Dispensing and detecting integrated equipment

Abstract

The invention relates to dispensing detection integrated equipment, and belongs to the technical field of IGBT packaging, and the dispensing detection integrated equipment comprises a feeding and discharging conveying line which extends in the X-axis direction; the transplanting conveying line is arranged on one side of the feeding and discharging conveying line and extends in the Y-axis direction; the NG conveying line is arranged on one side of the transplanting conveying line and extends in the Y-axis direction; the dispensing mechanism is erected above the transplanting conveying line and is far away from the loading and unloading conveying line; the AOI visual inspection mechanism is erected above the transplanting conveying line and located between the feeding and discharging conveying line and the dispensing mechanism; the carrying mechanism is erected above the area where the feeding and discharging conveying line, the transplanting conveying line and the NG conveying line are located. By reasonably arranging the positions of the conveying line and the mechanism, the movable line of product production is optimized, the physical path of the production process is shortened, a complete quality closed loop is constructed, and the automation efficiency of the dispensing procedure and the product yield are effectively improved.

Description

Technical Field

[0001] This application relates to the field of IGBT packaging technology, and in particular to an integrated dispensing detection device. Background Technology

[0002] IGBTs (Insulated Gate Bipolar Transistors) possess advantages such as high frequency, high voltage, and high current, leading to a wide range of applications, especially high-power IGBTs, which are extensively used in variable frequency speed control, inverters, traction drives, and lighting circuits. Current IGBT module packaging processes require adhesive application at the edge of the corresponding side frame on the substrate. With increasing industry demand for production capacity, how to improve product quality control without affecting production capacity, while also reducing the labor intensity of employees, has become a key focus for the industry.

[0003] Existing dispensing equipment relies on manual monitoring of dispensing quality, which can easily lead to individual product defects flowing into the next process and causing defects in the final product. Furthermore, most equipment is primarily operated manually on a single machine, resulting in low efficiency and difficulty in tracing production data. Therefore, achieving automation and informatization of the entire IGBT side frame dispensing production process is both a market necessity and an inevitable trend of development, playing a crucial role in the entire IGBT module packaging process.

[0004] Therefore, it is necessary to study and improve the existing structure to provide an integrated dispensing detection device, in order to achieve a more practical purpose. Summary of the Invention

[0005] In view of the shortcomings or deficiencies mentioned in the background technology above, the present application provides an integrated dispensing inspection device that can shorten product production time and improve efficiency while ensuring product quality.

[0006] This application provides an integrated dispensing inspection device, including: The loading and unloading conveyor line extends along the X-axis direction; A transplanting conveyor line is provided on one side of the loading and unloading conveyor line and extends along the Y-axis direction; An NG conveyor line is disposed on one side of the transplant conveyor line and extends along the Y-axis direction; The dispensing mechanism is mounted above the transfer conveyor line and away from the loading and unloading conveyor line; An AOI visual inspection mechanism is installed above the transfer conveyor line and located between the loading / unloading conveyor line and the dispensing mechanism; The conveying mechanism is installed above the area where the loading / unloading conveyor line, the transfer conveyor line, and the NG conveyor line are located.

[0007] In some embodiments, the loading and unloading conveyor line includes a tray for carrying a substrate, a linear conveyor for conveying the tray along the X-axis, a first sensor disposed on the linear conveyor for detecting the tray, and a barcode scanner for cooperating with the tray and the substrate.

[0008] In some embodiments, the loading and unloading conveyor line further includes a lifting and positioning mechanism for lifting the pallet, and a stopping mechanism for stopping the pallet above the lifting and positioning mechanism.

[0009] In some embodiments, positioning pins are provided at the four corners of the pallet, and positioning plates are symmetrically arranged on the linear conveyor. The positioning plates are provided with stop pins for stopping the pallet at a preset height, and positioning holes for the positioning pins to be inserted after the pallet is lifted.

[0010] In some embodiments, the lifting and positioning mechanism includes a fixed plate fixed to the bottom of the linear conveyor, a push plate disposed above the fixed plate, and a lifting member disposed on the fixed plate and used to drive the push plate; A movable plate is provided below the fixed plate, and guide posts are connected to the four corners of the movable plate, passing through the fixed plate and connected to the push plate. The guide posts are slidably connected to the fixed plate. The push plate is provided with a pin for engaging the tray and a second sensor for detecting the tray. The movable plate is provided with a limiting block and a buffer for cooperating with the fixed plate.

[0011] In some embodiments, the transfer conveyor line includes a platform for carrying a substrate and a linear slide for driving the platform to move along the X-axis. The platform is provided with a receiving groove for placing the substrate and a third sensor for detecting the substrate.

[0012] In some embodiments, the receiving groove is a stepped groove, and the platform is provided with an X-axis clamping mechanism and a Y-axis clamping mechanism for clamping the substrate. Both the X-axis clamping mechanism and the Y-axis clamping mechanism include a top block and a pusher for driving the top block.

[0013] In some embodiments, the handling mechanism includes a mechanical gripper for picking up and placing substrates, and a three-axis handling module for driving the mechanical gripper to move along the X-axis, Y-axis, and Z-axis directions; The three-axis transport module is connected to a mounting base. The mechanical gripper includes grippers for gripping the substrate and a drive unit disposed on the mounting base for driving the grippers to move closer or further apart.

