Multi-station dispensing system and method

Abstract

The application relates to the dispensing technical field, in particular to a multi-station dispensing system. It comprises: a shuttle capable of moving along a first direction, the shuttle being provided with a plurality of dispensing stations and n material pits; a vision mechanism capable of moving to the shuttle along a second direction, and the vision mechanism being capable of moving to the dispensing stations along the first direction and collecting position information of products in each material pit along with the movement of the shuttle; a dispensing mechanism corresponding in number to the number of the dispensing stations, the plurality of dispensing mechanisms being arranged at intervals along the first direction and being capable of moving to the corresponding dispensing stations along the second direction to perform dispensing work; wherein along the first direction, the area between the two adjacent dispensing mechanisms forms an avoiding area, after the vision mechanism completes the collection of the position information of the products on the shuttle, the vision mechanism moves to the avoiding area, so that the dispensing mechanism can move to the shuttle on which the position information collection is completed along the second direction. The application has high productivity and low cost.

Description

Technical Field

[0001] This application relates to the field of dispensing technology, and in particular to a multi-point dispensing system and method thereof. Background Technology

[0002] During the manufacturing process of electronic modules, steel sheets are typically attached to enhance their structural strength. In the reinforcing sheet attachment industry, adhesive is applied to the back of the electronic module. This involves applying adhesive to the back of the module before encapsulating the reinforcing sheet to strengthen it. Current electronic module encapsulation processes involve applying silver and black adhesive, followed by thermosetting encapsulation of the reinforcing sheet. However, with the decreasing size of electronic modules and their encapsulation, and the increasing demands for gap precision and UPH (Units Per Hour), multiple dispensing stations with multiple shuttles are required. Dispensing machines are complex and precise systems, with strict requirements for the mixing of silver and black adhesives; they cannot be mixed. Therefore, traditional dispensing machines incorporate the boundaries between the vision camera electronic module and the reinforcing sheet, calculating and adjusting the dispensing position to accurately apply the required adhesive pattern.

[0003] Currently, the existing system uses one dispensing robot paired with one vision robot. The vision robot calculates and collects data on the dispensing position, and the dispensing robot performs the dispensing operation based on the data collected by the vision robot. However, in order to increase UPH (Units Per Hour), the industry is increasing the number of dispensing robots, which in turn requires multiple vision robots, thus increasing the cost of multiple sets of vision robots. Furthermore, since dispensing robots and vision robots operate at high speeds in confined spaces, collisions are prone to occur during operation when multiple vision robots and multiple dispensing robots are involved. Summary of the Invention

[0004] Therefore, it is necessary to provide a multi-workstation dispensing system and method that can reduce costs and prevent collisions between the dispensing mechanism and the vision mechanism during operation.

[0005] To solve the above-mentioned technical problems, the first aspect of this application provides the following technical solution:

[0006] The shuttle is capable of moving along a first direction. The shuttle is equipped with multiple dispensing stations and n material pits, where n is a positive integer and n≥2.

[0007] The vision mechanism is capable of moving along the second direction to the shuttle and along the first direction to the dispensing station, and collects the position information of the product in each of the material pits as the shuttle moves; the second direction and the first direction are set at an angle.

[0008] The number of dispensing mechanisms corresponds to the number of dispensing stations. Multiple dispensing mechanisms are spaced apart along a first direction and can move along a second direction to the corresponding dispensing station. Multiple dispensing mechanisms can perform dispensing operations on the product in the material pit according to the position information and with the movement of the material shuttle.

[0009] Along the first direction, a clearance area is formed between two adjacent dispensing mechanisms. After the vision mechanism has collected the position information of the product in each of the material pits on the shuttle, the vision mechanism moves to the clearance area so that the dispensing mechanism can move along the second direction to the shuttle on which the position information has been collected and perform dispensing operation according to the position information.

[0010] In this application, by configuring a vision mechanism to correspond to multiple dispensing mechanisms, these mechanisms perform dispensing operations based on the position information collected by the vision mechanism. This means the vision mechanism does not need to correspond to a specific number of dispensing mechanisms, reducing the number of vision mechanisms required and lowering system costs. Furthermore, in this architecture, a clearance zone is created. After the vision mechanism collects the position information of the product at the dispensing station on the feed shuttle, it enters this clearance zone, allowing multiple dispensing mechanisms to enter their corresponding feed shuttles and perform dispensing operations. This avoids overlap or collisions between the movement trajectories of the vision mechanism and the dispensing mechanisms.

[0011] In one embodiment, the number of shuttles is at least two, and the at least two shuttles are spaced apart and arranged in parallel along the second direction;

[0012] The avoidance area includes the area on the shuttle located between two adjacent dispensing mechanisms, and the area located between two adjacent dispensing mechanisms and between two adjacent shuttles.

[0013] In one embodiment, the plurality of dispensing mechanisms can simultaneously dispense adhesive into products in multiple slots on a single feed shuttle. In one embodiment, the number of vision mechanisms is one, and it is arranged along the first direction between two adjacent dispensing mechanisms.

[0014] Each of the multiple dispensing mechanisms can perform dispensing operations on the corresponding products on the feed shuttle based on the position information collected by the vision mechanism.

[0015] In one embodiment, when n≥4 and n is an even number, the n material pits are divided into m equal parts, and the number of dispensing mechanisms and the number of dispensing stations are both equal to m.

[0016] In one direction, each of the dispensing mechanisms corresponds to one of the material pits, and as the material shuttle moves, multiple dispensing mechanisms perform synchronous dispensing operations on multiple products in the material pits at the corresponding dispensing stations.

[0017] In one embodiment, the time t1 is when the vision mechanism collects product position information on the material pit at the dispensing station, and the time t2 is when the dispensing mechanism completes the dispensing operation of a product at the dispensing station.

[0018] Where t1*m < t2.

[0019] In one embodiment, the distance between two adjacent dispensing mechanisms along the first direction is set to L1, and the length of the material shuttle occupied by n / m material pits is L2;

[0020] Where L1 = L2.

