Device for dispensing continuous production

Abstract

The embodiment of the invention discloses a device for dispensing continuous production. A specific implementation mode of the device comprises a base, a dispensing actuator, a carrying actuator and a control system, the base is provided with at least two stations, and each station is provided with a sliding assembly. The adhesive dispensing actuator comprises a moving assembly and an adhesive dispensing head, the adhesive dispensing head is arranged on the moving assembly, the moving assembly is constructed to be capable of driving the adhesive dispensing head to move, and the adhesive dispensing actuator is constructed to be capable of performing adhesive dispensing operation on a workpiece through the adhesive dispensing head; the carrying actuator is configured to be capable of taking and placing the workpieces. The dispensing actuator, the conveying assembly, the driving mechanism and the carrying actuator are all in communication connection with the control system. According to the implementation mode, the multiple stations are arranged, so that the dispensing actuator can work uninterruptedly, the effect that the operation of the dispensing actuator is not affected when the carrying actuator executes the taking and placing operation can be achieved through the sliding assembly, and therefore continuous proceeding of the dispensing operation is achieved, and the dispensing production efficiency is improved.

Description

Technical Field

[0001] Embodiments of this disclosure relate to the field of intelligent manufacturing equipment technology, and more specifically to an apparatus for continuous dispensing production. Background Technology

[0002] Dispensing, as a precise fluid control technology, is widely used in modern manufacturing industries such as electronic product packaging, semiconductor packaging, and automotive electronics assembly to achieve functions such as bonding, sealing, potting, and coating. Currently, commonly used dispensing equipment is typically a single-station dispensing device. During dispensing operations, the operator is in a waiting state, while the dispensing equipment is idle when the operator is performing loading and unloading operations.

[0003] However, in practice, it has been found that when using the above-mentioned dispensing device, there is often a technical problem of low dispensing production efficiency.

[0004] The information disclosed in this background section is only intended to enhance the understanding of the background of the inventive concept, and therefore may contain information that does not constitute prior art known to those skilled in the art. Summary of the Invention

[0005] The summary portion of this disclosure is intended to provide a brief overview of the concepts, which will be described in detail in the detailed description portion. This summary portion is not intended to identify key or essential features of the claimed technical solutions, nor is it intended to limit the scope of the claimed technical solutions.

[0006] Some embodiments of this disclosure provide an apparatus for continuous dispensing production to address one or more of the technical problems mentioned in the background section above.

[0007] Some embodiments of this disclosure provide an apparatus for continuous dispensing production. The apparatus includes: a base, a dispensing actuator, a conveying actuator, and a control system. The base has at least two workstations arranged in parallel. Each workstation has a sliding assembly, which includes a fixed guide rail, a movable slider, and a drive mechanism. The two ends of the fixed guide rail are respectively designated as a working position and a replacement position. The working position is located within a preset working range of the dispensing actuator, and the replacement position is located outside the preset working range of the dispensing actuator. The movable slider has a groove for carrying a workpiece, and the drive mechanism is configured to drive the movable slider at the working position of the fixed guide rail. The dispensing actuator is located above the base and includes a moving component and a dispensing head. The dispensing head is disposed on the moving component, which is configured to move the dispensing head between various working positions. The dispensing actuator is configured to perform a dispensing operation on a workpiece placed on the moving slider at a working position via the dispensing head. The transport actuator is located on one side of the base and is configured to perform a workpiece pick-up and drop operation on the moving slider at the change position. The dispensing actuator, the transport component, the drive mechanism, and the transport actuator are all communicatively connected to the control system.

[0008] Optionally, the above-mentioned apparatus for continuous dispensing production also includes a stage and a conveying assembly; The aforementioned stage is used to carry the workpiece before dispensing; the pick-and-place operation of the aforementioned transport actuator includes transporting the dispensed workpiece on the aforementioned movable slider located at the aforementioned change position to the transport assembly, and transporting the workpiece on the aforementioned stage to the aforementioned movable slider located at the aforementioned change position.

[0009] Optionally, the sliding assembly further includes a detection device configured to detect the position of the moving slider.