[0014] In some embodiments, the AOI visual inspection mechanism includes an inspection camera for taking pictures of the substrate, and a two-axis motion module for driving the inspection camera to move along the X-axis and Z-axis directions. A connecting base is installed on the two-axis moving module, and the detection camera is installed on the connecting base. A lampshade and a light source located inside the lampshade are installed at the bottom of the connecting base, and the lampshade is provided with a photo-taking hole that cooperates with the detection camera.

[0015] In some embodiments, the dispensing mechanism includes a dispensing assembly for applying adhesive to a substrate, and a three-axis dispensing module for driving the dispensing assembly to move along the X-axis, Y-axis, and Z-axis directions. The dispensing mechanism also includes a calibration component for calibrating the dispensing assembly needle and a weighing component for calibrating the dispensing assembly discharge. The calibration assembly includes a fixed base and a cup body placed on the fixed base. The top surface of the fixed base is provided with a groove for the dispensing assembly needle to enter. A fourth sensor for detecting the position of the dispensing assembly needle is provided circumferentially inside the groove. The mounting base is provided with a cleaning pad located above the cup body for the dispensing assembly needle to wipe, and a displacement component for driving the cleaning pad to move.

[0016] The beneficial effects of the technical solution provided in this application include: This application provides an integrated dispensing detection device, comprising: a loading and unloading conveyor line extending along the X-axis; a transfer conveyor line disposed on one side of the loading and unloading conveyor line and extending along the Y-axis; and an NG conveyor line disposed on one side of the transfer conveyor line and extending along the Y-axis. The dispensing mechanism is mounted above the transfer conveyor line and away from the loading and unloading conveyor line; the AOI vision inspection mechanism is mounted above the transfer conveyor line and located between the loading and unloading conveyor line and the dispensing mechanism; the handling mechanism is mounted above the area where the loading and unloading conveyor line, the transfer conveyor line and the NG conveyor line are located.

[0017] Therefore, the loading / unloading conveyor line is vertically arranged with the transfer conveyor line and NG conveyor line, enabling fully automated processing of the substrate. The substrate is first initially transported along the X-axis by the loading / unloading conveyor line, and then picked up and transferred by the handling mechanism to the transfer conveyor line extending along the Y-axis. When the transfer conveyor line accurately transports the substrate to below the dispensing mechanism, the dispensing mechanism completes the glue application operation.

[0018] During this process, the substrate undergoes two AOI visual inspections: a pre-inspection before dispensing and a final inspection after dispensing, forming a dual quality assurance mechanism. Substrates that pass inspection are then picked up again by the handling mechanism and returned to the loading conveyor line via the transfer conveyor line for output. Substrates deemed NG (Not Good) by inspection are directly transferred to the NG conveyor line for sorting by the handling mechanism. This workflow design, through the multiple interventions of the handling mechanism and the organic connection between the two visual inspection stages, not only shortens the physical path of the production process but also constructs a complete quality closed loop, effectively improving the automation efficiency and product yield of the dispensing process. Attached Figure Description

[0019] To more clearly illustrate the technical solutions in the embodiments of this application, 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 this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0020] Figure 1 This is a schematic diagram of the structure of the dispensing detection integrated device according to an embodiment of this application; Figure 2 This is a schematic diagram of the loading and unloading conveyor line according to an embodiment of this application; Figure 3 This is a schematic diagram of the lifting and positioning mechanism according to an embodiment of this application; Figure 4 This is a schematic diagram of the transplanting conveyor line according to an embodiment of this application; Figure 5 This is a schematic diagram of the platform structure according to an embodiment of this application; Figure 6 This is a schematic diagram of the transport mechanism according to an embodiment of this application; Figure 7 This is a schematic diagram of the AOI visual inspection mechanism according to an embodiment of this application; Figure 8 This is a schematic diagram of the dispensing mechanism according to an embodiment of this application; Figure 9 This is a schematic diagram of the calibration component according to an embodiment of this application.

[0021] The attached diagram lists the components represented by each number as follows: 100. Workbench; 10. Loading / unloading conveyor line; 11. Pallet; 111. Positioning pin; 12. Linear conveyor; 13. First sensor; 14. Barcode scanner; 15. Lifting and positioning mechanism; 151. Fixed plate; 152. Push plate; 153. Lifting component; 154. Movable plate; 155. Guide column; 156. Pin; 157. Second sensor; 158. Limit block; 159. Buffer; 16. Stopping mechanism; 17. Positioning plate; 171. Stop pin; 172. Positioning hole; 20. Transplanting conveyor line; 21. Platform; 211. Receiving tank; 212. Third sensor; 22. Linear slide; 23. X-axis clamping mechanism; 24. Y-axis clamping mechanism; 30. NG conveyor line; 40. Dispensing mechanism; 41. Dispensing assembly; 42. Dispensing triaxial module; 43. Calibration assembly; 431. Fixing base; 432. Cup body; 433. Groove; 434. Fourth sensor; 435. Cleaning pad; 436. Displacement component; 44. Weighing assembly; 50. AOI visual inspection mechanism; 51. Inspection camera; 52. Two-axis moving module; 53. Connecting base; 54. Lamp cover; 541. Image capture hole; 60. Handling mechanism; 61. Mechanical gripper; 62. Handling three-axis module; 63. Mounting base. Detailed Implementation

[0022] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0023] In view of the shortcomings or deficiencies mentioned in the background technology above, the present application provides an integrated dispensing inspection device that can shorten product production time and improve efficiency while ensuring product quality.

