Dispensing method and apparatus

Abstract

The application discloses a dispensing method and device, the dispensing method is used for dispensing products by a double-station dispensing device, the double-station dispensing device comprises a control module, Y1-axis moving module and Y2-axis moving module, Y1-axis product jigs and Y2-axis product jigs arranged on the Y1-axis moving module and Y2-axis moving module respectively, X1-axis moving module and X2-axis moving module arranged above, Z2-axis moving module arranged on the X1-axis moving module, a range finder, a first code scanning unit and a dispensing module arranged on the Z2-axis moving module, Z1-axis moving module arranged on the X2-axis moving module, CCD module and cleaning module arranged on the Z1-axis moving module; the dispensing method comprises Y1-axis product dispensing process and Y2-axis product dispensing process; the Y1-axis product dispensing process and the Y2-axis product dispensing process both comprise product clamping, product cleaning, product ranging, product code scanning and entering a station, product dispensing, CCD photographing, glue path confirmation and product material taking.

Description

Technical Field

[0001] This invention relates to the field of product dispensing technology, and in particular to a dispensing method and apparatus. Background Technology

[0002] In the process of gluing product A to product B, adhesive is applied to product B using a dispensing device (dispensing), and then product A is pressed into the dispensing area. For example, when installing a silicone ring (the silicone ring surrounds the key assembly) on the keyboard of electronic devices such as laptops, adhesive is first injected into the groove surrounding the key assembly, and then the silicone ring is installed into the groove.

[0003] In previous technologies, dispensing operations were performed using a single-station dispensing device. This device primarily includes: a horizontal moving module, a product fixture mounted on the horizontal moving module, a vertical moving module positioned above the horizontal moving module, and a rangefinder, scanning dock, CCD module, plasma cleaning module, and dispensing module mounted on the vertical moving module. Taking the aforementioned keyboard as an example, the specific dispensing process of the single-station dispensing device is as follows: Product clamping (5 seconds) — Auxiliary material scanning (2 seconds) — Laser rangefinder confirmation (2 seconds) — Product scanning for entry (2 seconds) — Product cleaning (5 seconds) — Dispensing (32 seconds) — CCD imaging (30 seconds) — Glue path confirmation (2 seconds) — Product unloading after dispensing (4 seconds). After dispensing is completed, the following process is performed sequentially: Inserting silicone rings — Clamping in the press — Dispensing aging confirmation scanning for exit — Heating and pressure holding — Pressing and unloading — AI M full inspection. The entire dispensing process, from product clamping to dispensing and unloading, takes 168 seconds for both keyboards and 84 seconds for each keyboard. To meet the schedule of the pressing equipment (which presses both keyboards simultaneously), two dispensing machines and two human laborers are required.

[0004] Due to the low efficiency and high labor costs of single-station dispensing devices, dual-station dispensing devices have emerged. These devices mainly include: parallel and horizontally arranged Y1-axis and Y2-axis moving modules; two product fixtures respectively mounted on the Y1-axis and Y2-axis moving modules; X1-axis and X2-axis moving modules mounted above the Y1-axis and Y2-axis moving modules; a Z1-axis moving module mounted on the X1-axis moving module; a dispensing module mounted on the Z1-axis moving module; a cleaning station and a rangefinder; a Z2-axis moving module mounted on the X2-axis moving module; and a CCD module and an ion cleaning module mounted on the Z2-axis moving module. Taking a keyboard as an example, the specific dispensing process of the dual-station dispensing device is as follows:

[0005] (1) Y1 axis product dispensing: Product clamping (5 seconds) — auxiliary material scanning (2 seconds) — laser ranging confirmation (2 seconds) — product scanning for entry (2 seconds) — product cleaning (5 seconds) — dispensing (32 seconds) — CCD photography (30 seconds) — glue path confirmation OK (2 seconds) — product dispensing and material removal (4 seconds);

[0006] (2) Y2 axis product dispensing: Product clamping (5 seconds) — auxiliary material scanning (2 seconds) — laser ranging confirmation (2 seconds) — product scanning for entry (2 seconds) — product cleaning (5 seconds) — dispensing (32 seconds) — CCD photography (30 seconds) — glue path confirmation OK (2 seconds) — product dispensing and material removal (4 seconds).

[0007] Specifically, the Y1 and Y2 axes of the aforementioned dual-workstation dispensing device operate independently. First, a keyboard is clamped onto the product fixture on the Y1 axis, and then the aforementioned processes are performed sequentially, taking 84 seconds per keyboard. After clamping the product on the Y1 axis, another keyboard is clamped onto the product fixture on the Y2 axis (material can be unloaded during the dispensing operation on the Y1 axis), and the above nine operations are completed sequentially. This saves 5 seconds of product loading and clamping time, taking approximately 79 seconds in total. Subsequent long-term cyclical material loading and unloading operations can be performed during the dispensing intervals, thus saving 5 seconds of loading and clamping time and 4 seconds of unloading time after dispensing, totaling 9 seconds. The average total time for two products is approximately 154 seconds, and the dispensing process time per product is approximately 77 seconds.

[0008] Compared to a single-station dispensing device, the aforementioned dual-station dispensing unit can save one person's labor and reduce the dispensing time per product to some extent. However, during the dispensing process of the aforementioned dual-station dispensing unit, when CCD photography and glue path confirmation are performed after the product is dispensed, the dispensing unit has a temporary time of 77-32=45 seconds for glue discharge, resulting in glue waste and preventing a significant improvement in dispensing efficiency. Summary of the Invention

[0009] In view of the shortcomings of the prior art, the technical problem to be solved by the present invention is to provide a dispensing method and apparatus that reduces labor costs, equipment costs, time costs, and material costs.

[0010] To solve the above-mentioned technical problems, one technical solution adopted by the present invention is: providing a dispensing method, wherein a dual-station dispensing device is used to dispense adhesive onto a product. The dual-station dispensing device includes a control module, horizontally arranged and parallel Y1-axis moving modules and Y2-axis moving modules, Y1-axis product fixtures and Y2-axis product fixtures respectively disposed on the Y1-axis and Y2-axis moving modules, X1-axis moving modules and X2-axis moving modules mounted above and parallel to the Y1-axis and Y2-axis moving modules, and a [missing information - likely a component or component] disposed on the X1-axis moving module. The assembly includes a Z2-axis moving module, a rangefinder mounted on the Z2-axis moving module, a first barcode scanning unit and a dispensing module, a Z1-axis moving module mounted on the X2-axis moving module, a CCD module mounted on the Z1-axis moving module and a cleaning module; the dispensing method includes a Y1-axis product dispensing process and a Y2-axis product dispensing process; both the Y1-axis and Y2-axis product dispensing processes include: product clamping, product cleaning, product ranging, product barcode scanning for entry, product dispensing, CCD photography, adhesive path confirmation, and product unloading steps; wherein:

[0011] After the Y1 axis product is cleaned by the cleaning module on the X2 axis moving module, wait for the X1 axis dispensing completion signal of the Y2 axis product; after the Y2 axis product is dispensing by the dispensing module on the X1 axis moving module, the control module controls the Z2 axis moving module on the X1 axis to move directly above the Y1 axis product, so that the rangefinder, the first scanning unit and the dispensing module on the X1 axis can sequentially perform Y1 axis product distance measurement, product scanning and entry, and product dispensing;

[0012] While the Y1 axis product is sequentially measured, scanned for entry, and dispensed via the rangefinder, first scanning unit, and dispensing module on the X1 axis moving module, the Y2 axis product is controlled to take CCD photos and confirm the glue path via the CCD module on the X2 axis moving module.