[0021] In one embodiment, the shuttles are configured in multiple sets, with adjacent sets of shuttles arranged in parallel; each set of shuttles includes at least two shuttles.

[0022] The vision mechanism can move between multiple shuttles to collect position information of the products in the pits on each shuttle.

[0023] The number of dispensing mechanisms is set to multiple groups, and the number of multiple groups of dispensing mechanisms corresponds to the number of multiple shuttles; each group of dispensing mechanisms is responsible for the dispensing operation of one shuttle, and each group of dispensing mechanisms includes multiple dispensing mechanisms.

[0024] In this application, the multiple sets of dispensing mechanisms operate independently of each other. A second aspect of this application also provides the following technical solution:

[0025] A multi-site adhesive method, the multi-site adhesive method being implemented based on the multi-site adhesive system, the method comprising:

[0026] The vision mechanism moves along the second direction to the target shuttle and along the first direction to the dispensing station, and collects the position information of the product in the loading pit of the target shuttle as the target shuttle moves;

[0027] After the vision mechanism completes the acquisition of the product position information on the target shuttle, the vision mechanism moves to the avoidance area;

[0028] The dispensing mechanism moves along the second direction to the dispensing station of the target shuttle after the position information has been collected, and performs dispensing operation on the product in the loading pit of the target shuttle according to the position information collected by the vision mechanism.

[0029] The vision mechanism moves from the avoidance area to the next target shuttle along a first direction and a second direction, and accordingly collects the position information of the product in the feed pit of the target shuttle. In one embodiment, the method further includes:

[0030] Obtain the acquisition status of the target shuttle;

[0031] Based on the acquisition status, determine whether the target shuttle needs to acquire position information; if so, the vision mechanism moves to the dispensing station of the target shuttle and acquires the position information of the product in the loading pit of the target shuttle, and stores the shuttle after the position information acquisition is completed.

[0032] Compared to existing technologies, the multi-station dispensing system utilizes a vision mechanism corresponding to multiple dispensing mechanisms. These mechanisms perform dispensing operations based on the position information collected by the vision mechanism. This means the vision mechanism does not need to be configured to correspond to the number of dispensing mechanisms, reducing the number of vision mechanisms required and lowering system costs. Furthermore, this architecture creates a buffer zone. After the vision mechanism collects the position information of the product at the dispensing station on the feed shuttle, it enters this buffer zone, allowing multiple dispensing mechanisms to enter their respective feed shuttles and perform dispensing operations. This avoids overlap or collisions between the movement trajectories of the vision mechanism and the dispensing mechanisms. Attached Figure Description

[0033] To more clearly illustrate the technical solutions in the embodiments of this application or the conventional technology, the drawings used in the description of the embodiments or the conventional technology will be briefly introduced below. Obviously, the 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.

[0034] Figure 1 This is a top-view structural diagram of the multi-point adhesive system provided in this application.

[0035] Figure 2 This is a side view structural diagram of the multi-point adhesive system provided in this application.

[0036] Figure 3 A schematic diagram of the location structure of the vision mechanism provided in this application.

[0037] Figure 4 This is a schematic diagram of the position and structure of the dispensing mechanism provided in this application.

[0038] Figure 5 This is a schematic diagram of the layout of the feed shuttle and dispensing mechanism provided in this application.

[0039] Figure 6A schematic diagram showing the layout of the dispensing mechanism and vision mechanism provided in this application.

[0040] Figure 7 This is a schematic diagram of the dispensing operation provided in this application.

[0041] Figure 8-1 This is a schematic diagram illustrating the status of location information collection and dispensing operations provided in this application.

[0042] Figure 8-2 This is a schematic diagram of the second state of location information collection and dispensing operation provided in this application.

[0043] Figure 8-3 This is a schematic diagram of the three states of location information collection and dispensing operation provided in this application.

[0044] Figure 8-4 This is a schematic diagram of the location information collection and dispensing operation provided in this application.

[0045] Figure 8-5 This is a schematic diagram of the location information collection and dispensing operation provided in this application.

[0046] Figure 9 A flowchart illustrating the multi-site adhesive application method provided in this application.

[0047] Reference numerals: 100, Multi-station dispensing system; 10, Shuttle; 11, Dispensing station; 111, First station; 112, Second station; 12, Material pit; 13, Avoidance area; 20, Vision mechanism; 21, Vision camera; 22, First linear module; 23, Second linear module; 30, Dispensing mechanism; 301, First group of dispensing mechanisms; 302, Second group of dispensing mechanisms; 30a, First dispensing mechanism; 30b, Second dispensing mechanism; 31, Dispensing head; 32, Third linear module; 200, Multi-station dispensing method. Detailed Implementation

[0048] To make the above-mentioned objectives, features, and advantages of this application more apparent and understandable, the specific embodiments of this application are described in detail below with reference to the accompanying drawings. Many specific details are set forth in the following description to provide a thorough understanding of this application. However, this application can be implemented in many other ways different from those described herein, and those skilled in the art can make similar modifications without departing from the spirit of this application. Therefore, this application is not limited to the specific embodiments disclosed below.

[0049] It should be noted that when a component is referred to as being "fixed to" or "set on" another component, it can be directly on the other component or there may be an intermediate component. When a component is considered to be "connected to" another component, it can be directly connected to the other component or there may be an intermediate component present. The terms "vertical," "horizontal," "upper," "lower," "left," "right," and similar expressions used in this application's specification are for illustrative purposes only and do not represent the only possible implementation.

[0050] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this application, "multiple" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0051] In this application, unless otherwise expressly specified and limited, "above" or "below" the second feature can mean that the first feature is in direct contact with the second feature, or that the first feature and the second feature are in indirect contact through an intermediate medium. Furthermore, "above," "over," and "on top" the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply indicates that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply indicates that the first feature is at a lower horizontal level than the second feature.

[0052] Unless otherwise defined, all technical and scientific terms used in this application have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used in this application is for the purpose of describing particular embodiments only and is not intended to be limiting of the application. The term "and / or" as used in this application includes any and all combinations of one or more of the associated listed items.

