Multiple 4th axis robots

Abstract

An end effector is provided, comprising a first valve operably connected to a first motor housing and movable along at least four axes, a second valve operably connected to a second motor housing and movable along at least four axes, and a distance adjustment mechanism configured to adjust a horizontal distance between the first valve and the second valve. Also provided is an associated conformal coating machine and a method for coating a component, which enables rapid and uniform coating of a conformal coating on a component.

Description

[0001] CROSS-REFERENCE TO RELATED APPLICATIONS

[0002] This application claims the benefit of and priority to U.S. Provisional Patent Application filed on November 28, 2018, entitled “Multiple Fourth Axis Robot.” Technical Field

[0003] The following relates to a valve assembly and more particularly to embodiments of a valve assembly having an adjustable multiple fourth axis robot with pitch adjustment. Background Art

[0004] Conformal coatings, such as acrylic, polyurethane, or silicone, are used to protect components on circuit boards from moisture, chemicals, dust, and impact. Conformal coatings on circuit boards also act as electrical and thermal insulators. Due to this insulating property, certain areas on a circuit board cannot be conformally coated to remain electrically and / or thermally conductive. Therefore, conformal coating of circuit boards is done selectively. Summary of the invention

[0005] One aspect relates to an end effector, comprising a first valve operably connected to a first motor housing and movable along at least four axes, a second valve operably connected to a second motor housing and movable along at least four axes, and a distance adjustment mechanism configured to adjust a horizontal distance between the first valve and the second valve.

[0006] In one exemplary embodiment, the first valve and the second valve are configured to be tilted relative to the first motor housing and the second motor housing, respectively.

[0007] In an exemplary embodiment, the distance adjustment mechanism includes a base plate connected to the end effector frame, and a slide slidable along the base plate. The second motor housing is fixedly attached to the base plate, and the slide is slidably attached to the base plate and fixedly attached to the first motor housing. The slide slides on a track of the base plate to reduce the horizontal distance between the first valve and the second valve.

[0008] In an exemplary embodiment, the distance adjustment mechanism further comprises a third motor housing having a third motor, the third motor rotating a gear meshing with the track so that when the gear rotates, the slider slides along the track of the substrate. The track comprises teeth meshing with the gear rotated by the motor enclosed in the third motor housing.

[0009] In one exemplary embodiment, the first valve is connected to a support plate of a first motor housing that extends below a base plate of the end effector, and the second valve is connected to a support plate of a second motor housing that extends below a base plate of the end effector.

[0010] In one exemplary embodiment, the movement of the first valve, the second valve, and the distance adjustment mechanism are computer programmable.

[0011] One aspect relates to a conformal coating machine including an end effector attached to a robot configured to allow the end effector to move along at least three axes. The end effector includes a first valve operably connected to a first motor housing and movable along at least four axes, a second valve operably connected to a second motor housing and movable along at least four axes, and a distance adjustment mechanism configured to adjust a horizontal distance between the first valve and the second valve.

[0012] In an exemplary embodiment, the first valve and the second valve are configured to be tilted relative to the first motor housing and the second motor housing, respectively.

[0013] In an exemplary embodiment, the distance adjustment mechanism includes a base plate and a slider slidable along the base plate. The second motor housing is fixedly attached to the base plate, and the slider is slidably attached to the base plate and fixedly attached to the first motor housing.

[0014] In an exemplary embodiment, the first valve is connected to a support plate of the first motor housing, the support plate extending below a base plate of the end effector, and the second valve is connected to a support plate of the second motor housing, the support plate extending below the base plate of the end effector.

[0015] One aspect relates to a method of coating a part that includes adjusting a horizontal distance between a first valve and a second valve of a conformal coating machine.

[0016] In an exemplary embodiment, adjusting the horizontal distance includes at least one of: moving the first valve toward and away from the second valve, and moving the second valve toward and away from the first valve. Moving the first valve includes sliding a slider laterally on a track of a substrate connected to at least the second valve.

[0017] In an exemplary embodiment, adjusting the horizontal distance does not require moving an end effector of a robot attached to the conformal coater.

[0018] One aspect relates to a method of coating a part using a conformal coater with an end effector as described above.

[0019] The foregoing and other features of construction and operation will be more readily understood and fully appreciated from the following detailed disclosure when considered in conjunction with the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Some embodiments will be described in more detail with reference to the accompanying drawings, in which like reference numerals refer to like components, and in which:

[0021] Figure 1 shows a front view of an end effector having a first valve and a second valve in a first valve position according to an embodiment of the present invention;

[0022] Figure 2 The embodiment according to the present invention is shown Figure 1 A front perspective view of the end effector;

[0023] Figure 3 shows a front view of an end effector having a first valve and a second valve in a second valve position according to an embodiment of the present invention;

[0024] Figure 4 shows a front view of an end effector having a first valve and a second valve in a third valve position in accordance with an embodiment of the present invention;

