A device for dispensing glue on tiny parts and its glue dispensing method

Abstract

The present invention discloses a device for dispensing tiny parts and a dispensing method thereof. The device includes an operation workbench module, a dispensing operation module, a robot vision module, a collaborative robot, and a feeding device. The operation workbench module realizes the positioning and placement of the assembly fixture; the dispensing operation module calibrates the position of the dispensing needle head and automatically dispenses glue to the parts a to be assembled; the robot vision module takes pictures of the tiny parts to be assembled to determine the position and posture of the parts; the collaborative robot realizes the feeding and discharging of the assembly fixture; the feeding device realizes the storage of the assembly fixture for loading and unloading. Since the feeding and discharging speed of the collaborative robot is relatively fast, it plays a great role in improving the dispensing efficiency. The robot vision module at the end of the collaborative robot and the dispensing operation module coordinate and cooperate with each other to ensure the consistency of dispensing. The device of the present invention can not only ensure the high efficiency of dispensing, but also ensure the consistency of dispensing, and is applicable to the automated production line for glue connection assembly of tiny parts.

Description

Technical Field

[0001] The invention belongs to the technical field of adhesive bonding of micro-assembly of parts, and relates to a device for implementing glue dispensing of micro-parts and a glue dispensing method thereof. Background Art

[0002] In the field of aerospace, the assembly of high-performance micro devices usually relies on precise micro-assembly technology. Adhesive bonding, as a common connection technology in micro-assembly, greatly affects the performance of micro-assembly. As the design of micro devices tends to be more complex, the precision dispensing technology of the adhesive bonding of tiny parts has been challenged. At present, micro-assembly technology is developing in the direction of automation and intelligence, and automated dispensing will become the main way to achieve precision adhesive bonding.

[0003] In the assembly process of precision micro parts, dispensing is an important connection link, which is related to important parameters such as assembly accuracy and consistency of parts, thereby improving the assembly efficiency and degree of automation of micro parts.

[0004] At present, in order to ensure the reliability of the dispensing process during the assembly of micro parts, manual dispensing is usually used, and its dispensing consistency is difficult to be effectively guaranteed. Therefore, for the precision dispensing link of the micro-assembly process, research and development of micro-dispensing solutions and precision dispensing systems for batch automation, good dispensing consistency, high dispensing efficiency, strong dispensing adaptability, and strong reliability are the future development direction. Summary of the invention

[0005] The purpose of the present invention is to provide a tiny parts dispensing device and a dispensing method thereof which can effectively overcome the problems of poor dispensing consistency, low dispensing efficiency, unreliable assembly results, etc. in the existing tiny parts assembly dispensing process, so as to be applied to the field of adhesive bonding assembly of tiny parts and thus meet actual needs.

[0006] The technical solution adopted by the present invention is:

[0007] A device for dispensing glue for tiny parts, comprising a workbench module 1, a dispensing operation module 2, a robot vision module 3, a collaborative robot 4, and a feeding device 5; the workbench module 1, the dispensing operation module 2, the collaborative robot 4, and the feeding device 5 are all installed on an optical platform 70; the robot vision module 3 is installed on the end flange of the collaborative robot 4;

[0008] The workbench module 1 realizes the positioning and placement of the assembly fixture 64; the dispensing operation module 2 calibrates the position of the precision solid nozzle 42 and automatically dispenses glue to the part a to be assembled; the robot vision module 3 takes pictures of the tiny parts to be assembled to determine the position and posture of the parts; the collaborative robot 4 realizes the loading and unloading of the assembly fixture 64; the loading device 5 realizes the storage of the loaded and unloaded materials of the assembly fixture.

