Dispensing operation device and operation method

Abstract

The application discloses a dispensing operation equipment and an operation method. The dispensing operation equipment comprises a common conveying track, a loading plate conveyed on the common conveying track, and a plurality of workpieces carried on the loading plate; a feeding device used for sucking the workpieces on the loading plate and adjusting the placement posture of the workpieces; a clamp posture adjusting device used for receiving and clamping the workpieces on the feeding device; a dispensing device used for dispensing the workpieces on the clamp posture adjusting device, and the clamp posture adjusting device can adjust the posture of the workpieces during dispensing, so that the workpieces can be dispensed at different positions; and a discharging device used for sucking the workpieces on the clamp posture adjusting device after operation and placing the workpieces on the loading plate of the common conveying track. The dispensing operation equipment has the advantages of high dispensing operation efficiency and suitability for multi-surface dispensing of the workpieces.

Description

Technical Field

[0001] This invention belongs to the field of dispensing technology, specifically relating to a dispensing device and method. Background Technology

[0002] Dispensing is a common process in semiconductor device manufacturing. Currently, conventional dispensing equipment typically uses a track to continuously transport workpieces. After positioning the workpieces along the transport path, the dispensing mechanism directly dispenses the adhesive.

[0003] This dispensing method can usually only process some simple workpieces that only require dispensing on one side. As the parts being dispensed become more and more complex, and multiple sides of the same part need to be dispensed, the dispensing time for a single workpiece becomes longer, and workpieces in queue cannot be transported, further exacerbating the reduction in dispensing efficiency. On the other hand, traditional assembly line dispensing equipment lacks the ability to adjust the posture of the workpiece during dispensing, and cannot be used for workpieces that require dispensing on multiple sides. Summary of the Invention

[0004] The present invention aims to solve at least one of the technical problems existing in the prior art.

[0005] Therefore, the present invention proposes a dispensing equipment and a dispensing method. The dispensing equipment has the advantages of high dispensing efficiency and the ability to apply dispensing to multiple surfaces of workpieces.

[0006] According to an embodiment of the present invention, a dispensing device includes: a common conveying track on which a carrier plate is conveyed, and a plurality of workpieces are supported on the carrier plate; a loading device disposed above the common conveying track, the loading device being used to pick up the workpieces on the carrier plate and adjust the placement posture of the workpieces; a clamp posture adjustment device being used to receive and clamp the workpieces on the loading device; a dispensing device disposed above the clamp posture adjustment device, the dispensing device being used to perform dispensing operations on the workpieces on the clamp posture adjustment device, the clamp posture adjustment device being able to adjust the posture of the workpieces during dispensing to perform dispensing operations on different positions of the workpieces; and a unloading device disposed above the common conveying track, the unloading device being used to pick up the workpieces after the operation on the clamp posture adjustment device and place them on the carrier plate of the common conveying track.

[0007] The beneficial effects of this invention are as follows: the common conveying track can be used as a shared track for conveying carrier plates when multiple devices are operating in parallel, without affecting the conveying of carrier plates while workpieces are being loaded and unloaded, thus improving conveying efficiency; the fixture posture adjustment device can adjust the posture of the workpiece to cooperate with the dispensing device for dispensing, which on the one hand makes it more adaptable, and on the other hand eliminates the need to make tooling for each surface of the workpiece that needs dispensing, thus improving the efficiency of dispensing operations; the loading device adjusts the posture of the workpiece during loading to improve the accuracy of workpiece placement, thereby improving the dispensing quality; the unloading device detects the dispensing quality of the workpiece while unloading, realizing real-time monitoring of workpiece quality.

[0008] According to one embodiment of the present invention, a return track is further provided below the common conveying track, the conveying direction of the return track being opposite to that of the common conveying track, and the return track is used to return the carrier plate for conveying.

[0009] According to one embodiment of the present invention, the common conveying track includes a conveying assembly for supporting the conveying of a carrier plate on a conveying plane; and a plurality of lifting assemblies spaced apart along the conveying direction of the carrier plate. Each lifting assembly has a supporting surface and a conveying channel. The supporting surface is located above the conveying channel. When not lifted, the supporting surface is lower than the conveying plane. When the lifting assembly lifts the carrier plate, the conveying plane is located within the conveying channel, so that other carrier plates can pass through the conveying channel while being conveyed on the conveying plane.

[0010] According to one embodiment of the present invention, the lifting assembly includes a lifting mechanism, a check mechanism, and a blocking mechanism, wherein the check mechanism, the lifting mechanism, and the blocking mechanism are arranged sequentially along the conveying direction of the carrier plate, the lifting mechanism includes a driving component; a first plate, which is horizontally mounted on the driving component, and the upper surface of the first plate forms the support surface; and a second plate, which is disposed above the first plate, and the second plate is connected to the first plate by a plurality of support rods, the gap between the second plate and the first plate forming the conveying channel.

[0011] According to one embodiment of the present invention, the distance between the second plate and the first plate is greater than the thickness of the carrier plate, and a plurality of support rods are distributed on both sides of the carrier plate conveying path, the distance between the support rods on both sides is greater than the width of the carrier plate, and both the second track and the first track are provided with rollers for supporting the carrier plate, the distance between the rollers on the second track and the rollers on the first track is less than the width of the carrier plate.

[0012] According to one embodiment of the present invention, the unloading device and the loading device have the same structure. The loading device has a workpiece absorbing area and a workpiece loading area. The dual-station loading device includes: a driving mechanism mounted on a support; and a absorbing assembly mounted on the driving mechanism. The driving mechanism moves along three directions (x, y, and z) to drive the absorbing assembly to move between the workpiece absorbing area and the workpiece loading area. The absorbing assembly has two independent absorbing units for absorbing workpieces. The two absorbing units have a simultaneous working state and a non-simultaneous working state. When in the simultaneous working state, the two absorbing units can move simultaneously along the z-axis in the workpiece absorbing area to absorb two workpieces. When in the non-simultaneous working state, one of the absorbing units moves along the z-axis in the workpiece absorbing area to absorb a single workpiece.

[0013] According to one embodiment of the present invention, the suction assembly includes a fixed base, on which two suction units are mounted; a limiting plate, which is mounted on the fixed base and is used to limit the suction units; and a guide block, which is mounted on the fixed base and is slidably connected to the suction units.

[0014] According to one embodiment of the present invention, the suction unit includes a cylinder mounted on the fixed base; a push rod, the upper end of which is connected to the output end of the cylinder; and a guide seat slidably connected to the guide block, the lower end of which is engaged with the guide seat.

[0015] According to one embodiment of the present invention, a suction head is installed at the lower end of the guide seat, and a plurality of suction nozzles are installed at the lower end of the suction head. A connector is installed on one side of the suction head, one end of the connector is connected to the suction nozzle, and the other end of the connector is connected to negative pressure. The lower end of the suction head has a plurality of positioning protrusions. When the suction nozzle picks up the workpiece, the workpiece abuts against the positioning protrusions upward to complete the positioning.

[0016] According to one embodiment of the present invention, the fixture posture adjustment device is disposed on the conveying module of the dispensing equipment. The fixture posture adjustment device includes a first rotating seat disposed on the conveying module and capable of rotating about a first axis; a second rotating seat disposed on the first rotating seat and capable of rotating about a second axis, the second axis being perpendicular to the first axis; and a fixture mounted on the second rotating seat for clamping a workpiece.

[0017] According to one embodiment of the present invention, the clamp includes: a housing, an x-axis clamping assembly, a y-axis clamping assembly, and a z-axis clamping assembly, wherein the housing is connected to the second rotary seat, and the x-axis clamping assembly, the y-axis clamping assembly, and the z-axis clamping assembly are all mounted on the housing.

[0018] According to one embodiment of the present invention, the x-axis clamping assembly includes: an x-axis fixing block, an x-axis clamping block, and an x-axis moving module. The x-axis fixing block and the x-axis clamping block are disposed on the same end face of the housing. The x-axis moving module is disposed inside the housing and is connected to the x-axis clamping block. The x-axis moving module can drive the x-axis clamping block to move along the x-direction.

[0019] According to one embodiment of the present invention, the y-axis clamping assembly includes: a y-axis fixing block, a y-axis clamping block, and a rotating shaft. The y-axis fixing block and the y-axis clamping block are disposed on the same end face of the housing. The rotating shaft is installed inside the housing and passes through the y-axis clamping block. The y-axis clamping block is rotatable about the rotating shaft.

[0020] According to one embodiment of the present invention, the z-axis clamping assembly includes two clamping rods, both of which are disposed on the rotating shaft and are respectively located on both sides of the y-axis clamping block.