[0024] See Figures 1 to 9 As shown in the figure, this application provides an integrated dispensing inspection device, including: The loading and unloading conveyor line 10 extends along the X-axis direction; Transplanting conveyor line 20 is set on one side of loading and unloading conveyor line 10 and extends along the Y-axis direction; NG conveyor line 30 is disposed on one side of transplant conveyor line 20 and extends along the Y-axis direction; The dispensing mechanism 40 is mounted above the transfer conveyor line 20 and away from the loading and unloading conveyor line 10; The AOI visual inspection mechanism 50 is mounted above the transfer conveyor line 20 and located between the loading and unloading conveyor line 10 and the dispensing mechanism 40. The handling mechanism 60 is installed above the area where the loading and unloading conveyor line 10, the transfer conveyor line 20 and the NG conveyor line 30 are located.

[0025] The dispensing and inspection integrated equipment of this application realizes fully automated substrate processing by forming a vertical layout of the loading / unloading conveyor line 10, the transfer conveyor line 20, and the NG conveyor line 30. The substrate is first initially conveyed by the loading / unloading conveyor line 10 along the X-axis, and then picked up and transferred by the handling mechanism 60 to the transfer conveyor line 20 extending along the Y-axis. When the transfer conveyor line 20 accurately conveys the substrate to below the dispensing mechanism 40, the dispensing mechanism 40 completes the glue application operation.

[0026] During this process, the substrate undergoes two inspections by the AOI visual inspection mechanism 50: a pre-inspection before dispensing and a final inspection after dispensing, forming a dual quality assurance mechanism. Substrates that pass inspection are picked up again by the handling mechanism 60 and returned to the loading conveyor line via the transfer conveyor line 20 for output; while substrates deemed NG are directly transferred by the handling mechanism 60 to the NG conveyor line 30 for sorting.

[0027] For example, in this embodiment, both the conveyor line and the mechanism are mounted on the worktable 100. The width direction of the worktable 100 is the X-axis direction, the length direction is the Y-axis direction, and the height direction is the Z-axis direction. The loading and unloading conveyor line 10 is connected to external conveyor lines at both ends to facilitate the input or output of substrates along the X-axis direction.

[0028] The transfer conveyor line 20 and the NG conveyor line 30 are arranged perpendicularly to and close to the loading and unloading conveyor line 10. The handling mechanism 60, the AOI visual inspection mechanism 50, and the dispensing mechanism 40 are distributed sequentially along the length of the worktable 100 to ensure that the substrate can pass through the AOI visual inspection mechanism 50 twice during the movement.

[0029] This workflow design, through the multiple interventions of the handling mechanism 60 and the organic connection of two visual inspection stages, not only shortens the physical path of the production process but also constructs a complete quality closed loop.

[0030] AOI visual inspection is performed at key points before and after dispensing to identify substrate surface defects or dispensing abnormalities in real time. When a non-conforming product is detected, the handling mechanism 60 immediately transfers it to the NG conveyor line 30, which can use a belt conveyor to transport the non-conforming product, preventing defective products from flowing into subsequent processes.

[0031] The overall structure, through the coordinated operation of the vertical layout of the conveyor line and the linear layout of the mechanism, enables efficient linkage between the loading and unloading of the substrate in the X-axis direction and the dispensing and detection in the Y-axis direction. This significantly enhances the product quality control capabilities while improving the automation efficiency of the dispensing process.

[0032] In some alternative embodiments: see Figures 1 to 9 As shown, this application embodiment provides an integrated dispensing detection device. The loading and unloading conveyor line 10 of the integrated dispensing detection device includes a tray 11 for carrying a substrate, a linear conveyor 12 for conveying the tray 11 along the X-axis direction, a first sensor 13 disposed on the linear conveyor 12 for detecting the tray 11, and a barcode scanner 14 for cooperating with the tray 11 and the substrate.

[0033] The loading and unloading conveyor line 10 of this application adopts a modular design. Its pallet 11, linear conveyor 12, first sensor 13 and barcode scanner 14 can effectively improve the automation efficiency of the loading and unloading process by working together, and provide a reliable data foundation for subsequent glue dispensing quality traceability.

[0034] For example, the linear conveyor 12 in this embodiment uses an electric linear conveyor line, and its drive system can precisely control the conveying speed and positioning accuracy. The first sensor 13 is a high-sensitivity photoelectric sensor, and its output end and fixed end are symmetrically installed on both sides of the electric conveyor line. Through light signal obstruction detection, it can identify the passing status of the pallet 11 and the designated work position for the handling mechanism 60 to pick up and place the substrate in real time.

[0035] Two barcode scanners 14 are also installed at intervals on the linear conveyor 12 via brackets. One barcode scanner 14 is fixed on the inlet side of the conveying path of the pallet 11 and is used to scan the identification code on the surface of the pallet 11. The other barcode scanner 14 is installed downstream and is specifically used to scan the product identification code on the substrate.

[0036] The barcode scanning system works in conjunction with the equipment control system to achieve dual data verification of the tray 11 and the base plate, ensuring the traceability of information during the material flow process and providing accurate batch management basis for subsequent processes.