[0009] The workbench module 1 includes an X-axis precision slide 6, an auxiliary loading installation plate 7, a first slide connecting plate 8, an auxiliary loading installation side plate 9, an auxiliary loading upper plate 10, a suction cup monomer a11, a turntable connecting plate 12, a small-headed cone-angle positioning pin 13, a large-headed spherical positioning pin 14, a Z-axis turntable 15, a Y-axis precision slide 16, a displacement platform pad 17, a rubber gasket 18, an air hole adapter block 19, and a turntable connecting plate cover 20; the X-axis precision slide 6 is connected to the displacement platform pad 17 through The optical platform 70 is fixed to the optical platform 70 and can move left and right in the X direction; the Y-axis precision slide 16 is vertically connected to the upper part of the X-axis precision slide 6 and can move forward and backward in the Y direction; the lower part of the Z-axis turntable 15 is connected to the Y-axis precision slide 16 through the first slide connecting plate 8 and can rotate around the Z axis; the side of the auxiliary loading mounting plate 7 is connected to the two auxiliary loading mounting side plates 9, which are used to support the auxiliary loading upper plate 10 for placing the lower part of the assembly fixture 64, and the inner side of the auxiliary loading mounting plate 7 is connected to the auxiliary loading upper plate 10 of the lower layer of the assembly fixture 64. The first slide connecting plate 8 is connected to the outside; the upper part of the auxiliary loading upper plate 10 is provided with a large-head spherical positioning pin 14 for positioning the lower part of the assembly fixture 64; the lower part of the turntable connecting plate 12 is connected to the Z-axis turntable 15, which can move or rotate in the XY plane, and the upper part is provided with a small-head cone-angle positioning pin 13 used as a visual positioning reference and a suction cup monomer a11 for adsorption and locking after the upper part of the assembly fixture 64 is placed; the turntable connecting plate cover 20 is placed on the upper surface of the Z-axis turntable 15 The air passage on it is communicated with the air hole adapter block 19 with air holes installed in the center hole of the Z-axis turntable 15, and is also communicated with the air holes of the four suction cup monomers a11, forming a four-way vacuum adsorption air passage; the first slide connecting plate 8 is provided with an air passage and a rubber gasket 18 for vacuum adsorption, wherein: the air passage is communicated with the air hole adapter block 19 through the air hole on the Z-axis turntable 15, providing adsorption force for the suction cup monomer a11; the rubber gasket 18 plays the role of sealing the air passage for the adsorption of part a on the workbench.

[0010] The dispensing operation module 2 includes a bracket angle seat 21, a second slide connecting plate 22, a groove aluminum 23, a Y-axis single-axis robot 24, a tank chain 25, a drag chain mounting angle aluminum 26, a single-axis robot angle seat 27, a Z-axis single-axis robot 28, a dispensing structure connecting plate 29, a dispensing assembly connecting seat 30, a spring plunger 31, a dispensing syringe mounting seat 32, a cover plate 33, a dispensing assembly mounting plate 34, a groove aluminum mounting angle aluminum 35, a hose connector 36, a contact barrel 37, an embossed knob 38, an ejection structure bottom plate 39, a large-head cone angle press-in positioning pin 40, a spring 41, and a precision solid nozzle 42; The second slide connecting plate 22 is connected to the optical platform 70 through the bracket angle seat 21, and the upper part thereof is connected with a Y-axis single-axis robot 24, and the Y-axis single-axis robot 24 realizes the rapid positioning of the precision solid nozzle 42 in the Y direction; the side of the second slide connecting plate 22 is provided with a groove aluminum 23 installed thereon through a groove aluminum mounting angle aluminum 35, and a tank chain 25 is built in; the Z-axis single-axis robot 28 is connected to the upper part of the Y-axis single-axis robot 24 through a single-axis robot angle seat 27, and the Z-axis single-axis robot 28 realizes the rapid positioning of the precision solid nozzle 42 in the Z direction and ensures the distance between the precision solid nozzle 42 and the substrate; the The lower part of the single-axis robot angle seat 27 is provided with a drag chain mounting angle aluminum 26; the dispensing assembly mounting plate 34 is connected to the dispensing structure connecting plate 29 connected to the Z-axis single-axis robot 28 through the dispensing assembly connecting seat 30; there are two pits on the dispensing syringe mounting seat 32, which is connected to the dispensing assembly mounting plate 34 through a spring plunger 31; the contact barrel 37 is placed between the glue syringe mounting seat 32 and the dispensing assembly mounting plate 34, and the upper part thereof is provided with a hose connector 36 that communicates with the dispensing machine, and the lower part is provided with a precision solid nozzle 42 for dispensing; the outer side of the dispensing syringe mounting seat 32 is provided with a large head passing through both sides The cone-angle press-in type positioning pin 40 is connected to the ejection structure bottom plate 39 thereon, and a spring 41 is provided at the front of the large-head cone-angle press-in type positioning pin 40; a cover plate 33 with an embossed type knob 38 is provided on the outer side of the ejection structure bottom plate 39, and the top of the embossed type knob 38 is pressed against the outer side of the ejection structure bottom plate 39; the ejection structure bottom plate 39 is pushed inward by the embossed type knob 38, so that the large-head cone-angle press-in type positioning pin 40 compresses the spring 41 and pushes it onto the dispensing assembly mounting plate 34, generating a reaction force to make the pit on the dispensing syringe mounting seat 32 break away from the spherical surface of the spring plunger 31 and be ejected outward, thereby realizing the rapid replacement of the contact type barrel 37;