[0025] Figure 5 The embodiment according to the present invention is shown Figure 4 A front perspective view of the end effector;

[0026] Figure 6 A front view of an end effector according to an embodiment of the present invention is shown, wherein the distance between the first valve and the second valve has been adjusted;

[0027] Figure 7 showing a front view of an end effector at another valve position according to an embodiment of the present invention, wherein the distance between the first valve and the second valve has been adjusted; and

[0028] Figure 8 The embodiment according to the present invention is shown Figure 7 Front perspective view of the end effector. DETAILED DESCRIPTION

[0029] A detailed description of the embodiments of the disclosed apparatus and methods described below is given herein by way of example and not limitation with reference to the accompanying drawings. Although certain embodiments are shown and described in detail, it should be understood that various changes and modifications may be made without departing from the scope of the appended claims. The scope of the present disclosure is in no way limited to the number of constituent parts, their materials, their shapes, their relative arrangements, etc., and is disclosed merely as an example of an embodiment of the present disclosure.

[0030] As a preface to the detailed description, it should be noted that, as used in this specification and the appended claims, the singular forms "a," "an," and "the" include plural referents unless the context clearly dictates otherwise.

[0031] In order to accomplish selective conformal coating, which requires very precise application, robotic dispensing systems have been employed. To date, such systems have provided relatively precise conformal coating dispensing on smaller circuit board components, as well as the ability to spray conformal coatings over larger areas of an entire circuit board. If the components are located on a conveyor or other location for conformal coating, it may be difficult to effectively coat the components without moving the entire end effector of the robotic dispensing system, especially where the components vary in size or dimensions. Additional difficulties may arise when the entire end effector must be moved to fully coat a single component. In addition, where multiple valves are used, even where the valves are movable, the static distance between the valves may prevent accurate and efficient coating of the components, for example, where valves are used to coat components of varying sizes.

[0032] Therefore, there is a need for an improved valve assembly and method thereof.

[0033] With reference to the accompanying drawings, Figure 1 A front view of the end effector 1000 is shown. The end effector 1000 may be a fluid dispensing assembly, a valve assembly, an adhesive dispensing assembly, a coating assembly, a coating valve assembly, a conformal coating assembly, a conformal coating valve assembly, a coating applicator, an adhesive dispenser, a multi-axis robot, a four-axis programmable valve assembly, etc. Embodiments of the end effector 1000 may also refer to any device that is attached to an X, Y, Z or other axis of motion to perform various tasks such as dispensing, coating, etc. Figure 1 As shown, the end effector 1000 is positioned above the components 40, 41 on the platform 30. The platform 30 can be a workpiece, a substrate, a conveyor, a platform, a support plate in a closed machine, a fixed surface, etc. The components 40, 41 can be of various sizes. For example, component 40 is larger than component 41. The components 40, 41 can be electrical components, such as circuit board components, electrical components attached to circuit boards, etc. In an embodiment where the platform 30 is a conveyor, the conveyor can be used to move the workpiece or object through the conformal coating system to another station in the production process. In addition, the components 40, 41 can also be placed on a fixed surface for coating by the end effector 1000.

[0034] An embodiment of the end effector 1000 includes a first motor housing 10 and a second motor housing 11. In an embodiment, the first motor housing 10 and the second motor housing 11 are each movably attached to a single substrate 15. For example, the first motor housing 10 is movably attached, attached, fastened or otherwise coupled to a first end of the substrate 15, and the second motor housing 11 is movably attached, attached, fastened or otherwise coupled to a second end of the substrate 15. One of the first motor housing 10 and the second motor housing 11 may be attached to a slide 16, which is movably attached to the substrate 15. The first motor housing 10 and the second motor housing 11 may be directly attached to the truss robot via the substrate 15 and / or the slide 16. The end effector 1000 utilizes a robot or a robot platform to accurately, precisely and repeatably perform automated tasks. For example, the end effector 1000 may also be connected to a manipulator of any robot, such as a selectively compatible assembly robot arm (SCARA) system, a linear robot, a multi-axis robot arm system, etc. The end effector 1000 has at least three axes of motion, such as an X-axis, a Y-axis, and a Z-axis. A theta axis represents an axis around which the valves 13 and 14 can be tilted relative to the support plate 12. The end effector 1000 includes one or more actuators that move the end effector 1000 along any axis. For example, the end effector 1000 includes an X-axis actuator, a Y-axis actuator, a Z-axis actuator, and a theta-axis actuator. For example, the theta-axis actuator may include a brushless servo motor. For example, the X-axis actuator, the Y-axis actuator, and the Z-axis actuator may be a ball screw slide, a linear motion slide, a linear actuator, and the like. The end effector 1000 may move left and right along the Y-axis, move forward and backward along the X-axis, and move up and down along the Z-axis.

