A three-axis mechanical hand position calibration type efficient dispensing machine

Abstract

The application discloses a kind of three-axis mechanical hand position calibration type high-efficiency point glue machine, including XYZ three-axis mechanical hand, it is characterized by: the XYZ three-axis mechanical hand includes X direction sliding rail, X direction linear motor, Y direction sliding rail, Y direction sliding block, Y direction servo motor, Y direction drive screw, Z direction sliding rail, Z direction sliding block, Z direction servo motor, Z direction drive screw, fixed frame, multiple vacuum suction heads, CCD positioning camera and coaxial light source, and the optical lens barrel assembly of CCD positioning camera is stretched into fixed frame downward.This patent is because being added on XYZ three-axis mechanical hand, CCD positioning camera transmits the position information of XYZ three-axis mechanical hand to controller, and controller calibrates the position of XYZ three-axis mechanical hand according to position information, realizes the self-positioning and calibration of equipment, greatly reduces the labor of staff, with the characteristics of time-saving and labor-saving in maintenance.

Description

Technical Field

[0001] This invention relates to dispensing machine technology, specifically to a high-efficiency dispensing machine with a three-axis robotic arm for position calibration. Background Technology

[0002] Existing dispensing machines generally use three-axis robots for loading and unloading. During use, the three-axis robot sometimes fails to reach the designated position due to the stepper motor drive. In this case, manual positioning and calibration of the three-axis robot are required. The daily maintenance of the three-axis robot by humans is labor-intensive and time-consuming.

[0003] In addition, the various devices on the existing dispensing machine cannot work in coordination. During the dispensing process, some devices become idle and are not fully utilized, which affects the working efficiency of the dispensing machine.

[0004] Furthermore, the clamping mechanism of existing dispensing machines does not flip or rotate horizontally. After dispensing glue to one side of a workpiece, the machine needs to reinstall the workpiece and then dispense glue to the other side, resulting in low efficiency. To solve these problems, existing dispensing machines mount the clamping mechanism on a rotatable disk, and the drive unit for the clamping mechanism is also mounted on the rotatable disk, located on one side of the clamping mechanism. This mounting method not only makes the rotatable disk larger but also occupies space in the horizontal area of ​​the dispensing machine, resulting in a very large and non-compact structure.

[0005] The existing dispensing machine uses vacuum adsorption to fix the product. The vacuum adsorption force used in this method can affect the glue form and cause poor dispensing. Summary of the Invention

[0006] The purpose of this invention is to propose a time-saving and labor-saving three-axis robotic arm position calibration type high-efficiency dispensing machine.

[0007] To solve the above-mentioned technical problems, the technical solution adopted by the present invention is as follows:

[0008] A high-efficiency dispensing machine with a three-axis robotic arm for position calibration includes an XYZ three-axis robotic arm. The XYZ three-axis robotic arm includes an X-axis slide rail, an X-axis linear motor, a Y-axis slide rail, a Y-axis slider, a Y-axis servo motor, a Y-axis drive screw, a Z-axis slide rail, a Z-axis slider, a Z-axis servo motor, a Z-axis drive screw, a fixed frame, and multiple vacuum suction heads. A CCD positioning camera and a coaxial light source are mounted on the Z-axis slider. The optical lens assembly of the CCD positioning camera extends downward into the fixed frame, which is fixed to the Z-axis slider. The coaxial light source is installed inside the fixed frame and located below the optical lens assembly. A vacuum suction head is fixed on a fixed frame and located on both sides of the fixed frame. A Z-axis slider is mounted on a Z-axis slide rail. A Z-axis servo motor drives the Z-axis slider to move along the Z-axis slide rail via a Z-axis drive screw. The Z-axis slide rail is mounted on a Y-axis slider, and a Y-axis servo motor drives the Y-axis slider to move along the Y-axis slide rail via a Y-axis drive screw. The Y-axis slide rail is mounted on an X-axis linear motor, which moves along the X-axis slide rail. An XYZ three-axis robot vacuum suction head positioning and correction component is located on the frame and near the XYZ three-axis robot. The vacuum suction head positioning and calibration component includes a support frame and an XYZ three-axis robotic vacuum suction head calibration CCD camera, a protective cover, a positioning calibration plate, a vacuum suction head positioning coaxial light source, and a vacuum suction head positioning optical lens assembly mounted on the support frame. The support frame is fixed to the machine frame. The positioning calibration plate is located directly above the vacuum suction head positioning coaxial light source, which is also located directly above the vacuum suction head positioning optical lens assembly. The vacuum suction head positioning optical lens assembly is connected to the XYZ three-axis robotic vacuum suction head calibration CCD camera. The protective cover protects the vacuum suction head positioning coaxial light source and the vacuum suction head positioning optical lens assembly. The microscope tube assembly covers the positioning calibration plate, which has a calibration point at its center. The XYZ three-axis robot arm moves the CCD positioning camera until it moves above the positioning calibration plate and corresponds to the calibration point. The XYZ three-axis robot arm vacuum suction head calibration CCD camera transmits the position information of the XYZ three-axis robot arm vacuum suction head to the controller, which calibrates the position of the XYZ three-axis robot arm vacuum suction head. The XYZ three-axis robot arm transmits its position information to the controller, which calibrates the position of the XYZ three-axis robot arm based on the position information.