[0011] The robot vision module 3 includes a thin cylinder with a guide rod 43, a suction cup connecting rod 44, a suction cup monomer b

[0012] 45, suction cup mounting plate 46, annular light source 47, annular light source mounting ring 48, side plate connecting plate 49, camera fixing side plate 50, side plate connecting plate 51, camera 52, cylinder mounting plate 53, robot end mounting plate 54, clamping clamp right finger 55, thin air gripper 56, clamping clamp left finger 57, and finger pin 58; the robot end mounting plate 54 is installed on the end flange of the collaborative robot body 59; the camera 52, the thin cylinder with guide rod 43 and the thin air gripper 56 are respectively fixed to the robot end mounting plate 54; the camera 52 is fixed by the camera The side panel 50, the side panel connecting plate 49 and the side panel connecting plate 51 are fixed together, and one end of them is a ring light source 47 installed through a ring light source mounting ring 48 to provide a light source during image acquisition; the thin cylinder 43 with a guide rod is fixed through a cylinder mounting plate 53, and one end of it is connected to a suction cup mounting plate 46, and the suction cup mounting plate 46 is connected to four suction cup monomers b45 through a suction cup connecting rod 44, and the suction cup monomer b45 is used to adsorb the assembly fixture 64; the thin air claw 56 is simultaneously connected to the left clamping finger 57 and the right clamping finger 55 of the clamping clamp, and its function is to clamp the assembly fixture 64.

[0013] The collaborative robot 4 includes a collaborative robot body 59 and a robot mounting plate 60; the collaborative robot body 59 is connected to a fixed position on the optical platform 70 through the robot mounting plate 60, which is used for loading and unloading the assembly fixture 64 and teaching the camera 52's shooting position and posture.

[0014] The loading device 5 includes an angle handle 61, a fixture loading tray 62, a loading device support block 63, an assembly fixture 64, and a loading device positioning block 65; the angle handle 61 is used to move the fixture loading tray 62; the assembly fixture 64 is installed on the fixture loading tray 62; the loading device positioning block 65 and the loading device support block 63 are used to support and position the fixture loading tray 62.

[0015] The assembly fixture 64 includes a part a loading base 66, a part a placement template 67, a part b, c, d placement template 68, and a part b, c, d loading base 69; the part a loading base 66 is used to place part a and the part a placement template 67, and the function of the center hole thereon is to connect with the air duct of the workbench module 1 to adsorb and lock part a; the part a placement template 67 is used to position part a; the part b, c, d loading base 69 is used to place part b, part c, part d and the part b, c, d placement template 68; the part b, c, d placement template 68 is used to position part b, part c and part d.

[0016] A method for implementing a glue dispensing device for tiny parts, comprising the following steps:

[0017] S1: The collaborative robot body 59 places the upper and lower parts of the assembly fixture 64 on the turntable connecting plate 12 and the auxiliary loading upper plate 10 at fixed positions respectively; the part a placed on the part a loading base 66 of the turntable connecting plate 12 is vacuum-adsorbed and locked through the air channel in the working table module 1;

[0018] S2: The camera 52 in the robot vision module 3 moves to the upper part of the assembly fixture 64 (teaching point), and the camera 52 takes a picture of the upper part of the assembly fixture 64 in the Z direction to obtain the relative position of the glue dispensing area in the part a to be assembled and the small-head cone-angle positioning pin 13, and the camera 52 in the robot vision module 3 moves to a safe position;