[0021] According to an embodiment of the present invention, a working method is provided for processing workpieces using the above-mentioned dispensing equipment, comprising: Step 1: A carrier plate is conveyed via a common conveyor track, which is divided into a loading area, a waiting area, and a unloading area. In the loading area of ​​the common conveyor track, the carrier plate is lifted to a certain height; Step 2: The loading device picks up the workpiece from the carrier plate, calibrates the position of the workpiece, and then places the workpiece on a clamping attitude adjustment device for clamping and fixing; Step 3: The clamping attitude adjustment device moves to a position below the dispensing device, and simultaneously adjusts the attitude of the clamped workpiece so that the part of the workpiece to be dispensed matches the dispensing device, and the dispensing device performs the dispensing operation on the workpiece; Step 4: The unloading device picks up the processed workpiece from the clamping attitude adjustment device, performs visual inspection of the dispensing quality, and places it on the carrier plate in the unloading area of ​​the common conveyor track.

[0022] According to one embodiment of the present invention, in step one, other carrier plates can be transported while the common conveyor track is lifting the carrier plate, and the waiting area is used to buffer unworked or already worked workpieces.

[0023] According to one embodiment of the present invention, in steps two and four, the feeding device and the unloading device can simultaneously pick up multiple workpieces for conveying, and in step three, the dispensing device can simultaneously perform dispensing operations on multiple workpieces.

[0024] Other features and advantages of the invention will be set forth in the description which follows, and will be apparent in part from the description, or may be learned by practicing the invention.

[0025] To make the above-mentioned objects, features and advantages of the present invention more apparent and understandable, preferred embodiments are described below in detail with reference to the accompanying drawings. Attached Figure Description

[0026] The above and / or additional aspects and advantages of the present invention will become apparent and readily understood from the following description of the embodiments with reference to the accompanying drawings, wherein: Figure 1 This is a schematic diagram of the dispensing equipment of the present invention; Figure 2 This is a schematic diagram of the structure of the common transport track of the present invention; Figure 3 This is a partial structural schematic diagram of the present invention; Figure 4 This is a schematic diagram of the lifting mechanism; Figure 5 This is a schematic diagram illustrating the state changes of the lifting mechanism during lifting. Figure 6 This is a structural schematic diagram of the pressure plate assembly; Figure 7 This is a schematic diagram of the cooperation structure between the lifting mechanism and the conveying components before lifting; Figure 8 This is a schematic diagram of the cooperation structure between the lifting mechanism and the conveying components after lifting; Figure 9 This is a schematic diagram of the feeding device of the present invention; Figure 10 This is a structural schematic diagram of the present invention from another angle; Figure 11 This is a structural diagram of the servo motor and the suction assembly; Figure 12 This is a structural diagram of the absorber component; Figure 13 This is a schematic diagram of the guide seat and suction head; Figure 14 This is a side view of the guide seat and suction head. Figure 15 This is a schematic diagram of the guide block structure; Figure 16 This is a schematic diagram of the present invention during grasping; Figure 17 This is a schematic diagram of the fixture posture adjustment device of the present invention; Figure 18 This is a schematic diagram of the fixture of the present invention in the dispensing posture; Figure 19This is a schematic diagram of the clamp of the present invention in the loading posture; Figure 20 This is a schematic diagram of the structure of the workpiece of the present invention; Figure 21 This is a schematic diagram of the fixture and linkage mechanism of the present invention; Figure 22 This is a schematic diagram of the linkage mechanism of the present invention; Figure 23 This is a schematic diagram of the fixture of the present invention; Figure 24 This is a cross-sectional view of the x-axis moving module of the present invention; Figure 25 This is a schematic diagram of the structure of the housing of the present invention; Figure 26 This is a schematic diagram of the structure of the y-axis clamping assembly and the z-axis clamping assembly of the present invention; Figure 27 This is a schematic diagram from another perspective of the y-axis clamping assembly and the z-axis clamping assembly of the present invention; Figure 28 This is a schematic diagram of the x-direction movement module of the present invention; Figure 29 This is a schematic diagram of the top rod of the present invention. Detailed Implementation

[0027] Embodiments of the present invention are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention, and should not be construed as limiting the present invention.

[0028] In the description of this invention, it should be understood that the terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," and "circumferential," etc., indicating orientation or positional relationships, are based on the orientation or positional relationships shown in the accompanying drawings and are only for the convenience of describing the invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of the invention. Furthermore, features defined with "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this invention, unless otherwise stated, "a plurality of" means two or more.

[0029] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0030] The dispensing equipment and method of the present invention are described in detail below with reference to the accompanying drawings.

[0031] like Figures 1-28 As shown, the dispensing equipment according to an embodiment of the present invention includes: a common conveying track 1, a loading device 2, a clamping posture adjustment device 3, a dispensing device 4, and a unloading device 5. A carrier plate a is conveyed on the common conveying track 1, and multiple workpieces are carried on the carrier plate a. The loading device 2 is located above the common conveying track 1 and is used to pick up the workpieces from the carrier plate a and adjust the placement posture of the workpieces. The clamping posture adjustment device 3 is used to receive and clamp the workpieces from the loading device 2. The dispensing device 4 is located above the clamping posture adjustment device 3 and is used to perform dispensing operations on the workpieces from the clamping posture adjustment device 3. The clamping posture adjustment device 3 can adjust the posture of the workpiece during dispensing to perform dispensing operations at different positions on the workpiece. The unloading device 5 is located above the common conveying track 1 and is used to pick up the workpieces after the operation on the clamping posture adjustment device 3 and place them on the carrier plate a of the common conveying track 1.

[0032] Below the common conveying track 1, there is also a return track 6. The conveying direction of the return track 6 is opposite to that of the common conveying track 1. The return track 6 is used to return and convey the carrier plate a.

[0033] In this embodiment, the loading device 2, the fixture posture adjustment device 3, the dispensing device 4, and the unloading device 5 are all located on the same side of the common conveying track 1. The loading device 2, fixture posture adjustment device 3, and unloading device 5 are sequentially arranged along the conveying direction of the carrier plate a. The dispensing device 4 is located between the loading device 2 and the unloading device 5. Thus, the carrier plate a is conveyed on the common conveying track 1, and the workpiece is picked up by the loading device 2 and placed on the fixture posture adjustment device 3. The fixture posture adjustment device 3 then moves to below the dispensing device 4 to perform the dispensing operation, and then moves to below the unloading device 5, where it is picked up and placed on the common conveying track 1. When multiple dispensing devices are connected in parallel for dispensing operations, the common conveying track 1 on the multiple dispensing devices is connected in series to facilitate the allocation of the carrier plate a and the workpiece, thereby further improving operational efficiency.

[0034] Therefore, the common conveying track 1 of the present invention can be used as a common track for conveying the carrier plate a when multiple devices are operating in parallel. The conveying of the carrier plate a is not affected when the workpiece is being loaded and unloaded, thus improving the conveying efficiency. The fixture posture adjustment device 3 can adjust the posture of the workpiece to cooperate with the dispensing device 4 for dispensing. On the one hand, it has a wider range of adaptability, and on the other hand, it does not require tooling for each surface of the workpiece that needs to be dispensed, thus improving the efficiency of the dispensing operation. The loading device 2 adjusts the posture of the workpiece during loading to improve the accuracy of workpiece placement, thereby improving the dispensing quality. The unloading device 5 detects the dispensing quality of the workpiece while unloading, realizing real-time monitoring of workpiece quality. The return track 6 can return the carrier plate a for recycling, thus realizing cyclical use without manual handling.

[0035] like Figures 2 to 8 As shown, the common conveying track 1 includes a conveying assembly and multiple lifting assemblies 34. The conveying assembly is used to support the conveying of the carrier plate a on the conveying plane 303. The multiple lifting assemblies 34 are arranged at intervals along the conveying direction of the carrier plate a. Each lifting assembly 34 has a supporting surface 301 and a conveying channel 302. The supporting surface 301 is located above the conveying channel 302. When not lifted, the supporting surface 301 is lower than the conveying plane 303. When the lifting assembly 34 lifts the carrier plate a, the conveying plane 303 is located within the conveying channel 302, so that other carrier plates a can pass through the conveying channel 302 while being conveyed on the conveying plane 303.

[0036] That is, in the initial state, the conveying channel 302 on the lifting assembly 34 is located below the conveying channel 302 of the carrier plate a. After the lifting assembly 34 lifts upward, it lifts the carrier plate a to a certain height, and at the same time, the conveying channel 302 is also raised to the same height as the conveying path of the carrier plate a, so that the conveying plane 303 falls into the conveying channel 302, so that the subsequent carrier plate a can pass through the lifting assembly 34 through the conveying channel 302.