[0009] Furthermore, the vacuum suction head includes a suction head base and four vacuum suction tube assemblies. The upper surface of the suction head base has four mounting grooves, and the bottom of each mounting groove has a vacuum suction hole. The upper surface of the suction head base is provided with a cross-shaped protective frame. The four vacuum suction tube assemblies are installed in the four mounting grooves and are tightly attached to the cross-shaped protective frame. A protective plate is provided on one side of the cross-shaped protective frame. The cross-shaped protective frame has a central hole. The upper surface of the suction head base has a central through hole, which communicates with the central hole and is on the same axis.

[0010] Furthermore, it also includes a frame, a tray conveyor track, multiple Y-axis displacement dispensing platforms, an XZ-axis two-axis displacement linear laser detector, an XZ-axis two-axis displacement positioning detector, and an XZ-axis two-axis displacement dispensing device. The Y-axis displacement dispensing platform includes a Y-axis guide rail, a Y-axis lead screw, a dispensing slide, and a servo motor. The servo motor drives the dispensing slide to move along the Y-axis guide rail via the Y-axis lead screw. The Y-axis guide rails of the multiple Y-axis displacement dispensing platforms are spaced apart on the frame. The tray conveyor track is located on one side of the frame and perpendicular to the Y-axis guide rail. The frame is sequentially equipped with a first gantry frame, a second gantry frame, a third gantry frame, and a fourth gantry frame. The system comprises a gantry frame, on which the XYZ three-axis robot arm is mounted to remove dispensing parts from the material tray on the material tray conveyor track and place them onto the dispensing slide. An XZ two-axis displacement linear scanning laser detector is mounted on the second gantry frame to detect the position and adhesive thickness of the dispensing parts on the dispensing slide. An XZ two-axis displacement positioning detector is mounted on the third gantry frame to determine the specific dispensing position of the dispensing parts on the dispensing slide and to detect the post-dispensing condition. An XZ two-axis displacement dispensing device is mounted on the fourth gantry frame to dispense adhesive onto the dispensing parts on the dispensing slide.

[0011] Furthermore, the frame or the first gantry is equipped with a dispensing part scanner. Each dispensing part and the tray has an independent QR code. Before loading, the dispensing part must be scanned by the dispensing part scanner to bind the dispensing part and the tray for traceability, so that the dispensing part can be put back into the original tray after dispensing.

[0012] Furthermore, a UV lamp for adhesive curing is fixed on one side of the XZ two-axis displacement dispensing device.

[0013] Furthermore, the first gantry is equipped with two XYZ three-axis robotic arms, each corresponding to one of the three Y-axis displacement dispensing platforms; the second gantry is equipped with two XZ two-axis displacement linear laser detectors, each corresponding to one of the three Y-axis displacement dispensing platforms; the third gantry is equipped with two XZ two-axis displacement positioning detectors, each corresponding to one of the three Y-axis displacement dispensing platforms; and the fourth gantry is equipped with two XZ two-axis displacement dispensing devices, each corresponding to one of the three Y-axis displacement dispensing platforms.

[0014] Furthermore, the dispensing slide is equipped with a dispensing workpiece clamping device, which includes a rotary motor, a fixed frame, a clamping mechanism, a transmission rod, and a driving device. The output shaft of the rotary motor is a tubular structure, and the clamping mechanism is connected to the output shaft. One end of the transmission rod enters from one end of the output shaft and exits from the other end of the output shaft, connecting to the clamping mechanism. The rotary motor is fixed on the fixed frame, and the driving device drives the transmission rod to move. The transmission rod drives the clamping mechanism to open and close. The clamping mechanism is used to clamp and fix the dispensing workpiece. The driving device is a cylinder.

[0015] Furthermore, the clamping mechanism includes a clamping seat, a spring, two sliders, two clamping members, and two swing arms. The upper surface of the clamping seat is provided with a sliding groove, and the lower surface of the clamping seat is provided with a transmission groove. The sliding groove communicates with the transmission groove through a transmission hole. The two sliders are disposed in the sliding groove, and the two clamping members are respectively disposed on the two sliders. The two swing arms are hinged in the transmission groove through hinge pins. One end of each swing arm is simultaneously hinged to one end of a transmission rod, and the other end of each swing arm passes through the transmission hole and is respectively hinged to the two sliders. The transmission rod drives the two swing arms, the two swing arms drive the two sliders to slide along the sliding groove, and the two sliders drive the two clamping members to open and close. The spring is used to reset the two clamping members. One of the two clamping members has a transverse screw hole on one side, and a clamping limit adjustment screw is disposed in the transverse screw hole. The mechanism also includes a bracket, on which the flipping motor is horizontally mounted. A fixed plate is disposed on the output shaft of the flipping motor, and the fixed bracket is mounted on the fixed plate.

[0016] Furthermore, the XZ two-axis displacement dispensing device includes an X-axis dispensing slide rail, an X-axis dispensing sliding cylinder, a Z-axis dispensing slide rail, a Z-axis dispensing slide block, a Z-axis motor, a Z-axis lead screw, a dispensing cylinder, a glue volume sensor, and a dispensing needle. The dispensing needle is located at the lower end of the dispensing cylinder. The glue volume sensor is located on one side of the dispensing cylinder to transmit the glue volume information in the dispensing cylinder to the controller. The dispensing cylinder is located on the Z-axis dispensing slide block, which is located on the Z-axis dispensing slide rail. The Z-axis motor drives the Z-axis dispensing slide block to move along the Z-axis dispensing slide rail via the Z-axis lead screw. The Z-axis dispensing slide rail is located on the X-axis dispensing sliding cylinder, which slides along the X-axis dispensing slide rail.