[0019] S3: The Y-axis robot 24 moves to the top of the small-head cone-angle positioning pin 13, and the Z-axis robot 28 moves to a position 2.4 mm away from the small-head cone-angle positioning pin 13 (teaching point);

[0020] S4: The camera 52 in the robot vision module 3 moves to the Y direction to take pictures of the precision solid nozzle 42 and the small-head cone-angle locating pin 13, and obtains the X-direction deviation and the Z-direction deviation of the precision solid nozzle 42 and the small-head cone-angle locating pin 13; The camera 52 in the robot vision module 3 moves to the X direction to take pictures of the precision solid nozzle 42 and the small-head cone-angle locating pin 13, and similarly obtains the Y-direction deviation of the precision solid nozzle 42 and the small-head cone-angle locating pin 13, and the robot vision module 3 moves to a safe position;

[0021] S5: According to the obtained X-direction deviation and Y-direction deviation of the precision solid nozzle 42 and the small-head cone-angle positioning pin 13, move the X-axis precision slide 6 and the Y-axis precision slide 16 to compensate for the deviation, so that the precision solid nozzle 42 is coaxial with the small-head cone-angle positioning pin 13. Move the X-axis precision slide 6 and the Y-axis precision slide 16 to position the precision solid nozzle 42 in the glue dispensing area of ​​the part a to be glued; according to the calibrated Z-direction distance L between the precision solid nozzle 42 and the part a to be glued, move the Z-axis single-axis robot 28 so that the distance between the precision solid nozzle 42 and the surface of the part a to be glued is L, and perform glue dispensing operations on the glue dispensing areas in turn;

[0022] S6: After the dispensing operation is completed, the Z-axis single-axis robot 28 returns to zero, the Y-axis single-axis robot 24 returns to zero, and the collaborative robot body 59 returns to the initial position, and the dispensing process ends.

[0023] The beneficial effects of the present invention are as follows: the present invention loads and unloads the assembly fixture through the adsorption clamp at the end of the collaborative robot; the calibration of the X, Y and Z directions of the precision solid nozzle 42 is completed through the positioning pins of the workbench module and the robot vision module; the automatic dispensing and posture detection of tiny parts in the assembly process are realized through the dispensing operation module and the robot vision module. Since the loading and unloading speed of the collaborative robot is relatively fast, it plays a great role in improving the dispensing efficiency. The robot vision module and the dispensing operation module at the end of the collaborative robot work in coordination with each other to ensure the consistency of dispensing. The present invention realizes that the dispensing device for tiny parts has a simple structure and a reasonable design, which can ensure both the high efficiency and consistency of dispensing, and is suitable for the automated production line of glue connection assembly of tiny parts, which greatly meets the actual needs. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 It is a structural schematic diagram of the present invention;

[0025] Figure 2 (a) (b) are schematic diagrams of the structure of the operation working module of the present invention;

[0026] Figure 3 (a) (b) are schematic diagrams of the structure of the dispensing operation module of the present invention;

[0027] Figure 4 It is a structural schematic diagram of the robot vision module of the present invention;

[0028] Figure 5 This is a schematic diagram of the structure of the assisting robot of the present invention;

[0029] Figure 6 It is a structural schematic diagram of the feeding device of the present invention;

[0030] Figure 7 It is a structural schematic diagram of the assembly fixture of the present invention.