[0035] In an embodiment, each of the first motor housing 10 and the second motor housing 11 encloses a motor (not shown), such as a servo motor. Each of the first motor housing 10 and the second motor housing 11 includes an electrical connection interface 60 (e.g., an electrical plug or an electrical connector), through which a motor such as a servo motor can be connected to an electric power source. Each motor can be configured to move a valve connected to the respective first motor housing 10 and second motor housing 11. The end effector 1000 may include one or more zero-backlash couplings for preventing sudden start or stop of the motors enclosed by the first motor housing 10 and the second motor housing 11.

[0036] In one embodiment, for example Figure 1As shown in , the support plate 12 is rotatably attached to the first motor housing 10. The first valve body 13 is attached to the support plate 12 on the first motor housing 10. The support plate 12 is also rotatably attached to the second motor housing 11. The second valve body 14 is attached to the support plate 12 on the second motor housing 11. The first valve body 13 and the second valve body 14 can be valves, valves enclosed in valve housings, etc. The movement of the first valve body 13 is completed by a motor such as a servo motor encapsulated in the first motor housing 10. The movement of the second valve body 14 is completed by a motor such as a servo motor encapsulated in the second motor housing 11. The first valve body 13 and the second valve body 14 each include a coating applicator 20, which is configured to apply a protective coating such as a conformal coating to the components 40, 41, or to apply an adhesive to the components 40, 41 or other target substrates such as glass sheets. Depending on the coating to be applied, the coating applicator 20 may include various nozzle types. For example, the coating applicator 20 may have a dispensing valve, a spray valve, an atomizing nozzle, etc. A dispensing valve, also referred to as a "needle valve," is a pneumatic valve that dispenses conformal coatings through interchangeable needle holes. A spray valve is a pneumatic valve that combines conformal coatings with compressed air to dispense atomized spray patterns, such as circular spray patterns. Atomizing nozzles can be used to controllably atomize fluids dispensed by valve bodies 13, 14. The coating applicators 20 between the first valve body 13 and the second valve body 14 can be the same or different. For example, the first valve body 13 can have a coating applicator 20 including a dispensing valve, and the second valve body 14 can have a coating applicator 20 including a spray valve. Each coating applicator 20 can be identical. As another example, each coating applicator 20 can include a nozzle, an outlet, a plug, a valve, etc. For example, the coating applicator 20 can include a flat fan nozzle, a hollow cone nozzle, a full cone nozzle, a spray nozzle, a solid jet nozzle, an atomizing nozzle, or any other type of nozzle. The coating applicator 20 may include a nozzle for dispensing conformal coatings in any shape or pattern. The coating applicator 20 may include or be configured to receive a customized head or valve assembly for different protective coating application requirements. The coating applicator 20 may be composed of a metal such as stainless steel, or include a combination of metal and composite materials, plastics, etc. The reservoir may be operably attached to one or each of the coating applicators 20 by various means such as a hose, wire, conduit or other pipe fittings. The coating applicator 20 may include a single dispensing valve or a spray valve or other type of valve, or multiple valves for dispensing adhesives, conformal coatings or other protective coatings. The coating applicator 20 may include a locator 21 for threadably attaching the air nozzle to the valve body.

[0037] The embodiments of the first valve body 13 and the second valve body 14 are both capable of moving along at least four axes of motion. The movement of the first valve body 13 and the second valve body 14 may occur during the movement of the end effector along the X-axis, the Y-axis or the Z-axis. The first valve body 13 and the second valve body 14 are each rotatably arranged on a support plate 12 that is movably attached to the first motor housing 10 and the second motor housing 11, respectively. The support plate 12 is configured to move independently of the end effector 1000 and independently of each other. The first valve body 13 and its corresponding support plate 12 are configured so that the first valve body 13 has at least four axes of motion: the X-axis, the Y-axis, the Z-axis, the rotation of the support plate 12 relative to the motor housing 10, and the tilting around the θ-axis. For example, the first valve body 13 may be configured to move up and down on the Z-axis. The first valve body may be configured to move forward and backward on the X-axis and move left and right on the Y-axis. Likewise, the second valve body 14 and its corresponding support plate 12 are configured so that the second valve body 14 has at least four axes of motion: an X-axis, a Y-axis, a Z-axis, a rotation of the support plate 12 relative to the motor housing 10, and a tilt around the θ-axis. For example, the second valve body 14 can be configured to move up and down on the Z-axis. The second valve body 14 can be configured to move forward and backward on the X-axis and left and right on the Y-axis. The first valve body 13 and the second valve body 14 are configured to move simultaneously and / or independently along different axes. For example, the first valve body 13 can rotate around the θ-axis while the second valve body 14 does not rotate around the θ-axis.

[0038] In addition to the four motion axes including the X-axis, the Y-axis, the Z-axis and the θ-axis, the first valve body 13 and the second valve body 14 are configured to be tilted at an angle relative to the Z-axis and around the θ-axis. For example, the first valve body 13 and the second valve body 14 each have a pneumatic tilt axis. Figure 1 , shows the first valve body 13 and the second valve body 14 in the first valve position, wherein the first valve body 13 and the second valve body 14 are each tilted 45° toward each other relative to the Z axis. The tilting of the first valve body 13 and the second valve body 14 allows the distance between the coating applicators 20 to be adjusted, thereby allowing the coating applicators 20 to apply conformal coating more efficiently, so that the coating applicators 20 do not both apply coating to the same position on the parts 40, 41.