[0017] Furthermore, the Z-axis dispensing slide is equipped with a dispensing CCD positioning camera and a dispensing coaxial light source. The dispensing coaxial light source is located below the optical lens barrel assembly of the dispensing CCD positioning camera. The dispensing CCD positioning camera transmits the position information of the XZ two-axis displacement dispensing device to the controller, and the controller calibrates the position of the XZ two-axis displacement dispensing device according to the position information.

[0018] The beneficial effects of this invention are as follows:

[0019] This patent adds a CCD positioning camera to the XYZ three-axis robot. The CCD positioning camera transmits the position information of the XYZ three-axis robot to the controller. The controller calibrates the position of the XYZ three-axis robot based on the position information, realizing the self-positioning and calibration of the equipment, greatly reducing the workload of the staff, and has the characteristics of saving time and effort in maintenance.

[0020] This patent utilizes an XYZ three-axis robot to feed materials onto multiple Y-axis displacement dispensing platforms, ensuring that all devices on the dispensing machine are not idle and can work together in coordination, thus greatly improving the efficiency of the dispensing machine.

[0021] This patent modifies the structure of the motor by designing the motor's output shaft as a tubular structure. The output shaft drives the clamping mechanism to rotate at a predetermined angle, and the transmission rod of the drive device passes through the output shaft. This not only greatly improves the dispensing efficiency of the processed parts but also reduces the size of the dispensing machine, making its structure more compact.

[0022] This patent uses a clamping and fixing method for the product, eliminating the influence of vacuum adsorption on dispensing and solving the problem of poor dispensing caused by vacuum adsorption fixing of the product.

[0023] This patent adds a dispensing CCD positioning camera and a dispensing coaxial light source to the XZ two-axis displacement dispensing device. The dispensing CCD positioning camera transmits the position information of the XZ two-axis displacement dispensing device to the controller. The controller calibrates the position of the XZ two-axis displacement dispensing device according to the position information, which greatly reduces the workload of the staff and has the characteristics of more accurate dispensing and time-saving and labor-saving maintenance. Attached Figure Description

[0024] The present invention will be further described with reference to the accompanying drawings, but the embodiments in the drawings do not constitute any limitation on the present invention. For those skilled in the art, other drawings can be obtained based on the following drawings without creative effort:

[0025] Figure 1 This is a schematic diagram of the structure of the present invention;

[0026] Figure 2 for Figure 1 The front-view stereoscopic view shown;

[0027] Figure 3 for Figure 1 The rear-view 3D diagram shown;

[0028] Figure 4 for Figure 2 The diagram shows the installation status of the XYZ three-axis robot.

[0029] Figure 5for Figure 4 The image shows a 3D view of the XYZ three-axis robot.

[0030] Figure 6 for Figure 5 The diagram shows the installation status of the CCD positioning camera and coaxial light source of the XYZ three-axis robot.

[0031] Figure 7 for Figure 5 A 3D view of the vacuum suction head shown;

[0032] Figure 8 for Figure 7 A 3D view of the suction head holder shown;

[0033] Figure 9 for Figure 8 A schematic diagram of the end face structure of the suction head holder shown;

[0034] Figure 10 for Figure 1 The diagram shows the installation status of the XZ two-axis displacement dispensing device.

[0035] Figure 11 for Figure 10 A three-dimensional view of the XZ-axis displacement dispensing device is shown.

[0036] Figure 12 for Figure 3 A schematic diagram of the clamping device for dispensing parts is shown.

[0037] Figure 13 for Figure 12 The 3D diagram shown;

[0038] Figure 14 for Figure 12 The top view shown;

[0039] Figure 15 for Figure 13 The diagram shows the internal structure of the clamping mechanism.

[0040] Figure 16 A schematic diagram of the positioning and correction component for the vacuum suction head of an XYZ three-axis robotic arm;

[0041] Figure 17 for Figure 16 The diagram shows the internal structure after the protective cover has been removed.

[0042] In the diagram: 1. Rotary motor; 2. Fixed frame; 3. Clamping mechanism; 4. Transmission rod; 5. Drive device; 6. Tilting motor; 7. Bracket; 8. Fixed plate; 9. Output shaft; 10. Clamping seat; 11. Spring; 12. Slider; 13. Clamping component; 14. Swing arm; 15. Slide groove; 16. Transmission groove; 17. Transmission hole; 18. Hinge shaft; 19. Clamping limit adjustment screw; 20. Mounting plate; 21. Frame; 22. Material tray conveyor track; 23. XYZ three-axis robot; 24. Y-axis displacement dispensing platform; 25. XZ two-axis displacement linear laser detector. 26. XZ two-axis displacement positioning detector; 27. XZ two-axis displacement dispensing device; 28. Glue curing UV lamp; 29. ​​Dispensing workpiece clamping device; 30. First gantry frame; 31. Second gantry frame; 32. Third gantry frame; 33. Fourth gantry frame; 34. Y-axis guide rail; 35. Y-axis lead screw; 36. Dispensing slide table; 37. Servo motor; 38. Material tray; 39. Dispensing workpiece; 40. X-axis slide rail; 41. X-axis linear motor; 42. Y-axis slide rail; 43. Y-axis slider; 44. Y-axis servo motor; 45. Y-axis drive lead screw; 46. ​​Z-axis slide rail; 47. Z-axis slider; 48. Z-axis servo motor; 49. Z-axis drive screw; 50. Fixing frame; 51. Vacuum suction head; 52. CCD positioning camera; 53. Coaxial light source; 54. Optical lens barrel assembly; 55. Suction head holder; 56. Vacuum suction tube assembly; 57. Mounting and fixing groove; 58. Vacuum suction hole; 59. Cross-shaped protective frame; 60. Protective plate; 61. Center hole; 62. Center through hole; 63. X-axis dispensing slide rail; 64. X-axis dispensing sliding cylinder; 65. Z-axis dispensing slide rail; 66. Z-axis dispensing slide block; 67. Z 68. Z-axis lead screw; 69. Dispensing cylinder; 70. Glue volume sensor; 71. Dispensing needle; 72. Dispensing CCD positioning camera; 73. Dispensing coaxial light source; 74. Optical lens barrel assembly; 75. Dispensing part barcode scanner; 76. Support frame; 77. XYZ three-axis robot vacuum suction head calibration CCD camera; 78. Protective cover; 79. Positioning calibration plate; 80. Vacuum suction head positioning coaxial light source; 81. Vacuum suction head positioning optical lens barrel assembly; 82. Calibration point; 83. XYZ three-axis robot vacuum suction head positioning calibration component; 84. Lifting cylinder. Detailed Implementation

