Double-platform five-axis dispensing equipment

Abstract

The invention relates to the technical field of dispensing equipment, and discloses double-platform five-axis dispensing equipment which comprises a peripheral dispensing movement adjusting mechanism and a filling dispensing movement adjusting mechanism which are arranged in parallel in the X-axis direction, a USC cleaning mechanism, a peripheral dispensing mechanism, a curing lamp, a 2D detection mechanism, a 3D detection mechanism and a carrying mechanism are sequentially arranged above the peripheral dispensing movement adjusting mechanism in parallel in the Y-axis direction, and a filling dispensing mechanism is arranged above the filling dispensing movement adjusting mechanism. The filling and dispensing mechanism and the peripheral dispensing mechanism are arranged in parallel in the X-axis direction, and a peripheral visual alignment mechanism and a filling visual alignment mechanism are correspondingly mounted on the peripheral dispensing mechanism and the filling and dispensing mechanism respectively; the dispensing working efficiency of the equipment is effectively improved, the technical problems that a gluing path is difficult to recognize and dispensing is difficult to complete are effectively solved, the dispensing accuracy is improved, and the accuracy of the dispensing position and the dispensing uniformity are guaranteed.

Description

Technical Field

[0001] The present invention relates to the technical field of dispensing equipment, specifically a dual-platform five-axis dispensing equipment. Background Art

[0002] With the continuous improvement of consumers' requirements for the visual experience and operation convenience of mobile devices, the display bezels of products are becoming increasingly narrow (less than 1.5 mm), and the four-sided ultra-narrow screen design has gradually become the mainstream trend in the high-end market. The shapes and angles of the dispensing parts of four-sided ultra-narrow bezel products vary.

[0003] In the prior art, traditional equipment cannot adapt to the dispensing of ultra-narrow bezel products, it is difficult to identify the dispensing path, and it is difficult to complete the dispensing. The traditional equipment dispenses unevenly on ultra-narrow bezel products and has difficulty in dispensing at the corners, and it is difficult to ensure parameters such as glue height and glue width. The product cleaning, product dispensing and product inspection of traditional equipment are carried out at the same station, and the working times and stations of the three interfere with each other, that is, when dispensing one product, it is impossible to inspect another product, resulting in low work efficiency. Summary of the Invention

[0004] The purpose of the present invention is to provide a dual-platform five-axis dispensing equipment that can effectively improve the dispensing work efficiency of the equipment, effectively solve the technical problems of difficult identification of the dispensing path and difficult completion of dispensing, improve the dispensing accuracy, and ensure the accuracy of the dispensing position and the uniformity of dispensing.

[0005] In order to achieve the above purpose, the present invention adopts the following technical solutions:

[0006] The dual-platform five-axis dispensing equipment of the present invention includes a four-sided dispensing movement adjustment mechanism and a filling dispensing movement adjustment mechanism arranged in parallel along the X-axis direction. Above the four-sided dispensing movement adjustment mechanism, a USC cleaning mechanism, a four-sided dispensing mechanism, a curing lamp, a 2D detection mechanism, a 3D detection mechanism and a handling mechanism are arranged in parallel along the Y-axis direction in sequence. Above the filling dispensing movement adjustment mechanism, a filling dispensing mechanism is provided. The filling dispensing mechanism is arranged in parallel with the four-sided dispensing mechanism along the X-axis direction. Four-sided vision alignment mechanisms and filling vision alignment mechanisms are respectively installed on the four-sided dispensing mechanism and the filling dispensing mechanism;

[0007] The four-sided vision alignment mechanism includes a four-sided 3D camera for detecting and positioning the dispensing coordinate position, and a four-sided 3D height gauge for detecting and measuring the height of the product that needs to be dispensed;

[0008] The filling vision alignment mechanism includes a filling 3D camera for detecting and positioning the dispensing coordinate position, and a filling 3D height gauge for detecting and measuring the height of the product that needs to be dispensed;

[0009] The four - sided dispensing movement adjustment mechanism includes a four - sided Y - axis guiding track and a four - sided adjustable platform. The four - sided adjustable platform is movably installed on the four - sided Y - axis guiding track. A four - sided Y - axis motor for driving the four - sided adjustable platform to linearly move along the four - sided Y - axis guiding track is installed on the four - sided Y - axis guiding track. The four - sided adjustable platform includes a four - sided Q - axis motor movably connected to the four - sided Y - axis guiding track. The four - sided Q - axis motor is connected to a four - sided θ - axis motor, and the four - sided θ - axis motor is connected to a four - sided platform. The four - sided Q - axis motor is used to drive the four - sided platform to rotate at a required angle with the direction parallel to the four - sided Y - axis guiding track as the axis. The four - sided θ - axis motor is used to drive the four - sided platform to drive the product to perform a circumferential rotation at a required angle on the horizontal plane;