[0010] Optionally, the aforementioned handling actuator includes a vision camera, a robotic arm, and a gripper; the gripper has at least two gripping positions, the gripper is located at the end of the robotic arm, and the gripper is configured to pick up and place the workpiece; the vision camera is disposed above the gripper and is configured to identify the state of the workpiece.

[0011] Optionally, the aforementioned conveying actuator further includes a lighting device located between the at least two gripping positions.

[0012] Optionally, the base is provided with a leveling component and a level detection component; the leveling component is located at the four bottom corners of the base, and the level detection component is fixedly installed on the surface of the base.

[0013] Optionally, the bottom of the platform is provided with a set of movable wheels, and the top surface of the platform is provided with at least one partition, which is used to support the workpiece before dispensing.

[0014] Optionally, the above-mentioned clamp is a suction cup clamp, which is provided with at least two sets of suction cups.

[0015] Optionally, the fixed guide rail is a linear guide rail, the fixed guide rail is provided with a ball bearing array, and the surface of the fixed guide rail is provided with an anti-scratch coating; the movable slider is provided with a groove adapted to the fixed guide rail; the side wall of the movable slider is provided with a positioning pin, and the fixed guide rail is provided with positioning holes at both the working position and the replacement position, and the positioning pin is adapted to the positioning holes; both ends of the fixed guide rail are provided with buffer pads; the drive mechanism includes a drive motor, a transmission assembly, and a brake assembly; the drive motor is fixedly installed at the bottom of the fixed guide rail, and the output shaft of the drive motor is connected to the transmission assembly; the transmission assembly includes a synchronous belt and a synchronous pulley, the synchronous belt is connected to the movable slider, and the synchronous pulley is installed on the output shaft of the drive motor; the brake assembly is configured to automatically lock the movable slider when power is off.

[0016] The various embodiments of this disclosure have the following beneficial effects: the apparatus for continuous dispensing production according to some embodiments of this disclosure can improve the efficiency of dispensing production. Specifically, the reason for the low efficiency of dispensing production is that commonly used dispensing devices are usually single-station dispensing devices. When the dispensing device is performing dispensing operations, the operator is in a waiting state, and when the operator is performing loading and unloading operations, the dispensing device is in an idle state, resulting in low dispensing production efficiency. Based on this, some embodiments of this disclosure provide an apparatus for continuous dispensing production, which includes: a base, a dispensing actuator, a conveying actuator, and a control system; the base has at least two stations, which are arranged in parallel, and each station is provided with a sliding component, which includes a fixed guide rail, a movable slider, and a drive mechanism. The two ends of the fixed guide rail are respectively set as a working position and a replacement position, wherein the working position is located within the preset working range of the dispensing actuator, and the replacement position is located outside the preset working range of the dispensing actuator; the movable slider is provided with a groove for carrying the workpiece, and the drive mechanism is configured to drive the movable slider on the fixed guide rail. The dispensing actuator moves between the working position and the changing position. Located above the base, it includes a moving component and a dispensing head mounted on the moving component. The moving component is configured to move the dispensing head between various working positions. The dispensing actuator is configured to perform dispensing operations on a workpiece placed on the moving slider at a working position via the dispensing head. A transport actuator is located on one side of the base and is configured to perform workpiece pick-up and place operations on the moving slider at the changing position. The dispensing actuator, the transport component, the drive mechanism, and the transport actuator are all communicatively connected to the control system. By setting multiple workstations, the dispensing actuator can operate continuously. The sliding component ensures that the transport actuator's pick-up and place operations do not affect the dispensing actuator's operation, thus achieving continuous dispensing operations and greatly improving dispensing production efficiency. Attached Figure Description

[0017] The above and other features, advantages, and aspects of the embodiments of this disclosure will become more apparent from the accompanying drawings and the following detailed description. Throughout the drawings, the same or similar reference numerals denote the same or similar elements. It should be understood that the drawings are schematic, and elements are not necessarily drawn to scale.