[0037] Specifically, the conveying assembly includes a first track 32 and a second track 33. The first track 32 is located on the base plate 31. The second track 33 is located on the base plate 31. The second track 33 is parallel to the first track 32 and is arranged opposite to the first track 32. The second track 33 and the first track 32 together support the carrier plate a to be conveyed on the conveying plane 303. The lifting assembly 34 is located between the second track 33 and the first track 32.

[0038] Furthermore, the second track 33 is slidably mounted on the base plate 31 via the guide rail slider assembly 36, allowing the spacing between the second track 33 and the first track 32 to be adjusted as needed. This design allows for fine-tuning according to different carrier plates a, thereby ensuring conveying accuracy.

[0039] The conveying assembly is divided into a loading area, a waiting area, and a unloading area. Each of the loading, waiting, and unloading areas is equipped with a lifting assembly 34. The conveying assembly is also equipped with a top plate 37, which covers the space between the first track 32 and the second track 33. On the one hand, the top plate 37 can protect the conveyed carrier plate a from dust, and on the other hand, the top plate 37 can hold the carrier plate a or maintenance tools to facilitate personnel operation.

[0040] Meanwhile, two scanning mechanisms 38 are provided on the base plate 31. One scanning mechanism 38 corresponds to the loading area, and the other scanning mechanism 38 corresponds to the unloading area. The scanning mechanism 38 is used to scan the workpiece before and after processing so that the system can keep records.

[0041] In this embodiment, both the first track 32 and the second track 33 use multiple rollers to transport the carrier plate a. The upper edge of the rollers coincides with the transport plane 303. Of course, in addition to using rollers for transport, a conveyor belt can also be used for transport. If a conveyor belt is used, the upper surface of the conveyor belt needs to coincide with the transport plane 303 to ensure that the carrier plate a moves stably on the transport plane 303.

[0042] According to one embodiment of the present invention, the lifting assembly 34 includes a lifting mechanism 341, a check mechanism 342, and a blocking mechanism, which are arranged sequentially along the conveying direction of the carrier plate a. The blocking mechanism mainly blocks and limits the movement in front of the carrier plate a, while the check mechanism 342 is mainly located behind the carrier plate a, preventing the carrier plate a from moving backward when it encounters the blocking mechanism. The check mechanism 342 and the blocking mechanism work together to restrict the carrier plate a above the lifting mechanism 341.

[0043] The lifting mechanism 341 includes a driving component, a first plate 3415, and a second plate 3417. The first plate 3415 is horizontally mounted on the driving component, and its upper surface forms a support surface 301. The second plate 3417 is positioned above the first plate 3415, and the second plate 3417 is connected to the first plate 3415 by multiple support rods 3416. The gap between the second plate 3417 and the first plate 3415 forms a conveying channel 302. Further, the driving component includes a base plate 3411, a first cylinder 3412, and a movable plate 3414. A vertical plate 3413 is mounted on the base plate 3411. The first cylinder 3412 is mounted on the base plate 3411. The movable plate 3414 is slidably disposed on one side of the vertical plate 3413, and the output end of the first cylinder 3412 is connected to the movable plate 3414.

[0044] That is to say, the first cylinder 3412 provides the lifting power, the movable plate 3414 and the upright plate 3413 are guided and cooperated by the guide rail slider. In this embodiment, there are four support rods 3416, which are distributed at the four corners of the rectangle. The second plate 3417 and the first plate 3415 are both set horizontally, and the second plate 3417 is provided with a positioning pin that cooperates with the carrier plate a to ensure the cooperation accuracy between the second plate 3417 and the carrier plate a during lifting.

[0045] Preferably, the distance between the second plate 3417 and the first plate 3415 is greater than the thickness of the carrier plate a, and multiple support rods 3416 are distributed on both sides of the conveying path of the carrier plate a, with the distance between the support rods 3416 on both sides being greater than the width of the carrier plate a. More preferably, both the second track 33 and the first track 32 are provided with rollers supporting the carrier plate a, and the distance between the rollers on the second track 33 and the rollers on the first track 32 is less than the width of the carrier plate a. This design allows the carrier plate a to avoid interference with the support rods 3416 while still contacting the rollers.

[0046] That is to say, combining Figure 7 and Figure 8 The rollers on the second track 33 and the first track 32 are mainly used to support and transport the carrier plate a. When not lifted, the upper surface of the second plate 3417 is lower than the transport plane 303 where the carrier plate a is located. Furthermore, when lifted into position, the upper edge of the rollers is higher than the upper surface of the first plate 3415. This ensures that when the carrier plate a is within the transport channel 302, the rollers on the second track 33 and the first track 32 can still act on the carrier plate a, thus ensuring continuous transport.

[0047] According to one embodiment of the present invention, a first clearance groove 321 is provided on the first track 32 and a second clearance groove 331 is provided on the second track 33. Both the first clearance groove 321 and the second clearance groove 331 are used to accommodate the support rod 3416.

[0048] Furthermore, a pressure plate assembly 35 is provided above the lifting assembly 34. The pressure plate assembly 35 includes a first support plate 351, a second support plate 352, and a pressure plate 353. One side of the pressure plate 353 is mounted on the first track 32 via the first support plate 351, and the other side of the pressure plate 353 is mounted on the second track 33 via the second support plate 352. Both the first support plate 351 and the second support plate 352 are provided with clearance openings 354 for accommodating the support rod 3416.

[0049] In other words, in order to prevent the support rod 3416 from obstructing the transport of the carrier plate a, it is necessary to design a first clearance groove 321, a second clearance groove 331, and a clearance opening 354 to accommodate the support rod 3416. Of course, the design of the pressure plate 353 can ensure that the carrier plate a and the pressure plate 353 abut against each other during the lifting process, thereby positioning the carrier plate a and ensuring that the lifting height remains consistent each time.

[0050] According to one embodiment of the present invention, the baffle mechanism includes a second cylinder 3418 and a baffle 3419. The baffle 3419 is mounted on the output end of the second cylinder 3418, and the second cylinder 3418 drives the baffle 3419 to move up and down. The baffle 3419 used in this embodiment is a hydraulic damper, which facilitates buffering of the carrier plate a. The second cylinder 3418 provides lifting power, so as to ensure that when lifting is required, the baffle mechanism can block the carrier plate a, and when lifting is not required, the baffle mechanism does not affect the conveying of the carrier plate a.

[0051] The baffle 3419 is mounted on the output end of the second cylinder 3418 via a mounting block. The mounting block has two baffle protrusions 3421, which are located on both sides of the baffle 3419. When the baffle 3419 stops the material in place, the front end of the carrier plate just abuts against the two baffle protrusions 3421, ensuring the stability of the material stopping process.

[0052] The material blocking mechanism is also equipped with a sensor 3420. When the carrier plate passes through the lifting component 34, the sensor 3420 can be triggered. On the one hand, it can detect whether there is material above the lifting mechanism 341, and on the other hand, it can count the passing carrier plates and complete the statistics.

[0053] In summary, the present invention has a simple and compact structure. By setting a lifting component 34 between the second track 33 and the first track 32, the carrier plate a is lifted to a certain height to facilitate the operation of the workpiece on the carrier plate a. At the same time, after the carrier plate a is lifted, the conveying channel 302 in the lifting component 34 is connected to the conveying path of the carrier plate a, so that other carrier plates a can pass through the conveying channel 302. That is, after the carrier plate a is lifted, the second track 33 and the first track 32 can still convey the carrier plate a, which improves the conveying efficiency and avoids the occurrence of blockage. Furthermore, the present invention does not require additional auxiliary equipment for conveying, and only uses one track for conveying, resulting in lower cost. The workpiece does not need to be transferred between auxiliary equipment, and the conveying efficiency is high.

[0054] like Figures 9-16As shown, the feeding device 2 has a workpiece absorbing area and a workpiece feeding area. The feeding device 2 includes a drive mechanism and a absorbing assembly 26. The drive mechanism is mounted on a support. The absorbing assembly 26 is mounted on the drive mechanism. The drive mechanism moves along the x, y, and z directions to drive the absorbing assembly 26 to move between the workpiece absorbing area and the workpiece feeding area. The absorbing assembly 26 has two independent absorbing units 262 for absorbing workpieces. The two absorbing units 262 have a simultaneous working state and a non-simultaneous working state. When in the simultaneous working state, the two absorbing units 262 can move along the z-axis in the workpiece absorbing area at the same time to absorb two workpieces. When in the non-simultaneous working state, one of the absorbing units 262 moves along the z-axis in the workpiece absorbing area to absorb a single workpiece.