[0010] The filling dispensing movement adjustment mechanism has the same structure and function as the four - sided dispensing movement adjustment mechanism, including a filling Y - axis guiding track, a filling platform, a filling Y - axis motor, a filling Q - axis motor, and a filling θ - axis motor, which respectively correspond in structure and function to the four - sided Y - axis guiding track, the four - sided platform, the four - sided Y - axis motor, the four - sided Q - axis motor, and the four - sided θ - axis motor of the four - sided dispensing movement adjustment mechanism. The filling Y - axis guiding track and the four - sided Y - axis guiding track are arranged in parallel along the X - axis direction.

[0011] Further, the USC cleaning mechanism includes a cleaning X - axis guiding track installed above the four - sided Y - axis guiding track and the filling Y - axis guiding track. A cleaning machine is movably installed on the cleaning X - axis guiding track. A cleaning X - axis motor for driving the cleaning machine to linearly move along the cleaning X - axis guiding track is installed on the cleaning X - axis guiding track.

[0012] Further, the four - sided dispensing mechanism includes a four - sided dispensing X - axis guiding track arranged above the four - sided Y - axis guiding track. A four - sided dispensing Z - axis guiding track is movably installed on the four - sided dispensing X - axis guiding track. A four - sided dispensing X - axis motor for driving the four - sided dispensing Z - axis guiding track to linearly move along the four - sided dispensing X - axis guiding track is installed on the four - sided dispensing X - axis guiding track. A four - sided dispensing valve and the four - sided vision alignment mechanism are movably installed on the four - sided dispensing Z - axis guiding track. A four - sided dispensing Z - axis motor for driving the four - sided dispensing valve and the four - sided vision alignment mechanism to linearly move along the four - sided dispensing Z - axis guiding track is installed on the four - sided dispensing Z - axis guiding track.

[0013] Further, a four - sided pre - curing lamp is installed on the side of the four - sided dispensing valve.

[0014] Further, the structure and function of the filling and dispensing mechanism are the same as those of the peripheral dispensing mechanism, including a filling and dispensing X-axis motor, a filling and dispensing Z-axis guiding track, a filling and dispensing Z-axis motor, a filling and dispensing valve, a filling pre-curing lamp, and a filling and dispensing X-axis guiding track arranged above the filling Y-axis guiding track, corresponding to the structure and function of the peripheral dispensing X-axis motor, peripheral dispensing Z-axis guiding track, peripheral dispensing Z-axis motor, peripheral dispensing valve, peripheral pre-curing lamp, and peripheral dispensing X-axis guiding track one by one.

[0015] Further, a filling pre-curing lamp is installed on the side of the filling and dispensing valve.

[0016] Further, the 2D detection mechanism includes a 2D detection X-axis guiding track arranged above the peripheral Y-axis guiding track and the filling Y-axis guiding track. The 2D detection X-axis guiding track is movably installed with a 2D detection Z-axis guiding track. The 2D detection Z-axis guiding track is movably installed with a 2D detector. A 2D detection X-axis motor for driving the 2D detection Z-axis guiding track to move linearly along the 2D detection X-axis guiding track is installed on the 2D detection X-axis guiding track. A 2D detection Z-axis motor for driving the 2D detector to move linearly along the 2D detection Z-axis guiding track is installed on the 2D detection Z-axis guiding track.

[0017] Further, the 3D detection mechanism includes a 3D detection X-axis guiding track arranged above the peripheral Y-axis guiding track and the filling Y-axis guiding track. The 3D detection X-axis guiding track is movably installed with a 3D detection Z-axis guiding track. The 3D detection Z-axis guiding track is movably installed with a 3D detector. A 3D detection X-axis motor for driving the 3D detection Z-axis guiding track to move linearly along the 3D detection X-axis guiding track is installed on the 3D detection X-axis guiding track. A 3D detection Z-axis motor for driving the 3D detector to move linearly along the 3D detection Z-axis guiding track is installed on the 3D detection Z-axis guiding track.

[0018] Further, the handling mechanism includes a handling X-axis guiding track arranged above the peripheral Y-axis guiding track and the filling Y-axis guiding track. A handling arm for transferring products is movably installed on the handling X-axis guiding track. A handling X-axis motor for driving the handling arm to move linearly along the handling X-axis guiding track is installed on the handling X-axis guiding track;

[0019] Further, the handling arm includes a lifting device movably connected to the handling X-axis guiding track. The telescopic end of the lifting device is fixedly connected with a vacuum chuck for transferring products.

