Automatic glue replacing method and device of glue dispenser and glue dispensing system

Abstract

The invention relates to an automatic glue replacing method and device for a glue dispenser and a glue dispensing system. The method comprises the following steps: in response to a glue replacement instruction of a glue replacement and supply mechanism of the dispensing machine, controlling glue self-transfer equipment bearing a glue supply frame provided with a full glue pipe to move close to the dispensing machine; when the glue self-transferring equipment moves to a glue changing position of the glue dispenser, the glue changing and supplying mechanism is controlled to stop supplying glue to the glue dispensing valve mechanism, and the material taking and placing mechanical arm is controlled to take down a glue pipe to be replaced from the glue changing and supplying mechanism and place the glue pipe on a glue supplying frame; and the material taking and placing mechanical arm is controlled to take the full-glue pipe from the glue supply frame and place the full-glue pipe on the glue changing and supplying mechanism, the glue changing and supplying mechanism is controlled to continuously supply glue to the glue dispensing valve mechanism, and automatic glue changing is completed. The automatic glue replacing device can solve the problems that a traditional manual glue replacing mode is low in efficiency, glue mixing or pollution is easily caused, the product quality is often influenced by manual operation errors, and the requirements for high precision and high consistency cannot be met.

Description

Technical Field

[0001] This invention relates to the field of dispensing machine technology, and in particular to a method, apparatus and dispensing system for automatic glue replacement in a dispensing machine. Background Technology

[0002] A dispensing machine is an automated device that precisely controls the distribution of fluids (such as adhesives). It can drip or coat fluids onto the surface or interior of products and is widely used in electronics, automotive, medical, and new energy industries. In the electronics field, which involves the production of printed circuit boards (PCBs), dispensing machines are key equipment for achieving precise adhesive application. They can apply adhesive at designated locations with preset shapes, amounts, and precision, ensuring the electrical performance and mechanical reliability of the PCB. Furthermore, during the dispensing process for PCBs, the adhesive tubes need to be replaced promptly when the adhesive runs out to ensure continuous and normal production.

[0003] In traditional technology, glue replacement is typically done manually. This involves manually moving a full glue tube to the dispensing machine, manually disassembling the used glue tube, and then manually installing a new full glue tube to supply glue. However, this traditional manual glue replacement method is not only inefficient and prone to glue mixing or contamination, but also frequently suffers from product quality issues due to human error, failing to meet the stringent requirements of high precision and consistency in modern electronics manufacturing. Therefore, there is an urgent need for an automated glue replacement solution for dispensing machines to address these technical challenges. Summary of the Invention

[0004] This invention provides an automatic glue replacement method, device, and dispensing system for a dispensing machine. It solves the problems of low efficiency, easy mixing or contamination of glue, and frequent impact on product quality due to human error in traditional manual glue replacement methods, which cannot meet the stringent requirements of high precision and high consistency in modern electronic manufacturing.

[0005] To solve the above-mentioned technical problems, the present invention provides an automatic glue replacement method for a dispensing machine, which is applied to a dispensing system; The dispensing system includes a dispensing machine and a self-transfer adhesive device; The dispensing machine includes a frame, a dispensing worktable disposed in the frame, a dispensing valve mechanism disposed on the dispensing worktable, and a glue changing and supply mechanism connected to the dispensing valve mechanism. The glue self-transfer equipment includes an AGV vehicle, a glue supply rack located on one side of the AGV vehicle, and a material handling robot located on the other side of the AGV vehicle. The method includes: In response to the glue replacement command of the glue supply mechanism of the dispensing machine, the glue self-transfer device carrying the glue supply frame with a full glue tube is controlled to move closer to the dispensing machine. When the glue is moved from the transfer device to the glue replacement position of the dispensing machine, the glue replacement and supply mechanism is controlled to stop supplying glue to the dispensing valve mechanism, and the material handling robot is controlled to remove the glue tube to be replaced from the glue replacement and supply mechanism and place it on the glue supply rack. The robotic arm is controlled to pick up a full glue tube from the glue supply rack and place it on the glue replacement and supply mechanism. The glue replacement and supply mechanism is then controlled to continue supplying glue to the dispensing valve mechanism, thus completing the automatic glue replacement.

[0006] In addition, the present invention also proposes an automatic glue replacement device for a dispensing machine, which is applied to a dispensing system; The dispensing system includes a dispensing machine and a self-transfer adhesive device; The dispensing machine includes a frame, a dispensing worktable disposed in the frame, a dispensing valve mechanism disposed on the dispensing worktable, and a glue changing and supply mechanism connected to the dispensing valve mechanism. The glue self-transfer equipment includes an AGV vehicle, a glue supply rack located on one side of the AGV vehicle, and a material handling robot located on the other side of the AGV vehicle. The device includes: An automatic glue transfer module is used to control the glue transfer device, which carries the glue supply frame with a full glue tube, to move closer to the dispensing machine in response to the glue replacement command of the glue supply mechanism of the dispensing machine. The automatic hose feeding module is used to control the glue replacement and supply mechanism to stop supplying glue to the dispensing valve mechanism when the glue self-transfer equipment moves to the glue replacement position of the dispensing machine, and to control the picking and placing robot arm to remove the glue hose to be replaced from the glue replacement and supply mechanism and place it on the glue supply rack. The automatic glue tube feeding module is used to control the picking and placing robot arm to pick up a full glue tube from the glue supply rack and place it on the glue changing and supply mechanism, and to control the glue changing and supply mechanism to continue supplying glue to the dispensing valve mechanism, thereby completing the automatic glue replacement.

[0007] Furthermore, the present invention also proposes a dispensing system, comprising: A dispensing machine includes a frame, a dispensing worktable disposed in the frame, a dispensing valve mechanism disposed on the dispensing worktable, and a glue changing and supply mechanism connected to the dispensing valve mechanism. An adhesive self-transfer device includes an AGV (Automated Guided Vehicle), an adhesive supply rack located on one side of the AGV, and a material handling robot located on the other side of the AGV; and The controller is connected to the dispensing workbench, the dispensing valve mechanism, the glue changing and supply mechanism, the AGV vehicle, and the material handling robot. The controller is used to implement the automatic glue replacement method for the dispensing machine as described above.

[0008] Furthermore, the present invention also proposes a computer storage medium comprising: at least one instruction that, when executed by a computer, implements the method steps in the automatic glue replacement method for a dispensing machine as described above.

[0009] The beneficial effects of the technical solution provided by this invention include: When the glue in the glue supply mechanism of the dispensing machine needs to be replaced, the glue self-transfer device can be controlled to automatically move the glue rack carrying the glue tube filled with glue (i.e., the full glue tube) to the side of the dispensing machine; the glue supply mechanism of the dispensing machine can be controlled to stop supplying glue to the dispensing valve mechanism, and the used glue tube (i.e., the glue tube to be replaced) can be automatically disassembled and removed by the glue supply mechanism and the material handling robot, and the glue tube to be replaced can be moved and stored on the glue rack by the material handling robot; then the full glue tube stored on the glue rack can be picked up and transferred to the glue supply mechanism by the material supply mechanism, and the full glue tube can be automatically installed and positioned by the glue supply mechanism, and the glue supply mechanism can be controlled to continue supplying glue to the dispensing valve mechanism.

[0010] Thus, the technical solution provided by this invention enables the automatic transfer of full glue tubes and glue tubes to be replaced, as well as the automatic disassembly of glue tubes to be replaced and the automatic installation of full glue tubes. This automatic glue replacement method improves glue changing efficiency and the production efficiency of the dispensing machine, reduces the likelihood of glue mixing or contamination during glue replacement, and avoids human error, thereby ensuring product quality and meeting the stringent requirements of modern electronic manufacturing for high precision and consistency. Attached Figure Description

[0011] To more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0012] Figure 1 This is a schematic diagram illustrating the steps of the automatic glue replacement method for a dispensing machine according to an embodiment of the present invention; Figure 2 This is a three-dimensional structural diagram of the dispensing system described in an embodiment of the present invention; Figure 3 This is a simplified structural block diagram of the dispensing machine described in an embodiment of the present invention; Figure 4 This is a three-dimensional structural diagram of the adhesive changing and supply mechanism described in an embodiment of the present invention. Figure 1 ; Figure 5 This is a three-dimensional structural diagram of the adhesive changing and supply mechanism described in an embodiment of the present invention. Figure 2 ; Figure 6 This is a three-dimensional structural diagram of the glue tube described in an embodiment of the present invention; Figure 7 This is a three-dimensional structural diagram of the self-transfer adhesive device according to an embodiment of the present invention; Figure 8 This is a three-dimensional structural diagram of the glue supply rack according to an embodiment of the present invention; Figure 9 This is a three-dimensional structural diagram of the material handling robot described in an embodiment of the present invention; Figure 10 This is a simplified structural diagram of the automatic glue changing device for a dispensing machine according to an embodiment of the present invention. Figure 11 This is a simplified block diagram illustrating the structure of the dispensing system described in an embodiment of the present invention.