[0037] In some alternative embodiments: see Figures 1 to 9 As shown in the figure, this application embodiment provides an integrated dispensing detection device. The loading and unloading conveyor line 10 of the integrated dispensing detection device further includes a lifting and positioning mechanism 15 for lifting the pallet 11, and a stopping mechanism 16 for stopping the pallet 11 above the lifting and positioning mechanism 15.

[0038] In this embodiment, the lifting and positioning mechanism 15 and the stopping mechanism 16 work together to achieve precise lifting and positioning of the pallet 11. The lifting and positioning mechanism 15 uses a cylinder to precisely lift the pallet 11 from the linear conveyor 12, allowing the handling mechanism 60 to pick up the substrate without stopping the conveyor. The stop mechanism 16 uses a liftable stop to create a temporary barrier in front of the lifting station, ensuring that the pallet 11 remains in a stable position during the lifting process, while avoiding efficiency losses caused by frequent starts and stops. This design enables the loading and unloading conveyor line 10 to operate continuously, significantly improving the overall automation level of the equipment.

[0039] For example, the linear conveyor 12 in this embodiment is a double-row belt conveyor, the distance between the two belts being matched with the size of the pallet 11, providing installation space for the lifting and positioning mechanism 15. Two lifting and positioning mechanisms 15 are provided and spaced apart. Each lifting and positioning mechanism 15 can consist of a vertically mounted cylinder and a horizontal support plate. The cylinder drives the support plate to rise and fall between the two belts, lifting the pallet 11 to a preset height.

[0040] The stopping mechanism 16 includes a cylinder vertically mounted inside the double-row belt conveyor and a liftable stop block. The initial position of the stop block is perpendicular to the belt conveying direction. When the cylinder is activated, the stop block rises to the belt plane to form an obstruction. After the cylinder resets, the stop block descends to release the pallet 11. This combined structure, by lifting and positioning the pallet 11, ensures both the continuity of pallet 11 conveying and the precise alignment of the handling station.

[0041] In some alternative embodiments: see Figures 1 to 9 As shown in the figure, this application embodiment provides a dispensing detection integrated device. The tray 11 of the dispensing detection integrated device is provided with positioning pins 111 at the four corners, and positioning plates 17 are symmetrically arranged on the linear conveyor 12. The positioning plates 17 are provided with stop pins 171 for stopping the tray 11 at a preset height, and positioning holes 172 for the positioning pins 111 to be inserted after the tray 11 is lifted.

[0042] This embodiment of the application achieves precise positioning during substrate handling through the cooperative design of positioning pin 111 and positioning plate 17. When the pallet 11 moves to the lifting station along the linear conveyor 12, the lifting and positioning mechanism 15 lifts the pallet 11 to a preset height. At this time, the bottom end of the stop pin 171 on the positioning plate 17 contacts the top surface of the pallet 11, and the positioning pin 111 is inserted into the positioning hole 172, which effectively limits the vertical floating of the pallet 11 and eliminates the horizontal displacement error of the pallet 11.

[0043] This design enables the handling mechanism 60 to always grip the substrate in a standard posture, significantly improving the picking and placing accuracy of the robot, while avoiding picking failure or product damage caused by tray 11 offset, ensuring the stability of the fully automated operation.

[0044] For example, the positioning plate 17 is fixedly installed above the linear conveyor 12 by a support and is arranged symmetrically. The positioning plate 17 is a U-shaped plate with positioning holes 172 formed on the inner side to match the positioning pins 111 on the same side. The stop pins 171 are made of high-strength alloy steel and are vertically installed at both ends of the U-shaped plate. A silicone buffer block is glued to the bottom end. When the pallet 11 is lifted to a preset height, the buffer block forms elastic contact with the top surface of the pallet 11, and at the same time, the positioning pins 111 are inserted into the inner side of the U-shaped plate to achieve horizontal positioning of the pallet 11.

[0045] In some alternative embodiments: see Figures 1 to 9 As shown, this application embodiment provides a dispensing detection integrated device. The lifting and positioning mechanism 15 of the dispensing detection integrated device includes a fixed plate 151 fixed to the bottom of the linear conveyor 12, a push plate 152 disposed above the fixed plate 151, and a lifting member 153 disposed on the fixed plate 151 and used to drive the push plate 152. A movable plate 154 is provided below the fixed plate 151. The four corners of the movable plate 154 are connected to guide posts 155 that penetrate the fixed plate 151 and are connected to the push plate 152. The guide posts 155 are slidably connected to the fixed plate 151. The push plate 152 is provided with a pin 156 for engaging the tray 11 and a second sensor 157 for detecting the tray 11. The movable plate 154 is provided with a limiting block 158 and a buffer 159 for cooperating with the fixed plate 151.

[0046] The lifting and positioning mechanism 15 of this application embodiment achieves stable lifting and precise positioning of the pallet 11 through a multi-stage linkage structure. The fixed plate 151 is rigidly connected to the bottom of the linear conveyor 12 to form a stable base. The push plate 152 moves vertically along the guide post 155 under the drive of the lifting component 153. Its bottom pin 156 can automatically insert into the preset hole of the pallet 11 to complete the limit. The second sensor 157 monitors the contact state between the pallet 11 and the push plate 152 in real time to ensure the synchronization and safety of the lifting action.