[0020] Compared with the prior art, the beneficial effects of the present invention are:

[0021] By separately arranging the mechanisms for performing different steps of the dispensing operation, the present invention effectively improves the dispensing efficiency of the equipment. Through the cooperation of vision guidance and vision positioning, the adaptability of the equipment to products with various shapes and angles of the gluing parts is improved, effectively solving the technical problems of difficult recognition of the gluing path and difficult completion of dispensing, improving the dispensing accuracy, and ensuring the accuracy of the dispensing position and the uniformity of dispensing. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of the present invention and should not be regarded as limiting the scope. For those of ordinary skill in the art, other related drawings can be obtained based on these drawings without creative efforts.

[0023] Figure 1 is the overall structural schematic diagram of the present invention;

[0024] Figure 2 is Figure 1 the partial enlarged view of part A in

[0025] Figure 3 is Figure 1 the partial enlarged view of part B in

[0026] Figure 4 is the structural schematic diagram of the USC cleaning mechanism of the present invention;

[0027] Figure 5 is the structural schematic diagram of the peripheral dispensing mechanism and the filling dispensing mechanism of the present invention;

[0028] Figure 6 is the structural schematic diagram of the 2D detection mechanism and the 3D detection mechanism of the present invention;

[0029] Figure 7 is the structural schematic diagram of the handling mechanism of the present invention.

[0030] Reference numerals: Peripheral Y-axis guiding track 1; Filling dispensing valve 2; Peripheral θ-axis motor 4; Peripheral platform 5; Filling Y-axis guiding track 6; Filling dispensing Z-axis motor 7; Filling Q-axis motor 8; Filling θ-axis motor 9; Filling platform 10; Cleaning X-axis guiding track 11; Cleaning machine 12; Cleaning X-axis motor 13; Peripheral dispensing X-axis guiding track 14; Peripheral dispensing Z-axis guiding track 15; Filling dispensing Z-axis guiding track 16; Peripheral dispensing valve 17; Peripheral dispensing Z-axis motor 18; Peripheral 3D camera 19; Peripheral 3D height gauge 20; Filling 3D camera 21; Filling 3D height gauge 22; Peripheral pre-curing lamp 23; Filling pre-curing lamp 24; 2D detection X-axis guiding track 25; 2D detector 26; 2D detection X-axis motor 27; 3D detection X-axis guiding track 28; 3D detector 29; 3D detection X-axis motor 30; Handling X-axis guiding track 31; Handling X-axis motor 32; Lifting device 33; Vacuum chuck 34; Filling dispensing X-axis guiding track 35; 2D detection Z-axis guiding track 36; 2D detection Z-axis motor 37; 3D detection Z-axis guiding track 38; 3D detection Z-axis motor 39; Curing lamp 40. Detailed implementation manners

[0031] The following specific examples illustrate the implementation manners of the present invention. Those skilled in the art can easily understand other advantages and effects of the present invention from the content disclosed in this specification. The present invention can also be implemented or applied through other different specific implementation manners. Various details in this specification can also be modified or changed based on different viewpoints and applications without departing from the spirit of the present invention. It should be noted that, without conflict, the following embodiments and the features in the embodiments can be combined with each other.

[0032] It should be noted that the diagrams provided in the following embodiments only schematically illustrate the basic concept of the present invention. Therefore, only the layers related to the present invention are shown in the diagrams, rather than being drawn according to the number, shape, and size of the layers in actual implementation. The type, quantity, and ratio of each layer in actual implementation can be arbitrarily changed, and the layer layout type may also be more complex.

[0033] In the following description, a large number of details are explored to provide a more thorough explanation of the embodiments of the present invention. However, it is obvious to those skilled in the art that the embodiments of the present invention can be implemented without these specific details.

[0034] Please refer to Figure 1, a dual-platform five-axis dispensing device, including a peripheral dispensing movement adjustment mechanism and a filling dispensing movement adjustment mechanism arranged in parallel along the X-axis direction. Above the peripheral dispensing movement adjustment mechanism, a USC cleaning mechanism, a peripheral dispensing mechanism, a curing lamp 40, a 2D detection mechanism, a 3D detection mechanism, and a handling mechanism are arranged in parallel along the Y-axis direction in sequence. Above the filling dispensing movement adjustment mechanism, a filling dispensing mechanism is provided. The filling dispensing mechanism and the peripheral dispensing mechanism are arranged in parallel along the X-axis direction. A peripheral vision alignment mechanism and a filling vision alignment mechanism are respectively installed on the peripheral dispensing mechanism and the filling dispensing mechanism;

[0035] The peripheral vision alignment mechanism includes a peripheral 3D camera 19 for detecting and positioning the dispensing coordinate position, and a peripheral 3D height gauge 20 for detecting and measuring the height of the product that needs to be dispensed;