[0013] In the diagram: 10. Dispensing system; 20. Glue hose; 22. Glue hose cap; 24. Leak-proof connector; 100. Dispensing machine; 102. Frame; 104. Dispensing workbench; 106. Dispensing valve mechanism; 108. Glue changing and supply mechanism; 110. Glue hose clamping and positioning mechanism; 112. Glue hose lifting and adjusting structure; 1122. Glue hose lifting drive; 1124. Glue hose lifting and adjusting block; 114. Glue hose sensing and clamping structure; 1142. Glue hose sensor; 1144. Clamping drive; 1146. Glue hose gripper structure; 120. Glue dispensing connection mechanism; 122. Glue inlet connector; 130. Glue discharge mechanism; 132. Glue discharge lifting structure; 1 322. Dispensing lifting drive; 1324. Dispensing clamp structure; 134. Dispensing adapter; 200. Self-transferring adhesive device; 210. AGV vehicle; 220. Dispensing rack; 222. Rack base; 224. Full tube rack; 226. Empty tube rack; 230. Picking and unloading robot; 232. Multi-axis robotic arm; 234. Picking and unloading gripper; 2342. Gripper body; 2344. Gripper drive structure; 236. Vision positioning module; 300. Controller; 1000. Automatic adhesive changing device for dispensing machine; 1002. Automatic adhesive transfer module; 1004. Automatic hose unloading module; 1006. Automatic hose loading module. Detailed Implementation

[0014] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0015] like Figure 1 As shown, this invention proposes an automatic glue replacement method for a dispensing machine, applied to a dispensing system 10. For example... Figure 2 As shown, the dispensing system 10 may include a dispensing machine 100 and a self-contained adhesive conveying device 200. The self-contained adhesive conveying device 200 can deliver adhesive tubing 20 (e.g., ...) to the dispensing machine 100. Figure 5 As shown in the figure, the dispensing machine 100 can dispense adhesive onto materials (such as circuit boards).

[0016] Moreover, such as Figures 2 to 5 As shown, the dispensing machine 100 may include a frame 102, a dispensing worktable 104 disposed in the frame 102, a dispensing valve mechanism 106 disposed on the dispensing worktable 104, and a glue-changing and supplying mechanism 108 connected to the dispensing valve mechanism 106. The glue-changing and supplying mechanism 108 can supply glue to the dispensing valve mechanism 106, enabling the dispensing valve mechanism 106 to dispense glue onto the material on the dispensing worktable 104. Furthermore, as... Figure 2 and Figure 6 As shown, the glue self-transfer device 200 may include an AGV (Automated Guided Vehicle), a glue supply rack 220 located on one side of the AGV 210, and a material handling robot 230 located on the other side of the AGV 210. The AGV 210 can automatically move the glue supply rack 220 and the material handling robot 230, while the material handling robot 230 and the glue changing and supply mechanism 108 can automatically assemble and disassemble the glue tube 20 on the glue changing and supply mechanism 108, and the glue supply rack 220 can carry the glue tube 20.

[0017] Specifically, such as Figure 1 As shown, the automatic glue replacement method of this dispensing machine may include the following steps: S100, in response to the glue replacement command of the glue replacement and glue supply mechanism 108 of the dispensing machine 100, controls the glue self-transfer device 200 carrying the glue supply rack 220 with the full glue tube 20 to move closer to the dispensing machine 100. S200: When the glue transfer device 200 moves to the glue replacement position of the dispensing machine 100, the glue replacement and supply mechanism 108 is controlled to stop supplying glue to the dispensing valve mechanism 106, and the material handling robot 230 is controlled to remove the glue tube 20 to be replaced from the glue replacement and supply mechanism 108 and place it on the glue supply rack 220. S300: Control the material handling robot 230 to pick up the full glue tube 20 from the glue supply rack 220 and place it on the glue changing and supply mechanism 108, and control the glue changing and supply mechanism 108 to continue supplying glue to the dispensing valve mechanism 106 to complete the automatic glue replacement.

[0018] When the glue in the glue supply mechanism 108 of the dispensing machine 100 needs to be replaced, the glue self-transfer device 200 can be controlled to automatically move the glue supply rack 220 carrying the glue tube 20 (i.e., full glue tube 20) to the side of the dispensing machine 100; and the glue supply mechanism 108 of the dispensing machine 100 can be controlled to stop supplying glue to the dispensing valve mechanism 106, and the used glue tube 20 can be automatically removed by the glue supply mechanism 108 and the material handling robot 230. 0 (i.e., the glue tube to be replaced 20) is disassembled and removed, and the glue tube to be replaced 20 is moved and stored on the glue supply rack 220 by the material handling robot 230; then the full glue tube 20 stored in the glue supply rack 220 is picked up and transferred to the glue replacement and glue supply mechanism 108 by the material handling robot 230, and the full glue tube 20 is automatically installed and positioned by the glue replacement and glue supply mechanism 108, and the glue replacement and glue supply mechanism 108 can be controlled to continue to supply glue to the glue dispensing valve mechanism 106.

[0019] Thus, the technical solution provided by this invention enables the automatic transfer of the full glue tube 20 and the automatic transfer of the glue tube 20 to be replaced, as well as the automatic disassembly of the glue tube 20 to be replaced and the automatic installation of the full glue tube 20. The automatic glue replacement method improves glue replacement efficiency and the production efficiency of the dispensing machine 100, making glue mixing or contamination less likely during glue replacement, and avoiding human error, thereby ensuring product quality and meeting the stringent requirements of modern electronic manufacturing for high precision and high consistency.

[0020] Furthermore, before step S100 responds to the glue replacement command from the glue supply mechanism 108 of the dispensing machine 100, the following steps may be included: S102. Obtain the glue level value of the glue tube 20 to be replaced on the glue replacement and glue supply mechanism 108 of the dispensing machine 100.

[0021] The glue supply mechanism 108 of the dispensing machine 100 is equipped with a glue tube 20. The glue supply mechanism 108 can supply glue from the glue tube 20 to the dispensing valve mechanism 106, which then sprays the glue onto the material on the dispensing worktable 104. Furthermore, the glue supply mechanism 108 can also be equipped with a liquid level detection sensor to detect the glue level in the glue tube 20 on the glue supply mechanism 108, and can collect and detect the glue level value of the glue tube 20 to be replaced on the glue supply mechanism 108 in real time.

[0022] S104. When the glue level is detected to reach the warning level, the glue replacement and supply mechanism 108 is controlled to issue a glue replacement command.

[0023] A warning liquid level value can be preset. When the glue level of the glue tube 20 to be replaced is detected to reach the warning liquid level value, it can be determined that the glue tube 20 to be replaced needs to be replaced. At this time, the liquid level detection sensor of the glue replacement and supply mechanism 108 can issue a glue replacement command. When the glue level of the glue tube 20 to be replaced is detected not to reach the warning liquid level value, it can be determined that the glue tube 20 to be replaced does not need to be replaced. At this time, the glue replacement and supply mechanism 108 can continue to transport the glue in the glue tube 20 to be replaced to the dispensing valve mechanism 106 for glue spraying and dispensing.

[0024] Furthermore, in step S100, in response to the glue replacement command of the glue supply mechanism 108 of the dispensing machine 100, controlling the glue self-transfer device 200 carrying the glue rack 220 with the full glue tube 20 to move closer to the dispensing machine 100 may further include the following steps: S110. Place multiple glue-filled tubes 20 on the glue supply rack 220 of the glue self-transfer device 200 in advance.

[0025] Specifically, such as Figure 7 As shown, multiple full glue tubes 20 can be moved in advance to the glue supply rack 220 of the AGV 210 by the pick-and-place robot 230 (or other material transfer equipment) on the glue self-transfer equipment 200, or the glue supply rack 220 carrying multiple full glue tubes 20 can be moved in advance to the AGV 210 by the pick-and-place robot 230 (or other material transfer equipment).

[0026] Moreover, such as Figures 7 to 8As shown, the glue supply rack 220 may include a frame base 222 with loading and unloading stations on both sides, a full tube rack 224 at the loading station of the frame base 222, and an empty tube rack 226 at the unloading station. Multiple full glue tubes 20 may be pre-placed on the full tube rack 224, while the empty tube rack 226 may be left empty to hold glue tubes 20 to be replaced. Furthermore, the material handling robot 230 is positioned opposite to both the full tube rack 224 and the empty tube rack 226 for easy tube handling.