[0055] Specifically, the feeding device 2 has a workpiece absorbing area and a workpiece feeding area. Both the workpiece absorbing area and the workpiece feeding area are within the range of motion of the drive mechanism. The workpiece absorbing area is mainly the area where the workpiece supply device is located, and the workpiece feeding area is usually located at the inlet of the processing equipment. The feeding device 2 mainly absorbs the supplied workpieces into the processing equipment for processing. Usually, the supply device supplies multiple workpieces at a time, and the multiple workpieces are placed on a carrier plate for feeding. If the feeding device can only absorb one workpiece at a time for feeding, the efficiency is low.

[0056] This invention uses a driving mechanism to move the suction assembly 26 in the x, y, and z directions, allowing two suction units 262 to move simultaneously into the workpiece suction area. When suctioning a workpiece, the two suction units 262 can move along the z-axis as needed, enabling one suction unit 262 to perform suction operations alone or both suction units 262 to perform suction operations together. When there are many workpieces, both suction units 262 operate simultaneously; when there is only one workpiece, one suction unit 26 is selected to operate, further improving the loading efficiency. Furthermore, when one suction unit 26 is operating, by moving along the z-axis, the two suction units 26 are misaligned in the height direction, which can prevent the non-operating suction unit 26 from interfering with the operating suction unit 26, making the loading process more adaptable.

[0057] The feeding device 2 also includes a downward-viewing camera 27 and an upward-viewing camera 28. The downward-viewing camera 27 is mounted on the drive mechanism and is used to take downward pictures of the workpiece to be picked up. The upward-viewing camera 28 is mounted on the bracket and is used to take upward pictures of the picked-up workpiece in order to adjust the angle of the workpiece.

[0058] In other words, the drive mechanism can move the suction assembly 26 and the downward-viewing camera 27 in the xyz three-dimensional space, and can also drive the suction assembly 26 to rotate around the z-axis. The downward-viewing camera 27 is used to shoot the workpiece downwards to facilitate visual guidance for workpiece suction, while the upward-viewing camera 28 is used to shoot the workpiece upwards to facilitate visual guidance for workpiece angle adjustment. At the same time, the two suction units 262 can be selected or both can be used for operation according to actual needs, improving adaptability.

[0059] According to one embodiment of the present invention, the driving mechanism includes a y-axis motion component, an x-axis module 23, a z-axis module 24, and a servo motor 25. The y-axis motion component includes a y-axis module 21 and a y-axis guide rail 22 arranged along the y-axis. The x-axis module 23 is arranged along the x-axis, with one end connected to the y-axis module 21 and the other end connected to the y-axis guide rail 22. The y-axis motion component drives the x-axis module 23 to move along the y-axis. The z-axis module 24 is mounted on the x-axis module 23, and the x-axis module 23 drives the z-axis module 24 to move along the x-axis. The servo motor 25 is mounted on the z-axis module 24, and a suction component 26 is mounted on the output end of the servo motor 25. The z-axis module 24 drives the suction component 26 to move along the z-axis, and the servo motor 25 drives the suction component 26 to rotate around the z-axis, so as to adjust the posture of the workpiece and complete the adjustment of the workpiece angle during the loading process, thereby improving the workpiece loading accuracy.

[0060] The suction assembly 26 is equipped with a baffle 264, and the z-axis module 24 is equipped with a sensor 263. During rotation, the zero point of rotation can be determined by the cooperation of the sensor 263 and the baffle 264, facilitating rapid calibration. A spring 265 is provided between the z-axis module 24 and the mounting base of the servo motor 25. The spring 265 provides an upward pulling force to the suction assembly 26 and the servo motor 25, thereby ensuring that the suction assembly 26 will not suddenly fall when power is off.

[0061] In other words, in the y-axis motion assembly, the y-axis module 21 mainly provides power, while the y-axis guide rail 22 mainly provides guidance. Of course, the y-axis module 21, x-axis module 23 and z-axis module 24 mentioned in this invention can be linear motors, linear modules, synchronous belt drive mechanisms, lead screw drive mechanisms, etc.

[0062] According to one embodiment of the present invention, the suction assembly 26 includes a fixed base 261, a limiting plate 2611, and a guide block 2612. Both suction units 262 are mounted on the fixed base 261. The limiting plate 2611 is mounted on the fixed base 261 and is used to limit the suction unit 262. The guide block 2612 is mounted on the fixed base 261 and is slidably connected to the suction unit 262.

[0063] Furthermore, the suction unit 262 includes a cylinder 2621, a push rod 2622, and a guide seat 2623. The cylinder 2621 is mounted on the fixed base 261. The upper end of the push rod 2622 is connected to the output end of the cylinder 2621. The guide seat 2623 is slidably connected to the guide block 2612, and the lower end of the push rod 2622 is engaged with the guide seat 2623.

[0064] In other words, the suction unit 262 needs to move up and down during operation, and the guide block 2612 is slidably connected to the guide seat 2623 to play a guiding role. At the same time, the limiting plate 2611 has a slot for the push rod 2622 to pass through, which can play a certain guiding role for the push rod 2622. The cylinder 2621 drives the guide seat 2623 to move up and down through the push rod 2622. The limiting plate 2611 is located above the guide seat 2623 to limit the movement.

[0065] In this embodiment, the upper end of the guide seat 2623 is provided with a slot, the lower end of the push rod 2622 is engaged in the slot, and a spring 2624 is provided in the slot. The upper end of the spring 2624 abuts against the lower end face of the push rod 2622, and the lower end of the spring 2624 abuts against the bottom surface of the slot.

[0066] That is, the spring 2624 mainly buffers the push rod 2622 and the guide seat 2623. When the cylinder 2621 moves downward to pick up the workpiece, after contacting the workpiece, the spring 2624 can buffer the downward force of the cylinder 2621 to prevent the workpiece from being crushed.

[0067] According to one embodiment of the present invention, a guide hole is provided on the guide block 2612, the upper part of the guide seat 2623 is slidably disposed in the guide hole, a plurality of pressure relief grooves 26231 are provided on the outer wall of the guide seat 2623, and a pressure relief connecting groove 26121 extending vertically through the inner wall of the guide hole is provided, and the pressure relief connecting groove 26121 is connected to the plurality of pressure relief grooves 26231.

[0068] In other words, to prevent the guide block 2612 and the guide seat 2623 from getting stuck during guidance, multiple evenly spaced pressure relief grooves 26231 are opened on the guide seat 2623, and then a pressure relief connecting groove 26121 that runs vertically through the inner wall of the guide hole is opened, so that the pressure relief connecting groove 26121 is connected to the multiple pressure relief grooves 26231. When the two slide, the negative pressure generated inside will be connected to the outside, thereby avoiding jamming.

[0069] On one hand, a suction head 2625 is installed at the lower end of the guide seat 2623, and multiple suction nozzles 2628 are installed at the lower end of the suction head 2625. A connector 2627 is installed on one side of the suction head 2625. One end of the connector 2627 is connected to the suction nozzle 2628, and the other end of the connector 2627 is connected to negative pressure.

[0070] On the other hand, the lower end of the guide seat 2623 is provided with a quick-release groove 26232, and the upper end of the suction head 2625 is provided with a quick-release protrusion 26251. The quick-release protrusion 26251 is locked in the quick-release groove 26232. A positioning block 2626 is installed on one side of the suction head 2625, and the positioning block 2626 abuts against one side of the guide seat 2623.

[0071] In other words, during installation, simply align the quick-release protrusion 26251 with the quick-release groove 26232, then slide along the direction of the quick-release groove 26232 to make the positioning block 2626 abut against one side of the guide seat 2623, and finally fix it with bolts or pins to quickly install the suction head 2625.

[0072] Meanwhile, the lower end of the suction head 2625 has multiple positioning protrusions 2629. When the suction nozzle 2628 picks up the workpiece, the workpiece moves upward and abuts against the positioning protrusions 2629 to complete the positioning.

[0073] In this embodiment, the suction nozzle 2628 is made of rubber. When negative pressure is applied, the suction nozzle 2628 will retract upward and drive the workpiece upward to abut against the positioning protrusion 2629, thereby positioning the workpiece in the height direction and further improving the accuracy of placing the workpiece.