[0036] The filling vision alignment mechanism includes a filling 3D camera 21 for detecting and positioning the dispensing coordinate position, and a filling 3D height gauge 22 for detecting and measuring the height of the product that needs to be dispensed;

[0037] The peripheral dispensing movement adjustment mechanism includes a peripheral Y-axis guide rail 1 and a peripheral adjustable platform. The peripheral adjustable platform is movably installed on the peripheral Y-axis guide rail 1. A peripheral Y-axis motor for driving the peripheral adjustable platform to move linearly along the peripheral Y-axis guide rail 1 is installed on the peripheral Y-axis guide rail 1. The peripheral adjustable platform includes a peripheral Q-axis motor movably connected to the peripheral Y-axis guide rail 1. The peripheral Q-axis motor is connected to a peripheral θ-axis motor 4. The peripheral θ-axis motor 4 is connected to a peripheral platform 5. The peripheral Q-axis motor is used to drive the peripheral platform 5 to rotate at a required angle with the direction parallel to the peripheral Y-axis guide rail 1 as the axis. The peripheral θ-axis motor 4 is used to drive the peripheral platform 5 to drive the product to rotate circumferentially on the horizontal plane at a required angle;

[0038] The filling dispensing movement adjustment mechanism has the same structure and function as the peripheral dispensing movement adjustment mechanism, including a filling Y-axis guide rail 6, a filling platform 10, a filling Y-axis motor, a filling Q-axis motor 8, and a filling θ-axis motor 9, which respectively correspond to the structure and function of the peripheral Y-axis guide rail 1, the peripheral platform 5, the peripheral Y-axis motor, the peripheral Q-axis motor, and the peripheral θ-axis motor 4 of the peripheral dispensing movement adjustment mechanism. The filling Y-axis guide rail 6 and the peripheral Y-axis guide rail 1 are arranged in parallel along the X-axis direction.

[0039] The USC cleaning mechanism includes a cleaning X-axis guiding rail 11 installed above the surrounding Y-axis guiding rails 1 and the filling Y-axis guiding rail 6. A cleaning machine 12 is movably installed on the cleaning X-axis guiding rail 11, and a cleaning X-axis motor 13 for driving the cleaning machine 12 to move linearly along the cleaning X-axis guiding rail 11 is installed on the cleaning X-axis guiding rail 11.

[0040] The surrounding dispensing mechanism includes a surrounding dispensing X-axis guiding rail 14 arranged above the surrounding Y-axis guiding rail 1. A surrounding dispensing Z-axis guiding rail 15 is movably installed on the surrounding dispensing X-axis guiding rail 14. A surrounding dispensing X-axis motor for driving the surrounding dispensing Z-axis guiding rail 15 to move linearly along the surrounding dispensing X-axis guiding rail 14 is installed on the surrounding dispensing X-axis guiding rail 14. A surrounding dispensing valve 17 and the surrounding vision alignment mechanism are movably installed on the surrounding dispensing Z-axis guiding rail 15. A surrounding dispensing Z-axis motor 18 for driving the surrounding dispensing valve 17 and the surrounding vision alignment mechanism to move linearly along the surrounding dispensing Z-axis guiding rail 15 is installed on the surrounding dispensing Z-axis guiding rail 15.

[0041] A surrounding pre-curing lamp 23 is installed on the side of the surrounding dispensing valve 17.

[0042] The filling dispensing mechanism has the same structure and function as the surrounding dispensing mechanism, including a filling dispensing X-axis motor, a filling dispensing Z-axis guiding rail 16, a filling dispensing Z-axis motor 7, a filling dispensing valve 2, a filling pre-curing lamp 24, and a filling dispensing X-axis guiding rail 35 arranged above the filling Y-axis guiding rail 6, which corresponds one by one to the structure and function of the surrounding dispensing X-axis motor, the surrounding dispensing Z-axis guiding rail 15, the surrounding dispensing Z-axis motor 18, the surrounding dispensing valve 17, the surrounding pre-curing lamp 23, and the surrounding dispensing X-axis guiding rail 14.

[0043] A filling pre-curing lamp 24 is installed on the side of the filling dispensing valve 2.

[0044] The 2D detection mechanism includes a 2D detection X-axis guiding rail 25 arranged above the surrounding Y-axis guiding rail 1 and the filling Y-axis guiding rail 6. A 2D detection Z-axis guiding rail 36 is movably installed on the 2D detection X-axis guiding rail 25. A 2D detector 26 is movably installed on the 2D detection Z-axis guiding rail 36. A 2D detection X-axis motor 27 for driving the 2D detection Z-axis guiding rail 36 to move linearly along the 2D detection X-axis guiding rail 25 is installed on the 2D detection X-axis guiding rail 25. A 2D detection Z-axis motor 37 for driving the 2D detector 26 to move linearly along the 2D detection Z-axis guiding rail 36 is installed on the 2D detection Z-axis guiding rail 36.