[0018] Figure 1 This is a schematic diagram of the structure of an apparatus for continuous dispensing production according to some embodiments of the present disclosure. Detailed Implementation

[0019] Embodiments of this disclosure will now be described in more detail with reference to the accompanying drawings. While some embodiments of this disclosure are shown in the drawings, it should be understood that this disclosure can be implemented in various forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided to provide a more thorough and complete understanding of this disclosure. It should be understood that the accompanying drawings and embodiments of this disclosure are for illustrative purposes only and are not intended to limit the scope of protection of this disclosure.

[0020] It should also be noted that, for ease of description, only the parts relevant to the invention are shown in the accompanying drawings. Unless otherwise specified, the embodiments and features described in this disclosure can be combined with each other.

[0021] It should be noted that the concepts of "first" and "second" mentioned in this disclosure are used only to distinguish different devices, modules or units, and are not used to limit the order of functions performed by these devices, modules or units or their interdependencies.

[0022] It should be noted that the terms "a" and "a plurality of" used in this disclosure are illustrative rather than restrictive, and those skilled in the art should understand that, unless otherwise expressly indicated in the context, they should be understood as "one or more".

[0023] The names of messages or information exchanged between multiple devices in the embodiments of this disclosure are for illustrative purposes only and are not intended to limit the scope of such messages or information.

[0024] This disclosure will now be described in detail with reference to the accompanying drawings and embodiments.

[0025] Figure 1 This is a schematic diagram of a device for continuous dispensing production according to some embodiments of the present disclosure. Figure 1 It includes a base 1, a moving component 2, a dispensing head 3, a moving slider 4, and a fixed guide rail 5.

[0026] In some embodiments, the apparatus for continuous dispensing production described above may include: a base 1, a dispensing actuator, a conveying actuator, and a control system. The base 1 may be a platform for supporting the dispensing actuator. The dispensing actuator may be a device for performing dispensing operations. For example, the dispensing actuator may be an automatic dispensing machine capable of applying liquid material (such as glue) to a designated location on a workpiece, where the designated location may be the area on the workpiece surface where glue is required. The dispensing operation can be characterized by the dispensing actuator performing dispensing operations on the workpiece according to a predetermined dispensing path. The predetermined dispensing path can be planned according to the shape of the workpiece and the location where glue is required, and is not specifically limited herein. The conveying actuator may be a device for performing pick-and-place operations on the workpiece. For example, the conveying actuator may be a six-degree-of-freedom robotic arm, capable of picking and placing workpieces by using a fixture adapted to the workpiece. The pick-and-place operation can be characterized by the conveying actuator performing pick-and-place operations on the workpiece according to a predetermined conveying path. The predetermined conveying path can be planned according to the overall layout of the apparatus, and is not specifically limited herein. The aforementioned control system can be a programmable logic controller (PLC) for the stable operation of various components, used to automate the entire continuous dispensing production process. The control system can be located in a control cabinet, which can be positioned at the production site for easy monitoring and operation by personnel; no specific limitations are made here. The base 1 can have at least two workstations, each capable of holding one workpiece. These at least two workstations can be arranged in parallel to facilitate the movement of the dispensing actuator between them. The distance between each workstation can be precisely calculated to ensure sufficient operating space for the dispensing actuator while avoiding wasted space. The dispensing actuator can be located above the base and can move between the workstations to perform dispensing operations on the workpieces at each workstation. Each workstation can be equipped with a sliding component, which can be a mechanism for moving the workpiece between a working position and a changing position. The working position can be located near the center of the base to facilitate the dispensing actuator's dispensing operation on the workpiece. Specifically, the working position can be within the preset working range of the dispensing actuator, allowing the dispensing head's movement range to cover the workpiece located at the working position. The preset working range of the above-mentioned dispensing actuator can characterize the spatial area that the dispensing actuator can cover and perform effective dispensing operations, which can ensure the accuracy and efficiency of the dispensing operation.The aforementioned replacement position can be located at the edge of the aforementioned base, which facilitates the aforementioned transport actuator to perform pick-up and place-up operations on the workpiece. Specifically, the aforementioned transport actuator can be located on the side of the aforementioned base close to the aforementioned replacement position, which further facilitates the aforementioned transport actuator to perform pick-up and place-up operations. Moreover, the aforementioned replacement position can be located outside the preset working range of the aforementioned dispensing actuator. Being within the preset working range of the aforementioned transport actuator ensures that the aforementioned transport actuator can perform pick-up and place-up operations without affecting the aforementioned dispensing actuator to continue performing dispensing operations, thereby ensuring the continuity of production.