[0013] After the Y2 axis product is cleaned by the cleaning module on the X2 axis moving module, wait for the X1 axis dispensing completion signal of the Y1 axis product; after the Y1 axis product is dispensing by the dispensing module on the X1 axis moving module, the control module controls the Z2 axis moving module on the X1 axis to move directly above the Y2 axis product, so that the rangefinder, the first scanning unit and the dispensing module on the X1 axis can sequentially perform Y2 axis product distance measurement, product scanning and entry, and product dispensing.

[0014] While the Y2-axis product sequentially performs distance measurement, product scanning and entry into the station, and product dispensing through the rangefinder, first scanning unit, and dispensing module on the X1-axis moving module, the Y1-axis product is controlled to perform CCD photography and glue path confirmation through the CCD module on the X2-axis moving module.

[0015] When the cleaning steps for the Y1 axis product conflict with the CCD photography and adhesive path confirmation steps for the Y2 axis product, the cleaning steps for the Y1 axis product shall be performed first; when the cleaning steps for the Y2 axis product conflict with the CCD photography and adhesive path confirmation steps for the Y1 axis product, the cleaning steps for the Y2 axis product shall be performed first.

[0016] Furthermore, on the horizontal projection plane, the position where the Y1-axis moving module intersects with the X1-axis is defined as the first working position of the Z2-axis, and the position where it intersects with the X2-axis is defined as the first working position of the Z1-axis. The first working position of the Z2-axis is located directly below the Z2-axis moving module when it moves along the X1-axis to the Y1-axis, and the first working position of the Z1-axis is located directly below the Z1-axis moving module when it moves along the X2-axis to the Y1-axis. When the Y1-axis product is located at the first working position of the Z2-axis, the rangefinder, the first barcode scanning unit, and the dispensing module on the Z2-axis moving module can perform Y1-axis product distance measurement, Y1-axis product barcode scanning for entry, and Y1-axis product dispensing. When the Y1-axis product is located at the first working position of the Z1-axis, the cleaning module and the CCD module on the Z1-axis moving module can perform Y1-axis product cleaning, CCD photography, and adhesive path confirmation.

[0017] On the horizontal projection plane, the position where the Y2 axis moving module intersects with the X1 axis is defined as the second working position of the Z2 axis, and the position where it intersects with the X2 axis is defined as the second working position of the Z1 axis. The second working position of the Z2 axis is located directly below the Z2 axis moving module when it moves along the X1 axis to the Y2 axis, and the second working position of the Z1 axis is located directly below the Z1 axis moving module when it moves along the X2 axis to the Y2 axis. When the Y1 axis product is located at the second working position of the Z2 axis, the rangefinder, the first barcode scanning unit, and the dispensing module on the Z2 axis moving module can perform Y2 axis product distance measurement, Y2 axis product barcode scanning for entry, and Y2 axis product dispensing. When the Y2 axis product is located at the second working position of the Z1 axis, the CCD module and the cleaning module on the Z1 axis moving module can perform Y2 axis product cleaning, CCD photography, and adhesive path confirmation.

[0018] On the horizontal projection plane, a position on the Y1 axis that is offset from both the first working position of the Z1 axis and the first working position of the Z2 axis is defined as the first loading / unloading position, and a position on the Y2 axis that is offset from both the second working position of the Z1 axis and the second working position of the Z2 axis is defined as the second loading / unloading position.

[0019] Furthermore, the Y1 axis product dispensing process specifically includes:

[0020] Y1 axis product clamping: The control module sends a first movement command to the Y1 axis moving module. The Y1 axis moving module moves the Y1 axis product fixture to the first upper / lower position according to the first movement command. The product to be glued is loaded into the Y1 axis product fixture at the first upper / lower position of the Y1 axis moving module.

[0021] Y1 axis product cleaning: The control module sends a second movement command to the Y1 axis moving module, and the Y1 axis moving module moves the Y1 axis product fixture to the first working position of the Z1 axis according to the second movement command; the control module sends a cleaning command to the cleaning module on the Z1 axis moving module, and the cleaning module cleans the area of ​​the Y1 axis product to be glued according to the cleaning command.

[0022] Y2 axis dispensing completion signal waiting: After the Y1 axis product cleaning is completed, the control module sends a third movement command to the Y1 axis moving module. The Y1 axis moving module moves the Y1 axis product fixture to the first working position of the Z2 axis according to the third movement command, so that the Y1 axis product is ready to be in place.

[0023] Y1-axis product ranging, Y1-axis product barcode scanning for entry, and Y1-axis product dispensing: After receiving a signal that the Y2-axis product has completed dispensing at the second working position of the Z2-axis, the control module controls the X1-axis moving module to move the Z2-axis moving module towards the Y1-axis, so that the Z2-axis moving module moves to the first working position of the Z2-axis; the control module sends a ranging command to the ranging instrument on the Z2-axis moving module, and the ranging instrument measures the height of the Y1-axis product after receiving the ranging command; the control module sends a scanning command to the first barcode scanning unit on the Z1-axis moving module, and the first barcode scanning unit scans the QR code on the Y1-axis product according to the scanning command, and transmits the read product-related information to the system; the control module sends a dispensing command to the dispensing module on the Z1-axis moving module, and the dispensing module dispenses glue to the Y1-axis product according to the dispensing command.

[0024] Y1-axis product CCD photography and adhesive path confirmation: The control module sends a second movement command to the Y1-axis moving module, which moves the Y1-axis product fixture to the first working position of the Z1-axis according to the second movement command; after receiving a signal that the Y2-axis product has completed adhesive path confirmation at the second working position of the Z1-axis, or after receiving a signal that the Y2-axis product has completed the product cleaning step at the second working position of the Z1-axis, the control module controls the X2-axis moving module to drive the Z1-axis moving module to move in the Y1-axis direction, so that the Z1-axis moving module moves to the first working position of the Z1-axis; the control module sends a photography command to the CCD module on the Z1-axis moving module, which, after receiving the photography command, captures the adhesive path image and transmits it to the processing unit for image processing and adhesive path confirmation.

[0025] Y1 axis product picking: The control module sends a first movement command to the Y1 axis moving module. The Y1 axis moving module moves the Y1 axis product fixture to the first loading / unloading position according to the first movement command and picks up the product from the Y1 axis product fixture.

[0026] Furthermore, after the Y1 axis product clamping step, the following steps are also included:

[0027] Y1 axis product auxiliary material scanning: The second scanning unit set on the Y1 axis product fixture acquires the rubber ring information and binds the acquired rubber ring information with the Y1 axis product information.

[0028] Furthermore, the Y2-axis product dispensing process specifically includes:

[0029] Y2-axis product clamping: The control module sends a fourth movement command to the Y2-axis moving module. The Y2-axis moving module moves the Y2-axis product fixture to the second upper / lower position according to the fourth movement command. The product to be glued is loaded into the Y2-axis product fixture at the second upper / lower position of the Y2-axis moving module.

[0030] Y2 axis product cleaning: The control module sends a fifth movement command to the Y2 axis moving module, and the Y2 axis moving module moves the Y2 axis product fixture to the second working position of the Z1 axis according to the fifth movement command; the control module sends a cleaning command to the cleaning module on the Z1 axis moving module, and the cleaning module cleans the glue-to-be-attached area of ​​the Y2 axis product according to the cleaning command.

[0031] Y1 axis dispensing completion signal waiting: After the Y2 axis product cleaning is completed, the control module sends the sixth movement command to the Y2 axis moving module. The Y2 axis moving module moves the Y2 axis product fixture to the second working position of the Z2 axis according to the sixth movement command, so that the Y2 axis product is ready to be in place.

