Device for automatically calculating height change of machine head and product for five-axis dispensing and dispensing machine

Abstract

The utility model discloses a device for automatically calculating the height change of a machine head and a product by five-axis dispensing and a dispensing machine, a product to be processed is placed below the machine head, and the device comprises a first detection mechanism capable of freely moving and a second detection mechanism positioned below the first detection mechanism, wherein the second detection mechanism is located below the to-be-processed product and can detect the vertical distance between the upper surface of the second detection mechanism and the machine head and the vertical distance between the upper surface of the second detection mechanism and the lower surface of the first detection mechanism, and the first detection mechanism can detect the vertical distance between the lower surface of the first detection mechanism and the to-be-processed product below the first detection mechanism. According to the utility model, when a height error is generated during secondary assembly of the glue spraying needle valve, the height coordinate error of the needle valve can be measured through the two detection mechanisms, and the height difference value is compensated to offset the error in the operation process by using an operation control system software algorithm, so that the height of the glue spraying valve during operation is consistent with the height of the glue spraying valve during first debugging; the overall efficiency of equipment is improved, and operation of operators is simplified.

Description

Technical Field

[0001] The utility model relates to the technical field of intelligent manufacturing, in particular to a device and a dispensing machine for automatically calculating the height change of a five-axis dispensing head and a product. Background Art

[0002] During the production process, the product is processed by the machine head on the automated processing equipment. During the processing, the machine head needs to be disassembled and replaced due to processing requirements. For example, the glue needle valve on the dispensing machine. In the application of automated glue spraying equipment, due to the complex structure of the glue needle valve and the volatilization and curing characteristics of the glue, the glue needle valve must be disassembled for cleaning or frozen storage when it stops working for a long time to avoid glue deterioration or curing and causing the glue valve to be blocked. However, when implementing the glue spraying operation, it is difficult to control the assembly error in height of the reassembled glue needle valve, so it is impossible to ensure that the distance between the glue needle valve and the product is consistent during all glue spraying operations, which in turn affects the quality of the glue spraying operation and requires repeated height adjustment. The operation of the operator is complicated, which reduces the overall work efficiency of the equipment. Utility Model Content

[0003] The purpose of the utility model is to solve the above problems. A device and a dispensing machine for automatically calculating the height change of a five-axis dispensing computer head and a product are designed, which can effectively solve the problems that the existing suction cup and parallel light source combination structure is relatively complex and the circuit is prone to interference during rotation.

[0004] To achieve the above-mentioned purpose, the technical solution of the utility model is a device for automatically calculating the height change of a machine head and a product for five-axis dispensing, wherein the product to be processed is placed under the machine head, and comprises a first movable detection mechanism, and a second detection mechanism located under the first detection mechanism, wherein the second detection mechanism is located under the product to be processed and can detect the vertical distance between the upper surface of the second detection mechanism and the lower surface of the machine head and the first detection mechanism respectively, and the first detection mechanism can detect the vertical distance between the lower surface of the first detection mechanism and the product to be processed below.

[0005] Preferably, the first detection mechanism adopts a laser sensor or a contact sensor, and the second detection mechanism adopts a laser sensor.

[0006] Preferably, a rotating module is provided below the machine head, and a product fixing mechanism for fixing the product is provided on the rotating module. During detection, the rotating module can keep the product to be processed horizontal.

[0007] The present invention also proposes a dispensing machine, comprising the above-mentioned automatic computer head for five-axis dispensing and a device for product height change, wherein the head is a needle valve and the product fixing mechanism is a product suction component for sucking the product.

[0008] Preferably, the dispensing machine also includes an X-axis linear module, a Y-axis linear module, a Z-axis lifting module, a B-axis rotation module, and a C-axis rotation module. The Z-axis lifting module is installed on the X-axis linear module, the Y-axis linear module is located below the X-axis linear module and is perpendicular to the X-axis linear module, the B-axis rotation module is installed on the Y-axis linear module, the C-axis rotation module is installed on the B-axis rotation module, the product suction assembly is installed on the C-axis rotation module, and a dispensing assembly is provided on the Z-axis lifting module. The dispensing assembly has the needle valve for dispensing the product to be processed below.

[0009] Preferably, the first detection mechanism is vertically arranged on one side of the needle valve and can detect the vertical distance between the products to be processed, and the second detection mechanism is arranged on one side of the products to be processed and can detect the vertical distance between the needle valve and the lower surface of the first detection mechanism.

[0010] Preferably, the product suction component has a suction nozzle for sucking the product, and the upper end surface of the suction nozzle is a plane.