[0074] In summary, the two suction units 262 of the present invention can operate independently or simultaneously, such as... Figure 8 As shown, four workpieces are labeled a, b, c, and d. One suction unit 262 can be used to suction a, b, c, and d respectively; alternatively, two suction units 262 can work simultaneously, suctioning a and b first, then c and d. If workpiece a is damaged and cannot be used in subsequent processes, then b and c are suctioned first, followed by d, or vice versa. If workpiece b is damaged, then c and d are suctioned first, followed by a. Using these methods effectively improves the efficiency of suction and feeding, and can simultaneously address situations where a suction unit 262 malfunctions or a workpiece has a problem, making it more adaptable. This invention has a simple and compact structure. A drive mechanism moves the downward-looking camera 27 and the suction assembly 26. Guided by the downward-looking camera 27, the suction assembly 26 completes the suction of the workpiece. Then, the upward-looking camera 28 provides visual guidance for the suctioned workpiece, adjusting its posture and improving the workpiece feeding accuracy. Simultaneously, the two suction units 262 can perform individual or joint suction operations as needed, further improving feeding efficiency.

[0075] In this invention, the unloading device 5 and the loading device 2 have the same structure but opposite movement processes. The loading device 2 picks up the workpiece from the common conveying track 1 and onto the fixture posture adjustment device 3, while the unloading device 5 picks up the workpiece from the fixture posture adjustment device 3 and onto the common conveying track 1. On the other hand, the upward-looking camera 28 on the unloading device 5 can also perform visual inspection of the dispensing effect, thereby obtaining the dispensing effect in real time to ensure the dispensing quality.

[0076] like Figures 17 to 29 As shown, the clamp posture adjustment device 3 of the present invention is mounted on the conveying module 11 of the dispensing equipment. The clamp posture adjustment device 3 includes: a first rotating seat 12, a second rotating seat 13, and a clamp 14. The first rotating seat 12 is mounted on the conveying module 11 and can rotate around a first axis. The second rotating seat 13 is mounted on the first rotating seat 12 and can rotate around a second axis, which is perpendicular to the first axis. The clamp 14 is mounted on the second rotating seat 13 and is used to clamp the workpiece. In other words, the conveying module 11 can drive the first rotating seat 12 to move so that the workpiece can be dispensed. The first rotating seat 12 drives the clamp 14 to rotate to achieve the switching between workpiece loading and workpiece dispensing. The second rotating seat 13 drives the clamp 14 to rotate to achieve dispensing on different sides of the workpiece. Thus, automatic switching between different postures of workpiece loading and workpiece dispensing can be achieved with one device.

[0077] It should be noted that the workpiece in this embodiment is, for example, a base, which is a structural component of the camera. The base is, for example, ring-shaped, and its outer surface has four surfaces, denoted as surface A, surface B, surface C, and surface D. The inner ring of the base (opposite to surface A) has a snap-fit ​​surface E. During the dispensing operation, surfaces A, B, C, and D need to be dispensed sequentially. That is, when dispensing the base, it needs to be rotated so that the different dispensing surfaces are aligned with the dispensing mechanism. Before dispensing begins, the base needs to be loaded (i.e., placed on the fixture 14). Since the loading mechanism is located above the fixture posture adjustment device, the fixture needs to be kept in a horizontal position during loading. The dispensing mechanism is also located above the fixture posture adjustment device. The dispensing head moves downward to apply the adhesive to the workpiece surface. The dispensing position of the base is on the side of the base. Therefore, after the workpiece is loaded, the side of the base needs to be aligned with the dispensing head. Based on this, the present invention provides a first rotating seat 12 and a second rotating seat 13. The first rotating seat 12 can rotate around a first axis to flip the fixture to a horizontal position and a vertical position; the second rotating seat 13 can rotate around a second axis to realize the rotation of the workpiece, so that different dispensing surfaces are aligned with the dispensing mechanism.

[0078] Specifically, the fixture 14 includes a housing 141, an x-axis clamping assembly 142, a y-axis clamping assembly 143, and a z-axis clamping assembly 144. The housing 141 is connected to the second rotating seat 13. The x-axis clamping assembly 142, y-axis clamping assembly 143, and z-axis clamping assembly 144 are all mounted on the housing 141. The x-axis clamping assembly 142 can clamp the workpiece in the x-direction, the y-axis clamping assembly 143 can clamp the workpiece in the y-direction, and the z-axis clamping assembly 144 can clamp the workpiece in the z-direction. Thus, the fixture 14 clamps the workpiece in the x, y, and z directions, preventing the workpiece from falling or shifting its position during rotation, which helps improve the positional accuracy of the workpiece and consequently improves the accuracy of subsequent dispensing.

[0079] The following is a detailed explanation of the position of the fixture 14 when loading the workpiece. At this time, the upper surface of the fixture 14 is facing upward and in a horizontal position.

[0080] For example, the x-axis clamping assembly 142 includes: an x-axis fixing block 1421, an x-axis clamping block 1422, and an x-axis moving module 1423. The x-axis fixing block 1421 and the x-axis clamping block 1422 are disposed on the same end face of the housing 141, and the x-axis moving module 1423 is disposed inside the housing 141. The x-axis moving module 1423 is connected to the x-axis clamping block 1422, and the x-axis moving module 1423 can drive the x-axis clamping block 1422 to move along the x-direction. It should be noted that the x-axis fixing block 1421 is fixed to the upper end face of the housing 141, and the x-axis clamping block 1422 is movably disposed on the lower end face of the housing 141. The lower end of the x-axis clamping block 1422 extends into the housing 141, and the x-axis fixing block 1421 and the x-axis clamping block 1422 are disposed opposite to each other. The x-direction moving module 1423 can drive the x-direction clamping block 1422 to move closer to or further away from the x-direction fixing block 1421 along the x-direction.

[0081] For example, the x-direction moving module 1423 includes a moving block 14231 and a push rod 14232. The moving block 14231 is disposed through the housing 141 along the x-direction, and the push rod 14232 is disposed through the housing 141 along the y-direction. An abutment post 14233 is provided on the moving block 14231, and one side of the push rod 14232 abuts against the abutment post 14233. A guide surface 14234 is provided on the side of the push rod 14232 near the abutment post 14233. The push rod 14232 passes through the moving block 14231. One end of the moving block 14231 is provided with a screw for fixing the x-direction clamping block 1422 to the moving block 14231, and the other end of the moving block 14231 is provided with a second return spring 14235, which abuts against the inner wall of the housing 141. The guide surface 14234 is, for example, an inclined surface.

[0082] When the push rod 14232 is not subjected to external thrust, the guide surface 14234 does not contact the abutment post 14233. At this time, the distance between the x-direction clamping block 1422 and the x-direction fixing block 1421 is the farthest. When the push rod 14232 is subjected to external thrust, the guide surface 14234 contacts the abutment post 14233. Under the action of the external thrust and the guide surface 14234, the push rod 14232 pushes the abutment post 14233 towards the x-direction fixing block 1421 (at this time, the second return spring 14235 is compressed). Since the moving block 14231 and the abutment post 14233 are fixed, the moving block 14231 as a whole will also move towards the x-direction fixing block 1421, thereby driving the x-direction clamping block 1422 to move towards the x-direction fixing block 1421. When the workpiece is loaded, the x-axis clamping block 1422 is first moved closer to the x-axis fixing block 1421 to facilitate the placement of the workpiece (both the x-axis fixing block 1421 and the x-axis clamping block 1422 are located in the inner ring of the workpiece). Then, the external thrust is removed, and under the action of the second return spring 14235, the x-axis clamping block 1422 will move away from the x-axis fixing block 1421. Under the tension of the x-axis clamping block 1422 and the x-axis fixing block 1421, the workpiece is clamped in the x-direction.

[0083] For example, the housing 141 is also provided with a first pin 145, and the push rod 14232 is provided with a limiting through hole 14236, through which the first pin 145 passes. The first pin 145 and the limiting through hole 14236 cooperate with each other to prevent the push rod 14232 from sliding out of the housing 141 under the action of external thrust.

[0084] Specifically, the y-axis clamping assembly 143 includes: a y-axis fixing block 1431, a y-axis clamping block 1432, and a rotating shaft 1433. The y-axis fixing block 1431 and the y-axis clamping block 1432 are disposed on the same end face of the housing 141. The rotating shaft 1433 is installed inside the housing 141 and passes through the y-axis clamping block 1432, allowing the y-axis clamping block 1432 to rotate around the rotating shaft 1433. The y-axis clamping assembly 143 also includes: a first return spring 1434, which is disposed inside the housing 141 and abuts against the y-axis clamping block 1432. It should be noted that the y-direction fixing block 1431 is fixed to the upper end face of the housing 141, the y-direction clamping block 1432 penetrates the upper end face of the housing 141, the rotating shaft 1433 is arranged in the housing 141 along the x-direction, and the y-direction clamping block 1432 can rotate around the rotating shaft 1433. For example, the upper end of the y-direction clamping block 1432 is provided with a y-direction clamping part 14321, the lower end of the y-direction clamping block 1432 is provided with a y-direction abutting part 14322, the first return spring 1434 abuts against the y-direction abutting part 14322, and the y-direction clamping part 14321 is arranged opposite to the y-direction fixing block 1431.