[0031] In the figure: 1-operation workbench module, 2-dispensing operation module, 3-robot vision module, 4-cooperative robot, 5-feeding device, 6-X-axis precision slide, 7-auxiliary feeding mounting plate, 8-first slide connecting plate, 9-auxiliary feeding mounting side plate, 10-auxiliary feeding upper plate, 11-suction cup monomer a, 12-turntable connecting plate, 13-small head cone angle positioning pin, 14-large head spherical positioning pin, 15-Z-axis turntable, 16-Y-axis precision slide, 17-displacement platform pad, 18-rubber Rubber gasket, 19-air hole adapter block, 20-turntable connecting plate cover, 21-bracket angle seat, 22-second slide connecting plate, 23-slot aluminum, 24-Y-axis single-axis robot, 25-tank chain, 26-drag chain installation angle aluminum, 27-single-axis robot angle seat, 28-Z-axis single-axis robot, 29-dispensing structure connecting plate, 30-dispensing assembly connecting seat, 31-spring plunger, 32-dispensing syringe mounting seat, 33-cover plate, 34-dispensing assembly mounting plate, 35-slot aluminum installation angle aluminum, 36-glue Pipe connector, 37-contact barrel, 38-embossed knob, 39-ejection structure bottom plate, 40-large head cone angle press-in positioning pin, 41-spring, 42-precision solid nozzle, 43-thin cylinder with guide rod, 44-suction cup connecting rod, 45-suction cup monomer b, 46-suction cup mounting plate, 47-ring light source, 48-ring light source mounting ring, 49-side plate connecting plate, 50-camera fixing side plate, 51-side plate connecting plate, 52-camera, 53-cylinder mounting plate, 54-robot end End mounting plate, 55-right finger of clamping clamp, 56-thin air claw, 57-left finger of clamping clamp, 58-finger pin, 59-collaborative robot body, 60-robot mounting plate, 61-angle handle, 62-clamp feeding tray, 63-feeding device support block, 64-assembly fixture, 65-feeding device positioning block, 66-part a feeding base, 67-part a placement template, 68-part b, c, d placement template, 69-part b, c, d feeding base, 70-optical platform. DETAILED DESCRIPTION

[0032] The specific implementation of the present invention is further described below in conjunction with the accompanying drawings and implementation plans.

[0033] Taking a certain tiny parts assembly process based on automated dispensing as an example, the specific implementation steps of the present invention are described in combination with the technical solution and the accompanying drawings.

[0034] S1: The assembly fixture 64 in the loading device 5 is loaded, and the assembly fixture 64 is adsorbed by the vacuum suction cup b45 in the robot vision module 3 at the end of the collaborative robot body 59, and the upper and lower parts of the assembly fixture 64 are respectively placed on the turntable connecting plate 12 of the workbench module 1 and the auxiliary loading upper plate 10 fixed positions; the part a placed on the part a loading base 66 of the turntable connecting plate 12 is vacuum adsorbed and locked through the air channel in the workbench module 1;

[0035] S2: The camera 52 in the robot vision module 3 moves to the upper part of the assembly fixture 64, and the camera 52 takes multiple groups of photos of the upper part of the assembly fixture 64 in the Z direction, and obtains the relative position of the glue dispensing area in the part a to be assembled and the small head cone angle type 13 through image stitching and image processing strategy. The camera 52 in the robot vision module 3 at the end of the collaborative robot body 59 moves to a safe position;

[0036] S3: The Y-axis robot 24 moves to the top of the small-head cone angle 13, and the Z-axis robot 28 moves to a position 2.4 mm away from the small-head cone angle positioning pin 13;

[0037] S4: The camera 52 in the robot vision module 3 moves to the Y direction to take pictures of the precision solid nozzle 42 and the small-head cone-angle positioning pin 13. After image processing, the X-direction deviation of the precision solid nozzle 42 and the small-head cone-angle positioning pin 13 and the Z-direction deviation of the precision solid nozzle 42 and the small-head cone-angle positioning pin 13 are obtained. The camera 52 in the robot vision module 3 moves to the X direction to take pictures of the precision solid nozzle 42 and the small-head cone-angle positioning pin 13. Similarly, the Y-direction deviation of the precision solid nozzle 42 and the small-head cone-angle positioning pin 13 is obtained. The camera 52 in the robot vision module 3 at the end of the collaborative robot body 59 moves to a safe position.