[0027] In some embodiments, the sliding assembly may include a fixed guide rail 5, a movable slider 4, and a drive mechanism. The fixed guide rail 5 may be a high-precision linear guide rail, providing the movable slider 4 with a high-precision, low-friction linear motion trajectory, ensuring that the movable slider 4 moves precisely along the same path each time. The two ends of the fixed guide rail 5 may be designated as a working position and a replacement position, respectively. The movable slider 4 may be a support platform capable of moving along the fixed guide rail 5, used to support the workpiece and move it between the working position and the replacement position. Specifically, the movable slider 4 may have a groove for supporting the workpiece, the shape of which may be adapted to the shape of the workpiece, supporting and fixing the workpiece to prevent displacement during dispensing and affecting the dispensing quality. The drive mechanism may be a device for providing power to the movable slider 4 to move along the fixed guide rail 5, and the drive mechanism is configured to drive the movable slider 4 to move between the working position and the replacement position of the fixed guide rail 5. For example, the drive mechanism may be a cylinder, with the piston rod of the cylinder connected to the movable slider 4, and the movement of the movable slider 4 is driven by the extension and retraction of the piston rod. Specifically, the drive mechanism can first move the movable slider 4 to the replacement position of the fixed guide rail 5, and then the transfer actuator will transfer the workpiece before dispensing to the movable slider 4. The drive mechanism will then move the movable slider 4 to the working position, and then the dispensing actuator will perform the dispensing operation on the workpiece on the movable slider 4. Finally, the drive mechanism will move the movable slider 4 carrying the dispensed workpiece to the replacement position, and the transfer actuator will perform the pick-and-place operation to replace the undispensed workpiece. At the same time, the dispensing actuator will move to the next station to continue the dispensing operation, thereby realizing continuous dispensing and improving the efficiency of dispensing production.

[0028] In some embodiments, the dispensing actuator may include a moving component 2 and a dispensing head 3. The moving component 2 can be a part that drives the dispensing head 3 to move between various workstations. The dispensing head 3 can be the end effector of the dispensing actuator, used to apply adhesive to the workpiece. The dispensing head 3 can be disposed on the moving component 2, which is configured to drive the dispensing head 3 to move between various working positions. For example, the moving component 2 can be a gantry, and the dispensing head 3 can be disposed on the crossbeam of the gantry. The dispensing head 3 can move horizontally and vertically along the crossbeam. The crossbeam can be located above the working position, so that when the dispensing head 3 moves horizontally, it can quickly reach the working position of the next workstation to perform the dispensing operation. At the same time, the gantry can also move horizontally, enabling the dispensing head 3 to move in three-dimensional space, which can meet the dispensing requirements of different workpieces. The dispensing actuator is configured to perform a dispensing operation on a workpiece placed on the moving slider 4 at the working position through the dispensing head 3. The aforementioned transfer actuator is configured to perform workpiece pick-up and drop operations on the movable slider 4 located at the aforementioned change position, ensuring the continuity and efficiency of the dispensing operation. The aforementioned dispensing actuator, the aforementioned conveying assembly, the aforementioned drive mechanism, and the aforementioned transfer actuator are all communicatively connected to the aforementioned control system, enabling automated and intelligent control of the entire dispensing process through the aforementioned control system.

[0029] Optionally, the aforementioned apparatus for continuous dispensing production may further include a stage and a conveying assembly. The stage can be a platform for holding workpieces before dispensing; for example, it can be a horizontally placed table for placing workpieces before dispensing. The conveying assembly can be a conveyor belt for conveying workpieces after dispensing. The pick-and-place operation of the aforementioned handling actuator may include transferring the dispensed workpiece from the movable slider 4 at the aforementioned change position to the conveying assembly, and transferring the workpiece from the stage to the movable slider 4 at the aforementioned change position. Thus, by configuring the stage and conveying assembly, automatic conveying and storage of workpieces before and after dispensing is achieved, further improving the automation level of the production process and increasing production efficiency.