[0011] Compared with the prior art, the beneficial effects are:

[0012] The device for automatically measuring the height change of the machine head adopted in the utility model can automatically measure the height error before and after the needle valve on the dispensing machine is replaced. When the equipment is debugged for the first time, the glue spraying needle valve is moved to the top of the second detection mechanism, and the height value of the lower plane of the needle valve is detected by the second detection mechanism, and the value is entered into the operation control system; when the height error occurs in the secondary assembly of the glue spraying needle valve, a pre-set program is started, and the second detection mechanism automatically measures the height difference between the needle valve and the first detection mechanism, and then the first detection mechanism automatically measures the distance between the product to be processed, and then the distance between the needle valve and the product to be processed is obtained, and the height coordinate error of the needle valve can be obtained. The height difference is compensated to offset the error in the operation process by using the operation control system software algorithm, so as to ensure that the height of the glue spraying valve during operation is consistent with the height at the first debugging, thereby improving the overall efficiency of the equipment and simplifying the operation of the operator. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] Figure 1 It is a schematic diagram of the overall structure of the glue dispensing machine in the embodiment of the utility model;

[0014] Figure 2 This is a schematic diagram of the needle valve when measuring height difference.

[0015] In the figure, 1. X-axis linear module; 2. Z-axis lifting module; 3. Y-axis linear module; 4. B-axis rotation module; 5. C-axis rotation module; 6. dispensing component; 61. needle valve; 7. contact sensor; 8. laser sensor; 9. nozzle; 10. lens; 11. fixing plate. DETAILED DESCRIPTION

[0016] The following will be combined with the drawings in the embodiments of the utility model to clearly and completely describe the technical solutions in the embodiments of the utility model. Based on the embodiments of the utility model, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the utility model.

[0017] like Figure 1-Figure 2 As shown, a preferred embodiment of the utility model proposes a device and a dispensing head for automatically calculating the height change of a five-axis dispensing head and a product. The device is used on a dispensing machine and can automatically measure the height difference before and after the needle valve 61 on the dispensing machine is replaced.

[0018] The dispensing machine has five moving axes, namely, an X-axis linear module 1, a Y-axis linear module 3, a Z-axis lifting module 2, a B-axis rotation module 4 and a C-axis rotation module 5, wherein the Y-axis linear module 3 is located below the X-axis linear module 1 and is perpendicular to the X-axis linear module 1, the Z-axis lifting module 2 is vertically mounted on the X-axis linear module 1, and can move horizontally along the X-axis direction under its drive; the B-axis rotation module 4 is mounted on the Y-axis linear module 3, and the C-axis rotation module 5 is mounted on the B-axis rotation module 4, and a product fixing mechanism is installed on the C-axis rotation module 5. The product fixing mechanism in this embodiment is a product suction component for sucking the lens 10; the B-axis rotation module 4 can control the rotation of the lens 10 in a vertical plane, and the C-axis rotation module 5 can control the rotation of the lens 10 in a horizontal plane.

[0019] In this embodiment, the product suction component has a suction nozzle 9, and the upper end surface of the suction nozzle 9 is a plane, so the suction nozzle 9 can completely contact the surface of the lens 10, firmly suck the lens 10, and at the same time facilitate the lens 10 to remain horizontal.

[0020] like Figure 1 As shown, a fixed plate 11 is arranged on the Z-axis lifting module 2, and a dispensing assembly 6 and a first detection mechanism are arranged on the fixed plate 11. The dispensing assembly 6 has a glue spraying needle valve 61, and the first detection mechanism adopts a contact sensor 7. The contact sensor 7 and the needle valve 61 are both vertically arranged. The Z axis drives the probe of the contact sensor 7 to move downward and contact the lens 10, thereby triggering the contact sensor 7, and the vertical distance between the lower surface of the probe of the contact sensor 7 and the lens 10 below can be measured.

[0021] In other technical solutions, if the product to be processed is made of non-transparent material, the first detection mechanism may also use a laser sensor 8. In this embodiment, since the lens 10 is made of transparent material, if the laser sensor 8 is used, the lens 10 cannot reflect the laser signal.

[0022] A second detection mechanism is provided on one side of the lens 10. The second detection mechanism uses a laser sensor 8, which is usually vertically mounted and fixed on the front end of the B-axis rotating module 4. Since the front end of the B-axis rotating module 4 does not rotate, the second detection mechanism can always remain in a vertical state and will not produce errors due to movement. The laser sensor 8 can vertically emit laser light to the needle valve 61 above or the lower surface of the first detection mechanism, and then after the laser sensor 8 receives the laser reflection signal, the vertical distance between the laser sensor 8 and the needle valve 61 and the first detection mechanism can be calculated.

[0023] Before the formal measurement, the rotating module controls the lens 10 to rotate so that the lens 10 remains in a horizontal state.

[0024] When the equipment is first debugged, the needle valve 61 is moved to the position of the laser sensor 8, and the laser sensor 8 measures the height value of the lower plane of the needle valve 61 and enters it into the operation control system. When the height error of the glue spraying needle valve 61 occurs during the secondary assembly, the height of the glue spraying needle valve 61 is measured again, and the system automatically compensates for the height error.

[0025] That is to say, no matter whether the lower surface of the needle valve is aligned with the lower surface of the first detection mechanism, the height difference of the needle valve can be measured by the laser sensor and the contact sensor, and the height coordinate of the needle valve in the system can be compensated.