[0027] Furthermore, the frame base 222 may include a base block on the workbench on the top surface of the AGV vehicle 210. The top of the base block may be provided with multiple stepped mounting surfaces in sequence. Multiple full tube racks 224 and multiple empty tube racks 226 can be detachably mounted on multiple mounting surfaces. Moreover, each mounting surface has a loading station on one side and a unloading station side by side on the other side. A full tube rack 224 can be correspondingly set at the loading station of one mounting surface, and an empty tube rack 226 can be correspondingly set at the unloading station of one mounting surface. By setting the top surface of the frame base 222 in a stepped manner, the full tube racks 224 and empty tube racks 226 on the top surface of the frame base 222 are also arranged in a stepped manner, so that the full glue tubes 20 on the full tube rack 224 and the empty glue tubes 20 (replaceable glue tubes 20) on the empty tube rack 226 are arranged in a stepped manner, which facilitates the picking and placing of tubes by the material handling robot 230.

[0028] S120: In response to the glue replacement instruction of the glue supply mechanism 108 of the dispensing machine 100, the position information of the dispensing machine 100 of the glue tube 20 to be replaced is obtained.

[0029] Upon receiving a glue replacement command from the glue supply mechanism 108, the control mechanism (such as the controller 300) of the dispensing machine 100 or the dispensing system 10 can send an approach glue replacement command to the AGV 210 of the glue self-transfer device 200 in response to the glue replacement command. At the same time, it will also send the position coordinates (i.e., position information) of the dispensing machine 100 to the AGV 210 of the glue self-transfer device 200. In the initial state, the glue self-transfer device 200 can be parked at the equipment base station position for standby. At the equipment base station position, charging, maintenance, etc. of the AGV 210 of the glue self-transfer device 200 can be realized, as well as loading full glue tubes 20 and unloading perforated glue tubes 20 on the glue supply rack 220 on the AGV 210.

[0030] S130. Based on the obtained position information of the dispensing machine 100 with the glue tube 20 to be replaced, control the glue self-transfer device 200 carrying the glue supply rack 220 with the full glue tube 20 to move closer to the dispensing machine 100.

[0031] After obtaining the position coordinates of the dispensing machine 100 whose glue tube 20 needs to be replaced, the AGV 210 of the glue self-transfer equipment 200 can carry the glue supply rack 220 full of glue tube 20 and the material handling robot 230 for replacing glue tube 20, and move closer to the position coordinates, so that the glue self-transfer equipment 200 moves to the glue replacement position near the dispensing machine 100.

[0032] In addition, such as Figures 3 to 5 As shown, the glue supply mechanism 108 of the dispensing machine 100 may include a glue tube clamping and positioning mechanism 110 mounted on the frame 102, a glue dispensing connection mechanism 120 and an air supply and glue discharge mechanism 130 respectively mounted at both ends of the glue tube clamping and positioning mechanism 110, and the glue dispensing connection mechanism 120 is connected to the dispensing valve mechanism 106. Therefore, in step S200, controlling the glue supply mechanism 108 to stop supplying glue to the dispensing valve mechanism 106, and controlling the material handling robot 230 to remove the glue tube 20 to be replaced from the glue supply mechanism 108 and place it on the glue supply rack 220, may further include the following steps: S210, the air supply and discharge mechanism 130 of the control glue replacement and glue supply mechanism 108 stops supplying compressed gas to the glue tube 20 to be replaced held by the glue tube clamping and positioning mechanism 110, so that the glue tube 20 to be replaced stops delivering glue to the glue dispensing connection mechanism 120 through its glue outlet, thereby stopping the supply of glue to the dispensing valve mechanism 106.

[0033] Before disassembling the glue tube 20 to be replaced, which is held by the glue tube clamping and positioning mechanism 110, it is necessary to stop the air supply and glue supply to it. Therefore, the air supply and glue discharge mechanism 130, which supplies compressed air to the glue tube 20 to be replaced, can be cut off or stopped from supplying air to the glue tube 20 to be replaced, so as to stop the glue in the glue tube 20 from being squeezed out by the compressed air. This will stop the glue tube 20 from supplying glue to the glue dispensing connection mechanism 120 through its glue outlet, thereby stopping the glue supply to the glue dispensing valve mechanism 106 through the glue dispensing connection mechanism 120.

[0034] S220, the air supply and discharge mechanism 130 of the glue replacement mechanism 108 is separated from the top of the glue tube 20 to be replaced held by the glue tube clamping and positioning mechanism 110, and the glue tube clamping and positioning mechanism 110 is moved to separate the glue outlet of the glue tube 20 to be replaced from the glue outlet connection mechanism 120.

[0035] When the air supply and glue discharge mechanism 130 is working, it is in a docking state with the glue cap 22 at the top of the glue tube 20 to be replaced, which is held by the glue tube clamping and positioning mechanism 110. At the same time, the leak-proof connector 24 at the glue outlet of the glue tube 20 to be replaced is also in a docking state with the glue discharge connection mechanism 120. This makes it easy for the air supply and glue discharge mechanism 130 to deliver compressed gas from the glue cap 22 at the top of the glue tube 20 to the glue tube 20 to be replaced, and to squeeze the glue in the glue tube 20 to be replaced, so that the glue is delivered from the leak-proof connector 24 at the glue outlet at the bottom of the glue tube 20 to the glue discharge connection mechanism 120.

[0036] Before disassembling the glue tube 20 to be replaced held by the glue tube clamping and positioning mechanism 110, the two ends of the glue tube 20 to be replaced can be separated from the air supply and glue discharge mechanism 130 and the glue discharge connection mechanism 120 respectively, so that only the glue tube clamping and positioning mechanism 110 holds the glue tube 20 to be replaced.

[0037] S230, control the material handling robot 230 to move to the glue tube 20 to be replaced held by the glue tube clamping and positioning mechanism 110, and clamp the glue tube 20 to be replaced.

[0038] After the two ends of the glue tube 20 to be replaced are separated from the air supply and glue discharge mechanism 130 and the glue discharge connection mechanism 120 respectively, the glue at the glue replacement position can be moved by the pick-and-place robot 230 of the glue transfer device 200 to the glue tube clamping and positioning mechanism 110, so that the pick-and-place robot 230 clamps the glue tube 20 to be replaced.

[0039] S240, control the hose clamping and positioning mechanism 110 to release the clamp on the glue tube 20 to be replaced, and control the material handling robot 230 to remove the glue tube 20 to be replaced from the glue supply mechanism 108 and transfer and place it on the glue supply rack 220.

[0040] After the robotic arm 230 clamps the glue tube 20 to be replaced, the glue tube clamping and positioning mechanism 110 can release its grip on the glue tube 20 to be replaced, so that the robotic arm 230 can remove the glue tube 20 to be replaced from the glue tube clamping and positioning mechanism 110 and transfer and place it on the empty tube rack 226 on the AGV vehicle 210, thereby completing the disassembly of the glue tube 20 to be replaced on the glue tube clamping and positioning mechanism 110.

[0041] Furthermore, such as Figures 3 to 5As shown, the hose clamping and positioning mechanism 110 may include a hose lifting and adjusting structure 112 mounted on the frame, and a hose sensing and clamping structure 114 mounted on the hose lifting and adjusting structure 112; the dispensing connection mechanism 120 may include an inlet connector 122 mounted on the bottom side of the frame or the hose clamping and positioning mechanism 110, for docking with a leak-proof connector 24 at the dispensing port at the bottom of the glue tube 20; the air supply and dispensing mechanism 130 may include a dispensing lifting structure 132 mounted on the top side of the hose clamping and positioning mechanism 110, a dispensing adapter connector 134 connected to the dispensing lifting structure 132, and a dispensing air source connected to the dispensing adapter connector 134, the dispensing adapter connector 134 being docked with an air inlet on the hose cap 22 at the top of the glue tube 20.

[0042] Therefore, in step S210, controlling the air supply and discharge mechanism 130 of the glue replacement and glue supply mechanism 108 to stop supplying compressed gas to the glue tube 20 to be replaced held by the glue tube clamping and positioning mechanism 110 may further include the following steps: The air supply and discharge mechanism 130 of the control glue supply mechanism 108 cuts off or stops supplying compressed gas to the discharge adapter 134, so that the discharge adapter 134 stops supplying compressed gas to the glue tube 20 to be replaced through the air inlet on the glue tube cap 22 at the top of the glue tube 20 to be replaced held by the glue tube clamping and positioning mechanism 110.

[0043] Furthermore, in step S220, controlling the air supply and discharging mechanism 130 of the glue replacement mechanism 108 to separate the top of the glue tube 20 to be replaced held by the glue tube clamping and positioning mechanism 110, and controlling the glue tube clamping and positioning mechanism 110 to move so that the glue outlet of the glue tube 20 to be replaced is separated from the glue outlet connection mechanism 120, may further include the following steps: S222. After the air supply and discharge mechanism 130 of the glue supply and discharge mechanism 108 stops supplying compressed gas to the discharge adapter 134, the discharge lifting structure 132 is controlled to drive the discharge adapter 134 to move up and down so that the discharge adapter 134 is separated from the air inlet on the top of the glue tube 20 to be replaced held by the glue tube sensing clamping structure 114 of the glue tube clamping and positioning mechanism 110.