[0032] Y2-axis product ranging, Y2-axis product barcode scanning for entry, and Y2-axis product dispensing: After receiving a signal that the Y1-axis product has completed dispensing at the first working position of the Z2-axis, the control module controls the X1-axis moving module to move the Z2-axis moving module towards the Y2-axis, so that the Z2-axis moving module moves to the second working position of the Z2-axis; the control module sends a ranging command to the ranging instrument on the Z2-axis moving module, and the ranging instrument measures the height of the Y2-axis product after receiving the ranging command; the control module sends a scanning command to the first barcode scanning unit on the Z2-axis moving module, and the first barcode scanning unit scans the QR code on the Y2-axis product according to the scanning command, and transmits the read product-related information to the system; the control module sends a dispensing command to the dispensing module on the Z2-axis moving module, and the dispensing module dispenses glue to the Y2-axis product according to the dispensing command.

[0033] Y2-axis product CCD photography and adhesive path confirmation: The control module sends a fifth movement command to the Y2-axis moving module, which moves the Y2-axis product fixture to the second working position of the Z1 axis according to the second movement command. After receiving a signal that the Y1-axis product has completed adhesive path confirmation at the first working position of the Z1 axis, or after receiving a signal that the Y1-axis product has completed the product cleaning step at the first working position of the Z1 axis, the control module controls the X2-axis moving module to move the Z1-axis moving module in the Y2-axis direction, so that the Z1-axis moving module moves to the second working position of the Z1 axis. The control module sends a photography command to the CCD module on the Z1-axis moving module. After receiving the photography command, the CCD module acquires the adhesive path image of the dispensing and transmits it to the processing unit for image processing and adhesive path confirmation.

[0034] Y2 axis product picking: The control module sends a third movement command to the Y2 axis moving module. The Y2 axis moving module moves the Y2 axis product fixture to the second loading / unloading position according to the third movement command and picks up the product from the Y2 axis product fixture.

[0035] Furthermore, following the Y2-axis product clamping step, the following steps are also included:

[0036] Y2 axis product accessory barcode scanning: The third barcode scanning unit set on the Y2 axis product fixture acquires the rubber ring information and binds the acquired rubber ring information with the Y1 axis product information.

[0037] Furthermore, when the cleaning step of the Y1 axis product and the CCD photography and adhesive path confirmation step of the Y2 axis product conflict in time, the cleaning step of the Y1 axis product shall be given priority. Specifically, when the CCD photography and adhesive path confirmation step of the Y2 axis product is performed before the preset threshold of the cleaning step of the Y1 axis product or when both need to be performed at the same time as the cleaning step of the Y1 axis product, it is considered a time conflict, and the cleaning step of the Y1 axis product shall be given priority.

[0038] When the cleaning steps of the Y2 axis product and the CCD photography and adhesive path confirmation steps of the Y1 axis product conflict in time, the cleaning steps of the Y2 axis product shall be performed first. Specifically, if the CCD photography and adhesive path confirmation steps of the Y1 axis product are performed before the preset threshold of the cleaning steps of the Y2 axis product or both need to be performed at the same time as the cleaning steps of the Y2 axis product, it is considered a time conflict, and the cleaning steps of the Y2 axis product shall be performed first.

[0039] Furthermore, the dispensing module is defined as a dual hydraulic screw dispensing module, which has an A-type glue channel for A-type glue flow, a B-type glue channel for B-type glue flow, a dual hydraulic screw valve assembly communicating with both the A-type and B-type glue channels, a mixing tube, and a nozzle. The dual hydraulic screw valve assembly is used to open and close the A-type and B-type glue channels, extract glue, meter and control the glue flow rate, and sense the pressure of the A and B glue channels. The mixing tube is used to receive the glue from the A and B glue channels and mix the two glues together. The nozzle is used to inject the mixed glue into the glue tank.

[0040] Furthermore, the product is a keyboard, which has glue grooves distributed around the outer periphery of the key group. In the glue dispensing step: the glue dispensing device injects glue into the glue grooves; in the CCD imaging step, the glue path is divided into several segments, and an image of each segment of the glue path is captured and transmitted to the processing unit. The processing unit matches and compares the images of the several segments of the glue path with the original template to check whether the shape of the glue path is correct, whether there is a break in the glue or whether it is misaligned.

[0041] To solve the above-mentioned technical problems, another technical solution adopted by the present invention is: a dual-workstation gluing device, comprising a worktable, a control module disposed on the worktable, horizontally arranged and parallel Y1-axis moving modules and Y2-axis moving modules, Y1-axis product fixtures and Y2-axis product fixtures respectively disposed on the Y1-axis moving modules and Y2-axis moving modules, X1-axis moving modules and X2-axis moving modules mounted above the Y1-axis moving modules and parallel to each other, and a Z2-axis moving module disposed on the X1-axis moving module. The control module comprises a rangefinder, a first scanning unit, and a dispensing module mounted on the Z2-axis moving module; a Z1-axis moving module mounted on the X2-axis moving module; and a CCD module and a cleaning module mounted on the Z1-axis moving module. The control module controls the Y1-axis moving module, Y2-axis moving module, X1-axis moving module, X2-axis moving module, Z1-axis moving module, Z2-axis moving module, rangefinder, first scanning unit, dispensing module, CCD module, and cleaning module to perform corresponding actions using the method described in any one of claims 1 to 9.

[0042] Compared with the prior art, the dispensing method and apparatus of the present invention reduce labor costs, reduce glue consumption, reduce equipment costs, and improve dispensing efficiency. Attached Figure Description

[0043] The accompanying drawings, which are included to provide a further understanding of this application and form part of this application, illustrate exemplary embodiments and are used to explain this application, but do not constitute an undue limitation of this application. In the drawings:

[0044] Figure 1 This is a schematic diagram of one embodiment of the dual-workpoint adhesive device of the present invention.

[0045] Figure 2 yes Figure 1 The image shows a frontal 3D view hidden behind a protective shield.

[0046] Figure 3 yes Figure 1 The image shows a rear-view 3D view hidden behind the protective shield.

[0047] Figure 4 This is a schematic diagram of the keyboard structure.

[0048] Figure 5 This is a schematic diagram of the assembly of the rubber ring and the rubber groove.

[0049] Figure 6 This is a structural diagram of the product fixture.

[0050] Figure 7 This is a flowchart of one embodiment of the dispensing method of the present invention.

[0051] The diagrams in the instruction manual are labeled as follows:

[0052] Keyboard A; Key group A1; Glue groove A2; Rubber ring A3;

[0053] Workbench 101; Protective cover 102; First column 103; Second column 104; X-axis mounting bracket 105; Y1-axis moving module 210; Y1-axis product fixture 211; Y2-axis moving module 220; Y2-axis product fixture 221; Fixture table 231; Keyboard placement area 232; Second barcode scanning unit 233; X1-axis moving module 310; X2-axis moving module 320; Z1-axis moving module 410; CCD module 411; Cleaning module 412; Z2-axis moving module 420; Rangefinder 421; First barcode scanning unit 422; Dispensing module 423. Detailed Implementation

[0054] To make the objectives, technical solutions, and advantages of this application clearer, the technical solutions of this application will be clearly and completely described below in conjunction with specific embodiments and corresponding drawings. Obviously, the described embodiments are only a part of the embodiments of this application, and not all of them. Based on the embodiments in this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0055] It should be noted that when a component is said to be "fixed to" another component, it can be directly attached to the other component or there may be an intervening component. When a component is said to be "connected to" another component, it can be directly connected to the other component or there may be an intervening component.

[0056] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains. The terminology used herein in the description of the invention is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention.