[0030] Optionally, the aforementioned sliding assembly may further include a detection device configured to detect the position of the movable slider 4. For example, the detection device can be a proximity switch, with one proximity switch placed at the changeover position and another at the working position. The dispensing actuator is triggered to perform the dispensing operation or the transport actuator to perform the pick-and-place operation only when the movable slider 4 moves to the corresponding position. This ensures that the movable slider 4 accurately reaches the designated position, avoiding dispensing errors or pick-and-place mistakes caused by positional deviations, and improving the stability and reliability of the entire device. Simultaneously, the detection signal from the proximity switch can be fed back to the control system, enabling the control system to monitor the position information of the movable slider 4 in real time, thereby more precisely controlling the operation of the drive mechanism and achieving precise coordination of the entire dispensing production process.

[0031] Optionally, the aforementioned handling actuator may include a vision camera, a robotic arm, and a gripper. The vision camera can be positioned above the gripper and can identify the workpiece's state by taking photographs, enabling the robotic arm to accurately perform pick-and-place operations with the gripper. The workpiece's state includes, but is not limited to, its position and orientation. By identifying the workpiece's position and orientation, the angle of the pick-and-place operation can be adjusted in a timely manner, facilitating more accurate workpiece handling. The robotic arm can be a multi-jointed robotic arm with high flexibility and precision, capable of complex movements in three-dimensional space. For example, the robotic arm can be a six-degree-of-freedom robotic arm. The gripper can be an actuator capable of performing workpiece pick-and-place operations. The gripper can be located at the end of the robotic arm; for example, the gripper can be a jaw, which can grasp and release the workpiece by opening and closing. The gripper can have at least two gripping positions; for example, at least two gripping positions can be symmetrically arranged, allowing for quick replacement of a glued workpiece with an un-glueed workpiece by changing positions, improving the efficiency of the pick-and-place operation.

[0032] Optionally, the aforementioned conveying actuator may also include a lighting device, which may be located between the at least two gripping positions. This lighting device can provide sufficient light for the vision camera when the conveying actuator is performing workpiece pick-up and drop-off operations, enabling the vision camera to capture the status of the workpiece more clearly. This ensures the accuracy and efficiency of the pick-up and drop-off operations, effectively reduces operational errors caused by poor visibility, and further improves production quality.

[0033] Optionally, the base 1 may be equipped with a leveling component and a level detection component. The leveling component can be an adjustable support structure, located at the four bottom corners of the base 1. By rotating the leveling feet or adjusting bolts, the height of each corner of the base 1 can be precisely adjusted to ensure the base 1 is level, preventing slight displacement of the workpiece during dispensing due to tilt, which could affect the quality and consistency of dispensing. The level detection component can be a spirit level, fixedly installed on the surface of the base 1. It can detect the level of the base 1 in real time. When the base 1 is not level, it can issue an audible and visual alarm to prompt the operator to make adjustments, thus ensuring the base 1 is always level and providing a stable and reliable working platform for dispensing operations.

[0034] Optionally, the bottom of the aforementioned platform is equipped with a set of casters, which may include, but are not limited to, omnidirectional wheels and directional wheels. This allows the platform to be highly flexible, enabling rapid adjustment and movement according to the actual layout and needs of the production line, significantly reducing the time and labor costs required for handling the platform. The top surface of the platform is provided with at least one layer of partitions. These partitions can be made of metal or high-strength plastic, providing good load-bearing capacity and stability. These partitions are used to support workpieces before dispensing. The partitions can be stacked, with a certain gap between each pair of partitions to accommodate workpieces. Specifically, multiple workpieces can be placed on the first partition, then a second partition can be placed above it, and multiple workpieces can be placed on the second partition, and so on. Multiple partitions can be installed to improve the efficiency of workpiece transportation before dispensing. Simultaneously, the surface of the partitions can be treated with an anti-slip coating to prevent workpieces from sliding or falling during storage.

[0035] Optionally, the aforementioned clamp can be a suction cup clamp, which may be equipped with at least two sets of suction cups, each set of suction cups capable of gripping and releasing the workpiece. The aforementioned suction cup clamp possesses a certain degree of flexibility, allowing it to adapt to workpieces of different shapes and sizes to a certain extent, thus improving the versatility and applicability of the clamp.