[0044] That is, after the gas supply to the glue discharge mechanism 130 is cut off or stopped and compressed gas is supplied to the glue tube 20 to be replaced through the glue discharge adapter 134, the glue discharge adapter 134 can be driven by the glue discharge lifting structure 132 to move away from the air inlet on the glue tube cap 22 at the top of the glue tube 20 to be replaced, so that the air inlet of the glue discharge adapter 134 is separated from the air inlet of the glue tube cap 22 at the top of the glue tube 20 to be replaced.

[0045] S224, the hose lifting and adjusting structure 112 of the hose clamping and positioning mechanism 110 drives the hose sensing clamping structure 114 to move up and down, so that the leak-proof connector 24 at the bottom of the glue outlet of the glue tube 20 to be replaced held by the hose sensing clamping structure 114 is separated from the glue inlet connector 122 of the glue outlet connection mechanism 120.

[0046] After the glue discharge adapter 134 separates from the top of the glue tube 20 to be replaced, the glue tube lifting adjustment structure 112 can drive the glue tube sensing clamping structure 114 holding the glue tube 20 to be replaced to move, so that the leak-proof connector 24 at the glue outlet at the bottom of the glue tube 20 to be replaced separates from the glue inlet connector 122, so that the bottom of the glue tube 20 to be replaced separates from the glue discharge connection mechanism 120, thereby making both ends of the glue tube 20 to be replaced separate, so that it can be removed from the glue tube sensing clamping structure 114.

[0047] Furthermore, such as Figures 3 to 5 As shown, the glue discharge lifting structure 132 may include a glue discharge lifting drive 1322 mounted on the frame 102, and a glue discharge clamping block structure 1324 connected to the drive end of the glue discharge lifting drive 1322, with the glue discharge adapter 134 clamped on the glue discharge clamping block structure 1324. Therefore, in step S222, controlling the glue discharge lifting structure 132 to drive the glue discharge adapter 134 to move up and down may further include the following steps: The dispensing lifting drive 1322 of the dispensing lifting structure 132 drives the dispensing clamping block structure 1324 to move vertically up and down along the frame 102, which in turn drives the dispensing adapter 134 held by the dispensing clamping block structure 1324 to move up and down, so that the dispensing adapter 134 moves away from the air inlet on the top of the glue tube 20 to be replaced held by the glue tube sensing clamping structure 114.

[0048] Furthermore, the glue discharge adapter 134 can be fixedly clamped onto the glue discharge clamping block structure 1324, detachably clamped onto the glue discharge clamping block structure 1324, or clamped onto the glue discharge clamping block structure 1324 via movable jaws. The glue discharge clamping block structure 1324 may include a glue discharge clamping block seat slidably mounted on the frame 102 and connected to the glue discharge lifting drive 1322, and a clamping block body protruding from the side of the glue discharge clamping block seat. The glue discharge adapter 134 can be clamped in the clamping gap at the end of the clamping block body. The glue discharge lifting drive 1322 can drive the glue discharge clamping block seat to rise and slide, thereby causing the clamping block body and the glue discharge adapter 134 clamped thereon to rise and move.

[0049] Furthermore, the glue discharge adapter 134 may include a glue discharge adapter body disposed on the glue discharge lifting structure 132, an air inlet connector protruding from the top or side of the glue discharge adapter body, and an exhaust connector protruding from the bottom of the glue discharge adapter body. The air inlet connector is connected to the glue discharge air source, and the exhaust connector is used to connect or disconnect with the air inlet on the glue tube cap 22 disposed on the top of the glue tube 20.

[0050] In addition, such as Figures 3 to 5 As shown, the hose lifting adjustment structure 112 may include a hose lifting drive 1122 mounted on the frame 102, and a hose lifting adjustment block 1124 connected to the drive end of the hose lifting drive 1122. The hose lifting adjustment block 1124 is slidably mounted on the frame 102. A hose sensing clamping structure 114 may be mounted on the hose lifting adjustment block 1124, and the glue inlet connector 122 protrudes from the bottom of the hose lifting drive 1122. Therefore, in step S224, controlling the hose lifting adjustment structure 112 of the hose clamping and positioning mechanism 110 to drive the hose sensing clamping structure 114 to move up and down may further include the following steps: The hose lifting drive 1122 of the hose lifting adjustment structure 112 of the hose clamping and positioning mechanism 110 drives the hose lifting adjustment block 1124 to move vertically, which in turn drives the hose sensing clamping structure 114 on the hose lifting adjustment block 1124 and the glue tube 20 to be replaced to move vertically, so that the leak-proof connector 24 at the bottom glue outlet of the glue tube 20 to be replaced moves away from the glue inlet connector 122 of the glue outlet connection mechanism 120.

[0051] Furthermore, the glue inlet connector 122 may include a glue inlet head body protruding from the bottom side of the glue tube clamping and positioning mechanism 110, and a first detachable connection structure disposed on the glue inlet head body; moreover, the glue inlet head body may be provided with a glue inlet cavity, which can be connected to the one-way valve connector of the leak-proof connector 24 disposed at the glue outlet of the glue tube 20, and the first detachable connection structure can cooperate with the second detachable connection structure disposed on the leak-proof connector 24. By connecting or separating the first detachable connection structure on the glue inlet connector 122 from the second detachable connection structure on the leak-proof connector 24, the glue inlet connector 122 can be connected or separated from the leak-proof connector 24 at the glue outlet of the glue tube 20. Moreover, the first detachable connection structure and the second detachable connection structure may be configured as a mutually cooperating magnetic structure or a snap-fit ​​structure.

[0052] In addition, such as Figure 7 and Figure 9As shown, the material handling robot 230 may include a multi-axis robotic arm 232 mounted on the AGV 210, and a material handling gripper 234 and a vision positioning module 236 mounted on the multi-axis robotic arm 232. Both the material handling gripper 234 and the vision positioning module 236 are positioned opposite to the glue supply rack 220. Therefore, in step S230, controlling the material handling robot 230 to move to the glue tube to be replaced held by the glue tube clamping and positioning mechanism 110 and clamping the glue tube to be replaced 20 may further include the following steps: S232, the multi-axis robotic arm 232 of the control robot 230 drives the picking and placing gripper 234 to move closer to the hose sensing clamping structure 114 of the hose clamping and positioning mechanism 110.

[0053] After the top cap 22 of the glue tube 20 to be replaced held by the glue tube sensing clamping structure 114 is separated from the glue discharge adapter 134, and the leak-proof connector 24 at the bottom glue outlet is separated from the glue inlet connector 122, the multi-axis robotic arm 232 can drive the pick-and-place gripper 234 to approach the tube body of the glue tube 20 to be replaced held by the glue tube sensing clamping structure 114.

[0054] S234. When the pick-and-place gripper 234 approaches the glue tube 20 to be replaced held by the glue tube sensing and clamping structure 114, the glue tube clamping position of the glue tube 20 to be replaced is obtained by the vision positioning module 236.

[0055] When the pick-and-place gripper 234 approaches the glue tube 20 to be replaced held by the glue tube sensing and gripping structure 114, the visual positioning module 236 can perform visual positioning of the glue tube 20 to be replaced, facilitating further movement of the pick-and-place gripper 234 towards the glue tube 20. Furthermore, when the multi-axis robotic arm 232 drives the pick-and-place gripper 234 to move from its initial position towards the glue tube 20, the visual positioning module 236 can also perform visual positioning of the glue tube 20 to be replaced, and can continuously correct the visual positioning as it approaches the glue tube 20, so that the pick-and-place gripper 234 can accurately grasp the glue tube 20. Moreover, the visual positioning module 236 may include a camera module located at the end of the multi-axis robotic arm 232.

[0056] S236. Control the multi-axis robotic arm 232 to drive the pick-and-place gripper 234 to move to the hose clamping position, and control the pick-and-place gripper 234 to clamp the hose to be replaced 20.

[0057] After the multi-axis robotic arm 232 moves the pick-and-place gripper 234 to the hose clamping position, the pick-and-place gripper 234 can clamp the hose-to-be-replaced glue tube 20 held by the hose sensing clamping structure 114. Furthermore, the pick-and-place gripper 234 may include a gripper body 2342 and a gripper drive structure 2344 located at the end of the multi-axis robotic arm 232. The gripper drive structure 2344 is connected to the gripper body 2342 and is used to drive the gripper body 2342 to clamp or release the glue tube 20. Additionally, the pick-and-place gripper 234 may include a positioning plate protruding from the end of the multi-axis robotic arm 232, with the gripper body 2342 located below the positioning plate. The end of the positioning plate may have a recessed positioning groove, which corresponds vertically to the clamping gap of the gripper body 2342. When clamping or releasing the glue tube 20 through the gripper body 2342, the glue tube 20 can be positioned by the positioning groove on the positioning plate above the gripper body 2342, making the clamping or releasing of the glue tube 20 more stable and precise.