[0057] Please see Figure 1 , Figure 2 and Figure 3 The dual-workstation gluing device includes a worktable 101, a control module (not shown) mounted on the worktable 101, horizontally arranged and parallel Y1-axis moving modules 210 and Y2-axis moving modules 220, Y1-axis product fixtures 211 and Y2-axis product fixtures 221 respectively mounted on the Y1-axis moving modules 210 and Y2-axis moving modules 220, X1-axis moving modules 310 and X2-axis moving modules 320 mounted above the Y1-axis moving modules 210 and Y2-axis moving modules 220 and parallel to each other, a Z2-axis moving module 420 mounted on the X1-axis moving module 310, and a Z2-axis moving module 420 mounted on the Z2-axis moving module 420. The control module comprises a rangefinder 421, a first scanning unit 422, and a dispensing module 423 on the Y1 axis, a Z1 axis moving module 410 mounted on the X2 axis moving module 320, a CCD module 411 mounted on the Z1 axis moving module 410, and a cleaning module 412 mounted on the Z1 axis moving module 410. The control module controls the Y1 axis moving module 210, Y2 axis moving module 220, X1 axis moving module 310, X2 axis moving module 320, Z1 axis moving module 410, Z2 axis moving module 420, rangefinder 421, first scanning unit 422, dispensing module 423, CCD module 411, and cleaning module 412 to perform corresponding actions using the dispensing method described below.

[0058] In the illustrated embodiment, the lower end of the dual-station adhesive device is configured as a box structure, with multiple supports at the lower end. The box structure provides assembly space for various electrical components, such as control modules and various electronic valves. The upper surface of the box structure is configured as the workbench 101, on which a protective cover 102 is provided. The protective cover 102 has an operating port for easy loading / unloading by workers. Operating buttons (e.g., start, stop, emergency stop) are provided on both sides of the operating port. The Y1 axis moving module 210 moves along... Figure 1 The Y2 axis moving module 220 is positioned on the left side of the worktable 101 in the front-back direction. Figure 1The Y1-axis moving module 210 and Y2-axis moving module 220 are positioned on the right side of the worktable 101, and can be any linear moving module such as a slide table that can drive an object to move linearly back and forth. They can be controlled by the control module to perform corresponding actions. A first column 103 is erected on the left side of the Y1-axis moving module 210, and a second column 104 is erected on the right side of the Y2-axis moving module 220. An X-axis mounting bracket 105, perpendicular to both the Y1-axis moving module 210 and the Y2-axis moving module 220, is straddling the upper ends of the first column 103 and the second column 104. Figure 1 In the shown orientation, the X1-axis moving module 310 is disposed on the front side of the X-axis mounting bracket 105, and the X2-axis moving module 320 is disposed on the rear side of the X-axis mounting bracket 105 and parallel to the X1-axis moving module 310. The X1-axis moving module 310 and X2-axis moving module 320 can be any linear moving module capable of driving an object to move linearly back and forth, such as a slide table, and can perform corresponding actions under the control of a control module. The Z2-axis moving module 420 is disposed on the front X1-axis moving module 310 and can move back and forth on the X1-axis moving module 310, thereby switching between the positions of the Y1-axis moving module 210 and the Y2-axis moving module 220, performing product ranging, product barcode scanning for entry, and product dispensing operations on the Y1-axis products on the Y1-axis moving module 210 and the Y2-axis products on the Y2-axis moving module 220. The Z1-axis moving module 410 is mounted on the rear X2-axis moving module 320 and can reciprocate on the X2-axis moving module 320, thereby switching its position on the Y1-axis moving module 210 and the Y2-axis moving module 220. This allows for product cleaning, CCD photography, and adhesive path confirmation operations on the Y1-axis products on the Y1-axis moving module 210 and the Y2-axis products on the Y2-axis moving module 220. The Z1-axis moving module 410 and the Z2-axis moving module 420 can be any linear moving module capable of driving objects to reciprocate linearly, such as a slide table, and can perform corresponding actions under the control of the control module.

[0059] Please see Figure 4 and Figure 5The Y1-axis product fixture 211 and the Y2-axis product fixture 221 have the same structure and are respectively mounted on the Y1-axis moving module 210 and the Y2-axis moving module 220 so that they can move back and forth under the drive of their respective moving modules. Specifically, taking a keyboard A of an electronic device such as a laptop as an example, a rubber groove A2 is provided around the outer periphery of the key group A1 on the keyboard A. In this embodiment, the rubber groove A2 is a rectangular groove, and the cross-sectional width of the rubber groove A2 is greater than the cross-sectional width of the rubber ring A3 (approximately greater than 0.1mm). When glue is applied into the rubber groove A2, the formed glue path is centered, with approximately 0.5mm gaps on both sides of the glue path. When the rubber ring A3 is pressed into the rubber groove A2, the height of the rubber ring A3 is approximately 0.2mm higher than the rubber groove A2.

[0060] Please see Figure 6 Both the Y1-axis product fixture 211 and the Y2-axis product fixture 221 include a fixture platform 231. A keyboard placement area 232 is provided on the fixture platform 231. A second scanning unit 233 is provided on the keyboard placement area 232 at the position corresponding to the auxiliary material QR code of keyboard A. The auxiliary material QR code is associated with information about a rubber ring A3 (silicone ring A3). The second scanning unit 233 is used to acquire the auxiliary material QR code and bind it to the product by comparing it with the associated rubber ring A3 information (existing conventional technology, not described in detail here). Limiting posts 234 are provided on the outer periphery of the product placement area to restrict the horizontal movement of keyboard A.

[0061] In the illustrated embodiment, the rangefinder 421 may be, but is not limited to, a laser rangefinder 421. The laser rangefinder 421 is used to measure the height of multiple points (e.g., four points) of the product, comparing the measured data with the original reference data to check if the error value exceeds the tolerance, thereby determining whether the product is properly clamped. When the rangefinder 421 detects an error exceeding the tolerance, it issues a warning signal, and the worker reloads the material, restarting the corresponding axis's program until the rangefinder 421 measures OK, at which point the normal process resumes and subsequent steps are executed. If the product is still not NG after reloading, it is considered NG and placed in the NG area for the next product to be clamped. The first barcode scanning unit 422 is used to scan the QR code of the clamped product to obtain product information and upload it to the trace system. The dispensing module 423 is defined as a dual hydraulic screw dispensing device, which has an A-type channel for A-type glue, a B-type channel for B-type glue, a dual hydraulic screw valve assembly communicating with both the A-type and B-type channels, a mixing tube, and a nozzle. The dual hydraulic screw valve assembly is used to open and close the A-type and B-type channels, and also to extract glue, meter and control the glue flow rate, and sense the pressure of the two glue paths A and B. The mixing tube is used to receive glue from the A and B-type channels and mix the two types of glue together. The nozzle is used to inject the mixed glue into the glue tank A2. When the CCD module 411 captures the glue path, it divides the glue path into several segments (e.g., 10 segments), captures an image of each segment (e.g., takes 10 photos), and transmits them to the processing unit. The processing unit matches and compares the images of the glue path segments with the original template to check whether the glue path shape is correct, whether there is any glue breakage or misalignment. When the matching shows that the glue path shape is normal and there are no problems such as glue breakage or misalignment, it indicates that the dispensing is OK and an OK signal is issued. If the matching results in abnormal shape, broken glue, or misalignment, it indicates that the dispensing is NG (Not Acceptable), and an NG signal is issued. The cleaning module 412 is defined as a plasma cleaning gun, used to clean the glue tank A2 (the area to be dispensed) of the product, removing related dirt, dust, etc., and ensuring that the glue does not undergo other chemical reactions, thereby guaranteeing the adhesiveness.

