the movement starting position of the slave axis driving device to the first time of dispensing the current dispensing position; Determining a first dispensing speed of the shaft driving device for driving the dispensing device to move during first dispensing according to the first preset movement time, the first preset dispensing position, the first speed, the first acceleration and the second speed; the first dispensing speed is segmented in multiple segments according to a third speed of driving the dispensing device to move from the shaft driving device to the movement starting position, so that a plurality of target speeds are obtained; performing motion planning on a plurality of target speeds according to the first preset glue outlet position and the first preset motion time to obtain a plurality of acceleration motion curves; And taking the acceleration motion curves as first driving parameters from the motion starting position to the first dispensing of the current dispensing position of the slave axis driving device.
5. 5. The method of controlling a dispensing apparatus according to claim 4, wherein the controlling the driving of the dispensing device from the shaft driving device to reset includes: obtaining a plurality of deceleration motion curves according to a plurality of acceleration motion curves; controlling the slave axis driving device to drive the dispensing device to perform deceleration motion along the direction opposite to the driving direction of the main axis driving assembly according to a plurality of deceleration motion curves; when the moving speed of the dispensing device driven by the slave shaft driving device is 0, the dispensing device driven by the slave shaft driving device is controlled to reset along the driving direction of the main shaft driving assembly.
6. 6. The method of controlling a dispensing apparatus according to claim 5, wherein the controlling the slave axis driving device to drive the dispensing device to reset in the driving direction of the master axis driving assembly includes: acquiring a first distance between the dispensing device and an initial position, wherein the initial position is a position of the dispensing device on the shaft when the initial position of the movement is; And controlling the slave axis driving device to drive the glue dispensing device to move along the driving direction of the main axis driving assembly according to the first distance so as to enable the glue dispensing device to move back to the initial position, wherein the speed of the slave axis driving device for driving the glue dispensing device to move back to the initial position is the third speed.
7. 7. The method according to claim 3, wherein when the preset dispensing position corresponding to each dispensing is located right above the dispensing position, determining the second driving parameter from the current time of dispensing to the next time of dispensing when the shaft driving device drives the dispensing device to perform the remaining time of dispensing includes: acquiring the real-time speed of the spindle driving assembly for driving the spindle to move; And taking the real-time speed of the spindle driving assembly for driving the spindle to move as a second driving parameter from the completion of dispensing to the next dispensing.
8. 8. The method for controlling a dispensing device according to claim 3, wherein when the preset dispensing position corresponding to each dispensing is located obliquely above the dispensing position, determining the second driving parameter from the current dispensing to the next dispensing when the shaft driving device drives the dispensing device to perform the remaining dispensing for the remaining times includes: Acquiring a second preset movement time for driving the dispensing device to move from the shaft driving device during two adjacent dispensing processes; According to the real-time speed of the spindle driving assembly driving the slave axis to move and the second preset movement time, obtaining a second distance of the spindle driving assembly driving the slave axis to move during two adjacent dispensing processes; determining a third distance for driving the glue dispensing device to move from the shaft driving device during two adjacent glue dispensing processes according to a second preset glue outlet position corresponding to the current glue dispensing times, a third preset glue outlet position corresponding to the next glue dispensing times and the second distance; and determining a second driving parameter from the completion of dispensing to the next dispensing according to the second preset movement time and the third distance.
9. 9. The method according to claim 2, wherein the product to be dispensed is transferred at a second speed to the dispensing area at a uniform speed, and after the main shaft driving assembly is controlled to drive the direction of the dispensing position of the product to be dispensed from the shaft to move, the method further comprises: Acquiring a first motion parameter of the spindle driving assembly for driving the spindle to move and acquiring a second speed of the spindle driving assembly; obtaining the movement time of the driven shaft between two adjacent dispensing positions according to the first movement parameter, the second speed and the distance between the two adjacent dispensing positions; And setting a first time length according to the movement time of the slave shaft between two adjacent glue dispensing positions, so that the sum of the first time length and the time for driving the glue dispensing device to reset by the slave shaft driving device is smaller than the movement time of the slave shaft between two adjacent glue dispensing positions.