[0043] To enable those skilled in the art to better understand the technical solutions of the present invention, the present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments. It should be noted that, in the absence of conflict, the embodiments and features in the embodiments of this application can be combined with each other.

[0044] In the description of this invention, it should be understood that the terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper surface," "lower surface," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "forward," "reverse," "axial," "radial," and "circumferential" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing this invention and simplifying the description, and are not intended to indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention.

[0045] like Figure 1 , 2 As shown in Figures 1 and 3, a high-efficiency dispensing machine with a three-axis robotic arm for position calibration includes a frame 21, a material tray conveying track 22, an XYZ three-axis robotic arm 23, multiple Y-axis displacement dispensing platforms 24, an XZ two-axis displacement linear scanning laser detector 25, an XZ two-axis displacement positioning detector 26, an XZ two-axis displacement dispensing device 27, and an adhesive curing UV lamp 28. The frame 21 is sequentially equipped with a first gantry 30, a second gantry 31, a third gantry 32, and a fourth gantry 33. The Y-axis displacement dispensing platform 24 includes a Y-axis guide rail 34, a Y-axis lead screw 35, a dispensing slide 36, and a servo motor 37. The servo motor 37 drives the dispensing slide 36 to move along the Y-axis guide rail 34 via the Y-axis lead screw 35. The Y-axis guide rails of the multiple Y-axis displacement dispensing platforms 24 are located on the frame. The frame is arranged in a series of 21-axis configurations. A material tray conveyor track 22 is located on one side of the frame 21 and perpendicular to the Y-axis guide rail 34. An XYZ three-axis robot 23 is mounted on the first gantry 30 to remove the dispensing workpiece 39 from the material tray 38 on the material tray conveyor track 22 and place it onto the dispensing slide 36. An XZ two-axis displacement linear scanning laser detector 25 is mounted on the second gantry 31 to detect the position and adhesive thickness of the dispensing workpiece on the dispensing slide 36. An XZ two-axis displacement positioning detector 26 is mounted on the third gantry 32 to determine the specific dispensing position of the dispensing workpiece on the dispensing slide 36 and to detect the post-dispensing condition. An XZ two-axis displacement dispensing device 27 is mounted on the fourth gantry 33 to dispense adhesive onto the dispensing workpiece 39 on the dispensing slide 36. A UV lamp 28 for adhesive curing is fixed to one side of the XZ two-axis displacement dispensing device 27.

[0046] Specifically, there are six Y-axis displacement dispensing platforms. The first gantry has two XYZ three-axis robotic arms, with one XYZ three-axis robotic arm corresponding to three Y-axis displacement dispensing platforms. The second gantry has two XZ two-axis displacement linear scanning laser detectors, with one XZ two-axis displacement linear scanning laser detector corresponding to three Y-axis displacement dispensing platforms. The third gantry has two XZ two-axis displacement positioning detectors, with one XZ two-axis displacement positioning detector corresponding to three Y-axis displacement dispensing platforms. The fourth gantry has two XZ two-axis displacement dispensing devices, with one XZ two-axis displacement dispensing device corresponding to three Y-axis displacement dispensing platforms.

[0047] The frame 21 is provided with an XYZ three-axis robot vacuum suction head positioning and correction component 83 located near the XYZ three-axis robot 23.