[0039] Figure 2 The embodiment according to the present invention is shown Figure 1000 in a front perspective view of the end effector 1000 in a first valve position. In the first valve position, the first valve body 13 and the second valve body 14 are tilted 45° toward each other, which positions the coating applicator 20 at opposite ends of the proximal component 40. The first valve body 13 and the second valve body 14 are not limited to having a 45° inclination, for example, can be configured to be tilted up to 90° relative to the Z axis. The first valve body 13 and the second valve body 14 are configured to be tilted at any angle relative to the Z axis at any point around the θ axis. Any combination of rotation of the first valve body 13 and the second valve body 14 around the θ axis and tilt angle relative to the Z axis is achievable.

[0040] Figure 3 A front view of the end effector 1000 in a second valve position in accordance with an embodiment of the present invention is shown. In this second position, the first valve body 13 and the second valve body 14 are each parallel to each other and pointing downward. The first valve body 13 and the second valve body 14 are not limited to having the same inclination at any given time. For example, the first valve body 13 can be inclined at 20° while the second valve body 14 is pointing straight down. Each of the first valve body 13 and the second valve body 14 can have a continuously changing inclination angle, for example, as the first valve body 13 and the second valve body 13 move around the parts 40, 41 to coat the parts 40, 41. The various movements and inclinations of the valve bodies 13, 14 are computer programmable.

[0041] The first valve body 13 and the second valve body 14 may also be inclined in the same direction. Figure 4 1 shows a front view of the end effector 1000 in a third valve position according to an embodiment of the present invention. In the third valve position, the first valve body 13 and the second valve body 14 are both tilted at an angle of 45° in the right direction relative to the conveyor 30. The first valve body 13 and the second valve body 14 can also be tilted at any angle in any other direction. For example, the first valve body 13 and the second valve body 14 can each be tilted at an angle of 45° in the left direction relative to the conveyor 30.

[0042] Figure 5 The embodiment according to the present invention is shown Figure 4 The different positions of the first valve body 13 and the second valve body 14 facilitate coating components 40, 41 of different sizes, components 40, 41 with different orientations, and components 40, 41 with different speeds. For example, Figure 51 shows the first valve body 13 and the second valve body 14 in a third valve position, wherein each coating applicator 20 is placed near a different smaller component 41. The first valve body 13 and the second valve body 14 are positioned to each apply coating to the same component 40 at the same time. In other positions, the first valve body 13 and the second valve body 14 can be positioned to each apply coating to different components 40, 41.

[0043] Each of the first valve body 13 and the second valve body 14 is configured to move independently of each other when the support plate 12 is independently rotated and / or when the first valve body 13 or the second valve body 14 is tilted. This can be particularly advantageous for quickly and evenly conformally coating the components 40, 41 without moving the entire end effector 1000 attached to the robot platform. For example, the first valve body 13 can be used to spray conformal coating on the underside or on the sides of the components 40, 41, while the second valve body 14 can be used to spray conformal coating on the top of the components 40, 41. In the case where the components 40, 41 are moving on the conveyor 30, the components 40, 41 can first pass under the coating applicator 20 of the second valve body 14. The second valve body 14 can be in a position such as Figure 3 As the components 40, 41 approach the second valve body 14, the second valve body 14 can be tilted 45° toward the components 40, 41 and as shown Figure 4 Spray paint on it as shown. Figure 1 and Figure 2 As shown in FIG. 1 , relative to a larger component 40, for example, as the component 40 moves along a conveyor, the second valve body 14 may be located at Figure 1 and Figure 2 The first valve body 13 may also be initially in a position such as Figure 3 As shown in the vertical position, then as the component 40 approaches the first valve body 13, as Figure 4 As shown, the first valve body 13 is tilted 45° to the right. As the part 40 moves along the conveyor, the first valve body 13 can be tilted 45° in the opposite direction to spray the entire bottom of the part 40. As another example, as the part 40 moves along the conveyor, the first valve body 13 can be rotated by rotating the support plate 12 to which the first valve body 13 is attached. While rotating, both valve bodies 13, 14 can also move up and down along the Z axis, which is advantageous when the parts 40, 41 are irregularly shaped or when different parts of the parts 40, 41 have different heights or when consecutive parts along the platform 30 have different heights.

[0044] The end effector 1000 further includes a distance adjustment mechanism 50. The distance adjustment mechanism 50 is configured to adjust a horizontal distance 90 between the first motor housing 10 and the second motor housing 11. When the distance adjustment mechanism 50 increases the distance 90 between the first motor housing 10 and the second motor housing 11, the distance between the first valve body 13 and the second valve body 14 is also increased. Similarly, when the distance adjustment mechanism 50 decreases the distance 90 between the first motor housing 10 and the second motor housing 11, the distance between the first valve body 13 and the second valve body 14 is also decreased.