10. 10. A computer storage medium, characterized by storing computer executable instructions for performing the control method of the dispensing apparatus according to any one of claims 2 to 9.

Description

Dispensing device, control method of dispensing device and storage medium Technical Field The invention relates to the technical field of dispensing, in particular to dispensing equipment, a control method of the dispensing equipment and a storage medium. Background In the conventional dispensing technical field, dispensing equipment generally adopts an intermittent dispensing mode to perform multiple dispensing on dispensing positions of a product to be dispensed, namely, a plurality of products to be dispensed remain stationary, a dispensing device stops one by one, the dispensing device is controlled to stop above the dispensing positions of the product to be dispensed so as to perform dispensing on the current dispensing positions, after dispensing is completed, the dispensing device is controlled to move to the next dispensing position to stop, or the dispensing device remains stationary, after the dispensing displacement of the product to be dispensed moves to the dispensing positions, the product to be dispensed is controlled to stop moving, and then the dispensing device is controlled to perform dispensing on the dispensing positions of the product to be dispensed, and after dispensing is completed, the product continues to move and flows into the next station. The control mode needs to control the dispensing device or repeatedly pause the dispensing position of the product to be dispensed so as to dispense the product, the efficiency is low, and in the related art, how to improve the dispensing efficiency is a problem to be solved urgently. Disclosure of Invention The application provides a dispensing device, a control method of the dispensing device and a storage medium, which can effectively improve the dispensing efficiency. In a first aspect, the present application provides a dispensing apparatus, comprising: a spindle drive assembly; a slave axis drive assembly including a slave axis drive device; The dispensing device is arranged on the slave shaft in a sliding manner, and the slave shaft driving device is used for driving the dispensing device to reciprocate along the slave shaft; a control device for: controlling the main shaft driving assembly to drive the main shaft to move along the direction of the dispensing position of the product to be dispensed axially; controlling the motion starting position corresponding to the dispensing position to drive the dispensing device to move along the direction opposite to the driving direction of the main shaft driving assembly from the shaft driving device, so that the relatively stable time between the dispensing device and the dispensing position lasts for a first duration; Controlling the dispensing device to perform dispensing for target times on the dispensing position within the first time period; When the current dispensing frequency of the dispensing position reaches the target frequency, controlling the driven shaft driving device to drive the dispensing device to reset so as to dispense the next dispensing position. According to the application, in the working process of the dispensing equipment, the dispensing device is driven to move through the main shaft driving assembly and the slave shaft driving assembly, when the dispensing device and the dispensing position keep relatively stable, the dispensing device performs multiple dispensing on the current dispensing position, after the current dispensing position finishes dispensing, the slave shaft driving device can drive the dispensing device to reciprocate along the slave shaft so as to realize resetting and facilitate dispensing on the next dispensing position. In a second aspect, the present application provides a control method of a dispensing apparatus, where the dispensing apparatus includes a spindle driving assembly, a slave axis driving assembly, and a dispensing device, the slave axis driving assembly includes a slave axis and a slave axis driving device, and the dispensing device is slidably disposed on the slave axis, and the control method includes: controlling the main shaft driving assembly to drive the main shaft to move along the direction of the dispensing position of the product to be dispensed axially; Controlling the motion starting position corresponding to the dispensing position to drive the dispensing device to move along the direction opposite to the driving direction of the main shaft driving assembly from the shaft driving device, so that the relatively stable time between the dispensing device and the dispensing position lasts for a first duration; controlling the dispensing device to perform targeted times of dispensing on the dispensing position within the first time period; When the current dispensing frequency of the dispensing position reaches the target frequency, controlling the driven shaft driving device to drive the dispensing device to reset so as to dispense the next dispensing position. Since the control method of the dispensing apparatus of the