[0058] Furthermore, such as Figure 9 As shown, the gripper drive structure 2344 may include a drive cylinder structure disposed at the end of the multi-axis robotic arm 232; the gripper body 2342 may include a gripper seat disposed at the end of the multi-axis robotic arm 232, and two gripper plates movably disposed on the gripper seat, wherein the drive cylinder structure is connected to at least one of the two gripper plates and is used to drive the two gripper plates to move closer or further apart from each other.

[0059] Furthermore, in step S240, controlling the hose clamping and positioning mechanism 110 to release the clamp on the glue hose 20 to be replaced, and controlling the material handling robot 230 to remove the glue hose 20 to be replaced from the glue supply mechanism 108 and transfer and place it on the glue supply rack 220, may further include the following steps: S242. When the leak-proof connector 24 at the bottom outlet of the glue tube 20 to be replaced, held by the glue tube sensing clamping structure 114, separates from the glue inlet connector 122, and the air inlet on the top glue tube cap 22 separates from the glue discharge adapter connector 134, the glue tube sensing clamping structure 114 is controlled to release the clamping of the glue tube 20 to be replaced.

[0060] After the adhesive tube 20 to be replaced is held by the adhesive tube sensing clamping structure 114 by the picking and placing gripper 234 of the picking and placing robot 230, the adhesive tube sensing clamping structure 114 can be released, making it easy for the picking and placing robot 230 to remove the adhesive tube 20 to be replaced from the adhesive tube sensing clamping structure 114. Moreover, as Figures 3 to 5As shown, the hose sensing clamping structure 114 may include a clamping drive member 1144 disposed on the hose lifting adjustment structure 112, and a hose gripper structure 1146 movably disposed on the hose lifting adjustment structure 112. The clamping drive member 1144 is connected to the hose gripper structure 1146 and is used to drive the hose gripper structure 1146 to clamp or release the glue tube 20.

[0061] S244, the multi-axis robotic arm 232 of the control pick-and-place robot 230 drives the pick-and-place gripper 234 holding the glue tube to be replaced 20 to move from the glue tube sensing gripping structure 114 to a position close to the glue supply rack 220, so that the glue tube to be replaced 20 is removed from the glue tube sensing gripping structure 114 of the glue replacement and glue supply mechanism 108.

[0062] After the adhesive tube 20 to be replaced is held by the pick-and-place gripper 234, the multi-axis robotic arm 232 can drive the pick-and-place gripper 234 and the adhesive tube 20 to be replaced to move away from the adhesive tube sensing and gripping structure 1146 and move the adhesive tube 20 to be replaced towards the empty tube rack 226 of the glue supply rack 220.

[0063] S246. When the pick-and-place gripper 234 moves the glue tube 20 to be replaced close to the glue supply rack 220, the visual positioning module 236 locates and obtains the placement position of the empty glue tube on the glue supply rack 220.

[0064] When the pick-and-place gripper 234 holds the glue tube 20 to be replaced close to the empty tube rack 226 on the glue supply rack 220, the empty tube rack 226 can be visually positioned by the vision positioning module 236, and the empty glue tube placement position on the empty tube rack 226 where no empty glue tube 20 is placed can be positioned, so that the glue tube 20 to be replaced can be placed at an empty glue tube placement position.

[0065] S248. Control the multi-axis robotic arm 232 to drive the pick-and-place gripper 234 to move the gripped glue tube 20 to be replaced to the empty glue tube placement position, and control the pick-and-place gripper 234 to place the glue tube 20 to be replaced at the empty glue tube placement position of the glue supply rack 220.

[0066] like Figure 8 As shown, each empty tube rack 226 may have multiple empty tube placement positions arranged side by side. Driven by a multi-axis robotic arm 232, the pick-and-place gripper 234 can place the glue tubes 20 to be replaced one by one into the multiple empty tube placement positions in a left-to-right or right-to-left order. Moreover, in the multiple empty tube racks 226 arranged in a stepped manner, the glue tubes 20 to be replaced can be placed first on the empty tube rack 226 at the highest position, and then gradually placed on the empty tube rack 226 at the lowest position until all empty tube racks 226 are filled.

[0067] In addition, such as Figures 3 to 5 As shown, the hose sensing and clamping structure 114 may include a hose sensor 1142 disposed on the hose lifting and adjusting structure 112, a clamping drive 1144 connected to the hose sensor 1142, and a hose gripper structure 1146 movably disposed on the hose lifting and adjusting structure 112, with the clamping drive 1144 connected to the hose gripper structure 1146. Therefore, in step S300, controlling the material handling robot 230 to pick up the full glue tube 20 from the glue supply rack 220 and place it on the glue changing and supplying mechanism 108, and controlling the glue changing and supplying mechanism 108 to continue supplying glue to the dispensing valve mechanism 106, may further include the following steps: S310, control the picking and placing robot 230 to pick up and transfer the full glue tube 20 from the glue supply rack 220 to the glue tube sensing clamping structure 114 of the glue changing and glue supply mechanism 108, and cause the full glue tube 20 to trigger the glue tube sensing element 1142 of the glue tube sensing clamping structure 114.

[0068] After the glue tube 20 to be replaced (empty glue tube 20) on the glue tube sensing and clamping structure 114 of the glue supply mechanism 108 is removed and placed on the empty tube rack 226 of the glue supply rack 220, the full glue tube 20 can be taken from the full tube rack 224 of the glue supply rack 220 by the material handling robot 230 and moved to the glue tube sensing and clamping structure 114 so that the glue tube sensing and clamping structure 114 can clamp the full glue tube 20.

[0069] S320, in response to the trigger signal of the hose sensor 1142, the clamping drive 1144 of the hose sensing clamping structure 114 is controlled to drive the hose gripper structure 1146 to clamp the full glue tube 20, and the material handling robot 230 is controlled to reset.

[0070] When the robotic arm 230 moves the full glue tube 20 to the glue tube sensor 1142 of the glue tube sensing and clamping structure 114, the glue tube sensor 1142 is triggered to send a trigger signal to the glue tube sensing and clamping structure 114. This causes the clamping drive 1144 of the glue tube sensing and clamping structure 1144 to drive the glue tube gripper structure 1146 to clamp and position the full glue tube 20. Furthermore, the glue tube sensor 1142 may include a sensing base located on the side of the glue tube lifting drive 1122, and a glue tube sensing switch located on the side of the sensing base and connected to the clamping drive 1144. By triggering the glue tube sensing switch, the clamping drive 1144 can drive the glue tube gripper structure 1146 to clamp the full glue tube 20.

[0071] S330, the hose lifting and adjusting structure 112 of the hose clamping and positioning mechanism 110 drives the hose sensing clamping structure 114 and the full glue tube 20 it clamps to move up and down, so that the leak-proof connector 24 at the glue outlet at the bottom of the full glue tube 20 is connected to the glue inlet connector 122 of the glue outlet connection mechanism 120.

[0072] After the glue tube 20 is clamped by the glue tube sensing clamping structure 114, the glue tube lifting adjustment structure 112 can drive the glue tube sensing clamping structure 114 and the leak-proof connector 24 at the glue outlet at the bottom of the glue tube 20 to move towards the glue inlet connector 122 of the glue dispensing connection mechanism 120, so that the leak-proof connector 24 is connected with the glue inlet connector 122, so that the glue in the glue tube 20 can be delivered to the glue dispensing valve mechanism 106 through the leak-proof connector 24 and the glue inlet connector 122.

[0073] Moreover, such as Figures 3 to 5 As shown, to facilitate the mating of the leak-proof connector 24 with the glue inlet connector 122, the hose sensing element 1142 may further include a hose alignment detector located on the side of the bottom of the sensing base. This hose alignment detector can be vertically aligned with the glue inlet connector 122. Furthermore, the distance between the hose alignment detector and the glue inlet connector 122 can be preset so that when the leak-proof connector 24 moves to the hose alignment detector, the leak-proof connector 24 can precisely mate with the glue inlet connector 122. Moreover, the hose alignment detector can be a laser sensor or other alignment detection device.

[0074] S340, the glue discharge lifting structure 132 of the control air supply and glue discharge mechanism 130 drives the glue discharge adapter 134 to move up and down so that the glue discharge adapter 134 connects with the air inlet on the glue tube cap 22 on the top of the glue tube 20 held by the glue tube clamping structure 1146.

[0075] After the leak-proof connector 24 at the glue outlet at the bottom of the full glue tube 20 is connected to the glue inlet connector 122, the air inlet of the glue tube cap 22 at the top of the full glue tube 20 can be connected to the glue discharge adapter connector 134. Specifically, the glue discharge lifting drive 1322 of the glue discharge lifting structure 132 can drive the glue discharge clamping block structure 1324 to move vertically up and down along the frame 102, causing the glue discharge adapter connector 134 held by the glue discharge clamping block structure 1324 to move up and down, so that the glue discharge adapter connector 134 moves towards the air inlet on the glue tube cap 22 at the top of the full glue tube 20 held by the glue tube sensing clamping structure 114, so that the glue tube cap 22 at the top of the full glue tube 20 and the glue discharge adapter connector 134 are connected.