[0038] S5: According to the obtained X-direction deviation and Y-direction deviation of the precision solid nozzle 42 and the small-headed cone-angle locating pin 13, the X-axis precision slide 6 and the Y-axis precision slide 16 are moved to compensate for the deviation of the precision solid nozzle 42 and the small-headed cone-angle locating pin 13 in the X and Y directions, so that the precision solid nozzle 42 is coaxial with the small-headed cone-angle locating pin 13. Since the relative position of the small-headed cone-angle locating pin 13 and the part a to be glued has been determined in step S3, and the relative position of the small-headed cone-angle locating pin 13 and the precision solid nozzle 42 has been determined in step S4, the relative position relationship between the precision solid nozzle 42 and the glue dispensing area is obtained. Move the X-axis precision slide 6 and the Y-axis precision slide 16 so that the precision solid nozzle 42 is positioned in the glue dispensing area of ​​the part a to be glued. According to the calibrated Z-direction distance L between the precision solid nozzle 42 and the part a to be glued. Move the Z-axis single-axis robot 28 so that the distance between the precision solid nozzle 42 and the surface of the part a to be glued is L. Perform glue dispensing operations on the glue dispensing areas one by one;

[0039] S6: After the dispensing operation is completed, the Z-axis single-axis robot 28 returns to zero, the Y-axis single-axis robot 24 returns to zero, and the collaborative robot body 59 returns to the initial position, and the dispensing is completed.