[0062] This embodiment of the dispensing device dispensing adhesive to products using the aforementioned dual-station dispensing device. The dispensing method includes a Y1-axis product dispensing process and a Y2-axis product dispensing process; both the Y1-axis and Y2-axis product dispensing processes include: product clamping, product cleaning, product ranging, product barcode scanning for entry, product dispensing, CCD imaging, adhesive path confirmation, and product unloading. Specifically, the Y1-axis dispensing process includes: Y1-axis product clamping, Y1-axis product cleaning, Y1-axis product ranging, Y1-axis product barcode scanning for entry, Y1-axis product dispensing, and Y1-axis CCD imaging; the Y2-axis dispensing process includes: Y2-axis product clamping, Y2-axis product cleaning, Y2-axis product ranging, Y2-axis product barcode scanning for entry, Y2-axis product dispensing, and Y2-axis CCD imaging.

[0063] in:

[0064] After the Y1 axis product is cleaned by the cleaning module 412 on the X2 axis moving module 320, wait for the X1 axis dispensing completion signal of the Y2 axis product; after the Y2 axis product is dispensed by the dispensing module 423 on the X1 axis moving module 310, the control module controls the Z2 axis moving module 420 on the X1 axis to move directly above the Y1 axis product, so that the rangefinder 421, the first scanning unit 422 and the dispensing module 423 on the X1 axis can sequentially perform Y1 axis product distance measurement, product scanning and entry, and product dispensing.

[0065] While the Y1 axis product sequentially performs distance measurement, product scanning and entry, and product dispensing through the rangefinder 421, the first barcode scanning unit 422, and the dispensing module 423 on the X1 axis moving module 310, the Y2 axis product is controlled to perform CCD photography and glue path confirmation through the CCD module 411 on the X2 axis moving module 320.

[0066] After the Y2 axis product is cleaned by the cleaning module 412 on the X2 axis moving module 320, wait for the X1 axis dispensing completion signal of the Y1 axis product; after the Y1 axis product is dispensed by the dispensing module 423 on the X1 axis moving module 310, the control module controls the Z2 axis moving module 420 on the X1 axis to move directly above the Y2 axis product, so that the rangefinder 421, the first scanning unit 422 and the dispensing module 423 on the X1 axis can sequentially perform Y2 axis product distance measurement, product scanning and entry, and product dispensing.

[0067] While the Y2-axis product sequentially performs distance measurement, product scanning and entry, and product dispensing through the rangefinder 421, the first barcode scanning unit 422, and the dispensing module 423 on the X1-axis moving module 310, the Y1-axis product is controlled to perform CCD photography and glue path confirmation through the CCD module 411 on the X2-axis moving module 320.

[0068] When the product cleaning step of the Y1 axis product and the CCD imaging and adhesive path confirmation step of the Y2 axis product conflict in time, the Y1 axis product cleaning step shall take priority. Specifically, if the CCD imaging and adhesive path confirmation step of the Y2 axis product occurs before the preset threshold of the Y1 axis product cleaning step or if both steps need to be performed at the same time as the Y1 axis product cleaning step, it is considered a time conflict, and the Y1 axis product cleaning step shall take priority. The preset threshold must satisfy the condition that its value plus the total product cleaning time is less than the total time of CCD imaging and adhesive path confirmation (preferably less than half of the total time of CCD imaging and adhesive path confirmation). Assuming that the total time of CCD imaging and adhesive path confirmation is 32 seconds and the product cleaning time is 5 seconds, then the preset threshold must be less than 27 seconds.

[0069] When the cleaning steps for the Y2 axis product conflict with the CCD imaging and adhesive path confirmation steps for the Y1 axis product, the cleaning steps for the Y2 axis product take precedence. Specifically, if the CCD imaging and adhesive path confirmation steps for the Y1 axis product occur before the preset threshold for the cleaning steps for the Y2 axis product, or if both steps require execution at the same time as the cleaning steps for the Y2 axis product, it is considered a time conflict, and the cleaning steps for the Y2 axis product take precedence.

[0070] Specifically, on the horizontal projection plane, the position where the Y1-axis moving module 210 intersects with the X1-axis is defined as the first working position Z21 of the Z2-axis, and the position where it intersects with the X2-axis is defined as the first working position Z11 of the Z1-axis. The first working position Z21 of the Z2-axis is located directly below the Z2-axis moving module 420 when it moves along the X1-axis to the Y1-axis, and the first working position Z11 of the Z1-axis is located directly below the Z1-axis moving module 410 when it moves along the X2-axis to the Y1-axis. When the Y1-axis product position... When the product is at the first working position Z21 of the Z2 axis, the rangefinder 421, the first barcode scanning unit 422, and the dispensing module 423 on the Z2 axis moving module 420 can perform Y1 axis product distance measurement, Y1 axis product barcode scanning for entry, and Y1 axis product dispensing; when the Y1 axis product is at the first working position Z11 of the Z1 axis, the cleaning module 412 and the CCD module 411 on the Z1 axis moving module 410 can perform Y1 axis product cleaning, CCD photography, and adhesive path confirmation.

[0071] On the horizontal projection plane, the position where the Y2 axis moving module 220 intersects with the X1 axis is defined as the second working position Z22 of the Z2 axis, and the position where it intersects with the X2 axis is defined as the second working position Z12 of the Z1 axis. The second working position Z22 of the Z2 axis is located directly below the Z2 axis moving module 420 when it moves along the X1 axis to the Y2 axis, and the second working position Z12 of the Z1 axis is located directly below the Z1 axis moving module 410 when it moves along the X2 axis to the Y2 axis. When the Y1 axis product is located at the... When the Z2 axis is in the second working position Z22, the rangefinder 421, the first barcode scanning unit 422, and the dispensing module 423 on the Z2 axis moving module 420 can perform Y2 axis product distance measurement, Y2 axis product barcode scanning for entry, and Y2 axis product dispensing; when the Y2 axis product is in the second working position Z12 of the Z1 axis, the CCD module 411 and the cleaning module 412 on the Z1 axis moving module 410 can perform Y2 axis product cleaning, CCD photography, and adhesive path confirmation.

[0072] On the horizontal projection plane, a position on the Y1 axis that is offset from both the first working position Z11 of the Z1 axis and the first working position Z21 of the Z2 axis is defined as the first loading / unloading position, and a position on the Y2 axis that is offset from both the second working position Z12 of the Z1 axis and the second working position Z22 of the Z2 axis is defined as the second loading / unloading position.

[0073] The Y1 axis product dispensing process specifically includes:

[0074] Y1 axis product clamping: The control module sends a first movement command to the Y1 axis moving module 210. The Y1 axis moving module 210 moves the Y1 axis product fixture 211 to the first upper / lower position according to the first movement command; the product to be glued is loaded into the Y1 axis product fixture 211 at the first upper / lower position of the Y1 axis moving module 210.

[0075] In this embodiment, after the Y1-axis product clamping step, the method further includes scanning the Y1-axis product auxiliary materials: the second scanning unit 233, set on the Y1-axis product fixture, acquires the rubber ring information on the product and binds the acquired rubber ring information with the Y1-axis product information. In practical applications, the rubber ring packaging bag contains several rubber rings A3. Before dispensing, the number of rubber rings on the rubber ring packaging bag is scanned using a handheld barcode scanner and stored in the system. After each product clamping, the second scanning unit 233 on the product fixture scans the rubber ring serial number on the product and binds it to the product. Each scan reduces the number of rubber rings stored in the system by one.

[0076] Y1 axis product cleaning: The control module sends a second movement command to the Y1 axis moving module 210, and the Y1 axis moving module 210 moves the Y1 axis product fixture 211 to the first working position Z11 of the Z1 axis according to the second movement command; the control module sends a cleaning command to the cleaning module 412 on the Z1 axis moving module 410, and the cleaning module 412 cleans the area of ​​the Y1 axis product to be glued according to the cleaning command.