[0045] In an exemplary embodiment, the distance adjustment mechanism 50 includes a base plate 15 and a slider 16. The base plate 15 extends between the first motor housing 10 and the second motor housing 11. The base plate 15 may include one or more layers or one or more materials. The second motor housing 11 is attached to the base plate 15. The slider 16 is shown as being attached to the first motor housing 10 so that movement of the slider 16 is converted into movement of the first motor housing 10. However, in other embodiments, the slider 16 is attached to the second motor housing 11 so that movement of the slider 16 is converted into movement of the second motor housing 11. The slider 16 may be a programmable slider member having a structure that cooperates with a corresponding structure of the base plate 15 or a component attached to the base plate 15, specifically for engaging the slider 16 and cooperating with the slider 16. The slider 16 is slidably connected to the base plate 15 so that the slider 16 slides on the base plate 15 or otherwise moves back and forth. For example, as Figure 1 , Figure 3 and Figure 4 As shown in the example of FIG. , the first motor housing 10 may be a first distance D1 from the second motor housing 11 .

[0046] Figure 6 1 shows a front view of an end effector 1000 according to an embodiment of the present invention, wherein the distance 90 between the first valve body 13 and the second valve body 14 has been adjusted. The slider 16 is configured to slide or otherwise move along the base plate 15 toward the second motor housing 11, so that the first motor housing 10 moves from a first distance D1 away from the second motor housing 11 to a second distance D2 closer to the second motor housing 11, as shown in FIG. Figure 6 Therefore, as the slider 16 moves along the base plate 15 toward the second motor housing 11, the first valve body 13 is closer to the second valve body 14. The distance between the first valve body 13 and the second valve body 14 determines or otherwise affects the way in which the component is coated.

[0047] The sliding of the slider 16 along the base plate 15 is accomplished by one or more tracks 17 arranged along and on the base plate 15. The tracks 17 are formed in the material of the base plate 15 or are separate parts attached to the base plate 15. The slider 16 engages the tracks 17 and slides horizontally back and forth along the base plate 15, thereby causing the distance between the first motor housing 10 and the second motor housing 11 to expand and contract according to the moving direction of the slider 16.

[0048] The distance adjustment mechanism 50 also includes a linear actuator system for completing the horizontal movement of the slide 16 along the substrate 15. For example, the distance adjustment mechanism 50 includes a motor (not shown), such as a servo motor enclosed in the third motor housing 18. The motor in the third motor housing 18 can rotate a gear that meshes with the track 17, so that when the gear rotates, the slide 16 slides along the track 17 of the substrate 15. The track 17 may include teeth, ridges, grooves, edges, forks, notches, etc. that mesh with the gear rotated by the motor enclosed in the third motor housing 18. For example, the first motor housing 10 may be located at a first position farthest away from the first motor housing 11, such as Figure 1-5 The servomotor in the third motor housing 18 can then rotate a gear that meshes with teeth in the track 17, so that the slide 16 slides along the track 17 toward the second motor housing 11, so that the distance between the first motor housing 10 and the second motor housing 11 decreases, and the distance between the first valve body 13 and the second valve body 14 also decreases. The servomotor can rotate the gear until the slide 16 abuts the second motor housing 11, as shown. Figure 6 as shown in .

[0049] Figure 7 A front view of an end effector 1000 at another valve position according to an embodiment of the present invention is shown, wherein the distance between the first valve body 13 and the second valve body 14 has been adjusted. The first valve body 13 and the second valve body 14 can each independently move along any axis of the Z axis, the Y axis, the Z axis or the θ axis, and can be tilted at any angle at the same time, while adjusting the distance between the first motor housing 10 and the second motor housing 11, and the movement of the end effector 1000 along any axis of the X axis, the Y axis, the Z axis or the θ axis. For example, in another valve position, the first valve body 13 and the second valve body 14 are now each tilted 45° to the right relative to the end effector 1000, as shown in FIG. Figure 6 However, the first valve body 13 and the second valve body 14 can also be programmed to tilt to the right and the second valve body 14 to tilt to the left. Figure 6 The positions shown are tilted 45° towards each other.

[0050] Furthermore, the horizontal distance between the first motor housing 10 and the second motor housing 11 is controlled by the programmed movement of the slide 16. For example, if the slide 16 is programmed to move from Figure 1 The position of the end effector 1000 shown in FIG. 1 moves along the track 17 toward the second motor housing 11, and the first distance D1 from the second motor housing 11 is reduced to a second distance D2 from the second motor housing 11, as shown in FIG. Figure 6 and Figure 7 As shown in . Simultaneously, with this lateral movement of the first motor housing 10, the first valve body 13 and the second valve body 14 also move. In addition, only one of the first valve body 13 and the second valve body 14 can move, depending on which housing the slider 16 is mechanically attached to.