[0053] This application provides a multi-point adhesive dispensing system 100 for dispensing adhesive onto electronic modules, enabling reinforcing sheets to adhere to the electronic modules and thereby strengthening their structural integrity. Here, the electronic module can be a camera module, a fingerprint module, or other objects requiring adhesive dispensing. The reinforcing sheet can be a steel sheet, iron sheet, etc. In this embodiment, taking a camera module as an example, the structural principle and working process of the multi-point adhesive dispensing system 100 of this application are specifically explained.

[0054] When dispensing adhesive to a camera module, both silver and black adhesives need to be applied before the reinforcing sheet is cured and encapsulated. Strict requirements govern the mixing of silver and black adhesives during dispensing; they cannot be mixed. Therefore, traditional dispensing equipment uses a vision camera to capture images of the reinforcing sheet and camera module boundaries, calculating and adjusting the dispensing position to precisely apply the required adhesive pattern. Currently, one dispensing robot is paired with one vision robot. However, to increase UPH (Units Per Hour), the industry is increasing the number of dispensing robots, leading to increased costs and operational complexity due to multiple camera robots, resulting in higher costs and the possibility of collisions between multiple robots. This application provides a multi-station dispensing system 100 to address the issues of increased costs and collisions during robot operation.

[0055] like Figures 1 to 4 As shown, the multi-point dispensing system 100 includes a shuttle 10, a vision mechanism 20, and a dispensing mechanism 30. The shuttle 10 moves along a first direction (e.g., ...). Figure 1 The material shuttle 10 has multiple dispensing stations 11 and n material pits 12, where n is a positive integer and n≥2. The vision mechanism 20 can move along the second direction (e.g., in the X direction). Figure 1 The first direction (Y-direction) is used to move the shuttle 10, and the vision mechanism 20 can move along the first direction to the dispensing station, collecting the position information of the products in each material pit 12 as the shuttle 10 moves. The second direction is set at an angle to the first direction. Here, the position information can include XY information and height information. The number of dispensing mechanisms 30 corresponds to the number of dispensing stations 11, that is, there are also multiple dispensing mechanisms 30. Multiple dispensing mechanisms 30 are spaced apart along the first direction and can move along the second direction to the corresponding dispensing station 11; at the same time, as the shuttle 10 moves, the dispensing mechanism 30 can perform dispensing operations on the products in the material pit 12 of the shuttle 10 according to the position information. Here, the dispensing operation includes dispensing silver glue or black glue. Along the second direction, the area between two adjacent dispensing mechanisms 30 forms a clearance area 13. After the vision mechanism 20 completes the acquisition of the position information of the product on each material pit 12 on the material shuttle 10 at the dispensing station 11, the vision mechanism 20 moves to the clearance area 13 so that the dispensing mechanism 30 can move along the second direction to the material shuttle 10 where the position information has been acquired, and perform the dispensing operation according to the corresponding position information.

[0056] In other words, by forming an avoidance zone 13, the vision mechanism 20 enters the avoidance zone 13 after collecting the position information of the product on the feeding pit 12 of the shuttle 10. This allows multiple dispensing mechanisms 30 to enter the dispensing station 11 at the corresponding shuttle and perform dispensing operations, thus avoiding overlap or collision between the movement trajectories of the vision mechanism 20 and the dispensing mechanism 30. Simultaneously, by having the vision mechanism 20 correspond to multiple dispensing mechanisms 30, the multiple dispensing mechanisms 30 operate according to the position information collected by the vision mechanism 20. This means that the number of vision mechanisms 20 does not need to be matched to the number of dispensing mechanisms 30, reducing the number of vision mechanisms 20 used and lowering the system cost.

[0057] Furthermore, the number of shuttles 10 is at least two, and these two shuttles 10 are spaced apart and parallel to each other along the second direction. When the vision mechanism 20 is collecting position information on one of the shuttles 10, multiple dispensing mechanisms 30 can be located on other shuttles 10 to avoid them. After the vision mechanism 20 completes the position information collection of the product on the current shuttle, it enters the avoidance area 13, so that the multiple dispensing mechanisms 30 run to the shuttle 10 that has completed the position information collection to perform subsequent dispensing operations. Then, the vision mechanism 20 runs from the avoidance area 13 to the dispensing station 11 on other shuttles 10 and collects the corresponding position information. Specifically, the number of shuttles 10 can be 2, 3, 6, etc. Of course, other actual numbers can be set according to the corresponding working conditions.

[0058] like Figure 6 As shown, in one embodiment, the avoidance area 13 includes a region on the shuttle 10 located between two adjacent dispensing mechanisms 30, and a region located between two adjacent dispensing mechanisms 30 and between two adjacent shuttles 10. That is, it includes a region on the shuttle 10 located between two dispensing mechanisms 30 along a first direction, and a region between two adjacent shuttles 10 and between two dispensing mechanisms 30 along a second direction.

[0059] In one embodiment, the number of vision mechanisms 20 is set to one. That is, one vision mechanism 20 is used to match multiple dispensing mechanisms 30. This greatly reduces the number of vision mechanisms 20, reduces system complexity, and reduces costs. Of course, from another perspective, the number of vision mechanisms 20 only needs to be less than the number of dispensing mechanisms 30, which can at least reduce the number of vision mechanisms 20 and reduce system complexity. In this application, the number of vision mechanisms 20 is preferably one, and one vision mechanism 20 shuttles on multiple shuttles 10 to collect position information of the products in the feeding pits 12 of the shuttles 10.

[0060] Furthermore, along the first direction, the vision mechanism 20 is located between two adjacent dispensing mechanisms 30 and can move in both the first and second directions between the two dispensing mechanisms 30. That is, the vision mechanism 20 can operate within the gap between the two dispensing mechanisms 30. This layout, while satisfying the requirement for the vision mechanism 20 to collect product data, makes efficient use of the available gaps, resulting in a more compact structure for the multi-workstation dispensing system. Simultaneously, this area also serves as an avoidance zone 13, allowing the vision mechanism 20 to avoid collisions with the dispensing mechanisms 30 during operation.