[0077] Y2 axis dispensing completion signal waiting: After the Y1 axis product cleaning is completed, the control module sends a third movement command to the Y1 axis moving module 210. The Y1 axis moving module 210 moves the Y1 axis product fixture 211 to the first working position Z21 of the Z2 axis according to the third movement command, so that the Y1 axis product is ready to be in place.

[0078] Y1-axis product ranging, Y1-axis product barcode scanning for entry, and Y1-axis product dispensing: After receiving a signal that the Y2-axis product has completed dispensing at the second working position Z22 of the Z2 axis, the control module controls the X1-axis moving module 310 to drive the Z2-axis moving module 420 to move towards the Y1 axis, so that the Z2-axis moving module 420 moves to the first working position Z21 of the Z2 axis; the control module sends a ranging command to the ranging instrument 421 on the Z2-axis moving module 420, and the ranging instrument 421 measures the height of the Y1-axis product after receiving the ranging command; the control module sends a barcode scanning command to the first barcode scanning unit 422 on the Z1-axis moving module 410, and the first barcode scanning unit 422 scans the QR code on the Y1-axis product according to the barcode scanning command, and transmits the read product-related information to the system; the control module sends a dispensing command to the dispensing module 423 on the Z1-axis moving module 410, and the dispensing module 423 dispenses glue to the Y1-axis product according to the dispensing command.

[0079] Y1-axis product CCD photography and adhesive path confirmation: The control module sends a second movement command to the Y1-axis moving module 210, and the Y1-axis moving module 210 moves the Y1-axis product fixture 211 to the first working position Z11 of the Z1-axis according to the second movement command; After receiving the signal that the Y2-axis product has completed adhesive path confirmation at the second working position Z12 of the Z1-axis, or after receiving the signal that the Y2-axis product has completed the product cleaning step at the second working position Z12 of the Z1-axis, the control module controls the X2-axis moving module 320 to drive the Z1-axis moving module 410 to move in the Y1-axis direction, so that the Z1-axis moving module 410 moves to the first working position Z11 of the Z1-axis; The control module sends a photography command to the CCD module 411 on the Z1-axis moving module 410, and after receiving the photography command, the CCD module 411 acquires the adhesive path image of the dispensing and transmits it to the processing unit for image processing and adhesive path confirmation.

[0080] Y1 axis product picking: The control module sends a first movement command to the Y1 axis moving module 210. The Y1 axis moving module 210 moves the Y1 axis product fixture 211 to the first loading / unloading position according to the first movement command and picks up the product from the Y1 axis product fixture 211.

[0081] In the embodiment shown, the Y2-axis product dispensing process specifically includes:

[0082] Y2-axis product clamping: The control module sends a fourth movement command to the Y2-axis moving module 220. The Y2-axis moving module 220 moves the Y2-axis product fixture 221 to the second upper / lower position according to the fourth movement command; the product to be glued is loaded into the Y2-axis product fixture 221 at the second upper / lower position of the Y2-axis moving module 220.

[0083] Y2 axis product accessory barcode scanning: The third barcode scanning unit set on the Y2 axis product fixture acquires the rubber ring A3 information and binds the acquired rubber ring A3 information with the Y1 axis product information.

[0084] Y2 axis product cleaning: The control module sends a fifth movement command to the Y2 axis moving module 220, and the Y2 axis moving module 220 moves the Y2 axis product fixture 221 to the second working position Z12 of the Z1 axis according to the fifth movement command; the control module sends a cleaning command to the cleaning module 412 on the Z1 axis moving module 410, and the cleaning module 412 cleans the glue-to-be-attached area of ​​the Y2 axis product according to the cleaning command.

[0085] Y1 axis dispensing completion signal waiting: After the Y2 axis product cleaning is completed, the control module sends a sixth movement command to the Y2 axis moving module 220. The Y2 axis moving module 220 moves the Y2 axis product fixture 221 to the second working position Z22 of the Z2 axis according to the sixth movement command, so that the Y2 axis product is ready to be in place.

[0086] Y2-axis product ranging, Y2-axis product barcode scanning for entry, and Y2-axis product dispensing: After receiving a signal that the Y1-axis product has completed dispensing at the first working position Z21 of the Z2-axis, the control module controls the X1-axis moving module 310 to drive the Z2-axis moving module 420 to move towards the Y2-axis, so that the Z2-axis moving module 420 moves to the second working position Z22 of the Z2-axis; the control module sends a ranging command to the ranging instrument 421 on the Z2-axis moving module 420, and the ranging instrument 421 measures the height of the Y2-axis product after receiving the ranging command; the control module sends a barcode scanning command to the first barcode scanning unit 422 on the Z2-axis moving module 420, and the first barcode scanning unit 422 scans the QR code on the Y2-axis product according to the barcode scanning command, and transmits the read product-related information to the system; the control module sends a dispensing command to the dispensing module 423 on the Z2-axis moving module 420, and the dispensing module 423 dispenses glue to the Y2-axis product according to the dispensing command.

[0087] Y2-axis product CCD photography and adhesive path confirmation: The control module sends a fifth movement command to the Y2-axis moving module 220. The Y2-axis moving module 220 moves the Y2-axis product fixture 221 to the second working position Z12 of the Z1 axis according to the second movement command. After receiving the signal that the Y1-axis product has completed adhesive path confirmation at the first working position Z11 of the Z1 axis, or after receiving the signal that the Y1-axis product has completed the product cleaning step at the first working position Z11 of the Z1 axis, the control module controls the X2-axis moving module 320 to drive the Z1-axis moving module 410 to move in the Y2-axis direction, so that the Z1-axis moving module 410 moves to the second working position Z12 of the Z1 axis. The control module sends a photography command to the CCD module 411 on the Z1-axis moving module 410. After receiving the photography command, the CCD module 411 captures the adhesive path image of the dispensing and transmits it to the processing unit for image processing and adhesive path confirmation.

[0088] Y2 axis product picking: The control module sends a third movement command to the Y2 axis moving module 220. The Y2 axis moving module 220 moves the Y2 axis product fixture 221 to the second loading / unloading position according to the third movement command and picks up the product from the Y2 axis product fixture 221.

[0089] In this dispensing method, the time required for product clamping is 5 seconds, the time required for auxiliary material scanning is 2 seconds, the time required for product cleaning is 5 seconds, the time required for product scanning and entry is 2 seconds, the time required for laser ranging confirmation is 2 seconds, the time required for product dispensing is 32 seconds, the time required for CCD imaging is 30 seconds, the time required for adhesive path confirmation is 2 seconds (CCD imaging and adhesive path confirmation together take 32 seconds, the same as the product dispensing time), and the product unloading time is 4 seconds. The execution cycle time and corresponding efficiencies of each of the above processes on the Y1, Y2, X1, and X2 axes are shown in the table below:

[0090]

[0091]

[0092] Table 1

[0093] Please refer to Table 1. The longest running time for both products is the X2 axis motion, totaling 74 seconds. The X1 axis motion takes 72 seconds. The X2 axis motion overlaps with the X1 axis motion, sharing a single time period. The Y1 and Y2 axis motions are independent and can also overlap with the X1 and X2 axis motions, without affecting the total running time. Therefore, the total running time for both products is approximately 74 seconds, averaging about 37 seconds per product.

[0094]

[0095] Table 2

[0096]

[0097] Table 3

[0098]

[0099] Table 4

[0100] Please refer to Tables 2 to 4. A comparison shows that the dispensing method of this embodiment significantly improves efficiency and reduces the number of dispensing devices. Three dispensing machines can achieve the output of seven dispensing machines in Table 2 (single-axis solution) and six dispensing machines in Table 3 (dual-axis independent solution) of the prior art. Manpower is reduced significantly; this solution requires only three people, while the two prior art dispensing solutions require seven and six people respectively. Product queuing time is reduced, thus lowering the amount of adhesive required per product.