[0085] When the y-direction abutment part 14322 is subjected to an external thrust, the y-direction clamping block 1432 rotates around the rotation axis. At this time, the first return spring 1434 is compressed, and the y-direction clamping part 14321 moves towards the y-direction fixed block 1431. When the external thrust is removed, under the action of the first return spring 1434, the y-direction clamping block 1432 rotates around the rotation axis 1433. At this time, the y-direction clamping part 14321 moves away from the y-direction fixed block 1431. When the workpiece is loaded, under the action of the external thrust, the y-direction clamping part 14321 first moves towards the y-direction fixed block 1431 to facilitate the placement of the workpiece. Then, when the external thrust is removed, the y-direction clamping part 14321 moves away from the y-direction fixed block 1431. Under the tension of the y-direction fixed block 1431 and the y-direction clamping part 14321, the workpiece is clamped in the y-direction.

[0086] Specifically, the Z-axis clamping assembly 144 includes two clamping rods 1441 and two third return springs 1444. Both clamping rods 1441 are mounted on the rotating shaft 1433, and are located on opposite sides of the Y-axis clamping block 1432. The third return springs 1444 abut against the lower ends of the clamping rods 1441. The upper end of each clamping rod 1441 has a Z-axis pressing portion 1442, and the lower end has a Z-axis abutting portion 1443. The clamping rods 1441 can also rotate around the rotating shaft 1433. When the z-axis abutment part 1443 is subjected to external thrust, the third return spring 1444 is compressed, and the z-axis clamping part 1442 moves toward the y-axis fixing block 1431. After the workpiece is placed on the fixture 14, the external thrust is removed, and under the action of the third return spring 1444, the z-axis clamping part 1442 moves away from the y-axis fixing block 1431. The z-axis clamping part 1442 presses against the snap-fit ​​surface G, thereby restricting the movement of the workpiece in the z-direction.

[0087] Specifically, the fixture posture adjustment device further includes a linkage mechanism 15, which is mounted on the first rotary seat 12. The linkage mechanism 15 acts on the fixture 14 to release the clamping force of the fixture 14 on the workpiece. The linkage mechanism 15 includes a telescopic drive member 151, a first linkage block 152, and a second linkage block 153. The telescopic drive member 151 is mounted on the first rotary seat 12, and both the first linkage block 152 and the second linkage block 153 are fixed to the telescopic end of the telescopic drive member 151. The housing 141 has an assembly port 1411 on the side near the linkage mechanism 15. The assembly port 1411 is opposite to the first linkage block 152, and the position of the second linkage block 153 corresponds to the position of the push rod 14232. In other words, the linkage mechanism 15 can simultaneously apply external thrust to the push rod 14232, the y-axis clamping block 1432, and the clamping rod 1441 to achieve one-click opening of the fixture 14.

[0088] For example, the first linkage block 152 includes a first connecting part 1521 and a first linkage part 1522. The first linkage part 1522 is fixedly connected to the first connecting part 1521. The first connecting part 1521 is fixed to the telescopic end of the telescopic drive member 151. The position of the first linkage part 1522 corresponds to that of the assembly port 1411. The y-direction abutment part 14322 and the z-direction abutment part 1443 are both located inside the assembly port 1411. When the first linkage part 1522 extends into the assembly port 1411 and applies a pushing force to the y-direction abutment part 14322 and the z-direction abutment part 1443, the y-direction clamping part 14321 and the z-direction pressing part 1442 simultaneously move towards the y-direction fixing block 1431. For example, the second linkage block 153 includes a second connecting portion 1531 and a second linkage portion 1532. The second connecting portion 1531 is fixedly connected to the second linkage portion 1532. The second connecting portion 1531 is fixed to the telescopic end of the telescopic drive member 151. The second linkage portion 1532 passes through the second connecting portion 1531 and corresponds to the position of the push rod 14232. When the second linkage portion 1532 applies an external thrust to the push rod 14232, the x-direction clamping block 1422 can move towards the x-direction fixing block 1421.

[0089] In other words, when the telescopic drive 151 extends, it drives the first linkage block 152 to extend into the assembly port 1411 and apply a pushing force to the y-direction abutment portion 14322 and the z-direction abutment portion 1443. At the same time, the second linkage block 153 applies a pushing force to the push rod 14232. As a result, the x-direction clamping assembly 142, the y-direction clamping assembly 143, and the z-direction clamping assembly 144 can open simultaneously, making it easier to place the workpiece on the fixture 14. When the telescopic drive 151 retracts, the external pushing force is removed, and the x-direction clamping assembly 142, the y-direction clamping assembly 143, and the z-direction clamping assembly 144 can clamp the workpiece simultaneously.

[0090] Because of the unique structure of the workpiece in this invention, the structure of the clamp 14 is also unique. The structural design of the clamp 14 has the following advantages: First, it facilitates the rapid loading and unloading of workpieces; second, it can clamp the workpiece in the x, y, and z directions, so that the workpiece will not fall off the clamp 14 or shift its position when rotating or changing its posture (if the displacement shifts, it will affect the dispensing accuracy); third, the clamping operation is simple, and the tightening and loosening in the three directions can be achieved with a single action, without the need for other auxiliary clamping components.

[0091] Specifically, the first rotating seat 12 includes a base 121, a first motor 122, and a rotating plate 123. The base 121 is mounted on the conveying module 11. The first motor 122 is located at one end of the base 121. One end of the rotating plate 123 is connected to the output shaft of the first motor 122, and the other end of the rotating plate 123 is rotatably connected to the other end of the base 121 via a first rotating shaft 124. When the first motor 122 is working, it can drive the rotating plate 123 to rotate around a first axis. The first axis is the axis of the first rotating shaft 124. For example, the base 121 is provided with a first sensing element 125 and a second sensing element 126 at the end where the first rotating shaft 124 is located. The first rotating shaft 124 is provided with a first baffle 128, which can rotate with the rotation of the first rotating shaft 124. The first sensing element 125 is used to detect whether the clamp 14 is flipped into a horizontal feeding state, and the second sensing element 126 is used to detect whether the clamp 14 is flipped into a vertical dispensing state. When the first baffle 128 is located in the first sensing element 125 or the second sensing element 126, a signal will be sent to the control terminal. The control terminal can control the first motor 122 to stop working so that the clamp 14 remains in the feeding state or the dispensing state.

[0092] For example, the base 121 is also equipped with a tension spring 129 on the side where the first motor 122 is located. One end of the tension spring 129 is connected to the rotating plate 123 through a first connecting block 1291, which rotates with the rotating plate 129. The other end of the tension spring 129 is connected to the column of the base 121 through a second connecting block 1292. When the first motor 122 is suddenly de-energized, it will swing downwards under its own weight. However, the tension of the tension spring 129 keeps the force on the rotating plate 123 balanced, thus preventing the rotating plate 123 from overturning due to the sudden loss of motor driving force and avoiding collisions between the first motor 122 and other components.

[0093] Specifically, the second rotary seat 13 is mounted on the rotary plate 123, and the number of second rotary seats 13 matches the number of fixtures 14. When there are multiple fixtures 14, there are also multiple second rotary seats 13. This allows for simultaneous posture adjustment and dispensing of multiple workpieces. The second rotary seat 13 includes a second motor 131 and a mounting part 132. The mounting part 132 is connected to the output shaft of the second motor 131, and the housing 141 is fixed to the mounting part 132. When the second motor 131 is working, the output shaft of the second motor 131 can drive the fixture 14 to rotate around a second axis. The second axis is the axis of the output shaft of the second motor 131. When the second motor 131 is started, different surfaces of the workpiece can be oriented towards the dispensing mechanism. When the second motor 131 drives the fixture 14 to rotate, the linkage mechanism 15 is in a retracted state to avoid interfering with the rotation of the fixture 14. A second baffle 133 is provided on the side of the mounting part 132, and a third sensing element 134 is provided on the rotating plate 123. The third sensing element 134 is used to detect the reset state of the clamp 14 after rotation. When the second baffle 133 is located inside the third sensing element 134, a signal is generated to the control terminal, which can control the working state of the second motor 131.