[0061] like Figure 3 As shown, the vision mechanism 20 includes a vision camera 21, a first linear module 22, and a second linear module 23. The vision camera 21 is used to collect the position information of the product. The vision camera 21 is mounted on the first linear module 22, and the first linear module 22 is mounted on the second linear module 23. The first linear module 22 can drive the vision camera 21 to move along a first direction, and the second linear module 23 can drive the first linear module 22 to move along a second direction, thereby driving the vision camera 21 to move along the second direction. This enables the vision camera 21 to move and switch positions in the first and second directions. Here, both the first linear module 22 and the second linear module 23 can be configured as a combination of guide rails and sliders, or as a belt drive structure.

[0062] like Figure 2 and Figure 4 As shown, multiple dispensing mechanisms 30 are spaced apart along a first direction, that is, spaced apart along the extension direction of the shuttle 10. In the first direction, each dispensing mechanism 30 corresponds to a dispensing station 11. The multiple dispensing mechanisms 30 move along a second direction to the dispensing station 11 and simultaneously dispense products on the feed slots 12 of one shuttle 10 at the dispensing station 11. For example, if two dispensing mechanisms 30 are set along the first direction, spaced apart, and each dispensing mechanism 30 can dispense products on one feed slot 12, then the two dispensing mechanisms 30 can simultaneously dispense products in two feed slots 12 on one shuttle 10. This reduces the dispensing time by at least half, significantly increasing production capacity. For example, along the first direction, the number of dispensing mechanisms 30 is set to three, and the three dispensing mechanisms 30 are spaced apart. Each dispensing mechanism 30 can perform dispensing operations on the product in one material pit 12. Then, the three dispensing mechanisms 30 can simultaneously perform dispensing operations on the products in the three material pits 12 on one material shuttle 10.

[0063] Furthermore, each dispensing mechanism 30 includes a dispensing head 31 and a third linear module 32. The third linear module 32 extends along the second direction, and the dispensing head 31 is disposed on the third linear module 32 and can move along the second direction under the drive of the third linear module 32, so that the dispensing head 31 moves to the dispensing station 11 corresponding to the shuttle 10. Here, the third linear module 32 is prior art, which can be a combination of slide rail and slider, or a belt drive structure, etc., and will not be described in detail here.

[0064] Of course, the structure of the dispensing mechanism 30 includes, but is not limited to, those described above. It also includes structures such as a drive unit for driving the dispensing head 31 to dispense adhesive and a detector for detecting the amount of adhesive inside the dispensing head. Since the specific structure of the dispensing mechanism 30 does not involve the improvement points of this application and the dispensing mechanism 30 is prior art, the specific structure of the dispensing mechanism 30 and its dispensing function will not be described in detail here.

[0065] like Figure 3 and Figure 4 As shown, when n ≥ 4 and n is even, the n material pits 12 are divided into m equal parts, and the number of dispensing mechanisms 30 and the number of dispensing stations 11 are both equal to m. In the first direction, each dispensing mechanism 30 corresponds to one material pit 12. Furthermore, with the movement of the shuttle 10, multiple dispensing mechanisms 30 can simultaneously dispense products from multiple material pits 12. Thus, by enabling multiple dispensing mechanisms 30 to simultaneously dispense products from multiple material pits 12, the dispensing time for the same shuttle 10 is reduced by at least half, greatly improving operational efficiency.

[0066] For example, when n=4, the four material pits 12 are respectively a, b, c, and d set on the shuttle 10; and the four material pits 12 are divided into two groups, that is, the number of dispensing mechanisms 30 and dispensing stations 11 are both two. Specifically, in the first direction, one group of material pits 12 includes a and b, and the other group includes c and d. At this time, one dispensing mechanism 30 is responsible for dispensing the products in material pits a and b, and the other dispensing mechanism 30 is responsible for dispensing the products in material pits c and d. That is, as the shuttle 10 moves, the two dispensing mechanisms 30 can simultaneously perform dispensing operations on dispensing stations a and c, and b and d.

[0067] For example, when n=6, the six material pits 12 are numbered 1, 2, 3, 4, 5, and 6, sequentially arranged on the shuttle 10. In one embodiment, the six material pits 12 are divided into three groups: the first group of material pits 12 includes 1 and 2; the second group of material pits 12 includes 3 and 4; and the third group of material pits 12 includes 5 and 6. In this case, the number of dispensing mechanisms 30 and the number of dispensing stations 11 are configured to be three. The first dispensing mechanism 30 can dispense products in pits 1 and 2; the second dispensing mechanism 30 can dispense products in pits 3 and 4; and the third dispensing mechanism 30 can dispense products in pits 5 and 6. All three dispensing mechanisms 30 move simultaneously. Therefore, when the three dispensing mechanisms 30 operate at their respective dispensing stations 11, the dispensing operation of the six material pits 12 only requires two dispensing operations to complete the dispensing of products in the material pits on one shuttle 10. The dispensing time is reduced by three times compared to the original method (where one dispensing mechanism 30 completes dispensing at all dispensing stations on a single material). In another embodiment, the six material pits 12 are divided into two groups, with the first group containing pits 1, 2, and 3, and the second group containing pits 4, 5, and 6. In this case, the number of dispensing mechanisms 30 and dispensing stations 11 is configured to be two each. Here, the two dispensing mechanisms 30 are the first dispensing mechanism 30a and the second dispensing mechanism 30b. The first dispensing mechanism 30a can dispense the products in pits 1, 2, and 3, while the second dispensing mechanism 30b can dispense the products in pits 4, 5, and 6. Thus, the dispensing operation for all six material pits 12 only requires three dispensing operations.

[0068] Here, n can also take values ​​of 8, 10, 12, etc., and the corresponding weight m can be 2 or 4, 2 or 5, 2, 3, 4 or 6, etc. Therefore, the value of n can be selected according to the actual processing requirements. The value of m can also be selected according to n and the actual processing requirements, which will not be repeated here.