[0047] The guide post 155 fixedly installed on the movable plate 154 is slidably connected to the fixed plate 151. The limiting block 158 fixedly installed on the movable plate 154 can move upward to abut against the fixed plate 151, thereby limiting the stroke of the push plate 152. The buffer 159 absorbs the impact force during the lifting process through elastic deformation, reducing equipment wear and improving positioning accuracy.

[0048] This design enables the pallet 11 to be lifted and positioned during dynamic conveying, ensuring the stability of the handling mechanism 60 in picking up and placing the substrate, and avoiding the conveyor line shutdown problem caused by traditional mechanical locking methods.

[0049] For example, the lifting component 153 is a cylinder, the output end of which is fixedly connected to the push plate 152, driving the push plate 152 to perform vertical reciprocating motion along the extension direction of the guide post 155. The guide post 155 is made of stainless steel, passes through the fixed plate 151 and the movable plate 154, and its surface is hardened to improve wear resistance.

[0050] Pins 156 are symmetrically installed at two corners of the push plate 152. The top of the pins 156 is provided with a tapered guide to facilitate quick alignment of the holes in the tray 11. Second sensors 157 are symmetrically installed at the other two corners of the push plate 152. The second sensors 157 are proximity sensors to detect the position of the tray 11.

[0051] In some alternative embodiments: see Figures 1 to 9 As shown, this application embodiment provides a dispensing detection integrated device. The transfer conveyor line 20 of the dispensing detection integrated device includes a stage 21 for carrying a substrate and a linear slide 22 for driving the stage 21 to move along the X-axis direction. The stage 21 is provided with a receiving groove 211 for placing the substrate and a third sensor 212 for detecting the substrate.

[0052] The transfer conveyor line 20 of this embodiment can achieve efficient operation of substrate handling and inspection. After the platform 21 carries the substrate, it is accurately transported along the Y-axis by the linear slide 22. The third sensor 212 monitors the placement of the substrate in the receiving groove 211 in real time, ensuring that the handling mechanism 60 starts operation only when the substrate is fully in place, avoiding pick-up and put-down failures due to positioning deviation.

[0053] For example, in this embodiment, the linear slide 22 is an electric slide and two electric slides are provided. The two electric slides are arranged in parallel to each other, and a platform 21 is installed on each of their sliding platforms. A receiving groove 211 is provided on the top of the platform 21, and a third sensor 212 is installed in the groove. The third sensor 212 is preferably a laser sensor. The substrate is determined to be correctly placed by detecting the reflected signal in the receiving groove 211.

[0054] When the handling mechanism 60 transfers the substrate on the tray 11 to one side platform 21, the other side platform 21 can simultaneously cooperate to handle the substrate or perform AOI inspection, with the two stations working alternately in a cycle. The movement stroke of the electric slide is precisely matched with the working area of ​​the dispensing mechanism 40, ensuring that the substrate's dwell time at the dispensing station is synchronized with the robot's action rhythm. The overall structure, through the cooperation of dual stations and dual sensors, achieves a doubling of equipment capacity while ensuring substrate positioning accuracy.

[0055] This dual-station design allows substrate dispensing to be performed on one stage 21 while substrate handling or inspection alignment can be completed simultaneously on the other stage 21. This parallel processing mechanism significantly shortens the processing cycle of a single substrate. At the same time, the matching design between the dual substrate placement position on the tray 11 and the dual-station stage 21 enhances the equipment's ability to handle batches of substrates.

[0056] In some alternative embodiments: see Figures 1 to 9 As shown in the figure, this application embodiment provides a dispensing detection integrated device. The receiving groove 211 of the dispensing detection integrated device is a stepped groove. The platform 21 is provided with an X-direction clamping mechanism 23 and a Y-direction clamping mechanism 24 for clamping the substrate. Both the X-direction clamping mechanism 23 and the Y-direction clamping mechanism 24 include a top block and a pusher for driving the top block.

[0057] The receiving groove 211 in this embodiment adopts a stepped groove structure design. By combining multiple steps, it can adapt to substrates with different length and width specifications, thus solving the problem of material compatibility limitations of the traditional fixed-size platform 21.

[0058] The X-axis clamping mechanism 23 and the Y-axis clamping mechanism 24 are driven by cylinders to reciprocate the top block. The side of the top block facing the stepped groove is provided with a stepped contact surface, which can apply directional clamping force to the long side and short side of the substrate respectively, eliminating the slight displacement of the substrate during the dispensing process.

[0059] This biaxial dynamic clamping mechanism ensures substrate positioning accuracy while avoiding substrate damage due to clamping overload through elastic contact between the top block and the stepped groove, significantly improving the equipment's adaptability to irregularly shaped substrates and the stability of the dispensing process.

[0060] For example, the stepped groove consists of three steps formed by machining the surface of the stage 21. The depth difference of each step is matched with the thickness tolerance of the substrate, and the sidewall slope is designed to be 5° to 8° to enhance the adaptive accommodation capability of substrates of different specifications.

[0061] The width direction of the platform 21 is the X-axis direction, the length direction is the Y-axis direction, and the height direction is the Z-axis direction. The cylinder of the X-axis clamping mechanism 23 is installed on the long side, and the output end is fixedly connected to two top blocks through a T-shaped plate. It can drive the two top blocks to move back and forth along the width direction of the platform 21. The height of the stepped surface of the top block corresponds to the step groove level. The cylinder of the Y-axis clamping mechanism 24 is installed on the short side, and the output end is fixedly connected to the top block. It can drive the top block to move back and forth along the length direction of the platform 21. The height of the stepped surface of the top block corresponds to the step groove level.