[0036] Optionally, the fixed guide rail 5 can be a linear guide rail, and the fixed guide rail 5 can be provided with a ball array, which can be evenly arranged along the fixed guide rail 5. Specifically, the fixed guide rail 5 can be evenly provided with multiple grooves along a straight line, and each groove can embed a ball, forming a ball array, which can effectively reduce the friction between the moving slider 4 and the fixed guide rail 5, making the moving slider 4 move more smoothly and stably. The surface of the fixed guide rail 5 can be provided with an anti-scratch coating. The anti-scratch coating can be a Teflon coating, which can effectively prevent the contact surface between the fixed guide rail 5 and the moving slider 4 from being scratched, thereby extending the service life of the fixed guide rail 5 and the moving slider 4, and ensuring the accuracy of the moving slider 4 moving on the fixed guide rail 5. At the same time, the Teflon coating also has excellent corrosion resistance, which can resist the erosion of chemicals that may be generated during the dispensing process, further protecting the fixed guide rail 5 from damage. The aforementioned movable slider 4 may have a groove adapted to the aforementioned fixed guide rail 5. It can be embedded into the fixed guide rail 5 through the groove, ensuring that the movable slider 4 can only move linearly along the direction specified by the guide rail, without twisting or deviating, thus guaranteeing the straightness of the movement. The side wall of the movable slider 4 may be provided with a positioning pin. The positioning pin can be a rigid pin, and the positioning pin may contain a spring, allowing it to be embedded into the side wall of the movable slider 4 when compressed and to protrude when not under force. The positioning pin may have two inclined surfaces along the direction of movement of the movable slider 4, making it easier for the positioning pin to be embedded in the positioning hole. The fixed guide rail 5 may have positioning holes at both the working position and the changing position. The positioning pin is adapted to the positioning hole and can be embedded in the positioning hole, fixing the movable slider 4 at the changing position and the working position. This ensures that the movable slider 4 stops at the same position each time, improving the accuracy of dispensing. Both ends of the aforementioned fixed guide rail 5 can be equipped with buffer pads, which can be rubber pads. These buffer pads can cushion the movement of the slider 4 when it reaches the ends of the fixed guide rail 5, preventing the slider 4 from colliding hard with the ends of the fixed guide rail 5 due to inertia. This protects the slider 4 and the fixed guide rail 5 from damage and also reduces noise caused by collisions, improving the quality of the working environment. The aforementioned drive mechanism can include a drive motor, a transmission assembly, and a braking assembly. The drive motor can be a servo motor, characterized by high precision and high response speed, capable of precisely controlling the movement speed and position of the slider 4. Furthermore, the servo motor has good speed adjustment performance, allowing the movement speed of the slider 4 to be adjusted according to different dispensing requirements to adapt to the dispensing process of different workpieces. The drive motor provides power to the slider 4. The transmission assembly converts the rotational motion of the drive motor into the linear motion of the slider 4.The aforementioned braking assembly can be a power-off brake that automatically locks the moving slider 4 when power is lost. The aforementioned transmission assembly can include a timing belt and timing pulleys. The timing belt can be a high-strength, wear-resistant toothed belt, ensuring the stability and accuracy of power transmission and reducing energy loss during transmission. The aforementioned drive motor can be fixedly mounted on the bottom of the aforementioned fixed guide rail 5, and the output shaft of the drive motor can be connected to the aforementioned transmission assembly. The timing pulley is mounted on the output shaft of the drive motor and can tightly engage with the timing belt, achieving effective power transmission through tooth-to-tooth meshing. The timing belt can be connected to the aforementioned moving slider 4, driving the moving slider 4 to move linearly along the aforementioned fixed guide rail 5. The aforementioned braking assembly is configured to automatically lock the moving slider 4 when power is lost. The braking assembly can cooperate with the timing pulley, locking the timing pulley when power is lost, preventing the moving slider 4 from continuing to move due to inertia after losing power, thereby ensuring the safety of the equipment and the accuracy of dispensing.