[0101]

[0102] Table 5

[0103]

[0104]

[0105] Table 6

[0106]

[0107] Table 7

[0108] Please refer to Tables 5 to 7, which show the calculation methods for the time ratio between the dispensing device and the pressing machine in the existing scheme and this embodiment. A comparison shows that in this embodiment, one dispensing device can supply the required amount to four pressing machines, reducing the number of dispensing devices and lowering equipment costs.

[0109] The above embodiments merely illustrate preferred implementations of the present invention, and while the descriptions are specific and detailed, they should not be construed as limiting the scope of the invention. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of the present invention, and these all fall within the protection scope of the present invention. Therefore, the protection scope of this invention should be determined by the appended claims.

Claims

1. A dispensing method, comprising dispensing adhesive onto a product using a dual-station dispensing device, the dual-station dispensing device comprising a control module, a horizontally arranged and parallel Y1-axis moving module and a Y2-axis moving module, a Y1-axis product fixture and a Y2-axis product fixture respectively disposed on the Y1-axis moving module and the Y2-axis moving module, an X1-axis moving module and an X2-axis moving module mounted above the Y1-axis moving module and parallel to each other, a Z2-axis moving module disposed on the X1-axis moving module, a rangefinder disposed on the Z2-axis moving module, a first barcode scanning unit and a dispensing module, a Z1-axis moving module disposed on the X2-axis moving module, and a CCD module and a cleaning module disposed on the Z1-axis moving module; the dispensing method comprising a Y1-axis product dispensing process and a Y2-axis product dispensing process; both the Y1-axis product dispensing process and the Y2-axis product dispensing process comprising: Product clamping, product cleaning, product ranging, product barcode scanning for entry, product dispensing, CCD photography, adhesive path confirmation, and product unloading steps; among which: After the Y1 axis product is cleaned by the cleaning module on the X2 axis moving module, wait for the X1 axis dispensing completion signal of the Y2 axis product; after the Y2 axis product is dispensing by the dispensing module on the X1 axis moving module, the control module controls the Z2 axis moving module on the X1 axis to move directly above the Y1 axis product, so that the rangefinder, the first scanning unit and the dispensing module on the X1 axis can sequentially perform Y1 axis product distance measurement, product scanning and entry, and product dispensing; While the Y1 axis product is sequentially measured, scanned for entry, and dispensed via the rangefinder, first scanning unit, and dispensing module on the X1 axis moving module, the Y2 axis product is controlled to take CCD photos and confirm the glue path via the CCD module on the X2 axis moving module. After the Y2 axis product is cleaned by the cleaning module on the X2 axis moving module, wait for the X1 axis dispensing completion signal of the Y1 axis product; after the Y1 axis product is dispensing by the dispensing module on the X1 axis moving module, the control module controls the Z2 axis moving module on the X1 axis to move directly above the Y2 axis product, so that the rangefinder, the first scanning unit and the dispensing module on the X1 axis can sequentially perform Y2 axis product distance measurement, product scanning and entry, and product dispensing. While the Y2-axis product sequentially performs distance measurement, product scanning and entry into the station, and product dispensing through the rangefinder, first scanning unit, and dispensing module on the X1-axis moving module, the Y1-axis product is controlled to perform CCD photography and glue path confirmation through the CCD module on the X2-axis moving module. When the cleaning steps for the Y1 axis product conflict with the CCD photography and adhesive path confirmation steps for the Y2 axis product, the cleaning steps for the Y1 axis product shall be performed first; when the cleaning steps for the Y2 axis product conflict with the CCD photography and adhesive path confirmation steps for the Y1 axis product, the cleaning steps for the Y2 axis product shall be performed first.

2. The dispensing method as described in claim 1, characterized in that: On the horizontal projection plane, the position where the Y1-axis moving module intersects with the X1-axis is defined as the first working position of the Z2-axis, and the position where it intersects with the X2-axis is defined as the first working position of the Z1-axis. The first working position of the Z2-axis is located directly below the Z2-axis moving module when it moves along the X1-axis to the Y1-axis, and the first working position of the Z1-axis is located directly below the Z1-axis moving module when it moves along the X2-axis to the Y1-axis. When the Y1-axis product is located at the first working position of the Z2-axis, the rangefinder, the first barcode scanning unit, and the dispensing module on the Z2-axis moving module can perform Y1-axis product distance measurement, Y1-axis product barcode scanning for entry, and Y1-axis product dispensing. When the Y1-axis product is located at the first working position of the Z1-axis, the cleaning module and the CCD module on the Z1-axis moving module can perform Y1-axis product cleaning, CCD photography, and adhesive path confirmation. On the horizontal projection plane, the position where the Y2 axis moving module intersects with the X1 axis is defined as the second working position of the Z2 axis, and the position where it intersects with the X2 axis is defined as the second working position of the Z1 axis. The second working position of the Z2 axis is located directly below the Z2 axis moving module when it moves along the X1 axis to the Y2 axis, and the second working position of the Z1 axis is located directly below the Z1 axis moving module when it moves along the X2 axis to the Y2 axis. When the Y1 axis product is located at the second working position of the Z2 axis, the rangefinder, the first barcode scanning unit, and the dispensing module on the Z2 axis moving module can perform Y2 axis product distance measurement, Y2 axis product barcode scanning for entry, and Y2 axis product dispensing. When the Y2 axis product is located at the second working position of the Z1 axis, the CCD module and the cleaning module on the Z1 axis moving module can perform Y2 axis product cleaning, CCD photography, and adhesive path confirmation. On the horizontal projection plane, a position on the Y1 axis that is offset from both the first working position of the Z1 axis and the first working position of the Z2 axis is defined as the first loading / unloading position, and a position on the Y2 axis that is offset from both the second working position of the Z1 axis and the second working position of the Z2 axis is defined as the second loading / unloading position.

3. The dispensing method as described in claim 2, characterized in that, The Y1 axis product dispensing process specifically includes: Y1 axis product clamping: The control module sends a first movement command to the Y1 axis moving module. The Y1 axis moving module moves the Y1 axis product fixture to the first upper / lower position according to the first movement command. The product to be glued is loaded into the Y1 axis product fixture at the first upper / lower position of the Y1 axis moving module. Y1 axis product cleaning: The control module sends a second movement command to the Y1 axis moving module, and the Y1 axis moving module moves the Y1 axis product fixture to the first working position of the Z1 axis according to the second movement command; The control module sends a cleaning command to the cleaning module on the Z1 axis moving module, and the cleaning module cleans the adhesive-to-be-attached area of ​​the Y1 axis product according to the cleaning command. Y2 axis dispensing completion signal waiting: After the Y1 axis product cleaning is completed, the control module sends a third movement command to the Y1 axis moving module. The Y1 axis moving module moves the Y1 axis product fixture to the first working position of the Z2 axis according to the third movement command, so that the Y1 axis product is ready to be in place. Y1-axis product ranging, Y1-axis product barcode scanning for entry, and Y1-axis product dispensing: After receiving a signal that the Y2-axis product has completed dispensing at the second working position of the Z2-axis, the control module controls the X1-axis moving module to move the Z2-axis moving module towards the Y1-axis, so that the Z2-axis moving module moves to the first working position of the Z2-axis; the control module sends a ranging command to the ranging instrument on the Z2-axis moving module, and the ranging instrument measures the height of the Y1-axis product after receiving the ranging command; the control module sends a scanning command to the first barcode scanning unit on the Z2-axis moving module, and the first barcode scanning unit scans the QR code on the Y1-axis product according to the scanning command, and transmits the read product-related information to the system; the control module sends a dispensing command to the dispensing module on the Z2-axis moving module, and the dispensing module dispenses glue to the Y1-axis product according to the dispensing command. Y1-axis product CCD photography and adhesive path confirmation: The control module sends a second movement command to the Y1-axis moving module, which moves the Y1-axis product fixture to the first working position of the Z1-axis according to the second movement command; after receiving a signal that the Y2-axis product has completed adhesive path confirmation at the second working position of the Z1-axis, or after receiving a signal that the Y2-axis product has completed the product cleaning step at the second working position of the Z1-axis, the control module controls the X2-axis moving module to drive the Z1-axis moving module to move in the Y1-axis direction, so that the Z1-axis moving module moves to the first working position of the Z1-axis; the control module sends a photography command to the CCD module on the Z1-axis moving module, which, after receiving the photography command, captures the adhesive path image and transmits it to the processing unit for image processing and adhesive path confirmation. Y1 axis product picking: The control module sends a first movement command to the Y1 axis moving module. The Y1 axis moving module moves the Y1 axis product fixture to the first loading / unloading position according to the first movement command and picks up the product from the Y1 axis product fixture.