[0062] When the substrate is transported to the stage 21, the cylinder drives the top block according to the substrate size according to the preset program. The stepped surface of the top block and the edge of the substrate form an interlocking clamp, ensuring that the substrate maintains high positioning accuracy during dispensing. At the same time, it allows multiple specifications of products to be processed in the same batch, reducing equipment changeover time.

[0063] In some alternative embodiments: see Figures 1 to 9 As shown, this application embodiment provides a dispensing inspection integrated device. The conveying mechanism 60 of the dispensing inspection integrated device includes a mechanical gripper 61 for picking up and placing substrates, and a three-axis conveying module 62 for driving the mechanical gripper 61 to move along the X-axis, Y-axis and Z-axis directions. The three-axis handling module 62 is connected to a mounting base 63. The mechanical gripper 61 includes grippers for gripping the substrate and a drive unit disposed on the mounting base 63 for driving the grippers to move closer or further apart.

[0064] The handling mechanism 60 of this embodiment achieves precise three-dimensional handling of substrates and multi-specification compatibility through the collaborative design of the three-axis handling module 62 and the mechanical gripper 61. The three-axis handling module 62 provides independent motion control in the X, Y, and Z axes, enabling the mechanical gripper 61 to flexibly adjust its pick-up and place positions according to process requirements, adapting to the positioning needs of substrates of different sizes.

[0065] The mechanical gripper 61 uses a rotary clamping cylinder to achieve synchronous opening and closing of the grippers. Its clamping force is adjustable, which can ensure the stability of substrate handling and avoid surface damage caused by excessive clamping.

[0066] This structural design enables the handling mechanism 60 to transfer substrates between the loading / unloading conveyor line 10 and the transfer conveyor line 20 without manual intervention. At the same time, the three-axis linkage compensates for the positioning deviation of the tray 11 or the platform 21, which significantly improves the equipment's adaptability to complex process paths and the overall level of automation.

[0067] For example, the three-axis transport module 62 includes an X-axis module, a Y-axis module, a Z-axis module, and two module supports. The two module supports are symmetrically mounted on the worktable 100. The Y-axis module is fixedly mounted on one of the module supports. One end of the X-axis module is slidably connected to the other module support via a slider, and the other end is fixedly connected to the moving end of the Y-axis module, forming XY-plane linkage. The Z-axis module is vertically mounted on the moving end of the X-axis module, and the mounting base 63 is fixedly mounted on the moving end of the Z-axis module.

[0068] The driving component uses a rotary clamping cylinder mounted on the mounting base 63. The output end of the rotary clamping cylinder is symmetrically equipped with grippers, which can drive the grippers to open and close. The control system uses displacement sensors from the three-axis module and pressure sensors from the clamping cylinder to provide real-time feedback, ensuring that the grippers perform millimeter-level height adjustments along the Z-axis when picking up and placing the substrate. It also compensates for positioning errors between the stage 21 and the tray 11 through XY-axis linkage, achieving fully automated and highly reliable substrate handling.

[0069] In some alternative embodiments: see Figures 1 to 9 As shown, this application embodiment provides a dispensing inspection integrated device. The AOI vision inspection mechanism 50 of the dispensing inspection integrated device includes an inspection camera 51 for taking pictures of the substrate, and a two-axis moving module 52 for driving the inspection camera 51 to move along the X-axis and Z-axis directions. A connector 53 is mounted on the two-axis moving module 52. The detection camera 51 is mounted on the connector 53. A lamp cover 54 and a light source located inside the lamp cover 54 are mounted on the bottom of the connector 53. The lamp cover 54 is provided with a photo hole 541 that cooperates with the detection camera 51.

[0070] The AOI visual inspection mechanism 50 of this application embodiment achieves multi-angle, high-precision inspection of the substrate surface through the linkage design of the two-axis motion module 52 and the inspection camera 51. The two-axis motion module 52 can drive the inspection camera 51 to move flexibly along the X-axis and Z-axis directions, so that the camera can adjust the shooting position according to the position of the substrate.

[0071] The lampshade 54 mounted at the bottom of the connector 53, combined with the light source, provides adjustable and uniform illumination. Combined with the optical alignment design of the imaging aperture 541, this ensures that the inspection camera 51 obtains clear images during dynamic imaging. This structural design can compensate for differences in reflectivity on the substrate surface through three-dimensional spatial displacement, while also supporting real-time adjustment of inspection parameters, significantly improving defect identification efficiency and inspection coverage before and after dispensing.

[0072] For example, the inspection camera 51 is a high-resolution industrial camera, fixedly mounted on the connector 53, which is connected to the moving end of the two-axis moving module 52. The two-axis moving module 52 includes an X-axis translation module and a Z-axis lifting module. The X-axis translation module is fixedly mounted above the transplanting conveyor line 20 via a portal frame, which spans the transplanting conveyor line 20 and the NG conveyor line 30. The Z-axis lifting module is vertically mounted on the moving end of the X-axis translation module, and the connector 53 is fixedly mounted on the moving end of the Z-axis lifting module.