[0051] In addition, at the same time, as the first motor housing 10 moves toward the second motor housing 11, Figure 1 The first distance D1 shown in Figure 7 The second valve body 14 can be tilted from left to right by the lateral movement of the second distance D2 shown in FIG. 1 , so that when the sliding member 16 reaches and is adjacent to the second motor housing 11 and the first motor housing 10 is at a second distance D2 closer to the second motor housing 11, the second valve body 14 tilts 45° to the right, so that both the first valve body 13 and the second valve body 14 are as shown in FIG. Figure 7 . It should be understood that the distance adjustment mechanism 50 is not limited to adjusting the distance between the first motor housing 10 and the second motor housing 11 from the farthest distance between the first motor housing 10 and the second motor housing 11 to the distance at which the slide 16 is adjacent to the second motor housing 11. For example, the distance adjustment mechanism 50 can move the first motor housing 10 toward or away from the second motor housing 11 by any distance to accommodate various arrangements of components on the PCB or platform 30. The track 17 can have one or more equidistant intervals, marks, notches, etc. based on the desired lateral movement distance. The distance adjustment mechanism 50 can be configured to move the first motor housing 10 by such an interval.

[0052] Figure 8 The embodiment according to the present invention is shown Figure 71000 . The first valve body 13 and the second valve body 14 are positioned so that the coating applicator 20 is each proximate to a different smaller component 41. The lateral movement of the first housing 10 by the distance adjustment mechanism 50 and the simultaneous independent movement of the first valve body 13 and the second valve body 14 can achieve a more thorough coating application by allowing the valve bodies to be used to ensure that no components 40, 41 have uncoated areas. For example, the second valve body 14 applies coating to the component 41, and as the component 41 moves along the conveyor past the second valve body 14, the first valve body 13 moves laterally toward the second valve body 14 to quickly apply coating to any areas of the component 41 that were missed when the second valve body 14 performed the coating. The first valve body 13 can be positioned such as Figure 5 The distance from the second valve body 14 shown in FIG. Figure 8 The valve body 14 is shown as moving toward the second valve body 14 .

[0053] The simultaneous adjustment of the distance between the first motor housing 10 and the second motor housing 11 and the movement of the first valve body 13 and the second valve body 14 allow the end effector 1000 to be used for various coating requirements with respect to different types, arrangements, sizes and proportions of components 40, 41, without the need to program other movements of the end effector 1000 or replace the current end effector with a different end effector (e.g., a smaller / larger end effector) for coating different types of components 40, 41. This can also allow the speed of coating of components to be increased by reducing pauses in the transfer of components 40, 41 during the coating process.

[0054] The distance adjustment mechanism 50 is not limited to moving the first motor housing 10 via a servo motor, a track 17, and a gear; other embodiments are also conceivable. For example, the distance adjustment mechanism 50 can be configured to perform horizontal movement or lateral movement of the first motor housing 10 toward or away from the second motor housing 11 via a gear and a gear rack. For another example, the distance adjustment mechanism 50 may include a rack and a pinion configured to complete the horizontal movement of the first motor housing 10 toward or away from the second motor housing 11. For another example, the distance adjustment mechanism 50 may include a roller-gear system, which includes a rack and a gear having a roller that meshes with the rack. For another example, the distance adjustment mechanism 50 may include a slide valve assembly mechanism configured to complete the movement of the programmable slider 16 toward the second motor housing 11.

[0055] Embodiments of the distance adjustment mechanism 50 are also not limited to including a base plate 15 and a slide 16. For example, the distance adjustment mechanism 50 may include a telescopic element that can be extended or retracted to move the first motor housing 10 closer to the second motor housing 11. For another example, the first motor housing 10 may be attached to one end of a telescopic element portion that is configured to be retracted in a larger telescopic element portion. The second motor housing 11 may be attached to the larger telescopic element portion. The telescopic element may be extended and retracted by a motor, pneumatically, or hydraulically. For another example, the distance adjustment mechanism 50 may include a roller screw for adjusting the distance between the first motor housing 10 and the second motor housing 11.

[0056] Adjustment of the proximity of the first motor housing 10 relative to the second motor housing 11 can be advantageous in increasing the efficiency of coating a plurality of components 40, 41 in succession in a faster manner. For example, if the components 40, 41 are placed under the first valve body 13 and the coating applicator 20 of the first valve body 13 begins coating application of the components 40, the conveyor can continue to move the components while the components 40, 41 are coated because the first valve body 13 moves closer to the second valve body 14 when the material is applied by moving the first motor housing 10 along the base plate 15 toward the second motor housing 11 by the slide 16. The second valve body 14 can be configured to apply coating under the components 40, 41. When moving the components under the second valve body 14, the first valve body 13 can have completed the coating application on the top and sides of the components 40 while the components 40 are moving with the conveyor. Once the first valve body 13 has finished coating the top and sides of the components 40, 41, the first valve body 13 can slide the first motor housing 10 away from the second motor housing 11 by means of the slide 16 to be efficiently moved back to the second motor housing 11, for example Figure 1 At the starting position shown.