[0045] The 3D detection mechanism includes a 3D detection X-axis guiding rail 28 disposed above the surrounding Y-axis guiding rails 1 and the filling Y-axis guiding rails 6. The 3D detection X-axis guiding rail 28 is movably installed with a 3D detection Z-axis guiding rail 38. The 3D detection Z-axis guiding rail 38 is movably installed with a 3D detector 29. A 3D detection X-axis motor 30 for driving the 3D detection Z-axis guiding rail 38 to move linearly along the 3D detection X-axis guiding rail 28 is installed on the 3D detection X-axis guiding rail 28. A 3D detection Z-axis motor 39 for driving the 3D detector 29 to move linearly along the 3D detection Z-axis guiding rail 38 is installed on the 3D detection Z-axis guiding rail 38.

[0046] The handling mechanism includes a handling X-axis guiding rail 31 disposed above the surrounding Y-axis guiding rails 1 and the filling Y-axis guiding rails 6. A handling arm for transferring products is movably installed on the handling X-axis guiding rail 31. A handling X-axis motor 32 for driving the handling arm to move linearly along the handling X-axis guiding rail 31 is installed on the handling X-axis guiding rail 31;

[0047] The handling arm includes a lifting device 33 movably connected to the handling X-axis guiding rail 31. A vacuum chuck 34 for transferring products is fixedly connected to the telescopic end of the lifting device 33.

[0048] In practical applications, the product is placed on the surrounding platform 5 of the surrounding dispensing movement adjustment mechanism. The surrounding Y motor drives the surrounding platform 5 to move along the surrounding Y-axis guiding rail 1, thereby realizing the movement of the product in the surrounding Y-axis direction; the surrounding Y motor is a linear motor, ensuring that the surrounding platform 5 drives the product to accurately move to the corresponding position; when the surrounding platform 5 drives the product to move below the USC cleaning mechanism, the cleaning X-axis motor 13 drives the cleaning machine 12 to move along the cleaning X-axis guiding rail 11 to clean the surface of the product before dispensing, ensuring that the surface of the product is clean and free of floating dust before dispensing, and preparing for subsequent accurate dispensing; the cleaning machine 12 is a plasma cleaning machine 12;

[0049] After the product cleaning is completed, the surrounding platform 5 drives the product to move below the surrounding dispensing mechanism. The surrounding 3D camera 19 is used to photograph and locate the dispensing coordinate position, and the surrounding 3D height gauge 20 is used to measure and determine the height at which the product needs to be dispensed. At the same time, the surrounding dispensing X-axis motor drives the surrounding vision alignment mechanism and the surrounding dispensing mechanism to move along the surrounding dispensing X-axis guiding rail 14, and at the same time, the surrounding dispensing Z-axis motor 18 drives the surrounding vision alignment mechanism and the surrounding dispensing mechanism to move along the surrounding dispensing Z-axis guiding rail 15, ensuring the accuracy of the dispensing position and the uniformity of dispensing; the surrounding dispensing X-axis motor and the surrounding dispensing Z-axis motor 18 are linear motors, ensuring the accuracy of dispensing and vision alignment;

[0050] During the four-sided dispensing alignment process, the four-sided Q-axis motors drive the four-sided platform 5 to drive the product to rotate by the required angle around an axis parallel to the direction of the four-sided Y-axis guiding track 1 as needed. The four-sided θ-axis motors 4 drive the four-sided platform 5 to drive the product to rotate by the required angle in the horizontal plane circumferentially, realizing 360° visual guidance for the product to be dispensed, so as to adapt to the visual positioning of products with different shapes and angles at the dispensing parts, and improve the adaptability of the equipment to products with different shapes and angles at the gluing parts; the visual guidance of the four-sided Q-axis motors and the four-sided θ-axis motors 4, combined with the visual positioning of the four-sided 3D cameras 19 and the four-sided 3D height gauges 20, effectively solves the technical problems of difficult recognition of the dispensing path and difficult completion of dispensing, and improves the dispensing accuracy; the four-sided Q-axis motors include servo motors and speed reducers; the four-sided θ-axis motors 4 are DD motors;