[0069] The time taken for the vision mechanism 20 to collect the product position information on a material pit 12 at the dispensing station 11 is t1, and the time taken for the dispensing mechanism 30 to complete the dispensing operation on the product in a material pit 12 at the dispensing station 11 is t2; where n / m*t1*m<t2*n / m, which simplifies to: t1*m<t2. It should be explained that n / m represents the number of material pits 12 contained in each batch of material pits. For example, when n=6, m=2, and t1=2s, n / m=3, meaning each batch of material pits 12 contains 3 material pits 12. In this case, n / m*t1*m=12s, which is 4s<t2. As another example, when n=6, m=3, and t1=2s, n / m=2, meaning each batch of material pits 12 contains 2 material pits 12. In this case, m*t1=6s, which is 6s<t2. For example, if n = 8, m = 2, and t1 = 2s, then n / m = 4, meaning each material slot 12 contains 4 slots. In this case, m * t1 = 4s, and 4s < t2. This ensures that the total time spent by the vision mechanism 20 to collect data from all the slots 12 on a single shuttle 10 is less than the total time for the dispensing head 31 to complete the dispensing operation; that is, the speed of the vision mechanism 20 is greater than the dispensing speed of the dispensing mechanism 30. Thus, while the dispensing mechanism 30 completes the dispensing operation for all products on a single shuttle 10 based on position information, the vision mechanism 20 can simultaneously collect position information for all products on the next shuttle 10. This avoids situations where the dispensing mechanism 30 is waiting, improving the system's operational efficiency and coordination.

[0070] like Figure 2 As shown, in the first direction, the distance between two adjacent dispensing mechanisms 30 is set to L1, and the length of the shuttle 10 occupied by n / m material pits 12 is L2; ​​where L1 = L2. That is, the distance between two adjacent dispensing mechanisms 30 is across one material pit 12. Thus, with this spacing, each dispensing mechanism 30 can be responsible for one material pit 12, so that multiple dispensing mechanisms 30 can simultaneously dispense glue to multiple material pits 12 and complete the dispensing operation of all material pits synchronously.

[0071] like Figure 6 As shown, on the same shuttle 10, the position where the vision mechanism 20 collects the product position information on the shuttle 10 is the same as the position where the dispensing mechanism 30 dispenses glue to the product in the material pit 12 on the shuttle 10. That is, as previously explained, the vision mechanism 20 completes the collection of product position information in the material pit 12 at the dispensing station 11, and the dispensing mechanism 30 also moves to the dispensing station 11 to complete the dispensing work. The working locations of the vision mechanism 20 and the dispensing mechanism 30 are fixed. This achieves the principle of collecting and dispensing at the same location, ensuring consistency between the dispensing and collection positions, and avoiding deviations in dispensing accuracy caused by the movement of the shuttle 10.

[0072] In this application, in order to more accurately and effectively illustrate the working process of the multi-point adhesive system 100, a more specific embodiment will be described below.

[0073] like Figures 3 to 6 As shown, in one embodiment, when the number of shuttles 10 is three and n=8, m=2, the number of dispensing mechanisms 30 and dispensing stations 11 are both set to 2. For ease of explanation, the following definitions are made in this application: n material pits 12 are configured as numbers 1-8, and two dispensing mechanisms 30 are configured as the first dispensing mechanism 30a and the second dispensing mechanism 30b. Two dispensing stations 11 are configured as the first station 111 and the second station 112. Three shuttles 10 are configured as c1, c2, and c3. On one shuttle 10, the first set of material pits 12 includes numbers 1-4 (i.e., the first 4), and the second set of material pits 12 includes numbers 5-8 (i.e., the last 4). Material pit number 1 is configured as the first station 111, and material pit number 5 is configured as the second station 112. Meanwhile, along the first direction, the area between the first station 111 and the second station 112 and extending along the second direction is configured as a clearance area 13, so that when needed, the vision mechanism 20 can enter to avoid the movement of the dispensing mechanism 30.

[0074] like Figure 6 and Figure 7 As shown, the vision mechanism 20 collects the position information of products in pits 1-4 of the first station 111; the vision mechanism 20 collects the position information of products in pits 5-8 of the second station 112. Specifically, when the vision mechanism 20 moves to the first station 111 along the first and second directions, it collects the position information of the product in pit 1 of the first station 111. After the collection of pit 1 is completed, the shuttle 10 moves the distance of one pit, so that pit 2 is located at the first station 111, and the vision mechanism 20 collects the position information of the product in pit 2. This process is repeated to complete the collection of the position information of the products in the remaining pits. Then, the vision mechanism 20 moves along the first direction to the second station 112, where it collects the position information of the product in the fifth material pit. After the position information of the fifth material pit is collected, the shuttle 10 moves one material pit's distance so that the sixth material pit is located at the second station 112, and the vision mechanism 20 collects the position information of the product in the sixth material pit. This process is repeated to collect the position information of the products in the remaining material pits. At this point, the position information of all products on one shuttle 10 has been collected.

[0075] During the dispensing operation, the first dispensing mechanism 30a dispenses adhesive to products in slots 1-4 at station 111; the second dispensing mechanism 30b dispenses adhesive to products in slots 5-8 at station 112. Furthermore, the first and second dispensing mechanisms 30a and 30b may dispense adhesive simultaneously or synchronously. That is, when the first dispensing mechanism 30a dispenses adhesive to the product in slot 1 at station 111, the second dispensing mechanism 30b simultaneously dispenses adhesive to the product in slot 5 at station 112. After the vision mechanism 20 completes the acquisition of the position information of the product on shuttle c1 10, it moves to the avoidance area 13; at this time, the dispensing mechanism 30 moves from shuttle c2 or c3 to shuttle c1 to perform the dispensing operation.

[0076] In one embodiment, two shuttles 10 (c1 and c2 as examples) are used to illustrate the working principle and process of the vision camera 21 and the dispensing mechanism 30. From Figure 7 As can be seen, along the second direction, c1 and c2 are arranged in parallel in the top view, that is, divided into two lines, one above the other. Both c1 and c2 have eight material pits 12, and each material pit 12 contains a product (camera module).

