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CN-121988509-A - Dispensing line control method of robot dispensing module

CN121988509ACN 121988509 ACN121988509 ACN 121988509ACN-121988509-A

Abstract

The invention discloses a dispensing line control method of a robot dispensing module, which comprises the steps that a first reserved path and a second reserved path are arranged in a control module, the end point of the first reserved path coincides with the starting point of an original path, the starting point of the second reserved path coincides with the end point of the original path, a robot drives a dispensing module to move to the starting point of the original path and then to the starting point of the first reserved path, then the robot moves to the starting point of the original path, the moving speed in the first reserved path reaches a preset speed, the dispensing module is controlled to dispense glue, the robot drives the dispensing module to enter the original path to continue moving, then enters the second reserved path to do deceleration movement, and finally, the robot and the dispensing module stop working when moving to the end point of the second reserved path, and the preset speed is the moving speed of the robot controlled dispensing module in the original path.

Inventors

  • WANG TAO

Assignees

  • 汉达精密电子(昆山)有限公司

Dates

Publication Date
20260508
Application Date
20241107

Claims (5)

  1. 1. The utility model provides a robot goes out gluey line control method of point of module of gluing, includes out the module of gluing, be equipped with original route in the play module of gluing, original route both ends all are equipped with and leave white route, its characterized in that: s1, a first reserved path and a second reserved path are arranged in the control module, the first reserved path and the second reserved path are both arranged in the reserved white path, the end point of the first reserved path coincides with the starting point of the original path, and the starting point of the second reserved path coincides with the end point of the original path; s2, the robot drives the glue discharging module to move to the starting point position of the original path; s3, the robot drives the glue discharging module to move to the starting point of the first reserved path; s4, the robot drives the glue discharging module to move towards the starting point of the original path, and when the moving speed of the robot driving the glue discharging module in the first reserved path reaches a preset speed, the robot controls the glue discharging module to start glue discharging; s5, the robot drives the glue outlet module to enter the original path to continue moving; S6, the robot drives the glue outlet module to enter the second reserved path and makes deceleration movement in the second reserved path; s7, when the robot drives the glue discharging module to move to the end point of the second reserved path, the robot and the glue discharging module stop working; The preset speed is the moving speed of the robot controlling the glue discharging module in the original path.
  2. 2. The method for controlling a dispensing line of a dispensing module of a robot according to claim 1, wherein the first predetermined path is a moving path of the dispensing module driven by the robot before entering the original path.
  3. 3. The method for controlling a dispensing line of a dispensing module of a robot according to claim 1, wherein the second reserved path is a moving path of the dispensing module driven by the robot after the original path is moved.
  4. 4. The method for controlling the dispensing line of the robot dispensing module according to claim 1, wherein a residual glue path is arranged in the control module, the residual glue path is arranged in the residual glue path, the starting point of the residual glue path coincides with the end point of the second reserved path, and when the robot drives the dispensing module to move to the end point of the second reserved path, the robot controls the dispensing module to stop dispensing glue, and continues to drive the dispensing module to move to the end point of the residual glue path, and then drives the dispensing module to move to contact the product, so that the residual glue is coated on the product.
  5. 5. The method of claim 4, wherein the remaining glue path is a moving path of the robot driving the glue discharging module after the second reserved path is moved.

Description

Dispensing line control method of robot dispensing module [ Field of technology ] The invention relates to the technical field of automatic dispensing line control methods, in particular to a dispensing line control method of a robot dispensing module. [ Background Art ] In the automatic dispensing process of products, a robot with a three-axis, four-axis or six-axis structure is generally used as a moving body, which drives a glue discharging module to apply glue to a designated position of the product according to an original path. The prior proposal is that the robot drives the glue discharging module to move to the starting point of the original path, after the glue discharging module is controlled by the robot to start discharging glue, the robot drives the glue discharging module to move (wait for actual glue discharging) after time delay, when the standby robot drives the glue discharging module to reach the end point of the original path, the glue discharging module is controlled by the robot to stop discharging glue, and the glue discharging module is lifted after time delay of the robot drives the glue discharging module. Because the motion main body has the necessary phenomenon in the acceleration and deceleration process, the glue dispensing line can show the phenomenon that the starting point and the end point are thick and the middle path is thin, and although the phenomenon basically has no influence in the area with a wide path, in the narrower area, the phenomenon of non-uniformity can lead to the phenomenon of glue overflow when the product is pressed. In view of the above, it is necessary to provide a dispensing line control method for a robot dispensing module to solve the above-mentioned problems. [ Invention ] The invention aims to solve the technical problems that when a current robot drives a glue discharging module to dispense glue on a product, a glue dispensing line can present the phenomena of thick starting points and end points and thin middle paths due to the inevitable phenomenon of a moving main body in the acceleration and deceleration process, and the phenomenon of uneven glue dispensing line in a narrower area can cause the phenomenon of glue overflow of the product in the pressing process. Therefore, the invention provides a dispensing line control method of a robot dispensing module to solve the problems. The invention solves the technical problem that the method for controlling the dispensing line of the robot dispensing module comprises the following steps: The glue discharging module is internally provided with an original path, and both ends of the original path are provided with blank-keeping paths; S1, a first reserved path and a second reserved path are arranged in a control module, the first reserved path and the second reserved path are arranged in a reserved white path, the end point of the first reserved path coincides with the start point of an original path, and the start point of the second reserved path coincides with the end point of the original path; S2, the robot drives the glue discharging module to move to the starting point of the original path; s3, the robot drives the glue discharging module to move to the starting point of the first reserved path; S4, the robot drives the glue discharging module to do acceleration motion towards the starting point of the original path, and when the moving speed of the robot driving the glue discharging module in the first reserved path reaches a preset speed, the robot controls the glue discharging module to start glue discharging; S5, the robot drives the glue outlet module to enter an original path to continue moving; s6, the robot drives the glue outlet module to enter a second reserved path and performs deceleration movement in the second reserved path; s7, when the robot drives the glue discharging module to move to the end point of the second reserved path, the robot and the glue discharging module stop working; the preset speed is the moving speed of the robot control glue outlet module in the original path. Preferably, the first reserved path is a moving path of the robot driving the glue discharging module before entering the original path. Preferably, the second reserved path is a moving path of the robot driving the glue discharging module after the original path is moved. Preferably, a residual glue path is arranged in the control module, the residual glue path is arranged in the residual glue path, the starting point of the residual glue path coincides with the end point of the second reserved path, when the robot drives the glue discharging module to move to the end point of the second reserved path, the robot controls the glue discharging module to stop discharging glue, continuously drives the glue discharging module to move to the end point of the residual glue path, and then drives the glue discharging module to move to contact with a product, so that the residual glue is coated on the product.