[0048] like Figure 4 , 5 As shown in Figure 6, the XYZ three-axis manipulator 23 includes an X-axis slide rail 40, an X-axis linear motor 41, a Y-axis slide rail 42, a Y-axis slider 43, a Y-axis servo motor 44, a Y-axis drive screw 45, a Z-axis slide rail 46, a Z-axis slider 47, a Z-axis servo motor 48, a Z-axis drive screw 49, a fixed frame 50, and multiple vacuum suction heads 51. A CCD positioning camera 52 and a coaxial light source 53 are fixed on the Z-axis slider 47. The fixed frame 50 is fixed on the Z-axis slider 47. The optical lens barrel assembly 54 of the CCD positioning camera 52 extends downward into the fixed frame 50. The coaxial light source 53 is installed inside the fixed frame 50 and located below the optical lens barrel assembly 54. Multiple vacuum suction heads are fixed on the fixed frame and located within the fixed frame. On both sides, the Z-axis slider is mounted on the Z-axis slide rail. The Z-axis servo motor 48 drives the Z-axis slider 47 to move along the Z-axis slide rail 46 via the Z-axis drive screw 49. The Z-axis slide rail 46 is mounted on the Y-axis slider 43. The Y-axis slider 43 is mounted on the Y-axis slide rail 42. The Y-axis servo motor 44 drives the Y-axis slider 43 to move along the Y-axis slide rail 42 via the Y-axis drive screw 45. The Y-axis slide rail 42 is mounted on the X-axis linear motor 41. The X-axis linear motor 41 moves along the X-axis slide rail 40. The X-axis slide rail 40 is fixed on the crossbeam of the first gantry 30. The CCD positioning camera 52 transmits the position information of the XYZ three-axis manipulator 23 to the controller. The controller calibrates the position of the XYZ three-axis manipulator 23 according to the position information.

[0049] like Figure 16 , 17As shown, the XYZ three-axis robot vacuum head positioning and correction component 83 includes a support frame 76 and an XYZ three-axis robot vacuum head correction CCD camera 77, a protective cover 78, a positioning calibration plate 79, a vacuum head positioning coaxial light source 80, and a vacuum head positioning optical lens barrel assembly 81 mounted on the support frame 76. The support frame 76 is fixed on the frame 21. The positioning calibration plate 79 is located directly above the vacuum head positioning coaxial light source 80. The vacuum head positioning coaxial light source 80 is located directly above the vacuum head positioning optical lens barrel assembly 81. The vacuum head positioning optical lens barrel assembly 81 is connected to the XYZ three-axis robot vacuum head correction CCD camera 77. The protective cover 78 covers the vacuum head positioning coaxial light source 80 and the vacuum head positioning optical lens barrel assembly 81.

[0050] The positioning calibration plate 79 has a calibration point 82 at its center and is transparent. The XYZ three-axis robot moves the CCD positioning camera 52 until it moves above the positioning calibration plate 79 and corresponds to the calibration point 82. The XYZ three-axis robot vacuum head calibration CCD camera 77 transmits the position information of the XYZ three-axis robot vacuum head to the controller, and the controller calibrates the position of the XYZ three-axis robot vacuum head.

[0051] like Figure 4 As shown, a dispensing part barcode scanner 75 is installed on the first gantry 30. Each dispensing part 39 and the material tray 38 has an independent QR code. Before loading, the dispensing part barcode scanner 75 scans the code to bind the dispensing part 39 and the material tray 38 for traceability, so that the dispensing part 39 can be put back into the original material tray 38 after dispensing.

[0052] like Figure 5 , 7 As shown in Figures 8 and 9, the vacuum suction head includes a suction head base 55 and four vacuum suction tube assemblies 56. The upper surface of the suction head base 55 has four mounting slots 57, each with a vacuum suction hole 58 at its bottom. A cross-shaped protective frame 59 is provided on the upper surface of the suction head base 55. The four vacuum suction tube assemblies 56 are installed in the four mounting slots 57 and are tightly attached to the cross-shaped protective frame 59. A protective plate 60 is provided on one side of the cross-shaped protective frame 59. A central hole 61 is provided on the cross-shaped protective frame 59. A central through hole 62 is provided at the center of the upper surface of the suction head base 55, and the central through hole 62 communicates with the central hole 61 and is on the same axis. Each vacuum suction head 51 is mounted on a corresponding lifting cylinder 84, which is fixed to a fixed frame 50.

[0053] like Figure 10 , 11As shown, the XZ two-axis displacement dispensing device 27 includes an X-axis dispensing slide rail 63, an X-axis dispensing sliding cylinder 64, a Z-axis dispensing slide rail 65, a Z-axis dispensing slide block 66, a Z-axis motor 67, a Z-axis lead screw 68, a dispensing cylinder 69, a glue volume sensor 70, and a dispensing needle 71. The dispensing needle 71 is located at the lower end of the dispensing cylinder 69, and the glue volume sensor 70 is located on one side of the dispensing cylinder 69 to transmit the glue volume information in the dispensing cylinder 69 to the sensor. The controller and dispensing cylinder 69 are mounted on the Z-axis dispensing slide 66, which is mounted on the Z-axis dispensing slide rail 65. The Z-axis motor 67 drives the Z-axis dispensing slide 66 to move along the Z-axis dispensing slide rail 65 via the Z-axis lead screw 68. The Z-axis dispensing slide rail 65 is mounted on the X-axis dispensing sliding cylinder 64, which slides along the X-axis dispensing slide rail 63. The X-axis dispensing slide rail 63 is fixedly mounted on the crossbeam of the fourth gantry 33.

[0054] The Z-axis dispensing slide 66 is equipped with a dispensing CCD positioning camera 72 and a dispensing coaxial light source 73. The dispensing coaxial light source 73 is located below the optical lens assembly 74 of the dispensing CCD positioning camera 72. The dispensing CCD positioning camera 72 transmits the position information of the XZ-axis displacement dispensing device 27 to the controller, which calibrates the position of the XZ-axis displacement dispensing device 27 based on the position information. This greatly reduces the workload of operators and features more accurate dispensing and time-saving and labor-saving maintenance.