[0051] After the visual alignment is completed, precise four-sided dispensing is achieved through the cooperation of the four-sided dispensing X-axis motors, the four-sided dispensing Z-axis motors 18, the four-sided Q-axis motors and the four-sided θ-axis motors 4 with the four-sided dispensing valves 17. While the four-sided dispensing valves 17 are dispensing, the flowing glue on the product is pre-cured by the four-sided pre-curing lamps 23 to avoid the change of the dispensing position caused by the flow of the fluid glue, and further improve the uniformity consistency of the dispensing;

[0052] After the four-sided dispensing is completed, the four-sided platform 5 drives the product to move under the curing lamp 40, and the product is cured by the curing lamp 40;

[0053] After the product is cured, the four-sided platform 5 drives the product to move under the 2D detection mechanism. The 2D detection X-axis motor 27 drives the 2D detection Z-axis guiding track 36 to move along the 2D detection X-axis guiding track 25, and the 2D detection Z-axis motor 37 drives the 2D detector 26 to move along the 2D detection Z-axis guiding track 36. At the same time, the 2D detector 26 detects the dispensing coordinate position of the product, effectively ensuring the glue width of the dispensing;

[0054] After the dispensing coordinate position of the product is detected, the four-sided platform 5 drives the product to move under the 3D detection mechanism. The 3D detection X-axis motor 30 drives the 3D detection Z-axis guiding track 38 to move along the 3D detection X-axis guiding track 28, and the 3D detection Z-axis motor 39 drives the 3D detector 29 to move along the 3D detection Z-axis guiding track 38. At the same time, the 3D detector 29 detects the dispensing height of the product, effectively ensuring the glue height of the dispensing;

[0055] After the dispensing height of the product is detected, the surrounding platform 5 drives the product to move under the handling mechanism. The handling X-axis motor 32 drives the handling arm to move along the handling X-axis guiding rail 31. The lifting device 33 of the handling arm drives the vacuum chuck 34 to move up and down. The defective products detected are transported to the discharge platform by the vacuum chuck 34, and the qualified products detected are transported to the filling platform 10 of the filling and dispensing movement adjustment mechanism for continuous dispensing and filling; the handling X-axis motor 32 is a servo module, and the lifting device 33 is a lifting cylinder.

[0056] The filling Y-axis motor drives the filling platform 10 to move along the filling Y-axis guiding rail 6. The filling Y-axis motor is a linear motor; after the filling platform 10 drives the qualified product to move under the filling and dispensing mechanism, the dispensing coordinate position is photographed and positioned by the filling 3D camera 21, and the height at which the product needs to be dispensed is measured and determined by the filling 3D height gauge 22. At the same time, the filling and dispensing X-axis motor drives the filling vision alignment mechanism and the filling and dispensing mechanism to move along the filling and dispensing X-axis guiding rail 35, and at the same time, the filling and dispensing Z-axis motor 7 drives the filling vision alignment mechanism and the filling and dispensing mechanism to move along the filling and dispensing Z-axis guiding rail 16 to ensure the accuracy of the dispensing position and the uniformity of dispensing; the filling and dispensing X-axis motor and the filling and dispensing Z-axis motor 7 are linear motors to ensure the accuracy of dispensing and vision alignment.

[0057] During the filling and dispensing alignment process, the filling Q-axis motor 8 drives the filling platform 10 to drive the qualified product to rotate at the required angle around the axis parallel to the filling Y-axis guiding rail 6 as needed, and the filling θ-axis motor 9 drives the filling platform 10 to drive the qualified product to rotate circumferentially in the horizontal plane at the required angle, realizing 360° visual guidance for the qualified products to be dispensed, so as to adapt to the visual positioning of products with different shapes and angles at the dispensing parts and improve the adaptability of the equipment to products with different shapes and angles at the gluing parts; the visual guidance of the filling Q-axis motor 8 and the filling θ-axis motor 9 cooperates with the visual positioning of the filling 3D camera 21 and the filling 3D height gauge 22, effectively solving the technical problems of difficult recognition of the gluing path and difficult dispensing, and improving the dispensing accuracy; the filling Q-axis motor 8 includes a servo motor and a reducer; the filling θ-axis motor 9 is a DD motor.

[0058] After the vision alignment is completed, precise filling and dispensing are achieved through the cooperation of the filling and dispensing X-axis motor, the filling and dispensing Z-axis motor 7, the filling Q-axis motor 8 and the filling θ-axis motor 9 with the filling and dispensing valve 2. While the filling and dispensing valve 2 is dispensing, the flowing glue on the product is pre-cured by the filling pre-curing lamp 24 to avoid the change of the dispensing position caused by the flow of the fluid glue, and further improve the uniformity of dispensing.

[0059] After the filling and dispensing is completed, the product on the filling platform 10 is unloaded; thus, the entire dispensing work of the product is completed.