[0077] like Figure 8-1 As shown, the two dispensing mechanisms 30 move to position c2. The first dispensing mechanism 30a is located at the first station 111 of c2, and the second dispensing mechanism 30b is located at the second station 112. After the dispensing mechanisms 30 are in place, they begin to prepare for synchronous dispensing onto c2, which has already completed position information acquisition (assuming that c2 has already had its position information acquired once by the vision mechanism 20 and moved to c1). At the same time, the vision camera 21 moves from the avoidance area 13 to the first station 111 on c1 and begins to acquire position information of the products in the 1-4 material pits on c1.

[0078] like Figure 8-2 As shown, two dispensing mechanisms 30 located on c2 simultaneously dispense the products in pits 1 and 5. Simultaneously, a vision mechanism 20 located on c1 collects the position information of the products in pits 1-4 on c1 at the first station 111. Then, c2 moves one pit 12 distance along the first direction, and the vision mechanism 20 moves along the first direction to the second station 112. Subsequently, the two dispensing mechanisms 30 simultaneously dispense the products in pits 1 and 5 on c2; the vision mechanism 20 collects the position information of the products in pits 5-8 on c1 at the second station 112.

[0079] like Figure 8-3As shown in the diagram, the two dispensing mechanisms 30 located at c2 simultaneously complete the dispensing. The first dispensing mechanism 30a is responsible for dispensing the products in the first 1-4 material pits, and the second dispensing mechanism 30b is responsible for dispensing the products in the subsequent 5-8 material pits. Meanwhile, the vision mechanism 20 located at c1 completes the acquisition of the product position information (image information and height information) in the 1-4 material pits, and then moves to the second station 112 at c1. The vision mechanism 20 prepares to begin acquiring information on the products in the 5-8 material pits, starting with the 5th material pit, and continues to acquire the product position information in the subsequent three material pits as the material shuttle at c1 moves.

[0080] like Figure 8-4 As shown, the vision camera 21, having completed the acquisition of product position information in all eight material slots on c1, moves to the avoidance area 13 and stands ready. At this time, the two dispensing mechanisms 30, which have already completed dispensing on c2, simultaneously move from c2 to c1 and are positioned at the first station 111 and the second station 112 on c1, respectively, thus preparing to simultaneously begin dispensing into material slots 1 and 5 on c1. Here, the vision mechanism 20 can first move along the first direction to the avoidance area between the first station 111 and the second station 112, corresponding to the material shuttle, and then move along the second direction to the avoidance area between the two material shuttles, where it stands ready. Alternatively, the vision mechanism 20 can also first move along the second direction, then move along the first direction to the avoidance area between the two material shuttles, where it stands ready. Of course, the vision camera 21 can move in either way, as long as it can enter the avoidance area.

[0081] like Figure 8-5 As shown, after the dispensing mechanism 30 completes its movement, the vision mechanism 20 moves from the avoidance area 13 to position c2, and then moves along the first direction to the first station 111 to begin collecting position information of the products in the c21-4 material pits. This process is repeated until the vision mechanism 20 has collected the position information of the products in the c21-5-8 material pits. After that, the vision mechanism 20 will re-enter the avoidance area 13 to provide space for the subsequent operation of the two dispensing mechanisms 30 and to avoid motion interference between the dispensing mechanism 30 and the vision mechanism 20.

[0082] In the initial stage, when the vision mechanism 20 first enters c1 and collects position information of the product (camera module) in the loading pit 12 of c1, the two dispensing mechanisms 30 need to move to c2 to avoid it. At this time, the dispensing mechanisms 30 move in the second direction (Y direction), and this action is interlocked with the action of the vision mechanism 20. After the vision mechanism 20 completes the collection of position information of the products in all the loading pits of c1, the vision mechanism 20 moves to the avoidance area 13, the two dispensing mechanisms 30 move to c1, and then the vision mechanism 20 moves from the avoidance area 13 to c2, and so on. At this time, the two dispensing mechanisms 30 perform dispensing operations on the products in the loading pit of c1 based on the position information of the products (camera modules) collected by the vision mechanism 20 in the previous step. Here, the vision mechanism 20 and the dispensing mechanism 30 move independently, one after the other, and work in different spatial areas without interfering with each other (after collecting position information for each shuttle, the vision mechanism 20 needs to move to the avoidance area 13 to avoid the movement of the dispensing mechanism 30, and at the same time determine which shuttle to move to next).

[0083] It should be noted that the first dispensing mechanism 30a and the second dispensing mechanism 30b in this application dispense glue simultaneously, and the position where the vision mechanism 20 collects product position information is consistent with the working position of the first dispensing mechanism 30a and the second dispensing mechanism 30b, thereby ensuring that the accuracy of the dispensing action and the benchmark established by the shooting are consistent, effectively ensuring the accuracy of production and processing.

[0084] like Figures 3 to 5 As shown, multiple shuttles 10 are configured in multiple sets, arranged parallel to each other along a second direction. Each set of shuttles includes at least two shuttles. The vision mechanism 20 can move between the multiple sets of shuttles to collect position information of the products in the slots 12 on each set of shuttles. The number of dispensing mechanisms 30 is set in multiple groups, and the multiple groups of dispensing mechanisms 30 are spaced apart along the second direction, with the number of multiple groups of dispensing mechanisms 30 corresponding to the number of multiple sets of shuttles. The multiple groups of dispensing mechanisms 30 operate independently. Each group of dispensing mechanisms 30 includes multiple dispensing mechanisms 30, and the multiple dispensing mechanisms in each group of dispensing mechanisms 30 are spaced apart along a first direction. Here, for ease of explanation, the multiple shuttles 10 are configured as Q1 sets, where Q1 is greater than or equal to 2. Correspondingly, the number of dispensing mechanisms 30 is configured as Q2 groups, where Q2 is equal to Q1.