[0057] For another example, the adjustment of the proximity between the first motor housing 10 and the second motor housing 11 is also beneficial to the situation where the size and dimensions of the components 40 to be coated are different. For example, the distance adjustment mechanism 50 can complete the coating of components 40 and 41 with different sizes. For example, the first valve body 13 can be moved further away from the second valve body 14 by sliding the slider 16 along the base plate 15 away from the second motor housing 11, so that the first valve body 13 and the second valve body 14 are further separated and can be placed at the opposite ends, sides or other dimensions of the component 40, such as Figure 1 and Figure 2 As another example, the first valve body 13 and the second valve body 14 can be moved closer together for coating a smaller component 41, such as Figure 5 and Figure 8 As shown in .

[0058] A frame may surround, enclose, or otherwise receive the end effector 1000 (and possibly other end effectors) and may provide a structure around the end effector 1000. The frame may allow for the attachment of panels that surround the end effector 1000. The panels attached to the frame may be a combination of solid panels and transparent panels, such as glass, plastic, etc., to allow viewing of the operation of the end effector 1000 and / or to provide necessary safety precautions during operation of the conformal coater.

[0059] refer to Figure 1-8 , the associated method of coating the components will now be described.

[0060] Figure 1-8 A method for coating a component by adjusting a horizontal distance between a first valve and a second valve of a conformal coater is shown, wherein the adjustment of the horizontal distance includes at least one of: moving the first valve toward and away from the second valve, and / or moving the second valve toward and away from the first valve. In one embodiment of the present invention, moving the first valve is specifically embodied as sliding a slide laterally on a track of a substrate connected to at least the second valve. In one embodiment of the present invention, the adjustment of the horizontal distance does not need to be accomplished by moving an end effector of a robot attached to the conformal coater.

[0061] Specifically, a conformal coating machine for coating parts includes an end effector attached to a robot, configured to allow the end effector to move along at least three axes; wherein the end effector includes: a first valve operably connected to a first motor housing, the first valve being movable along at least four axes; a second valve operably connected to a second motor housing, the second valve being movable along at least four axes; and a distance adjustment mechanism configured to adjust the horizontal distance between the first valve and the second valve.

[0062] The structure, working process and working principle of the specific end effector have been described in detail in the above-mentioned end effector embodiment. Here, all the contents of the end effector embodiment are incorporated into the conformal coater embodiment and the method embodiment of coating components using the conformal coater by reference.

[0063] Although the present disclosure has been described in conjunction with the specific embodiments outlined above, it is apparent that many substitutions, modifications, and variations will be apparent to those skilled in the art. Therefore, the preferred embodiments of the present disclosure as described above are intended to be illustrative, rather than limiting. Various changes may be made without departing from the spirit and scope of the present invention as required by the appended claims. The claims provide coverage of the present invention and should not be limited to the specific examples provided herein.

Claims

1. An end effector, characterized in that: include: a first valve (13) rotatably connected to a first support plate rotatably connected to a first motor housing (10), wherein the first valve (13) is rotatable relative to the first support plate about a first axis, and the first support plate is rotatable relative to the first motor housing (10) about a second axis; a second valve (14) rotatably connected to a second support plate rotatably connected to a second motor housing (11), wherein the second valve (14) is rotatable relative to the second support plate about a third axis, and the second support plate is rotatable relative to the second motor housing (11) about a fourth axis; A distance adjustment mechanism configured to adjust the horizontal distance between the first valve and the second valve, wherein the distance adjustment mechanism (50) comprises: a base plate (15) fixedly attached to the second motor housing (11); a sliding member (16) fixedly attached to the first motor housing (10) and configured to slide horizontally back and forth along the base plate (15); The first valve (13) and the second valve (14) are respectively tiltable relative to the distance adjustment mechanism (50) via a first axis and a third axis; wherein the first support plate is capable of rotating about the second axis independently of the rotation of the second support plate about the fourth axis; wherein the end effector is configured to be connected to a robot having an X-axis actuator for movement along an X-axis, a Y-axis actuator for movement along a Y-axis, and a Z-axis actuator for movement along a Z-axis, and the first support plate and the second support plate are capable of moving independently of movement of the end effector; The first valve and the second valve are each capable of moving in at least four axes, including the end effector moving left and right along the X-axis, moving forward and backward along the Y-axis, and moving up and down along the Z-axis, and rotating and tilting around the second axis and the fourth axis respectively; each of the first valve (13) and the second valve (14) is configured to move independently along the Z-axis; The movement of the first valve (13), the second valve (14) and the distance adjustment mechanism (50) is computer programmable; The horizontal distance between the first motor housing (10) and the second motor housing (11) is controlled by programmed movement of the slide (16), the lateral movement of the first motor housing (10) by the distance adjustment mechanism (50) and the independent movement of the first valve (13) and the second valve (14) simultaneously enable the two valves to be used to ensure that there is no coating missing area on the component (41), including: one of the first valve (13) and the second valve (14) applies coating to the component (41), and as the component (41) moves along the conveyor past the second valve (14), the first valve (13) moves laterally toward the second valve (14) to apply coating to the area of ​​the component (41) that was missed when the second valve (14) performed coating; If different parts of the component (41) have different heights, when the first valve (13), the second valve (14) or both are rotated about the Z axis, they also move up and down along the Z axis; According to the size of the component (41) to be coated, the proximity of the first motor housing (10) and the second motor housing (11) is adjusted, including: the smaller the area of ​​the component (41) to be coated, the closer the first motor housing (10) and the second motor housing (11) are adjusted; If a plurality of components (40, 41) are placed under the first valve (13) and the coating applicator of the first valve (13) starts coating the components (40), the conveyor moves the components (40, 41) and at the same time, the first motor housing (10) is moved along the substrate (15) toward the second motor housing (11) by the slide (16) to apply material, and the first valve (13) moves close to the second valve (14); once the first valve (13) completes coating of a partial area of ​​the components (40, 41), the first valve (13) slides the first motor housing (10) away from the second motor housing (11) through the slide (16) to return to the starting position.