[0055] like Figure 12 , 13 As shown, the dispensing slide 36 is equipped with a dispensing workpiece clamping device 29, which includes a rotary motor 1, a fixed frame 2, a clamping mechanism 3, a transmission rod 4, and a drive device 5. The drive device 5 is a cylinder, and also includes a tilting motor 6, which drives the fixed frame 2 to tilt. A bracket 7 is also included, which is an L-shaped structure composed of a bottom plate and a vertical plate. The drive device 5 is located above the bottom plate of the bracket 7, and a certain gap is reserved between the drive device 5 and the bottom plate of the bracket 7. The clamping mechanism 3 is used to clamp and fix the dispensing workpiece 39. The tilting motor 6 is horizontally mounted on the vertical plate of the bracket 7, and a fixed plate 8 is provided on the output shaft of the tilting motor 6. The fixed frame 2 is mounted on the fixed plate 8. The rotary motor 1 is fixed to the fixed frame 2.

[0056] like Figure 14 , 15As shown, the output shaft 9 of the rotary motor 1 is a tubular structure. One end of the transmission rod 4 passes through one end of the output shaft 9 and exits through the other end of the output shaft 9, connecting to the clamping mechanism 3. Specifically, the clamping mechanism 3 includes a clamping seat 10, a spring 11, two sliders 12, two clamping members 13, and two swing arms 14. The upper surface of the clamping seat 10 is provided with a sliding groove 15, and the lower surface of the clamping seat 10 is provided with a transmission groove 16. The sliding groove 15 communicates with the transmission groove 16 through a transmission hole 17. The two sliders 12 are disposed in the sliding groove 15, and the two clamping members 13 are respectively... Two swing arms 14 are hinged to the transmission groove 16 via hinge pins 18, with one end of each swing arm 14 simultaneously hinged to one end of the transmission rod 4. The other ends of the swing arms 14 pass through the transmission hole 17 and are respectively hinged to the two sliders 12. The driving device 5 drives the transmission rod 4 to move, which in turn drives the two swing arms 14. The two swing arms 14 drive the two sliders 12 to slide along the slide groove 15, and the two sliders 12 drive the two clamping members 13 to open. When the driving device 5 resets, the springs 11, under their action, cause the two clamping members 13 to reset and close. Two springs 11 are provided; both springs 11 are tension springs, with their ends fixed to the two clamping members 13 and located on opposite sides of each clamping member 13. The two tension springs have different elastic coefficients. One of the clamping members 13 has a transverse screw hole on one side, in which a clamping limit adjusting screw 19 is installed. A mounting plate 20 is fitted and fixed at one end of the output shaft, and the clamping seat 10 is fixed on the mounting plate 20.

[0057] The process flow of this patent is as follows:

[0058] Before operation, the XYZ three-axis robot and the Z-axis dispensing slide 66 are first positioned and calibrated. The CCD positioning camera 52 transmits the position information of the XYZ three-axis robot 23 to the controller, and the controller calibrates the position of the XYZ three-axis robot 23 according to the position information. The dispensing CCD positioning camera 72 transmits the position information of the XZ two-axis displacement dispensing device 27 to the controller, and the controller calibrates the position of the XZ two-axis displacement dispensing device 27 according to the position information.

[0059] Step 1: Six loading stations are set up on one side of the first gantry. After the dispensing parts are loaded into the material tray, they are transported to the loading station of the first gantry via the material tray conveyor track. The XYZ three-axis robot takes the dispensing parts out of the material tray and places them into the dispensing part clamping device 29 on the dispensing slide 36 of the Y-axis displacement dispensing platform 24. One XYZ three-axis robot is responsible for loading the three Y-axis displacement dispensing platforms.

[0060] Step 2: Driven by the servo motor, the dispensing slide 36 moves along the Y guide rail to the second gantry. The XZ two-axis displacement line scan laser detector detects the position of the dispensing workpiece 39 on the dispensing slide 36. If there is a position deviation, the position of the dispensing workpiece 39 is corrected.

[0061] Step 3: Driven by the servo motor, the dispensing slide 36 moves along the Y-guide rail to the third gantry. The XZ two-axis displacement positioning detector determines the position of the dispensing gap and detects the width of the dispensing gap on the dispensing workpiece on the dispensing platform.

[0062] Step 4: Driven by the servo motor, the dispensing slide 36 moves along the Y-guide rail to the fourth gantry. The XZ two-axis displacement dispensing device determines the filling speed of the XZ two-axis displacement dispensing device according to the width of the dispensing gap, and begins to fill the gap of the dispensing workpiece on the dispensing platform with glue. After filling, the glue is cured by irradiation with UV ultraviolet lamp 28.

[0063] Step 5: Under the reverse drive of the servo motor, the dispensing slide 36 moves in the reverse direction along the Y guide rail to the third gantry. The XZ two-axis displacement positioning detector detects the length and width of the glue filled on the dispensing workpiece and whether there is any dispensing defect.

[0064] Step 6: Under the reverse drive of the servo motor, the dispensing slide 36 moves in the reverse direction along the Y guide rail to the second gantry, and the XZ two-axis displacement line scan laser detector detects the glue thickness of the dispensing workpiece 39 on the dispensing slide 36.

[0065] Step 7: Under the reverse drive of the servo motor, the dispensing slide 36 moves in the reverse direction along the Y guide rail to the first gantry. The XYZ three-axis robot takes out the dispensing workpiece 39 on the dispensing slide 36 and places it into the tray on the tray conveyor rail.