[0076] S350, the air supply and discharge mechanism 130 of the control glue supply and discharge mechanism 108 starts to supply compressed gas to the discharge adapter 134, so that the compressed gas squeezes the glue in the full glue pipe 20 through the leak-proof connector 24 and the glue inlet connector 122 at the glue outlet and enters the dispensing valve mechanism 106.

[0077] After the glue-filled pipe 20 is connected to the glue discharge adapter 134 and the glue inlet connector 122 at both ends, the glue discharge air source can start to deliver compressed gas to the glue-filled pipe 20 through the glue discharge adapter 134. The glue in the glue-filled pipe 20 is then delivered to the dispensing valve mechanism 106 through the leak-proof connector 24 and the glue inlet connector 122. The material can then be sprayed and dispensed again through the dispensing valve mechanism 106.

[0078] Furthermore, in step S310, controlling the material handling robot 230 to pick up and transfer the full glue tube 20 from the glue supply rack 220 to the glue tube sensing and clamping structure 114 of the glue supply mechanism 108 may further include the following steps: S312, the multi-axis robotic arm 232 of the control robot 230 drives the picking and placing gripper 234 to approach the glue supply rack 220. When the picking and placing gripper 234 moves close to the glue supply rack 220, the full glue tube placement position on the glue supply rack 220 is obtained by the vision positioning module 236.

[0079] When preparing to pick up the full glue tube 20 on the glue supply rack 220, the multi-axis robotic arm 232 can drive the pick-and-place gripper 234 to move to the vicinity of the glue supply rack 220, and the vision positioning module 236 can position the full glue tube 20 on the full glue rack of the glue supply rack 220 to obtain the full glue tube placement position of the full glue tube 20.

[0080] S314. Control the multi-axis robotic arm 232 to drive the pick-and-place gripper 234 to move to the full glue tube placement position, and control the pick-and-place gripper 234 to clamp a full glue tube 20 from the full glue tube placement position of the glue supply rack 220 and move it towards the glue tube sensing and clamping structure 114 of the glue supply mechanism 108.

[0081] like Figure 8 As shown, each full tube rack 224 may have multiple full tube placement positions arranged side by side. The pick-and-place gripper 234, driven by the multi-axis robotic arm 232, can remove the full tubes 20 one by one from the multiple full tube placement positions of the full tube rack 224 in a left-to-right or right-to-left order. Moreover, on the multiple full tube racks 224 arranged in a stepped manner, the full tubes 20 can be removed first from the full tube rack 224 at the lowest position, and then gradually removed from the full tube rack 224 at the highest position, until all the full tubes 20 on the full tube racks 224 are removed.

[0082] S316. When the pick-and-place gripper 234 moves the full glue tube 20 close to the glue tube sensing gripping structure 114, the full glue tube gripping position on the glue tube sensing gripping structure 114 is located and obtained by the vision positioning module 236.

[0083] When the multi-axis robotic arm 232 drives the pick-and-place gripper 234 and the full glue tube 20 to a position close to the glue tube sensing and clamping structure 114, the position of the glue tube gripper structure 1146 of the glue tube sensing and clamping structure 114 can be visually positioned by the vision positioning module 236 (positioning marks can be set on the sensing base of the glue tube sensor 1142 for positioning), so as to obtain the full glue tube clamping position where the full glue tube 20 can be clamped by the glue tube gripper structure 1146.

[0084] S318, control the multi-axis robotic arm 232 to drive the pick-and-place gripper 234 and the full glue tube 20 it holds to move to the full glue tube clamping position, so that the glue tube sensing clamping structure 114 can clamp and position the full glue tube 20.

[0085] The multi-axis robotic arm 232 drives the pick-and-place gripper 234 to move the full glue tube 20 to the glue tube gripper structure 1146, and the tube body of the full glue tube 20 triggers the glue tube sensor 1142, so that the gripping drive 1144 of the glue tube sensing and clamping structure 114 drives the glue tube gripper structure 1146 to clamp the full glue tube 20.

[0086] The automatic glue replacement solution provided by this invention solves the problems of time-consuming, labor-intensive, and inefficient traditional manual glue replacement methods. Automated glue replacement significantly reduces replacement and downtime, improving the continuous operation capability of the production line. It also reduces reliance on manual operation, minimizing quality problems caused by human error and further enhancing the intelligence level of the production process. Therefore, the automatic glue replacement solution provided by this invention is a significant technological innovation in the modern electronics manufacturing field. It effectively solves many problems in existing technologies and makes a significant contribution to the intelligent development of the electronics manufacturing industry.

[0087] In addition, such as Figure 10 As shown, in some other embodiments, the present invention also proposes an automatic glue changing device 1000 for a dispensing machine, applied to a dispensing system 10. For example... Figure 2 As shown, the dispensing system 10 may include a dispensing machine 100 and a self-contained adhesive conveying device 200. The self-contained adhesive conveying device 200 can deliver adhesive tubing 20 (e.g., ...) to the dispensing machine 100. Figure 6 As shown in the figure, the dispensing machine 100 can dispense adhesive onto materials (such as circuit boards).

[0088] Moreover, such as Figures 3 to 5As shown, the dispensing machine 100 may include a frame 102, a dispensing worktable 104 disposed in the frame 102, a dispensing valve mechanism 106 disposed on the dispensing worktable 104, and a glue-changing and supplying mechanism 108 connected to the dispensing valve mechanism 106. The glue-changing and supplying mechanism 108 can supply glue to the dispensing valve mechanism 106, enabling the dispensing valve mechanism 106 to dispense glue onto the material on the dispensing worktable 104. Furthermore, as... Figures 7 to 9 As shown, the glue self-transfer device 200 may include an AGV vehicle 210, a glue supply rack 220 located on one side of the AGV vehicle 210, and a material handling robot 230 located on the other side of the AGV vehicle 210. The AGV vehicle 210 can automatically move the glue supply rack 220 and the material handling robot 230, while the material handling robot 230 and the glue changing and supply mechanism 108 can automatically assemble and disassemble the glue tube 20 on the glue changing and supply mechanism 108, and the glue supply rack 220 can support the glue tube 20.

[0089] Specifically, such as Figure 10 As shown, the automatic glue changing device 1000 for the dispensing machine may include: The glue automatic transfer module 1002 is used to control the glue self-transfer device 200, which carries the glue supply frame 220 with a full glue tube 20, to move closer to the glue dispensing machine 100 in response to the glue replacement command of the glue replacement and supply mechanism 108 of the dispensing machine 100. The automatic hose feeding module 1004 is used to control the glue replacement supply mechanism 108 to stop supplying glue to the dispensing valve mechanism 106 when the glue self-transfer device 200 moves to the glue replacement position of the dispensing machine 100, and to control the pick-and-place robot arm 230 to remove the glue hose 20 to be replaced from the glue replacement supply mechanism 108 and place it on the glue supply rack 220. The automatic glue tube feeding module 1006 is used to control the picking and unloading robot 230 to pick up the full glue tube 20 from the glue supply rack 220 and place it on the glue changing and supply mechanism 108, and control the glue changing and supply mechanism 108 to continue to supply glue to the dispensing valve mechanism 106 to complete the automatic glue replacement.

[0090] The automatic glue replacement device 1000 for the dispensing machine described in this embodiment corresponds to the automatic glue replacement method for the dispensing machine described above. The functions of each module in the automatic glue replacement device 1000 for the dispensing machine in this embodiment are described in detail in the corresponding method embodiments, and will not be repeated here. Moreover, as Figures 2 to 9 As shown, the specific structure of the dispensing system 10 in this embodiment is also described in detail in the above embodiments, and will not be repeated here.

[0091] In addition, such as Figure 11As shown, in some other embodiments, the present invention also proposes a dispensing system 10, including a dispensing machine 100, an adhesive self-transfer device 200, and a controller 300 connected to the dispensing machine 100 and the adhesive self-transfer device 200. Under the control of the controller 300, the adhesive self-transfer device 200 can automatically deliver adhesive tubes 20 to the dispensing machine 100, and the dispensing machine 100 can automatically dispense adhesive onto materials (such as circuit boards).