[0026] You can refer to Figure 2 The height difference before and after the needle valve 61 is replaced is measured according to the following steps:

[0027] S1. The system automatically establishes a three-dimensional coordinate system and resets the positions of the needle valve 61 and the contact sensor 7 to zero;

[0028] S2, moving the contact sensor 7 horizontally to just above the laser sensor 8, and measuring the distance Z1 between the lower surface of the contact sensor 7 and the laser sensor 8 according to the emitted laser signal;

[0029] S3, move the needle valve 61 horizontally to the position directly above the laser sensor 8, and measure the distance Z2 between the lower surface of the needle valve 61 and the laser sensor 8 according to the emitted laser signal;

[0030] S4. According to the formula Z3=Z1-Z2, the height difference Z3 between the needle valve 61 and the contact sensor 7 can be obtained;

[0031] S5, moving the contact sensor 7 horizontally to just above the lens 10, moving the probe of the contact sensor 7 downward and slowly contacting the surface of the lens 10 until the contact sensor 7 is triggered, and measuring the distance Z4 from the lower surface of the contact sensor 7 to the lens 10;

[0032] S6. According to the formula Z=Z3+Z4+N, the distance Z between the lower surface of the needle valve 61 and the lens 10 can be obtained, wherein N is the trigger distance of the contact sensor contacting the product surface, which is set as a constant.

[0033] Because the height of the lens 10 is constant, the height reference of the needle valve 61, that is, the height coordinate of the needle valve 61, can be obtained. The system will compensate the height coordinate of the needle valve 61 after replacement according to the height change of the needle valve 61 before and after replacement.

[0034] By using this method, the automated glue spraying equipment saves a step of equipment debugging in the operation process of restarting after a long shutdown, reduces the difficulty of the operator's work, and saves costs by eliminating defective products caused by debugging.

[0035] Since the lens 10 has thickness, the distance from the needle valve 61 to the thickness center of the lens 10 needs to be calculated during dispensing, so the height coordinate of the needle valve 61 also needs to include half of the thickness of the lens 10 in the calculation.

[0036] The device for measuring the height change of the machine head involved in the utility model can be used not only in dispensing machines, but also in other automated processing equipment, such as machine tools. The height of the processing tool head in the machine tool will also change before and after replacement, and the height after replacement needs to be compensated. At this time, the device can be used for automatic measurement, so the device has a wide range of applications.

[0037] The above technical solutions only reflect the preferred technical solutions of the technical solutions of the utility model. Some changes that may be made to certain parts thereof by technicians in this technical field all reflect the principles of the utility model and fall within the protection scope of the utility model.

Claims

1. A device for automatically calculating the height change of the machine head and the product for five-axis dispensing, wherein the product to be processed is placed under the machine head, characterized in that: It includes a first movable detection mechanism and a second detection mechanism located below the first detection mechanism, wherein the second detection mechanism is located below the product to be processed and can detect the vertical distances between the upper surface of the second detection mechanism and the machine head and the lower surface of the first detection mechanism respectively, and the first detection mechanism can detect the vertical distance between the lower surface of the first detection mechanism and the product to be processed below.

2. A device for automatically calculating the height change of a five-axis dispensing head and a product according to claim 1, characterized in that: The first detection mechanism adopts a laser sensor (8) or a contact sensor (7), and the second detection mechanism adopts a laser sensor (8).

3. The device for automatically calculating the height change of the five-axis dispensing head and the product according to claim 1 is characterized in that: A rotating module is arranged below the machine head, and a product fixing mechanism for fixing the product is arranged on the rotating module. During detection, the rotating module can keep the product to be processed horizontal.

4. A glue dispensing machine, characterized in that: It comprises a device for automatically calculating a head for five-axis dispensing and product height change as described in any one of claims 1 to 3, wherein the head is a needle valve (61), and the product fixing mechanism is a product suction component for sucking the product.

5. A glue dispensing machine according to claim 4, characterized in that: The dispensing machine further comprises an X-axis linear module (1), a Y-axis linear module (3), a Z-axis lifting module (2), a B-axis rotation module (4), and a C-axis rotation module (5); the Z-axis lifting module (2) is mounted on the X-axis linear module (1); the Y-axis linear module (3) is located below the X-axis linear module (1) and is perpendicular to the X-axis linear module (1); the B-axis rotation module (4) is mounted on the Y-axis linear module (3); the C-axis rotation module (5) is mounted on the B-axis rotation module (4); the product suction component is mounted on the C-axis rotation module (5); a dispensing component (6) is provided on the Z-axis lifting module (2); and the dispensing component (6) has the needle valve (61) for dispensing the product to be processed below.

6. A glue dispensing machine according to claim 5, characterized in that: The first detection mechanism is vertically arranged on one side of the needle valve (61) and is capable of detecting the vertical distance between the products to be processed, and the second detection mechanism is arranged on one side of the products to be processed and is capable of detecting the vertical distance between the needle valve (61) and the lower surface of the first detection mechanism.

7. A glue dispensing machine according to claim 5, characterized in that: The product suction component comprises a suction nozzle (9) for sucking the product, and the upper end surface of the suction nozzle (9) is a plane.

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