[0066] In this patent, a barcode scanner for dispensing parts is added to the frame 21. Each dispensing part 39 and material tray 38 has an independent QR code. Before loading, the barcode must be scanned by the barcode scanner. The dispensing part 39 and material tray 38 need to be linked for traceability. After dispensing, the dispensing part 39 must be put back into the original material tray 38.

[0067] In addition, this patent also includes a dispensing needle calibration mechanism and an XYZ three-axis robot position calibration mechanism. During the use of the XZ two-axis displacement dispensing device, after replacing the dispensing needle and glue tank, the position of the dispensing needle will change, and it needs to be corrected by the dispensing needle calibration mechanism to ensure the stability of its dispensing operation; the XYZ three-axis robot position calibration mechanism can confirm the position of the suction nozzle of the XYZ three-axis robot, thereby accurately picking up and placing the dispensing workpiece 39.

[0068] A glue weighing mechanism is also provided on the frame 1 to check the glue dispensing volume and thus control the stability of the glue dispensing from the equipment.

[0069] The machine frame is also equipped with a needle adhesive removal mechanism, which can clean the adhesive from the surface of the needle to ensure the normal operation of the dispensing work.

[0070] Furthermore, those skilled in the art can combine and integrate the different embodiments or examples described herein, as well as the features of those embodiments or examples, without contradiction. Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention. Those skilled in the art can make changes, modifications, substitutions, and variations to the above embodiments within the scope of the present invention.

Claims

1. A high-efficiency dispensing machine with a three-axis robotic arm for position calibration, comprising an XYZ three-axis robotic arm, characterized in that: The XYZ three-axis manipulator includes an X-axis slide rail, an X-axis linear motor, a Y-axis slide rail, a Y-axis slider, a Y-axis servo motor, a Y-axis drive screw, a Z-axis slide rail, a Z-axis slider, a Z-axis servo motor, a Z-axis drive screw, a fixed frame, and multiple vacuum suction heads. The Z-axis slider is equipped with a CCD positioning camera and a coaxial light source. The optical lens assembly of the CCD positioning camera extends downward into the fixed frame, which is fixed to the Z-axis slider. The coaxial light source is installed inside the fixed frame and located below the optical lens assembly. The multiple vacuum suction heads are fixed to the fixed frame and located on both sides of the fixed frame. A Z-axis slider is mounted on a Z-axis slide rail. A Z-axis servo motor drives the Z-axis slider to move along the Z-axis slide rail via a Z-axis drive screw. The Z-axis slide rail is mounted on a Y-axis slider, and a Y-axis slider is mounted on a Y-axis slide rail. A Y-axis servo motor drives the Y-axis slider to move along the Y-axis slide rail via a Y-axis drive screw. The Y-axis slide rail is mounted on an X-axis linear motor, and the X-axis linear motor moves along the X-axis slide rail. An XYZ three-axis robot vacuum suction head positioning and correction component is located on the frame and near the XYZ three-axis robot. The XYZ three-axis robot vacuum suction head positioning and correction component includes a support frame. The system includes an XYZ three-axis robotic vacuum head calibration CCD camera, a protective cover, a positioning calibration plate, a vacuum head positioning coaxial light source, and a vacuum head positioning optical lens assembly, all mounted on a support frame. The support frame is fixed to the machine frame. The positioning calibration plate is located directly above the vacuum head positioning coaxial light source, which is also located directly above the vacuum head positioning optical lens assembly. The vacuum head positioning optical lens assembly is connected to the XYZ three-axis robotic vacuum head calibration CCD camera. The protective cover covers the vacuum head positioning coaxial light source and the vacuum head positioning optical lens assembly. The positioning calibration plate has a calibration point at its center; the XYZ three-axis robot moves the CCD positioning camera until it moves above the positioning calibration plate and corresponds to the calibration point. The XYZ three-axis robot vacuum head calibration CCD camera transmits the position information of the XYZ three-axis robot vacuum head to the controller, and the controller calibrates the position of the XYZ three-axis robot vacuum head; the XYZ three-axis robot transmits the position information of the XYZ three-axis robot to the controller, and the controller calibrates the position of the XYZ three-axis robot according to the position information.

2. The high-efficiency dispensing machine for position calibration of a three-axis robot as described in claim 1, characterized in that: The vacuum suction head includes a suction head base and four vacuum suction tube assemblies. The upper surface of the suction head base has four mounting slots, and the bottom of each mounting slot has a vacuum suction hole. The upper surface of the suction head base is provided with a cross-shaped protective frame. The four vacuum suction tube assemblies are installed in the four mounting slots and are tightly attached to the cross-shaped protective frame. A protective plate is provided on one side of the cross-shaped protective frame. The cross-shaped protective frame has a central hole. The upper surface of the suction head base has a central through hole, which communicates with the central hole and is on the same axis.