[0092] Moreover, such as Figures 3 to 5 As shown, the dispensing machine 100 may include a frame 102, a dispensing worktable 104 disposed in the frame 102, a dispensing valve mechanism 106 disposed on the dispensing worktable 104, and a glue changing and supply mechanism 108 connected to the dispensing valve mechanism 106. Figures 7 to 9 As shown, the glue self-transfer device 200 may include an AGV vehicle 210, a glue supply rack 220 located on one side of the AGV vehicle 210, and a material handling robot 230 located on the other side of the AGV vehicle 210. The controller 300 can be connected to the dispensing worktable 104, the dispensing valve mechanism 106, the glue changing and supply mechanism 108, the AGV vehicle 210, and the material handling robot 230. Under the control of the controller 300, the glue changing and supply mechanism 108 of the dispensing machine 100 can automatically supply glue to the dispensing valve mechanism 106, and the dispensing valve mechanism 106 can automatically dispense glue onto the materials on the dispensing worktable 104; the AGV vehicle 210 can automatically carry and move the glue supply rack 220 and the material handling robot 230, while the material handling robot 230 and the glue changing and supply mechanism 108 can automatically install and remove the glue tube 20 on the glue changing and supply mechanism 108.

[0093] Furthermore, the controller 300 can be used to implement each step in the above-described automatic glue replacement method for a dispensing machine. The specific implementation method can be found in the detailed content of the above-described automatic glue replacement method for a dispensing machine, and will not be repeated here. Moreover, the specific structure of the dispensing system 10 in this embodiment has also been specifically described in the above embodiments, and will not be repeated here.

[0094] Furthermore, in other embodiments, the present invention provides a computer-readable storage medium storing computer-executable instructions, which, when executed by a processor, are used to implement all or part of the method steps of the automatic glue replacement method for a dispensing machine as described above.

[0095] The present invention can implement all or part of the processes in the above methods, or it can be accomplished by a computer program instructing related hardware. The computer program can be stored in a computer-readable storage medium, and when the computer program is executed by a processor, it can implement the steps of the various method embodiments described above. The computer program includes computer program code, which can be in the form of source code, object code, executable files, or certain intermediate forms. The computer-readable medium can include: any entity or device capable of carrying computer program code, recording media, USB flash drives, portable hard drives, magnetic disks, optical disks, computer memory, read-only memory (ROM), random access memory (RAM), electrical carrier signals, telecommunication signals, and software distribution media, etc. It should be noted that the content contained in the computer-readable medium can be appropriately added or removed according to the requirements of legislation and patent practice in the jurisdiction. For example, in some jurisdictions, according to legislation and patent practice, the computer-readable medium does not include electrical carrier signals and telecommunication signals.

[0096] Based on the same inventive concept, embodiments of the present invention also provide an electronic device, including a memory and a processor, wherein the memory stores a computer program that runs on the processor, and the processor executes the computer program to implement all or part of the method steps described above.

[0097] The processor can be a Central Processing Unit (CPU), or other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. A general-purpose processor can be a microprocessor or any conventional processor. The processor is the control center of the computer device, connecting all parts of the computer device through various interfaces and lines.

[0098] Memory can be used to store computer programs and / or models. The processor performs various functions of the computer device by running or executing the computer programs and / or models stored in the memory, and by accessing data stored in the memory. Memory can primarily include a program storage area and a data storage area. The program storage area can store the operating system and at least one application program required for a function (e.g., sound playback, image playback, etc.); the data storage area can store data created based on the use of the mobile phone (e.g., audio data, video data, etc.). Furthermore, memory can include high-speed random access memory, and can also include non-volatile memory, such as hard disks, RAM, plug-in hard disks, SmartMedia Cards (SMC), Secure Digital (SD) cards, Flash Cards, at least one disk storage device, flash memory device, or other volatile solid-state storage devices.

[0099] Those skilled in the art will understand that embodiments of the present invention can be provided as methods, systems, servers, or computer program products. Therefore, the present invention can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, the present invention can take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage and optical storage) containing computer-usable program code.

[0100] This invention is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), servers, and computer program products according to embodiments of the invention. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the flowchart... Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0101] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0102] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0103] Obviously, those skilled in the art can make various modifications and variations to this invention without departing from its spirit and scope. Therefore, if these modifications and variations fall within the scope of the claims of this invention and their equivalents, this invention also intends to include these modifications and variations.

Claims

1. An automatic glue replacement method for a dispensing machine, applied to a dispensing system; The dispensing system includes a dispensing machine and a self-transfer adhesive device; The dispensing machine includes a frame, a dispensing worktable disposed in the frame, a dispensing valve mechanism disposed on the dispensing worktable, and a glue changing and supply mechanism connected to the dispensing valve mechanism. The glue self-transfer equipment includes an AGV vehicle, a glue supply rack located on one side of the AGV vehicle, and a material handling robot located on the other side of the AGV vehicle. Its features are, The method includes: In response to the glue replacement command of the glue supply mechanism of the dispensing machine, the glue self-transfer device carrying the glue supply frame with a full glue tube is controlled to move closer to the dispensing machine. When the glue is moved from the transfer device to the glue replacement position of the dispensing machine, the glue replacement and supply mechanism is controlled to stop supplying glue to the dispensing valve mechanism, and the material handling robot is controlled to remove the glue tube to be replaced from the glue replacement and supply mechanism and place it on the glue supply rack. The robotic arm is controlled to pick up a full glue tube from the glue supply rack and place it on the glue replacement and supply mechanism. The glue replacement and supply mechanism is then controlled to continue supplying glue to the dispensing valve mechanism, thus completing the automatic glue replacement.

2. The automatic glue replacement method for a dispensing machine according to claim 1, characterized in that, Prior to responding to the glue replacement command from the glue supply mechanism of the dispensing machine, the following is included: Obtain the glue level value of the glue tube to be replaced on the glue replacement and glue supply mechanism of the dispensing machine; When the glue level is detected to have reached the warning level, the glue replacement and supply mechanism is controlled to issue a glue replacement command.

3. The automatic glue replacement method for a dispensing machine according to claim 1, characterized in that, The glue supply mechanism includes a glue tube clamping and positioning mechanism mounted on the frame, a glue dispensing connection mechanism and an air supply and glue discharge mechanism respectively mounted at both ends of the glue tube clamping and positioning mechanism, and the glue dispensing connection mechanism is connected to the glue dispensing valve mechanism. The step of controlling the glue-changing and supplying mechanism to stop supplying glue to the dispensing valve mechanism, and controlling the material handling robot to remove the glue tube to be replaced from the glue-changing and supplying mechanism and place it on the glue supply rack, includes: The air supply and discharge mechanism of the glue replacement mechanism stops supplying compressed gas to the glue tube to be replaced held by the glue tube clamping and positioning mechanism, so that the glue tube to be replaced stops delivering glue to the glue dispensing connection mechanism through its glue outlet, thereby stopping the supply of glue to the dispensing valve mechanism. The air supply and discharging mechanism of the glue replacement mechanism is controlled to separate the top of the glue tube to be replaced held by the glue tube clamping and positioning mechanism, and the glue tube clamping and positioning mechanism is controlled to move so that the glue outlet of the glue tube to be replaced is separated from the glue discharging connection mechanism. Control the material handling robot to move to the glue tube to be replaced held by the glue tube clamping and positioning mechanism, and clamp the glue tube to be replaced; The system controls the hose clamping and positioning mechanism to release the clamp on the hose to be replaced, and controls the material handling robot to remove the hose to be replaced from the hose replacement and supply mechanism, and then transfer and place it on the supply rack.

4. The automatic glue replacement method for a dispensing machine according to claim 3, characterized in that, The hose clamping and positioning mechanism includes a hose lifting and adjusting structure mounted on the frame, and a hose sensing and clamping structure mounted on the hose lifting and adjusting structure; the dispensing connection mechanism includes an inlet connector mounted on the bottom side of the frame or the hose clamping and positioning mechanism, for connecting with a leak-proof connector at the dispensing port at the bottom of the glue hose; the air supply and dispensing mechanism includes a dispensing lifting structure mounted on the top side of the hose clamping and positioning mechanism, a dispensing adapter connector connected to the dispensing lifting structure, and a dispensing air source connected to the dispensing adapter connector, the dispensing adapter connector being used to connect with an air inlet on the hose cap at the top of the glue hose; The method of controlling the air supply and discharging mechanism of the glue replacement mechanism to separate the top of the glue tube to be replaced held by the glue tube clamping and positioning mechanism, and controlling the glue tube clamping and positioning mechanism to move so that the glue outlet of the glue tube to be replaced is separated from the glue discharging connection mechanism, includes: After the air source of the air supply and discharge mechanism of the glue replacement and glue supply mechanism stops supplying compressed gas to the glue discharge adapter, the glue discharge lifting structure is controlled to drive the glue discharge adapter to move up and down so that the glue discharge adapter is separated from the air inlet on the top of the glue tube to be replaced held by the glue tube sensing clamping structure of the glue tube clamping and positioning mechanism. The hose lifting and adjusting structure that controls the hose clamping and positioning mechanism drives the hose sensing clamping structure to move up and down, so that the leak-proof connector at the bottom of the glue outlet of the glue tube to be replaced held by the hose sensing clamping structure is separated from the glue inlet connector of the glue outlet connection mechanism.