[0094] For example, the fixture posture adjustment device further includes a detection component 16, which is disposed on one side of the conveying module 11. The detection component 16 is used to detect whether there is a workpiece on the fixture 14. That is, after the workpiece is loaded, the detection component 16 can detect whether there is a workpiece on the fixture 14. If there is, the first rotary seat 12 can drive the fixture 14 to rotate and adjust it to a dispensing posture. Specifically, the detection component 16 includes a first mounting block 161, a second mounting block 162, and a detection element 163. The second mounting block 162 is fixed to the top of the first mounting block 161, and the detection element 163 is mounted on the second mounting block 162. The detection element 163 can use a laser to detect whether there is a workpiece on the fixture 14. The number of detection elements 163 matches the number of fixtures 14.

[0095] In summary, the clamping posture adjustment device 3 of the present invention can automatically switch between the workpiece loading position and the dispensing position, and can also automatically switch between different dispensing surfaces of the workpiece, which is beneficial to improving the efficiency of dispensing operations. Through improvements to the structure of the clamp 14, rapid clamping of the workpiece can be achieved. With the linkage mechanism 15, only one action of the linkage mechanism 15 is needed to open the clamp 14 in three directions, which is beneficial to improving clamping efficiency. In addition, the clamp 14 can also improve the positioning accuracy of the workpiece, making the workpiece stable during movement.

[0096] This invention also discloses a working method, which uses the above-mentioned dispensing equipment to process workpieces, including: Step 1: Carrier plate a is conveyed through a common conveying track 1, which is divided into a loading area, a waiting area, and a unloading area. In the loading area of ​​the common conveying track 1, carrier plate a is lifted to a certain height; Step 2: Loading device 2 picks up the workpiece from carrier plate a, calibrates the position of the workpiece, and places it on clamp posture adjustment device 3 for clamping and fixing; Step 3: Clamp posture adjustment device 3 moves to below dispensing device 4, and simultaneously adjusts the posture of the clamped workpiece so that the part of the workpiece to be dispensed matches the dispensing device 4, and dispensing device 4 performs dispensing operation on the workpiece; Step 4: Unloading device 5 picks up the processed workpiece from clamp posture adjustment device 3, performs visual inspection of the dispensing quality, and places it on carrier plate a in the unloading area of ​​the common conveying track 1.

[0097] In step one, while the common conveyor track 1 is lifting the carrier plate a, it can also convey other carrier plates a. The waiting area is used to buffer unworked or already worked workpieces.

[0098] In steps two and four, the feeding device 2 and the unloading device 5 can simultaneously pick up and transport multiple workpieces. In step three, the dispensing device 4 can simultaneously dispense adhesive onto multiple workpieces.

[0099] The conveying process of the common conveying track 1 for the carrier plate a includes: when lifting is not required, the lifting mechanism 341 and the blocking mechanism are kept at the lower limit position, so that the supporting surface is lower than the conveying plane 303, and the carrier plate a is conveyed normally on the conveying plane 303; when lifting is required, the blocking mechanism moves upward, and when the carrier plate a is conveyed, the front end of the carrier plate a is restricted by the blocking mechanism, and the rear end of the carrier plate a is restricted by the anti-return mechanism, so that the carrier plate a is restricted above the supporting surface 301. The lifting mechanism 341 moves upward, so that the supporting surface 301 abuts against the carrier plate a and moves upward until the conveying plane 303 where the carrier plate a is located falls into the conveying channel 302. Furthermore, the conveying plane 303 is higher than the bottom surface of the conveying channel 302, and the thickness between the conveying plane 303 and the top surface of the conveying channel 302 is greater than the total thickness of the carrier plate a and the workpiece.

[0100] The process of the feeding device 3 for picking up and feeding workpieces includes: the drive mechanism drives the picking assembly 26 to move above the workpiece, and the downward-viewing camera 27 shoots the workpiece downwards for visual guidance and positioning to assist the picking unit 262 in picking up the workpiece; the picked-up workpiece is moved above the upward-viewing camera 28, and the upward-viewing camera 28 shoots the workpiece upwards for visual guidance and positioning to adjust the posture of the picked-up workpiece through the drive mechanism; the drive mechanism drives the adjusted workpiece to be fed.

[0101] Furthermore, the suction process of the suction component 26 includes: first confirming the status of the two suction units 262; if only one suction unit 262 is normal, the normal suction unit 262 is used to sequentially perform suction operations on multiple workpieces; if both suction units 262 are normal, the status of multiple workpieces is first confirmed; if all workpieces are normal, when there is only one workpiece, any suction unit 262 is selected to perform suction operations alone; when there are two or more workpieces, both suction units 262 operate simultaneously; and when there is only one remaining workpiece, any suction unit 262 is selected to perform suction operations alone; if some workpieces are abnormal, the number of normal workpieces between two adjacent abnormal workpieces is determined, and suction operations are performed on the normal workpieces between two adjacent abnormal workpieces according to the logic of the previous step.

[0102] The attitude adjustment method of the fixture attitude adjustment device 3 includes the following steps: S1, adjusting the fixture 14 to a loading attitude by means of the first rotating seat 12; S2, placing the workpiece on the fixture 14; S3, rotating the fixture 14 around the first axis by the first rotating seat 12 to adjust the workpiece to a dispensing attitude; S4, rotating the fixture 14 around the second axis by means of the second rotating seat 13 to change the orientation of the side of the workpiece.

[0103] It should be noted that before the workpiece is placed on the fixture 14, the fixture 14 is opened by the linkage mechanism 15. After the workpiece is placed on the fixture 14, the linkage mechanism 15 releases the fixture 14, causing the fixture 14 to clamp the workpiece. When the first linkage block 152 is inserted into the assembly port 1411, the y-direction clamping block 1432 and the clamping rod 1441 can rotate around the rotation axis 1433. At this time, the fixture 14 will not clamp the workpiece. When the first linkage block 152 is removed from the assembly port 1411, the y-direction clamping block 1432 and the clamping rod 1441 can hold the workpiece. When the second linkage block 153 pushes the push rod 14232 and moves in the y-direction, the moving block 14231 can drive the x-direction clamping block 1422 to move closer to the x-direction fixed block 1421. When the second linkage block 153 releases the pushing force on the push rod 14232, the x-direction clamping block 1422 resets and can hold the workpiece.

[0104] The specific process of placing the workpiece on fixture 14 is as follows: The telescopic drive component 151 extends, and the first linkage block 152 extends into the assembly port 1411, applying a pushing force to the y-direction abutment part 14322 and the z-direction abutment part 1443, causing the y-direction clamping part 14321 and the z-direction pressing part 1442 to move simultaneously toward the y-direction fixing block 1431; simultaneously, the second linkage block 153 applies a pushing force to the push rod 14232, allowing the x-direction clamping block 1422 to move toward the x-direction fixing block 1421. That is, the fixture 14 is in the open state at this time. Then the workpiece can be placed on the fixture 14, at which time the x-direction fixing block 1421, the x-direction clamping block 1422, the y-direction fixing block 1431, the y-direction clamping block 1432, and the clamping rod 1441 are all located in the inner circle of the workpiece. After the workpiece is placed, the telescopic drive component 151 retracts. Under the action of the first return spring 1434, the second return spring 14235, and the third return spring 1444, the x-axis clamping block 1422, the y-axis clamping part 14321, and the z-axis pressing part 1442 simultaneously move towards the inner wall of the workpiece. The workpiece is tensioned in the x-direction by the x-axis fixing block 1421 and the x-axis clamping block 1422, tensioned in the y-direction by the y-axis fixing block 1431 and the y-direction clamping part 14321, and pressed in the z-direction pressing part 1442, thereby achieving all-around clamping of the workpiece.

[0105] Of course, in this embodiment, there are two dispensing stations on the fixture posture adjustment device 3, and the dispensing device 4 is a double-valve dispensing mechanism. The double-valve dispensing mechanism can dispense glue to two workpieces on the fixture posture adjustment device 3 at the same time, or it can dispense glue to a single workpiece. The unloading device 5 can pick up two workpieces on the fixture posture adjustment device 3 at the same time for unloading, or it can pick them up one by one for unloading.

[0106] In summary, the dispensing equipment of the present invention has a compact structure, is suitable for workpieces with complex dispensing surfaces, and can be connected to existing equipment in parallel or series, with high conveying and operation efficiency, and guaranteed operation accuracy and quality.