[0085] like Figures 3 to 5As shown, for example, the number of shuttles 10 is set to 6, namely c1-c6, which are arranged parallel to each other along the second direction. The 6 shuttles are configured into two groups, i.e., Q1=2, c1-c3 constitute the first group of shuttles, denoted as Q11, and c4-c6 constitute the second group of shuttles, denoted as Q12. The vision mechanism 20 is set to be a single unit that can shuttle through c1-c6, thereby collecting the position information of the camera modules in all the material pits 12 of the shuttles c1-c6. At this time, the dispensing mechanism 30 is also set into two groups, i.e., Q2=2. The two groups are the first dispensing mechanism 301 and the second dispensing mechanism 302. The first dispensing mechanism 301 includes two dispensing mechanisms 30, which are spaced apart along the first direction and are responsible for the dispensing operation of the c1-c3 shuttles. The second dispensing mechanism 302 includes two dispensing mechanisms 30, which are also spaced apart along the first direction and are responsible for the dispensing operation of the c4-c6 shuttles.

[0086] Furthermore, along the second direction, the first set of dispensing mechanisms 301 and the second set of dispensing mechanisms 302 are located on the same straight line. Thus, spatially, the four dispensing mechanisms 30 form a rectangular area, and the vision mechanism 20 is located within the rectangular area.

[0087] In one embodiment, in the second direction, since the dispensing mechanism 30 includes a dispensing head 31 and a third linear module 32, the first group of dispensing mechanisms 301 includes two third linear modules 32, with each dispensing head 31 corresponding to one third linear module 32. The area between the two third linear modules 32 together forms the avoidance area 13. Similarly, in the second direction, the second group of dispensing mechanisms 302 also includes two third linear modules 32, with each dispensing head 31 corresponding to one third linear module 32. Therefore, in this layout, only one vision mechanism 20 can collect product position information on six shuttles 10, effectively reducing equipment costs and increasing processing efficiency; at the same time, due to the avoidance area 13, after each acquisition, the vision mechanism 20 will enter the avoidance area 13 to avoid the movement of the dispensing mechanism 30.

[0088] Preferably, the third linear module 32 in the first dispensing mechanism 301 is the same as the third linear module 32 in the second dispensing mechanism 302. That is, the third linear module 32 runs along the second direction from the first feed shuttle to the second feed shuttle. This further simplifies the system and reduces the system cost.

[0089] Furthermore, according to Figures 8-1 to 8-5The diagram illustrates the position information acquisition and dispensing operation status (the detailed process of position information acquisition by the vision mechanism 20 at dispensing station 11 is not described here). The vision mechanism 20 moves in the area between the two third linear modules 32. First, the vision mechanism 20 moves to the first station 111 on c1 to acquire the position information of the products in the material pits 12 on c1. It completes the acquisition of the position information of the products in the first four material pits at the first station 111, and then completes the acquisition of the position information of the products in the four material pits at the second station 112. Subsequently, it moves sequentially to c2, c3, c4, c5, and c6, and acquires the position information of the products in the material pits on c2, c3, c4, c5, and c6. During this period, when the vision mechanism 20 moves to c1 for the first time, the first dispensing mechanism 301 moves to c2 or c3 to avoid it. The second dispensing mechanism 302 can be at c4, c5, or c6. When the vision mechanism 20 moves to c2, the first dispensing mechanism 301 moves to c1 to perform dispensing. The dispensing data comes from the position information collected by the vision mechanism 20 in the previous step. Of course, after the vision mechanism 20 completes the collection of the position information of all products on each shuttle, it will enter the avoidance area 13.

[0090] It should be noted that one dispensing mechanism 30 takes 10 seconds to dispense glue to one product in one material slot 12. In the first direction, two dispensing mechanisms 30 dispense glue simultaneously, requiring 4 dispensing actions to dispense glue to products in 8 material slots, for a total time of 10 × 4 = 40 seconds. The vision mechanism 20 takes 2 seconds to collect the position information of a product in one material slot, collecting it 8 times, for a total time of 2 × 8 = 16 seconds. Therefore, it can be seen that the position information collection time on the same shuttle is much shorter than the dispensing operation time, so the speed of the dispensing mechanism 30 cannot keep up with the speed of the vision mechanism 20. When the vision mechanism 20 completes the collection of 6 position information lines c1-c6, the first group of dispensing mechanisms 301 just completes the dispensing of the product on shuttle c3; the second group of dispensing mechanisms 302 just completes the dispensing of the product on shuttle c6. Then, the next collection cycle and dispensing cycle begin.

[0091] like Figure 9 As shown, this application also provides a multi-site adhesive application method 200, which is implemented based on a multi-site adhesive application system 100. The structure and principle of the multi-site adhesive application system 100 can be found in the preceding description. The multi-site adhesive application method 200 provided by this application includes the following steps:

[0092] Step S1: The vision mechanism 20 moves along the second direction to the target shuttle 10 and along the first direction to the dispensing station 11. As the target shuttle 10 moves, it collects the position information of the product in the loading pit 12 of the target shuttle 10.

[0093] Step S2: After the vision mechanism 20 completes the acquisition of the product position information on the target shuttle 10, the vision mechanism 20 moves to the avoidance area 13.

[0094] Step S3: The dispensing mechanism 30 moves along the second direction to the dispensing station 11 of the target shuttle 10 after the position information has been collected, and performs dispensing operation on the product in the loading pit 12 of the target shuttle 10 according to the position information of the vision mechanism 20.

[0095] In step S4, the vision mechanism 20 moves from the avoidance area 13 to the next target shuttle 10 along the first direction and the second direction, and collects the position information of the product on the pit 12 on the target shuttle 10.

[0096] Here, the target shuttle 10 can be any one of c1, c2, and c3. Steps S3 and S4 can be performed simultaneously. The vision mechanism 20 can move from the avoidance area 13 to the next target shuttle 10 by first moving in the first direction and then moving in the second direction; alternatively, it can move in the second direction first and then in the first direction.