[0073] The lampshade 54 is a rectangular frame with an opening at the bottom, and an LED ring light source is installed inside. The brightness of the light source can be adjusted via a PWM signal. The imaging hole 541 is coaxially set with the lens of the inspection camera 51, and the aperture size matches the camera's field of view. When the substrate moves to the inspection area along the transfer conveyor line 20, the control system drives the X-axis translation module and the Z-axis lifting module to adjust the inspection camera 51 to the optimal shooting position for continuous shooting based on the substrate height data. After the inspection images are analyzed by the algorithm, the inspection results can be output in real time and the transport mechanism 60 can be triggered to operate.

[0074] In some alternative embodiments: see Figures 1 to 9 As shown, this application embodiment provides a dispensing inspection integrated device. The dispensing mechanism 40 of the dispensing inspection integrated device includes a dispensing assembly 41 for applying adhesive to a substrate, and a dispensing triaxial module 42 for driving the dispensing assembly 41 to move along the X-axis, Y-axis and Z-axis directions. The dispensing mechanism 40 also includes a calibration component 43 for needle calibration of the dispensing assembly 41, and a weighing component 44 for dispensing assembly 41 discharge calibration. The calibration component 43 includes a fixed base 431 and a cup body 432 placed on the fixed base 431. The top surface of the fixed base 431 is provided with a groove 433 for the needle of the dispensing component 41 to enter. A fourth sensor 434 for detecting the position of the needle of the dispensing component 41 is provided in the inner circumferential direction of the groove 433. The mounting base 431 is provided with a cleaning pad 435 located above the cup body 432 and for the dispensing assembly 41 needle to wipe, and a displacement member 436 for driving the cleaning pad 435 to move.

[0075] The dispensing mechanism 40 in this embodiment of the application achieves precise positioning of the dispensing component 41 and consistent control of the amount of adhesive through the collaborative design of the calibration component 43 and the weighing component 44.

[0076] The groove 433 structure of the calibration component 43, together with the circumferentially arranged distance sensor, can detect the three-dimensional coordinate deviation of the needle and trigger the three-axis module to perform automatic correction, ensuring that the needle is in the preset glue application path when working.

[0077] The combined design of the cleaning pad 435 and the displacement component 436 automatically wipes the needle after each dispensing operation. Through the adsorption of the cleaning pad 435 and the up-and-down reciprocating motion of the needle, residual adhesive is effectively removed and cross-contamination is prevented.

[0078] The weighing component 44 uses an electronic scale to accurately measure the amount of glue dispensed in a single operation. Combined with the motion control of the dispensing triaxial module 42, the dispensing parameters can be dynamically adjusted to compensate for the glue volume deviation caused by fluctuations in ambient temperature and humidity.

[0079] This structural design improves the repeatability of the dispensing process and reduces the frequency of manual intervention through modular calibration and cleaning functions. At the same time, it ensures the stability of the product's adhesive quality through closed-loop control of adhesive quantity.

[0080] For example, the mounting base 431 of the calibration component 43 is made of aluminum alloy, and its top surface is machined with a rectangular groove 433 with a depth of 20mm. The fourth sensor 434 is a laser rangefinder sensor, and a laser rangefinder sensor is installed on each of the four side walls of the groove 433. The sensor detection range covers the possible displacement range of the needle tip.

[0081] The displacement component 436 is a clamping cylinder and is mounted on the mounting base 63. The cleaning pad 435 is made of highly absorbent sponge material and is symmetrically mounted on the output end of the clamping cylinder. When the needle is detected to have completed calibration, the clamping cylinder drives the two cleaning pads 435 to close and adhere to the surface of the needle. The needle is driven to move up and down reciprocally by the dispensing triaxial module 42 to achieve full wiping.

[0082] The weighing assembly 44 is an electronic scale and is fixedly installed on the workbench 100. An annular block is placed on the electronic scale, and the cup 432 can be placed inside the annular block to prevent tipping. The volume of the cup 432 is designed to be 1.2 times the amount of glue discharged in a single operation to prevent overflow.

[0083] In this application, the dispensing assembly 41 serves as the core execution unit. Its function is to cooperate with the dispensing triaxial module 42 to achieve precise dispensing of adhesive to specific areas of the substrate through needle movement trajectory and dispensing volume control. Therefore, it can be replaced by other dispensing assemblies 41 with adhesive volume measurement functions.

[0084] Technicians can adjust the module's stroke range, needle diameter, or material according to the substrate size, adhesive viscosity, and process requirements. For example, stainless steel needles can be used to handle corrosive adhesives, or a rotating axis can be added to cover complex adhesive application paths.

[0085] In the description of this application, it should be noted that the terms "upper," "lower," etc., indicating the orientation or positional relationship are based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this application. Unless otherwise expressly specified and limited, the terms "installed," "connected," and "linked" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication between two elements. For those skilled in the art, the specific meaning of the above terms in this application can be understood according to the specific circumstances.

[0086] It should be noted that in this application, relational terms such as "first" and "second" are used merely to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0087] The above description is merely a specific embodiment of this application, enabling those skilled in the art to understand or implement this application. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of this application. Therefore, this application is not to be limited to the embodiments shown herein, but is to be accorded the widest scope consistent with the principles and novel features claimed herein.