[0107] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "illustrative embodiment," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of the invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0108] Although embodiments of the invention have been shown and described, those skilled in the art will understand that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the claims and their equivalents.

Claims

1. A dispensing operation apparatus characterized by comprising: include, A common conveying track (1) is provided, on which a carrier plate is conveyed, and on which multiple workpieces are carried. The common conveying track (1) includes a conveying assembly and multiple lifting assemblies (34). The conveying assembly is used to support the carrier plate in conveying on a conveying plane (303). The multiple lifting assemblies (34) are spaced apart along the conveying direction of the carrier plate. Each lifting assembly (34) has a supporting surface (301) and a conveying channel (302). The supporting surface (301) is located above the conveying channel (302). When not lifted, the supporting surface (301) is lower than the conveying plane (303). When the lifting assembly (34) lifts the carrier plate, the conveying plane (303) is located within the conveying channel (302), so that other carrier plates can pass through the conveying channel (302) while being conveyed on the conveying plane (303). The lifting assembly (34) includes a lifting mechanism (341), a check mechanism (342), and a blocking mechanism. The check mechanism (342), the lifting mechanism (341), and the blocking mechanism are arranged sequentially along the conveying direction of the carrier plate. The lifting mechanism (341) includes a driving component, a first plate (3415), and a second plate (3417). The first plate (3415) is horizontally mounted on the driving component, and the upper surface of the first plate (3415) forms the support surface (301). The second plate (3417) is located above the first plate (3415), and the second plate (3417) is connected to the first plate (3415) by multiple support rods (3416). The gap between the second plate (3417) and the first plate (3415) forms the conveying channel (302). The feeding device (2) is located above the common conveying track (1). The feeding device (2) is used to pick up the workpiece on the carrier plate and adjust the placement posture of the workpiece. A clamping posture adjustment device (3) is provided on the conveying module (11) of the dispensing equipment. The clamping posture adjustment device (3) is used to receive and clamp the workpiece on the feeding device (2). The clamping posture adjustment device (3) includes a first rotating seat (12), a second rotating seat (13), and a clamp (14). The first rotating seat (12) is provided on the conveying module (11) and can rotate around a first axis. The second rotating seat (13) is provided on the first rotating seat (12) and can rotate around a second axis, which is perpendicular to the first axis. The clamp (14) is installed on the second rotating seat (13) and is used to clamp the workpiece. The dispensing device (4) is located above the fixture posture adjustment device (3). The dispensing device (4) is used to dispense glue onto the workpiece on the fixture posture adjustment device (3). The fixture posture adjustment device (3) can adjust the posture of the workpiece during dispensing so as to dispense glue onto different positions of the workpiece. The unloading device (5) is located above the common conveying track (1). The unloading device (5) is used to pick up the workpiece after operation on the clamp posture adjustment device (3) and place it on the carrier plate of the common conveying track (1).

2. The glue dispensing job equipment according to claim 1, wherein, Below the common conveying track (1), there is also a return track (6). The conveying direction of the return track (6) is opposite to that of the common conveying track (1). The return track (6) is used to return the carrier plate.

3. The glue dispensing job equipment of claim 1, wherein, The distance between the second plate (3417) and the first plate (3415) is greater than the thickness of the carrier plate. Multiple support rods (3416) are distributed on both sides of the carrier plate conveying path. The distance between the support rods (3416) on both sides is greater than the width of the carrier plate. Rollers supporting the carrier plate are provided on both the second track (33) and the first track (32). The distance between the rollers on the second track (33) and the rollers on the first track (32) is less than the width of the carrier plate.

4. The glue dispensing job equipment of claim 1, wherein, The unloading device (5) has the same structure as the loading device (2), and the loading device (2) includes: Drive mechanism; A suction component (26) is mounted on the drive mechanism, which moves along the x, y, and z directions to drive the suction component (26) to move between the workpiece suction area and the workpiece loading area. The suction assembly (26) has two independent suction units (262) for suctioning workpieces. The two suction units (262) have simultaneous working states and non-simultaneous working states. When in simultaneous working state, the two suction units (262) can move along the z-axis simultaneously in the workpiece suction area to suction two workpieces; When in a non-simultaneous working state, one of the suction units (262) moves along the z-axis within the workpiece suction area to suction a single workpiece.

5. The glue dispensing job equipment of claim 4, wherein, The suction component (26) includes: The two suction units (262) are mounted on the fixed base (261); A limiting plate (2611) is mounted on the fixed base (261) and is used to limit the suction unit (262). Guide block (2612) is mounted on the fixed base (261) and is slidably connected to the suction unit (262).

6. The glue dispensing job equipment of claim 5, wherein, The absorption unit (262) includes: Cylinder (2621), said cylinder (2621) is mounted on said fixed base (261); Push rod (2622), the upper end of which is connected to the output end of cylinder (2621); The guide seat (2623) is slidably connected to the guide block (2612), and the lower end of the push rod (2622) is engaged with the guide seat (2623).

7. The glue dispensing job equipment of claim 6, wherein, The lower end of the guide seat (2623) is equipped with a suction head (2625), and the lower end of the suction head (2625) is equipped with multiple suction nozzles (2628). A connector (2627) is installed on one side of the suction head (2625). One end of the connector (2627) is connected to the suction nozzle (2628), and the other end of the connector (2627) is connected to negative pressure. The lower end of the suction head (2625) has multiple positioning protrusions (2629). When the suction nozzle (2628) picks up the workpiece, the workpiece moves upward and abuts against the positioning protrusions (2629) to complete the positioning.

8. The glue dispensing job equipment of claim 1, wherein, The clamp (14) includes: a housing (141), an x-axis clamping assembly (142), a y-axis clamping assembly (143), and a z-axis clamping assembly (144). The housing (141) is connected to the second rotating seat (13), and the x-axis clamping assembly (142), the y-axis clamping assembly (143), and the z-axis clamping assembly (144) are all mounted on the housing (141).

9. The dispensing equipment according to claim 8, characterized in that, The x-axis clamping assembly (142) includes: an x-axis fixing block (1421), an x-axis clamping block (1422), and an x-axis moving module (1423). The x-axis fixing block (1421) and the x-axis clamping block (1422) are disposed on the same end face of the housing (141). The x-axis moving module (1423) is disposed inside the housing (141). The x-axis moving module (1423) is connected to the x-axis clamping block (1422). The x-axis moving module (1423) can drive the x-axis clamping block (1422) to move along the x-direction.

10. The dispensing equipment according to claim 8, characterized in that, The y-axis clamping assembly (143) includes: a y-axis fixing block (1431), a y-axis clamping block (1432), and a rotating shaft (1433). The y-axis fixing block (1431) and the y-axis clamping block (1432) are disposed on the same end face of the housing (141). The rotating shaft (1433) is installed inside the housing (141) and passes through the y-axis clamping block (1432). The y-axis clamping block (1432) is capable of rotating around the rotating shaft (1433).

11. The dispensing equipment according to claim 10, characterized in that, The z-axis clamping assembly (144) includes two clamping rods (1441), both of which are mounted on the rotating shaft (1433) and are located on both sides of the y-axis clamping block (1432).

12. A method of operation, comprising using a dispensing equipment as described in any one of claims 1-11 to operate on a workpiece, characterized in that, include, Step 1: The carrier plate is transported through the common conveying track (1). The common conveying track (1) is divided into a loading area, a waiting area and a unloading area. In the loading area of ​​the common conveying track (1), the carrier plate is lifted to a certain height. Step 2: The feeding device (2) picks up the workpiece from the carrier plate, calibrates the position of the workpiece, and then places the workpiece on the fixture posture adjustment device (3) for clamping and fixing. Step 3: The clamp posture adjustment device (3) moves to the bottom of the dispensing device (4) and adjusts the posture of the clamped workpiece so that the part of the workpiece that needs to be glued matches the dispensing device (4). The dispensing device (4) then performs the glue dispensing operation on the workpiece. Step 4: The unloading device (5) picks up the workpiece that has been processed from the fixture posture adjustment device (3), performs visual inspection on the glue dispensing quality, and places it on the carrier plate in the unloading area of ​​the common conveying track (1).

13. The operating method according to claim 12, characterized in that, In step one, other carrier plates can be transported while the carrier plate is being lifted on the common conveyor track (1), and the waiting area is used to buffer unworked or already worked workpieces.

14. The operating method according to claim 12, characterized in that, In steps two and four, the feeding device (2) and the unloading device (5) can simultaneously pick up multiple workpieces for conveying. In step three, the dispensing device (4) can simultaneously dispense glue onto multiple workpieces.

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