Claims

1. A device for dispensing glue for tiny parts. It is characterized in that The device for implementing glue dispensing of tiny parts comprises an operation table module (1), a glue dispensing operation module (2), a robot vision module (3), a collaborative robot (4) and a loading device (5); the operation table module (1), the glue dispensing operation module (2), the collaborative robot (4) and the loading device (5) are all mounted on an optical platform (70); the robot vision module (3) is mounted on a flange at the end of the collaborative robot (4); The workbench module (1) comprises an X-axis precision slide (6), an auxiliary loading installation plate (7), a first slide connection plate (8), an auxiliary loading installation side plate (9), an auxiliary loading upper plate (10), a suction cup unit a (11), a turntable connection plate (12), a small-headed conical-angle positioning pin (13), a large-headed spherical positioning pin (14), a Z-axis turntable (15), a Y-axis precision slide (16), a displacement platform pad (17), a rubber gasket (18), an air hole adapter block (19), and a turntable connection plate cover (20); the X-axis precision slide (6) is positioned by The platform shift pad (17) is connected and fixed on the optical platform (70), and can move left and right in the X direction; the Y-axis precision slide (16) is vertically connected to the upper part of the X-axis precision slide (6), and can move forward and backward in the Y direction; the lower part of the Z-axis turntable (15) is connected to the Y-axis precision slide (16) through the first slide connection plate (8), and can rotate around the Z axis; the side of the auxiliary loading installation plate (7) is connected to two auxiliary loading installation side plates (9), which are used to support the auxiliary loading upper plate (10) on which the lower part of the assembly fixture (64) is placed, and the auxiliary loading The inner side of the mounting plate (7) is connected to the outer side of the first slide connecting plate (8); the upper part of the auxiliary loading upper plate (10) is provided with a large-headed spherical positioning pin (14) for positioning the lower part of the assembly fixture (64); the lower part of the turntable connecting plate (12) is connected to the Z-axis turntable (15), which can move or rotate in the XY plane, and the upper part is provided with a small-headed cone-angle positioning pin (13) used as a visual positioning reference and a suction cup monomer a (11) for adsorbing and locking the upper part of the assembly fixture (64) after placement; the turntable connecting plate cover (20) is placed on the Z-axis turntable (15). The upper surface of the table (15) has an air passage connected to an air hole adapter block (19) with air holes installed in the center hole of the Z-axis turntable (15), and is also connected to the air holes of four suction cup monomers a (11), forming a four-way vacuum adsorption air passage; the first slide table connecting plate (8) is provided with an air passage and a rubber gasket (18) for vacuum adsorption, wherein: the air passage is connected to the air hole adapter block (19) through the air hole on the Z-axis turntable (15), providing adsorption force for the suction cup monomer a (11); the rubber gasket (18) plays a role in sealing the air passage for the adsorption of the part a on the workbench;The dispensing operation module (2) includes a bracket angle seat (21), a second slide connecting plate (22), a groove aluminum (23), a Y-axis single-axis robot (24), a tank chain (25), a drag chain mounting angle aluminum (26), a single-axis robot angle seat (27), a Z-axis single-axis robot (28), a dispensing structure connecting plate (29), a dispensing assembly connecting seat (30), a spring plunger (31), a dispensing syringe mounting seat (32), a cover plate (33), a dispensing assembly mounting plate (34), a groove aluminum mounting angle aluminum (35), a hose connector (36), a contact barrel (37), an embossed knob (38), an ejection structure bottom plate (39), a large-headed cone angle press-in positioning pin (40), a spring (41), a precision solid The second slide connecting plate (22) is connected to the optical platform (70) through the bracket angle seat (21), and the upper part thereof is connected to a Y-axis single-axis robot (24), and the Y-axis single-axis robot (24) realizes the rapid positioning of the precision solid nozzle (42) in the Y direction; the side of the second slide connecting plate (22) is provided with a slot aluminum (23) installed thereon through a slot aluminum mounting angle aluminum (35) and having a tank chain (25) built therein; the Z-axis single-axis robot (28) is connected to the upper part of the Y-axis single-axis robot (24) through a single-axis robot angle seat (27), and the Z-axis single-axis robot (28) realizes the rapid positioning of the precision solid nozzle (42) in the Z direction and ensures the precise solid nozzle (42) and the substrate. The distance between the two ends of the dispensing syringe and the dispensing assembly is as follows: the lower part of the single-axis robot angle seat (27) is provided with a drag chain mounting angle aluminum (26); the dispensing assembly mounting plate (34) is connected to the dispensing structure connecting plate (29) connected to the Z-axis single-axis robot (28) through the dispensing assembly connecting seat (30); the dispensing syringe mounting seat (32) has two pits, which is connected to the dispensing assembly mounting plate (34) through a spring plunger (31); the contact material barrel (37) is placed between the dispensing syringe mounting seat (32) and the dispensing assembly mounting plate (34), the upper part of which is provided with a hose connector (36) that communicates with the dispensing machine, and the lower part is provided with a precision solid nozzle (42) for dispensing; the outer side of the dispensing syringe mounting seat (32) is provided with a dispensing structure connecting plate (29) connected to the Z-axis single-axis robot (28) through the dispensing assembly connecting seat (30); the dispensing syringe mounting seat (32) has two pits, which is connected to the dispensing assembly mounting plate (34) through a spring plunger (31); the contact material barrel (37) is placed between the dispensing syringe mounting seat (32) and the dispensing assembly mounting plate (34), the upper part of which is provided with a hose connector (36) that communicates with the dispensing machine, and the lower part is provided with a precision solid nozzle (42) for dispensing; A large cone angle press-in type positioning pin (40) is connected to an ejection structure base plate (39) thereon, and a spring (41) is provided at the front of the large cone angle press-in type positioning pin (40); a cover plate (33) with an embossed type knob (38) is provided on the outer side of the ejection structure base plate (39), and the top of the embossed type knob (38) is pressed against the outer side of the ejection structure base plate (39); the ejection structure base plate (39) is pushed inwardly by the embossed type knob (38), so that the large cone angle press-in type positioning pin (40) compresses the spring (41) and pushes it onto the dispensing assembly mounting plate (34), generating a reaction force so that the pit on the dispensing syringe mounting seat (32) is separated from the spherical surface of the spring plunger (31) and ejected outward, thereby realizing the rapid replacement of the contact type barrel (37); The robot vision module (3) comprises a thin cylinder with a guide rod (43), a suction cup connecting rod (44), a suction cup unit b (45), a suction cup mounting plate (46), an annular light source (47), an annular light source mounting ring (48), a side plate connecting plate (49), a camera fixing side plate (50), a side plate connecting plate (51), a camera (52), a cylinder mounting plate (53), a robot end mounting plate (54), a clamping clamp right finger (55), a thin air gripper (56), a clamping clamp left finger (57), and a finger pin (58); the robot end mounting plate (54) is mounted on the end flange of the collaborative robot body (59); the camera (52), the thin cylinder with a guide rod (43) and the thin air gripper (56) are respectively fixed to the robot end mounting plate (54); the camera (52) is fixed together by the camera fixing side plate (50), the side plate connecting plate (49) and the side plate connecting plate (51); the annular light source (47) installed by the annular light source mounting ring (48) provides light source during image acquisition; the thin cylinder (43) with guide rod is fixed on the robot end mounting plate (54) through the cylinder mounting plate (53); one end of the thin cylinder (43) is connected to the suction cup mounting plate (46); the suction cup mounting plate (46) is connected to four suction cup monomers b (45) through the suction cup connecting rod (44); the suction cup monomers b (45) are used to adsorb the assembly fixture (64); the thin air claw (56) is connected to the left clamp finger (57) and the right clamp finger (55) of the clamp at the same time, and its function is to clamp the assembly fixture (64); The collaborative robot (4) comprises a collaborative robot body (59) and a robot mounting plate (60); the collaborative robot body (59) is connected to a fixed position on an optical platform (70) via the robot mounting plate (60), and is used for loading and unloading of an assembly fixture (64) and for teaching the position and posture of a camera (52) for taking photos; The loading device (5) comprises an angle handle (61), a fixture loading tray (62), a loading device support block (63), an assembly fixture (64), and a loading device positioning block (65); the angle handle (61) is used to move the fixture loading tray (62); the assembly fixture (64) is installed on the fixture loading tray (62); the loading device positioning block (65) and the loading device support block (63) are used to support and position the fixture loading tray (62); The assembly fixture (64) comprises a part a loading base (66), a part a placement template (67), a part b, c, d placement template (68), and a part b, c, d loading base (69); the part a loading base (66) is used to place part a and the part a placement template (67), and the center hole thereon is used to connect with the air duct of the workbench module (1) to adsorb and lock part a; the part a placement template (67) is used to position part a; the part b, c, d loading base (69) is used to place part b, part c, part d and the part b, c, d placement template (68); the part b, c, d placement template (68) is used to position part b, part c, and part d.