Claims

1. An integrated dispensing detection device, characterized in that, include: The loading and unloading conveyor line (10) extends along the X-axis direction; Transplanting conveyor line (20) is set on one side of the loading and unloading conveyor line (10) and extends along the Y-axis direction; NG conveyor line (30), which is disposed on one side of the transplant conveyor line (20) and extends along the Y-axis direction; The dispensing mechanism (40) is mounted above the transfer conveyor line (20) and away from the loading and unloading conveyor line (10). An AOI visual inspection mechanism (50) is mounted above the transplanting conveyor line (20) and located between the loading and unloading conveyor line (10) and the dispensing mechanism (40); The handling mechanism (60) is installed above the area where the loading and unloading conveyor line (10), the transfer conveyor line (20) and the NG conveyor line (30) are located.

2. The dispensing detection integrated equipment as described in claim 1, characterized in that: The loading and unloading conveyor line (10) includes a tray (11) for carrying the substrate, a linear conveyor (12) for conveying the tray (11) along the X-axis, a first sensor (13) disposed on the linear conveyor (12) for detecting the tray (11), and a barcode scanner (14) for cooperating with the tray (11) and the substrate.

3. The dispensing inspection integrated equipment as described in claim 2, characterized in that: The loading and unloading conveyor line (10) also includes a lifting and positioning mechanism (15) for lifting the pallet (11) and a stopping mechanism (16) for stopping the pallet (11) above the lifting and positioning mechanism (15).

4. The dispensing inspection integrated equipment as described in claim 3, characterized in that: The pallet (11) is provided with positioning pins (111) at its four corners. The linear conveyor (12) is provided with positioning plates (17) symmetrically arranged. The positioning plates (17) are provided with stop pins (171) for stopping the pallet (11) at a preset height, and positioning holes (172) for the positioning pins (111) to be inserted after the pallet (11) is lifted.

5. The dispensing detection integrated equipment as described in claim 3, characterized in that: The lifting and positioning mechanism (15) includes a fixed plate (151) fixed to the bottom of the linear conveyor (12), a push plate (152) disposed above the fixed plate (151), and a lifting member (153) disposed on the fixed plate (151) and used to drive the push plate (152). A movable plate (154) is provided below the fixed plate (151). The four corners of the movable plate (154) are connected to guide posts (155) that pass through the fixed plate (151) and are connected to the push plate (152). The guide posts (155) are slidably connected to the fixed plate (151). The push plate (152) is provided with a pin (156) for engaging the tray (11) and a second sensor (157) for detecting the tray (11). The movable plate (154) is provided with a limiting block (158) and a buffer (159) for cooperating with the fixed plate (151).

6. The integrated dispensing detection equipment as described in claim 1, characterized in that: The transplanting conveyor line (20) includes a stage (21) for carrying the substrate and a linear slide (22) for driving the stage (21) to move along the X-axis. The stage (21) is provided with a receiving groove (211) for placing the substrate and a third sensor (212) for detecting the substrate.

7. The dispensing detection integrated equipment as described in claim 6, characterized in that: The receiving groove (211) is a stepped groove. The platform (21) is provided with an X-direction clamping mechanism (23) and a Y-direction clamping mechanism (24) for clamping the substrate. Both the X-direction clamping mechanism (23) and the Y-direction clamping mechanism (24) include a top block and a pusher for driving the top block.

8. The dispensing inspection integrated equipment as described in claim 1, characterized in that: The transport mechanism (60) includes a mechanical gripper (61) for picking up and placing substrates, and a three-axis transport module (62) for driving the mechanical gripper (61) to move along the X-axis, Y-axis and Z-axis directions. The three-axis transport module (62) is connected to a mounting base (63). The mechanical gripper (61) includes grippers for gripping the substrate and a drive unit disposed on the mounting base (63) for driving the grippers to move closer or further apart.

9. The dispensing inspection integrated equipment as described in claim 1, characterized in that: The AOI visual inspection mechanism (50) includes an inspection camera (51) for taking pictures of the substrate, and a two-axis moving module (52) for driving the inspection camera (51) to move along the X-axis and Z-axis directions. A connecting seat (53) is installed on the two-axis moving module (52), and the detection camera (51) is installed on the connecting seat (53). A lampshade (54) and a light source located inside the lampshade (54) are installed at the bottom of the connecting seat (53). The lampshade (54) is provided with a photo-taking hole (541) that cooperates with the detection camera (51).

10. The dispensing detection integrated equipment as described in claim 1, characterized in that: The dispensing mechanism (40) includes a dispensing assembly (41) for applying adhesive to the substrate, and a dispensing triaxial module (42) for driving the dispensing assembly (41) to move along the X-axis, Y-axis and Z-axis directions. The dispensing mechanism (40) also includes a calibration component (43) for needle calibration of the dispensing assembly (41) and a weighing component (44) for dispensing assembly (41) discharge calibration. The calibration component (43) includes a fixed base (431) and a cup (432) placed on the fixed base (431). The top surface of the fixed base (431) is provided with a groove (433) for the needle of the dispensing component (41) to enter. A fourth sensor (434) for detecting the position of the needle of the dispensing component (41) is provided in the circumferential direction of the groove (433). The fixed base (431) is provided with a cleaning pad (435) located above the cup body (432) and for the dispensing assembly (41) needle to wipe, and a displacement member (436) for driving the cleaning pad (435) to move.

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