2. The end effector according to claim 1, characterized in that: in The first valve and the second valve are configured to be tilted relative to the first motor housing and the second motor housing, respectively.

3. The end effector according to claim 1, characterized in that: The sliding member slides on the track of the base plate to reduce the horizontal distance between the first valve and the second valve.

4. The end effector according to claim 3, characterized in that: The distance adjustment mechanism further includes a third motor housing having a third motor, wherein the third motor rotates a gear meshing with the track, so that when the gear rotates, the sliding member slides along the track of the substrate.

5. The end effector according to claim 4, characterized in that: Wherein the track includes teeth that mesh with a gear rotated by a motor enclosed in the third motor housing.

6. The end effector according to claim 1, characterized in that: The first support plate extends to below the first motor housing (10), and the second support plate extends to below the second motor housing (11).

7. A conformal coating machine, characterized in that: include: An end effector as claimed in any one of claims 1 to 6 attached to a robot, configured to allow the end effector to move along at least three axes; The end effector comprises: a first valve (13) rotatably connected to a first support plate rotatably connected to a first motor housing (10), wherein the first valve (13) is rotatable relative to the first support plate about a first axis, and the first support plate is rotatable relative to the first motor housing (10) about a second axis; a second valve (14) rotatably connected to a second support plate rotatably connected to a second motor housing (11), wherein the second valve (14) is rotatable relative to the second support plate about a third axis, and the second support plate is rotatable relative to the second motor housing (11) about a fourth axis; A distance adjustment mechanism configured to adjust the horizontal distance between the first valve and the second valve, wherein the distance adjustment mechanism (50) comprises: a base plate (15) fixedly attached to the second motor housing (11); a sliding member (16) fixedly attached to the first motor housing (10) and configured to slide horizontally back and forth along the base plate (15); The first valve (13) and the second valve (14) are respectively tiltable relative to the distance adjustment mechanism (50) via a first axis and a third axis; wherein the first support plate is capable of rotating about the second axis independently of the rotation of the second support plate about the fourth axis; wherein the end effector is configured to be connected to a robot having an X-axis actuator for movement along an X-axis, a Y-axis actuator for movement along a Y-axis, and a Z-axis actuator for movement along a Z-axis, and the first support plate and the second support plate are capable of moving independently of movement of the end effector; The first valve and the second valve are each capable of moving in at least four axes, including the end effector moving left and right along the X-axis, moving forward and backward along the Y-axis, and moving up and down along the Z-axis, and rotating and tilting around the second axis and the fourth axis respectively; each of the first valve (13) and the second valve (14) is configured to move independently along the Z-axis; The movement of the first valve (13), the second valve (14) and the distance adjustment mechanism (50) is computer programmable; The horizontal distance between the first motor housing (10) and the second motor housing (11) is controlled by the programmed movement of the slide (16), and the lateral movement of the first motor housing (10) through the distance adjustment mechanism (50) and the simultaneous independent movement of the first valve (13) and the second valve (14) enable the two valves to be used to ensure that there is no coating missing area on the component (41), including: one of the first valve (13) and the second valve (14) applies paint to the component (41), and as the component (41) moves along the conveyor past the second valve (14), the first valve (13) moves laterally toward the second valve (14) to apply paint to the area of ​​the component (41) that was missed when the second valve (14) performed coating.

8. The conformal coating machine according to claim 7, wherein: The first support plate extends to below the first motor housing (10), and the second support plate extends to below the second motor housing (11).

9. A method of coating a component using the conformal coater of claim 7.

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