3. The high-efficiency dispensing machine for position calibration of a three-axis robot as described in claim 2, characterized in that: It also includes a frame, a tray conveyor track, multiple Y-axis displacement dispensing platforms, an XZ-axis two-axis displacement linear laser detector, an XZ-axis two-axis displacement positioning detector, and an XZ-axis two-axis displacement dispensing device. Each Y-axis displacement dispensing platform includes a Y-axis guide rail, a Y-axis lead screw, a dispensing slide, and a servo motor. The servo motor drives the dispensing slide to move along the Y-axis guide rail via the Y-axis lead screw. The Y-axis guide rails of the multiple Y-axis displacement dispensing platforms are spaced apart on the frame. The tray conveyor track is located on one side of the frame and perpendicular to the Y-axis guide rail. The frame is sequentially equipped with a first gantry frame, a second gantry frame, a third gantry frame, and a fourth gantry frame. The system comprises a frame, wherein the XYZ three-axis robot is mounted on the first gantry frame to remove the dispensing parts from the material tray on the material tray conveyor track and place them on the dispensing slide; the XZ two-axis displacement linear scanning laser detector is mounted on the second gantry frame to detect the position and adhesive thickness of the dispensing parts on the dispensing slide; the XZ two-axis displacement positioning detector is mounted on the third gantry frame to determine the specific dispensing position of the dispensing parts on the dispensing slide and to detect the post-dispensing condition; and the XZ two-axis displacement dispensing device is mounted on the fourth gantry frame to dispense adhesive onto the dispensing parts on the dispensing slide.

4. A high-efficiency dispensing machine for position calibration of a three-axis robot as described in claim 3, characterized in that: The frame is equipped with a barcode scanner for dispensing parts. Each dispensing part and the tray has an independent QR code. Before loading, the dispensing parts must be scanned by the barcode scanner to bind the dispensing parts and the tray for traceability, so that the dispensing parts can be put back into the original tray after dispensing.

5. A high-efficiency dispensing machine for position calibration of a three-axis robot as described in claim 4, characterized in that: One side of the XZ two-axis displacement dispensing device is fixed with an adhesive curing UV lamp.

6. A high-efficiency dispensing machine for position calibration of a three-axis robot as described in claim 5, characterized in that: The first gantry is equipped with two XYZ three-axis robotic arms, each corresponding to one of the three Y-axis displacement dispensing platforms; the second gantry is equipped with two XZ two-axis displacement linear laser detectors, each corresponding to one of the three Y-axis displacement dispensing platforms; the third gantry is equipped with two XZ two-axis displacement positioning detectors, each corresponding to one of the three Y-axis displacement dispensing platforms; and the fourth gantry is equipped with two XZ two-axis displacement dispensing devices, each corresponding to one of the three Y-axis displacement dispensing platforms.

7. A three-axis robotic arm position calibration type high-efficiency dispensing machine according to claim 6, characterized in that: The dispensing slide is equipped with a dispensing workpiece clamping device, which includes a rotary motor, a fixed frame, a clamping mechanism, a transmission rod, and a drive device. The output shaft of the rotary motor is a tubular structure, and the clamping mechanism is connected to the output shaft. One end of the transmission rod enters from one end of the output shaft and exits from the other end of the output shaft, connecting to the clamping mechanism. The rotary motor is fixed on the fixed frame, and the drive device drives the transmission rod to move. The transmission rod drives the clamping mechanism to open and close. The clamping mechanism is used to clamp and fix the dispensing workpiece. The drive device is a cylinder.

8. A high-efficiency dispensing machine for position calibration of a three-axis robot as described in claim 7, characterized in that: The clamping mechanism includes a clamping seat, a spring, two sliders, two clamping members, and two swing arms. The upper surface of the clamping seat has a sliding groove, and the lower surface of the clamping seat has a transmission groove. The sliding groove communicates with the transmission groove through a transmission hole. The two sliders are disposed in the sliding groove, and the two clamping members are respectively disposed on the two sliders. The two swing arms are hinged in the transmission groove through hinge pins. One end of each swing arm is simultaneously hinged to one end of a transmission rod, and the other end of each swing arm passes through the transmission hole and is respectively hinged to the two sliders. The transmission rod drives the two swing arms, the two swing arms drive the two sliders to slide along the sliding groove, and the two sliders drive the two clamping members to open and close. The spring is used to reset the two clamping members. One of the two clamping members has a transverse screw hole on one side, and a clamping limit adjustment screw is disposed in the transverse screw hole. The mechanism also includes a bracket, on which a flip motor is horizontally mounted. A fixed plate is disposed on the output shaft of the flip motor, and the fixed bracket is mounted on the fixed plate.

9. A high-efficiency dispensing machine for position calibration of a three-axis robot as described in claim 8, characterized in that: The XZ two-axis displacement dispensing device includes an X-axis dispensing slide rail, an X-axis dispensing sliding cylinder, a Z-axis dispensing slide rail, a Z-axis dispensing slide block, a Z-axis motor, a Z-axis lead screw, a dispensing cylinder, a dispensing volume sensor, and a dispensing needle. The dispensing needle is located at the lower end of the dispensing cylinder. The dispensing volume sensor is located on one side of the dispensing cylinder to transmit the dispensing volume information in the dispensing cylinder to the controller. The dispensing cylinder is located on the Z-axis dispensing slide block, which is located on the Z-axis dispensing slide rail. The Z-axis motor drives the Z-axis dispensing slide block to move along the Z-axis dispensing slide rail via the Z-axis lead screw. The Z-axis dispensing slide rail is located on the X-axis dispensing sliding cylinder, which slides along the X-axis dispensing slide rail.

10. A high-efficiency dispensing machine for position calibration of a three-axis robot as described in claim 9, characterized in that: The Z-axis dispensing slide is equipped with a dispensing CCD positioning camera and a dispensing coaxial light source. The dispensing coaxial light source is located below the optical lens barrel assembly of the dispensing CCD positioning camera. The dispensing CCD positioning camera transmits the position information of the XZ two-axis displacement dispensing device to the controller. The controller calibrates the position of the XZ two-axis displacement dispensing device according to the position information.

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