2. A method for implementing the micro-parts dispensing device of claim 1, It is characterized in that The steps include: S1: The collaborative robot body (59) places the upper and lower parts of the assembly fixture (64) on the fixed positions of the turntable connecting plate (12) and the auxiliary loading upper plate (10), respectively; the part a placed on the part a loading base (66) of the turntable connecting plate (12) is vacuum-adsorbed and locked through the air passage in the working table module (1); S2: The camera (52) in the robot vision module (3) moves to the upper part of the assembly fixture (64), and the camera (52) takes a picture of the upper part of the assembly fixture (64) in the Z direction to obtain the relative position of the glue spot area in the part a to be assembled and the small-headed cone-angle positioning pin (13), and the camera (52) in the robot vision module (3) moves to a safe position; S3: The Y-axis robot (24) moves to the top of the small-headed cone-angle positioning pin (13), and the Z-axis robot (28) moves to a position 2.4 mm away from the small-headed cone-angle positioning pin (13); S4: the camera (52) in the robot vision module (3) moves to the Y direction to take pictures of the precision solid nozzle (42) and the small-head cone-angle positioning pin (13), and obtains the X-direction deviation of the precision solid nozzle (42) and the small-head cone-angle positioning pin (13) and the Z-direction deviation of the precision solid nozzle (42) and the small-head cone-angle positioning pin (13); the camera (52) in the robot vision module (3) moves to the X direction to take pictures of the precision solid nozzle (42) and the small-head cone-angle positioning pin (13), and similarly obtains the Y-direction deviation of the precision solid nozzle (42) and the small-head cone-angle positioning pin (13), and the robot vision module (3) moves to a safe position; S5: According to the obtained X-direction deviation and Y-direction deviation of the precision solid nozzle (42) and the small-headed cone-angle positioning pin (13), the X-direction precision slide (6) and the Y-direction precision slide (16) are moved to compensate for the deviation, so that the precision solid nozzle (42) is coaxial with the small-headed cone-angle positioning pin (13); the X-direction precision slide (6) and the Y-direction precision slide (16) are moved to position the precision solid nozzle (42) within the glue dispensing area of ​​the part a to be glued; according to the calibrated Z-direction distance L between the precision solid nozzle (42) and the part a to be glued, the Z-direction single-axis robot (28) is moved so that the distance between the precision solid nozzle (42) and the surface of the part a to be glued is L, and glue dispensing operations are performed on the glue dispensing areas in turn; S6: After the dispensing operation is completed, the Z-axis single-axis robot (28) returns to zero, the Y-axis single-axis robot (24) returns to zero, and the collaborative robot body (59) returns to the initial position, and the dispensing process ends.

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