[0060] The product cleaning, product dispensing, and product inspection of the present invention are respectively different workstations. The working hours of the three are the same, and the workstations do not interfere with each other. While one product is being dispensed, another product can be inspected, effectively improving the dispensing work efficiency of the equipment.

[0061] By separately arranging the mechanisms for performing different steps of the dispensing work, the present invention effectively improves the dispensing work efficiency of the equipment. Through the cooperation of visual guidance and visual positioning, the adaptability of the equipment to products with different shapes and angles of the dispensing parts is improved, effectively solving the technical problems of difficult recognition of the dispensing path and difficult completion of dispensing, improving the dispensing accuracy, and ensuring the accuracy of the dispensing position and the uniformity of dispensing.

[0062] In the above embodiments, although the present invention has been described in conjunction with specific embodiments of the present invention, many substitutions, modifications, and variations of these embodiments will be apparent to those of ordinary skill in the art based on the previous description. The embodiments of the present invention are intended to cover all such substitutions, modifications, and variations that fall within the broad scope of the appended claims.

[0063] The above embodiments are only illustrative of the principles and effects of the present invention and are not intended to limit the present invention. Any person familiar with this technology can modify or change the above embodiments without departing from the spirit and scope of the present invention. Therefore, all equivalent modifications or changes made by those with ordinary knowledge in the technical field without departing from the spirit and technical ideas disclosed by the present invention should still be covered by the claims of the present invention.

Claims

1. Double-platform five-axis dispensing equipment, characterized by: It comprises a surrounding glue dispensing movement adjustment mechanism and a filling glue dispensing movement adjustment mechanism which are arranged in parallel and parallel along the X-axis direction; a USC cleaning mechanism, a surrounding glue dispensing mechanism, a curing lamp (40), a 2D detection mechanism, a 3D detection mechanism and a conveying mechanism are arranged in parallel and parallel in sequence along the Y-axis direction above the surrounding glue dispensing movement adjustment mechanism; a filling glue dispensing mechanism is arranged above the filling glue dispensing movement adjustment mechanism; the filling glue dispensing mechanism and the surrounding glue dispensing mechanism are arranged in parallel and parallel along the X-axis direction; and a surrounding visual alignment mechanism and a filling visual alignment mechanism are respectively installed on the surrounding glue dispensing mechanism and the filling glue dispensing mechanism; The surrounding visual alignment mechanism comprises a surrounding 3D camera (19) for detecting the coordinate position of the positioning dispensing glue, and a surrounding 3D altimeter (20) for detecting and measuring the height of the positioning product requiring dispensing glue; The filling visual alignment mechanism comprises a filling 3D camera (21) for detecting the coordinate position of the positioning glue dispensing, and a filling 3D height gauge (22) for detecting and measuring the height of the positioning product requiring glue dispensing; The four-sided dispensing movement adjustment mechanism comprises a four-sided Y-axis guide rail (1) and a four-sided adjustable platform, the four-sided adjustable platform is movably mounted on the four-sided Y-axis guide rail (1), the four-sided Y-axis guide rail (1) is equipped with a four-sided Y-axis motor for driving the four-sided adjustable platform to move linearly along the four-sided Y-axis guide rail (1), the four-sided adjustable platform comprises a four-sided Q-axis motor movably connected to the four-sided Y-axis guide rail (1), the four-sided Q-axis motor is connected to a four-sided θ-axis motor (4), the four-sided θ-axis motor (4) is connected to a four-sided platform (5), the four-sided Q-axis motor is used to drive the four-sided platform (5) to rotate at a required angle with the axis parallel to the four-sided Y-axis guide rail (1), and the four-sided θ-axis motor (4) is used to drive the four-sided platform (5) to drive the product to rotate at a required angle in the horizontal plane; The filling dispensing movement adjustment mechanism has the same structure and function as the surrounding dispensing movement adjustment mechanism, including a filling Y-axis guide rail (6), a filling platform (10), a filling Y-axis motor, a filling Q-axis motor (8) and a filling θ-axis motor (9), which respectively correspond to the structures and functions of the surrounding Y-axis guide rail (1), the surrounding platform (5), the surrounding Y-axis motor, the surrounding Q-axis motor and the surrounding θ-axis motor (4) of the surrounding dispensing movement adjustment mechanism. The filling Y-axis guide rail (6) is arranged parallel to the surrounding Y-axis guide rail (1) along the X-axis direction.

2. The dual-platform five-axis dispensing equipment according to claim 1 is characterized in that: The USC cleaning mechanism comprises a cleaning X-axis guide rail (11) mounted above the surrounding Y-axis guide rail (1) and the filling Y-axis guide rail (6); a cleaning machine (12) is movably mounted on the cleaning X-axis guide rail (11); and a cleaning X-axis motor (13) is mounted on the cleaning X-axis guide rail (11) for driving the cleaning machine (12) to move linearly along the cleaning X-axis guide rail (11).