[0097] In one embodiment, the multi-site adhesive method 200 further includes the following steps:

[0098] Step S5: Obtain the acquisition status of the target shuttle 10;

[0099] Step S6: Based on the acquisition status, determine whether the target shuttle 10 needs to acquire position information; if so, the vision mechanism 20 moves to the dispensing station 11 of the target shuttle 10 and acquires the position information of the product in the loading pit of the target shuttle 10, and stores the shuttle 10 after the position information acquisition is completed.

[0100] It should be noted that the acquisition status of the target shuttle 10 includes both acquired and unacquired states. Step S5 is executed before step S1. During multiple dispensing cycles, issues such as shuttle feeding speed and unloading speed may disrupt the order in which the vision mechanism 20 acquires the shuttle 10. However, through steps S5 and S6, the target shuttle 10 can be acquired after judgment, thereby avoiding repeated acquisition of the target shuttle 10. This allows the multi-station dispensing system 100 in this application to operate uninterruptedly, further improving production efficiency.

[0101] For example, after dispensing is completed, a certain shuttle will store the data and set its state to 0 to indicate that dispensing is complete. Subsequently, after the vision mechanism 20 completes the acquisition of product position information on the previous shuttle, it will set the state of the corresponding tray to 1 to indicate that the position information acquisition is complete. This data is then used by the dispensing mechanism 30 to continuously acquire position information, constantly refresh the state of the trays (e.g., c1-c6), and continuously call the data to perform dispensing operations.

[0102] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0103] The above embodiments merely illustrate several implementation methods of this application, and while the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the patent application. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these all fall within the protection scope of this application. Therefore, the patent protection scope of this application should be determined by the appended claims.

Claims

1. A multi-site adhesive system, characterized in that, The multi-point adhesive system includes: The shuttle is capable of moving along a first direction. The shuttle is equipped with multiple dispensing stations and n material pits, where n is a positive integer and n≥2. The vision mechanism is capable of moving along the second direction to the shuttle and along the first direction to the dispensing station, and collects the position information of the product in each of the material pits as the shuttle moves; the second direction and the first direction are set at an angle. The number of dispensing mechanisms corresponds to the number of dispensing stations. Multiple dispensing mechanisms are spaced apart along a first direction and can move along a second direction to the corresponding dispensing station. Multiple dispensing mechanisms can perform dispensing operations on the product in the material pit according to the position information and with the movement of the material shuttle. Along the first direction, a clearance area is formed between two adjacent dispensing mechanisms. After the vision mechanism has collected the position information of the product in each of the material pits on the shuttle, the vision mechanism moves to the clearance area so that the dispensing mechanism can move along the second direction to the shuttle on which the position information has been collected and perform dispensing operation according to the position information.

2. The multi-point adhesive system according to claim 1, characterized in that, The number of shuttles is at least two, and the at least two shuttles are spaced apart and arranged in parallel along the second direction; The avoidance area includes the area on the shuttle located between two adjacent dispensing mechanisms, and the area located between two adjacent dispensing mechanisms and between two adjacent shuttles.

3. The multi-site adhesive system according to claim 1, characterized in that, Multiple dispensing mechanisms can simultaneously dispense adhesive into products in multiple slots on a single feed shuttle.

4. The multi-point adhesive system according to claim 1, characterized in that, The number of vision mechanisms is one, and they are arranged along the first direction between two adjacent dispensing mechanisms; Each of the multiple dispensing mechanisms can perform dispensing operations on the corresponding products on the feed shuttle based on the position information collected by the vision mechanism.

5. The multi-point adhesive system according to any one of claims 1-4, characterized in that, When n≥4 and n is even, the n material pits are divided into m equal parts, and the number of dispensing mechanisms and the number of dispensing stations are both equal to m. In the first direction, each of the dispensing mechanisms corresponds to one of the material pits, and as the material shuttle moves, multiple dispensing mechanisms perform synchronous dispensing operations on multiple products in the material pits at the corresponding dispensing stations.

6. The multi-point adhesive system according to claim 5, characterized in that, The time t1 is when the vision mechanism collects the product position information on the material pit at the dispensing station, and the time t2 is when the dispensing mechanism completes the dispensing operation of a product at the dispensing station. Where t1*m < t2.

7. The multi-point adhesive system according to claim 5, characterized in that, The distance between two adjacent dispensing mechanisms along the first direction is set as L1, and the length of the material shuttle occupied by n / m material pits is L2; Where L1 = L2.

8. The multi-point adhesive system according to claim 5, characterized in that, The shuttles are configured in multiple sets, with adjacent sets arranged in parallel; each set of shuttles includes at least two shuttles. The vision mechanism can move between multiple shuttles to collect position information of the products in the pits on each shuttle. The number of dispensing mechanisms is set to multiple groups, and the number of multiple groups of dispensing mechanisms corresponds to the number of multiple shuttles; each group of dispensing mechanisms is responsible for the dispensing operation of one shuttle, and each group of dispensing mechanisms includes multiple dispensing mechanisms. The multiple sets of dispensing mechanisms operate independently of each other.

9. A multi-site adhesive method, said multi-site adhesive method being implemented based on the multi-site adhesive system of any one of claims 1-8, characterized in that, The method includes: The vision mechanism moves along the second direction to the target shuttle and along the first direction to the dispensing station, and collects the position information of the product in the loading pit of the target shuttle as the target shuttle moves; After the vision mechanism completes the acquisition of the product position information on the target shuttle, the vision mechanism moves to the avoidance area; The dispensing mechanism moves along the second direction to the dispensing station of the target shuttle after the position information has been collected, and performs dispensing operation on the product in the loading pit of the target shuttle according to the position information collected by the vision mechanism. The vision mechanism moves from the avoidance area to the next target shuttle along the first and second directions, and collects the position information of the product in the feed pit of the target shuttle.

10. The multi-site adhesive method according to claim 9, characterized in that, The method further includes: Obtain the acquisition status of the target shuttle; Based on the acquisition status, determine whether the target shuttle needs to acquire position information; if so, the vision mechanism moves to the dispensing station of the target shuttle and acquires the position information of the product in the loading pit of the target shuttle, and stores the shuttle after the position information acquisition is completed.

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