5. The automatic glue replacement method for a dispensing machine according to claim 4, characterized in that, The glue discharge lifting structure includes a glue discharge lifting drive component mounted on the frame, and a glue discharge clamping block structure connected to the drive end of the glue discharge lifting drive component. The glue discharge adapter is clamped on the glue discharge clamping block structure. The control structure for lifting and lowering the glue discharge adapter drives the glue discharge adapter to move up and down, including: The dispensing lifting drive component of the dispensing lifting structure drives the dispensing clamping block structure to move vertically up and down along the frame, thereby causing the dispensing adapter held by the dispensing clamping block structure to move up and down, so that the dispensing adapter moves away from the air inlet on the top of the glue tube to be replaced held by the glue tube sensing clamping structure. The hose lifting and adjusting structure includes a hose lifting drive unit mounted on the frame, and a hose lifting adjusting block connected to the drive end of the hose lifting drive unit. The hose lifting adjusting block is slidably mounted on the frame. The hose sensing clamping structure is mounted on the hose lifting adjusting block. The glue inlet joint protrudes from the bottom of the hose lifting drive unit. The hose lifting and adjusting structure that controls the hose clamping and positioning mechanism drives the hose sensing clamping structure to move up and down, including: The hose lifting drive of the hose lifting adjustment structure that controls the hose clamping and positioning mechanism drives the hose lifting adjustment block to move vertically up and down, which in turn drives the hose sensing clamping structure on the hose lifting adjustment block and the glue tube to be replaced to move up and down, so that the leak-proof connector at the bottom glue outlet of the glue tube to be replaced moves away from the glue inlet connector of the glue outlet connection mechanism.

6. The automatic glue replacement method for a dispensing machine according to claim 4, characterized in that, The material handling robot includes a multi-axis robotic arm mounted on the AGV vehicle, and a material handling gripper and a vision positioning module mounted on the multi-axis robotic arm. The material handling gripper and the vision positioning module are both arranged opposite to the glue supply frame. The control of the hose clamping and positioning mechanism to release the clamp on the hose to be replaced, and the control of the material handling robot to remove the hose to be replaced from the glue supply mechanism and transfer and place it on the glue supply rack, includes: When the leak-proof connector at the bottom outlet of the glue tube to be replaced, held by the glue tube sensing clamping structure, separates from the glue inlet connector, and the air inlet on the top of the glue tube cap separates from the glue discharge adapter connector, the glue tube sensing clamping structure is controlled to release the clamping of the glue tube to be replaced. The multi-axis robotic arm controlling the picking and placing robot drives the picking and placing gripper holding the glue tube to be replaced to move from the glue tube sensing and holding structure to a position closer to the glue supply frame, so that the glue tube to be replaced is removed from the glue tube sensing and holding structure of the glue replacement and glue supply mechanism. When the pick-and-place gripper moves the glue tube to be replaced close to the glue supply rack, the visual positioning module locates and obtains the placement position of the empty glue tube on the glue supply rack. The multi-axis robotic arm is controlled to drive the pick-and-place gripper to move the glue tube to be replaced to the empty glue tube placement position, and the pick-and-place gripper is controlled to place the glue tube to be replaced at the empty glue tube placement position of the glue supply rack.

7. The automatic glue replacement method for a dispensing machine according to claim 6, characterized in that, The step of controlling the picking and placing robot to move to the location of the glue tube to be replaced held by the glue tube clamping and positioning mechanism, and clamping the glue tube to be replaced, includes: The multi-axis robotic arm controlling the material handling robot drives the material handling gripper to move closer to the hose sensing clamping structure of the hose clamping and positioning mechanism; When the pick-and-place gripper approaches the glue tube to be replaced held by the glue tube sensing and clamping structure, the glue tube clamping position of the glue tube to be replaced is obtained by the vision positioning module. The multi-axis robotic arm is controlled to drive the pick-and-place gripper to move to the hose clamping position, and the pick-and-place gripper is controlled to clamp the hose to be replaced.

8. The automatic glue replacement method for a dispensing machine according to claim 6, characterized in that, The hose sensing clamping structure includes a hose sensor disposed on the hose lifting and adjusting structure, a clamping drive connected to the hose sensor, and a hose gripper structure movably disposed on the hose lifting and adjusting structure, wherein the clamping drive is connected to the hose gripper structure. The process of controlling the robotic arm to pick up a full glue tube from the glue supply rack and place it on the glue changing and supplying mechanism, and controlling the glue changing and supplying mechanism to continue supplying glue to the dispensing valve mechanism, includes: The robotic arm is controlled to pick up and transfer a full glue tube from the glue supply rack to the glue tube sensing and clamping structure of the glue changing and supply mechanism, and the full glue tube triggers the glue tube sensing element of the glue tube sensing and clamping structure. In response to the trigger signal of the hose sensor, the clamping drive of the hose sensing clamping structure is controlled to drive the hose gripper structure to clamp the full glue hose, and the material handling robot is controlled to reset. The hose lifting and adjusting structure of the hose clamping and positioning mechanism drives the hose sensing clamping structure and the full glue hose it clamps to move up and down, so that the leak-proof connector at the glue outlet at the bottom of the full glue hose is connected to the glue inlet connector of the glue outlet connection mechanism. The discharging lifting structure of the air supply and discharging mechanism drives the discharging adapter to move up and down so that the discharging adapter connects with the air inlet on the top of the glue tube cap held by the glue tube clamping structure. The air supply and discharge mechanism of the glue supply and discharge mechanism starts to deliver compressed gas to the glue discharge adapter, so that the compressed gas squeezes the glue in the full glue pipe through the leak-proof connector and the glue inlet connector at the glue outlet and enters the glue dispensing valve mechanism.

9. The automatic glue replacement method for a dispensing machine according to claim 8, characterized in that, The control of the picking and placing robot arm to pick up and transfer the full glue tube from the glue supply rack to the glue tube sensing and clamping structure of the glue changing and supply mechanism includes: The multi-axis robotic arm of the material handling robot is controlled to drive the material handling gripper to approach the glue supply rack. When the material handling gripper moves close to the glue supply rack, the full glue tube placement position on the glue supply rack is obtained by the vision positioning module. The multi-axis robotic arm is controlled to drive the pick-and-place gripper to the full glue tube placement position, and the pick-and-place gripper is controlled to clamp a full glue tube from the full glue tube placement position of the glue supply frame and move towards the glue tube sensing and clamping structure near the glue changing and glue supply mechanism; When the pick-and-place gripper moves the full glue tube close to the glue tube sensing gripping structure, the full glue tube gripping position on the glue tube sensing gripping structure is located and obtained by the vision positioning module. The multi-axis robotic arm is controlled to drive the pick-and-place gripper and the full glue tube it holds to the full glue tube clamping position, so that the glue tube sensing clamping structure can clamp and position the full glue tube.

10. An automatic glue changing device for a dispensing machine, applied to a dispensing system; The dispensing system includes a dispensing machine and a self-transfer adhesive device; The dispensing machine includes a frame, a dispensing worktable disposed in the frame, a dispensing valve mechanism disposed on the dispensing worktable, and a glue changing and supply mechanism connected to the dispensing valve mechanism. The glue self-transfer equipment includes an AGV vehicle, a glue supply rack located on one side of the AGV vehicle, and a material handling robot located on the other side of the AGV vehicle. Its features are, The device includes: An automatic glue transfer module is used to control the glue transfer device, which carries the glue supply frame with a full glue tube, to move closer to the dispensing machine in response to the glue replacement command of the glue supply mechanism of the dispensing machine. The automatic hose feeding module is used to control the glue replacement and supply mechanism to stop supplying glue to the dispensing valve mechanism when the glue self-transfer equipment moves to the glue replacement position of the dispensing machine, and to control the picking and placing robot arm to remove the glue hose to be replaced from the glue replacement and supply mechanism and place it on the glue supply rack. The automatic glue tube feeding module is used to control the picking and placing robot arm to pick up a full glue tube from the glue supply rack and place it on the glue changing and supply mechanism, and to control the glue changing and supply mechanism to continue supplying glue to the dispensing valve mechanism, thereby completing the automatic glue replacement.

11. A dispensing system, characterized in that, include: A dispensing machine includes a frame, a dispensing worktable disposed in the frame, a dispensing valve mechanism disposed on the dispensing worktable, and a glue changing and supply mechanism connected to the dispensing valve mechanism. An adhesive self-transfer device includes an AGV (Automated Guided Vehicle), an adhesive supply rack located on one side of the AGV, and a material handling robot located on the other side of the AGV; and The controller is connected to the dispensing workbench, the dispensing valve mechanism, the glue changing and supply mechanism, the AGV vehicle, and the material handling robot. The controller is used to implement the automatic glue replacement method for the dispensing machine as described in any one of claims 1-9.

12. A computer storage medium, characterized in that, The computer storage medium includes at least one instruction that, when executed by a computer, implements the method steps of the automatic glue replacement method for a dispensing machine as described in any one of claims 1-9.

Images