3. The dual-platform five-axis dispensing equipment according to claim 1, characterized in that: The all-around glue dispensing mechanism comprises an all-around glue dispensing X-axis guide rail (14) arranged above the all-around Y-axis guide rail (1); the all-around glue dispensing X-axis guide rail (14) is movably mounted with an all-around glue dispensing Z-axis guide rail (15); the all-around glue dispensing X-axis guide rail (14) is mounted with an all-around glue dispensing X-axis motor for driving the all-around glue dispensing Z-axis guide rail (15) to move linearly along the all-around glue dispensing X-axis guide rail (14); the all-around glue dispensing Z-axis guide rail (15) is movably mounted with an all-around glue dispensing valve (17) and the all-around visual alignment mechanism; the all-around glue dispensing Z-axis guide rail (15) is mounted with an all-around glue dispensing Z-axis motor (18) for driving the all-around glue dispensing valve (17) and the all-around visual alignment mechanism to move linearly along the all-around glue dispensing Z-axis guide rail (15).

4. The dual-platform five-axis dispensing equipment according to claim 3 is characterized in that: A surrounding pre-curing lamp (23) is installed on the side of the surrounding glue dispensing valve (17).

5. The dual-platform five-axis dispensing equipment according to claim 3 is characterized in that: The filling and dispensing mechanism has the same structure and function as the surrounding dispensing mechanism, including a filling and dispensing X-axis motor, a filling and dispensing Z-axis guide track (16), a filling and dispensing Z-axis motor (7), a filling and dispensing valve (2), a filling pre-curing lamp (24), and a filling and dispensing X-axis guide track (35) arranged above the filling Y-axis guide track (6), which correspond one to one with the structure and function of the surrounding dispensing X-axis motor, the surrounding dispensing Z-axis guide track (15), the surrounding dispensing Z-axis motor (18), the surrounding dispensing valve (17), the surrounding pre-curing lamp (23), and the surrounding dispensing X-axis guide track (14).

6. The dual-platform five-axis dispensing equipment according to claim 5, characterized in that: A filling pre-curing lamp (24) is installed on the side of the filling dispensing valve (2).

7. The dual-platform five-axis dispensing equipment according to claim 1, characterized in that: The 2D detection mechanism comprises a 2D detection X-axis guide rail (25) arranged above the surrounding Y-axis guide rail (1) and the filling Y-axis guide rail (6); the 2D detection X-axis guide rail (25) is movably mounted with a 2D detection Z-axis guide rail (36); the 2D detection Z-axis guide rail (36) is movably mounted with a 2D detector (26); the 2D detection X-axis guide rail (25) is mounted with a 2D detection X-axis motor (27) for driving the 2D detection Z-axis guide rail (36) to move linearly along the 2D detection X-axis guide rail (25); the 2D detection Z-axis guide rail (36) is mounted with a 2D detection Z-axis motor (37) for driving the 2D detector (26) to move linearly along the 2D detection Z-axis guide rail (36).

8. The dual-platform five-axis dispensing equipment according to claim 1, characterized in that: The 3D detection mechanism comprises a 3D detection X-axis guide rail (28) arranged above the surrounding Y-axis guide rail (1) and the filling Y-axis guide rail (6); the 3D detection X-axis guide rail (28) is movably mounted with a 3D detection Z-axis guide rail (38); the 3D detection Z-axis guide rail (38) is movably mounted with a 3D detector (29); the 3D detection X-axis guide rail (28) is mounted with a 3D detection X-axis motor (30) for driving the 3D detection Z-axis guide rail (38) to move linearly along the 3D detection X-axis guide rail (28); the 3D detection Z-axis guide rail (38) is mounted with a 3D detection Z-axis motor (39) for driving the 3D detector (29) to move linearly along the 3D detection Z-axis guide rail (38).

9. The dual-platform five-axis dispensing equipment according to claim 1, characterized in that: The transport mechanism comprises a transport X-axis guide rail (31) arranged above the surrounding Y-axis guide rail (1) and the filling Y-axis guide rail (6); a transport arm for transferring products is movably mounted on the transport X-axis guide rail (31); and a transport X-axis motor (32) for driving the transport arm to move linearly along the transport X-axis guide rail (31) is mounted on the transport X-axis guide rail (31).

10. The dual-platform five-axis dispensing equipment according to claim 9, characterized in that: The transport arm comprises a lifting device (33) movably connected to the transport X-axis guide rail (31), and a telescopic end of the lifting device (33) is fixedly connected to a vacuum suction cup (34) for transferring products.

Images