4. The dispensing method as described in claim 3, characterized in that, Following the Y1 axis product clamping step, the following steps are also included: Y1 axis product auxiliary material scanning: The second scanning unit set on the Y1 axis product fixture acquires the rubber ring information and binds the acquired rubber ring information with the Y1 axis product information.

5. The dispensing method as described in claim 2, characterized in that, The Y2 axis product dispensing process specifically includes: Y2-axis product clamping: The control module sends a fourth movement command to the Y2-axis moving module. The Y2-axis moving module moves the Y2-axis product fixture to the second upper / lower position according to the fourth movement command. The product to be glued is loaded into the Y2-axis product fixture at the second upper / lower position of the Y2-axis moving module. Y2 axis product cleaning: The control module sends a fifth movement command to the Y2 axis moving module, and the Y2 axis moving module moves the Y2 axis product fixture to the second working position of the Z1 axis according to the fifth movement command; The control module sends a cleaning command to the cleaning module on the Z1 axis moving module, and the cleaning module cleans the area of ​​the Y2 axis product to be glued according to the cleaning command; Y1 axis dispensing completion signal waiting: After the Y2 axis product cleaning is completed, the control module sends the sixth movement command to the Y2 axis moving module. The Y2 axis moving module moves the Y2 axis product fixture to the second working position of the Z2 axis according to the sixth movement command, so that the Y2 axis product is ready to be in place. Y2-axis product ranging, Y2-axis product barcode scanning for entry, and Y2-axis product dispensing: After receiving a signal that the Y1-axis product has completed dispensing at the first working position of the Z2-axis, the control module controls the X1-axis moving module to move the Z2-axis moving module towards the Y2-axis, so that the Z2-axis moving module moves to the second working position of the Z2-axis; the control module sends a ranging command to the ranging instrument on the Z2-axis moving module, and the ranging instrument measures the height of the Y2-axis product after receiving the ranging command; the control module sends a scanning command to the first barcode scanning unit on the Z2-axis moving module, and the first barcode scanning unit scans the QR code on the Y2-axis product according to the scanning command, and transmits the read product-related information to the system; the control module sends a dispensing command to the dispensing module on the Z2-axis moving module, and the dispensing module dispenses glue to the Y2-axis product according to the dispensing command. Y2-axis product CCD photography and adhesive path confirmation: The control module sends a fifth movement command to the Y2-axis moving module, which moves the Y2-axis product fixture to the second working position of the Z1 axis according to the fifth movement command; After receiving a signal that the Y1-axis product has completed adhesive path confirmation at the first working position of the Z1 axis, or after receiving a signal that the Y1-axis product has completed the product cleaning step at the first working position of the Z1 axis, the control module controls the X2-axis moving module to move the Z1-axis moving module in the Y2-axis direction, so that the Z1-axis moving module moves to the second working position of the Z1 axis; The control module sends a photography command to the CCD module on the Z1-axis moving module, which, after receiving the photography command, captures the adhesive path image and transmits it to the processing unit for image processing and adhesive path confirmation. Y2 axis product picking: The control module sends a fourth movement command to the Y2 axis moving module. The Y2 axis moving module moves the Y2 axis product fixture to the second loading / unloading position according to the fourth movement command and picks up the product from the Y2 axis product fixture.

6. The dispensing method as described in claim 5, characterized in that, Following the Y2 axis product clamping step, the following steps are also included: Y2 axis product accessory barcode scanning: The third barcode scanning unit set on the Y2 axis product fixture acquires the rubber ring information and binds the acquired rubber ring information with the Y2 axis product information.

7. The dispensing method as described in claim 1, characterized in that: When the cleaning steps of the Y1 axis product and the CCD photography and adhesive path confirmation steps of the Y2 axis product conflict in time, the cleaning steps of the Y1 axis product shall be given priority. Specifically, when the CCD photography and adhesive path confirmation steps of the Y2 axis product are performed before the preset threshold of the cleaning steps of the Y1 axis product or when they both need to be performed at the same time as the cleaning steps of the Y1 axis product, it is considered a time conflict, and the cleaning steps of the Y1 axis product shall be given priority. When the cleaning steps of the Y2 axis product and the CCD photography and adhesive path confirmation steps of the Y1 axis product conflict in time, the cleaning steps of the Y2 axis product shall be performed first. Specifically, if the CCD photography and adhesive path confirmation steps of the Y1 axis product are performed before the preset threshold of the cleaning steps of the Y2 axis product or both need to be performed at the same time as the cleaning steps of the Y2 axis product, it is considered a time conflict, and the cleaning steps of the Y2 axis product shall be performed first.

8. The dispensing method according to any one of claims 1 to 7, characterized in that: The dispensing module is defined as a dual hydraulic screw dispensing module, which has an A-type glue channel for A-type glue, a B-type glue channel for B-type glue, a dual hydraulic screw valve assembly communicating with both the A-type and B-type glue channels, a mixing tube, and a nozzle. The dual hydraulic screw valve assembly is used to open and close the A-type and B-type glue channels, extract glue, meter and control the glue flow rate, and sense the pressure of the A and B glue channels. The mixing tube is used to receive the glue from the A and B glue channels and mix the two glues together. The nozzle is used to inject the mixed glue into the glue tank.

9. The dispensing method according to any one of claims 1 to 7, characterized in that: The product is a keyboard, which has glue grooves distributed around the outer periphery of the key group. In the glue dispensing step, the glue dispensing device injects glue into the glue grooves. In the CCD imaging step, the glue path is divided into several segments, and an image of each segment of the glue path is captured and transmitted to the processing unit. The processing unit matches and compares the images of the several segments of the glue path with the original template to check whether the shape of the glue path is correct, whether there is a break in the glue or whether it is misaligned.

10. A dual-workstation adhesive applicator, comprising a worktable, a control module disposed on the worktable, horizontally arranged and parallel Y1-axis moving modules and Y2-axis moving modules, Y1-axis product fixtures and Y2-axis product fixtures respectively disposed on the Y1-axis moving modules and Y2-axis moving modules, X1-axis moving modules and X2-axis moving modules mounted above the Y1-axis moving modules and parallel to each other, a Z2-axis moving module disposed on the X1-axis moving module, and a Z2-axis moving module disposed on the Z2-axis moving module. The module includes a rangefinder, a first scanning unit, a dispensing module, a Z1-axis moving module mounted on the X2-axis moving module, a CCD module mounted on the Z1-axis moving module, and a cleaning module; the control module controls the Y1-axis moving module, Y2-axis moving module, X1-axis moving module, X2-axis moving module, Z1-axis moving module, Z2-axis moving module, rangefinder, first scanning unit, dispensing module, CCD module, and cleaning module to perform corresponding actions using the method described in any one of claims 1 to 9.

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