[0037] In addressing the aforementioned technical problems using technical solutions, the high-precision dispensing scenarios for which this technical solution is applied often present the following challenges: workpiece movement can lead to positional shifts, resulting in lower dispensing quality when the dispensing actuator follows a fixed program. Conventional solutions typically involve manual inspection of the workpiece, adjusting the dispensing actuator's operating parameters only when low dispensing quality is detected. However, considering the inefficiency and imprecise / timely adjustments inherent in conventional solutions, and leveraging the technological advantages of our organization, we have decided to adopt the following solution: Optionally, the dispensing actuator may further include a vision sensor and a processing chip. The vision sensor may be a 3D vision sensor, capable of rapidly acquiring 3D point cloud data of the workpiece surface using structured light technology, providing a reliable foundation for subsequent processing. The 3D point cloud data may be a set of discrete coordinates of the workpiece surface, characterizing its geometry, dimensions, and other data. The vision sensor may be fixedly mounted to the side of the dispensing head 3, preventing the dispensing head 3 from blocking the light beam and ensuring that the vision sensor's field of view covers the workpiece surface. The vision sensor may be communicatively connected to the processing chip, which is configured to perform the following steps: Step 1: Denoise the aforementioned 3D point cloud data to obtain denoised data. It should be noted that the aforementioned vision sensor is subject to interference from environmental noise (such as reflections from the workpiece surface or vibrations during movement) when acquiring the 3D point cloud data, resulting in a large number of noise-free points being mixed into the data. In practice, statistical filtering can be used to denoise the 3D point cloud data, and the denoised 3D point cloud data can be used as the denoised data.

[0038] The second step is to filter the denoised data to obtain filtered data. The denoised data may exhibit fluctuations (such as point cloud protrusions caused by minute scratches on the workpiece surface). In practice, Gaussian filtering can be used to filter the denoised data, and the filtered data can then be used as the filtered data.

[0039] The third step involves feature extraction from the filtered data to obtain feature data. The filtered data contains a complete point cloud set of the workpiece surface. Directly using this filtered data would result in excessive computation and low efficiency. In practice, edge detection algorithms can be used to extract features from the filtered data, revealing key geometric features of the workpiece, such as contour curves and surface bumps. These features characterize the shape and size of the workpiece, and the filtered data after feature extraction is then used as the feature data.

[0040] The fourth step involves inputting the aforementioned feature data into a preset offset model to obtain a pose offset dataset. This preset offset model can be a neural network model that takes the feature data as input and the pose offset dataset as output. For example, the neural network model can be a convolutional neural network (CNN). The CNN can be trained with a large amount of sample data to predict the pose offset of the workpiece during the dispensing process, and the neural network model trained with the sample data can be used as the preset offset model. The aforementioned sample data can be a training sample set formed by pairing the standard feature parameters designed for the workpiece with the feature data of the workpiece obtained from actual measurements. The aforementioned standard feature parameters can represent feature data without offset. The aforementioned pose offset dataset can include translational offset and rotational offset. The translational offset can represent the horizontal positional offset of the workpiece, and the rotational offset can represent the angular rotational offset of the workpiece in space. In practice, the aforementioned feature data can be input into the preset offset model to obtain the pose offset dataset.

[0041] The fifth step is to generate an offset transformation matrix based on the aforementioned pose offset dataset. In practice, the transformation matrix obtained from the pose offset dataset using a path affine transformation algorithm can be used as the offset transformation matrix. This path affine transformation algorithm converts the translational and rotational offsets in the pose offset dataset into a transformation matrix that describes the difference between the workpiece's current pose and the standard pose. This transformation matrix characterizes the transformation process of the workpiece from its standard position to its current position.

[0042] Step 6: Perform coordinate transformation on the aforementioned offset transformation matrix and the preset dispensing path matrix to generate an adaptive dispensing path matrix. The preset dispensing path matrix can be represented as the set of coordinates of the workpiece's running path during the dispensing operation in a standard pose. In practice, the preset dispensing path matrix can first be represented using homogeneous coordinates to obtain a homogeneous preset dispensing path matrix. Then, the homogeneous preset dispensing path matrix can be multiplied by the aforementioned offset transformation matrix, and the result of the multiplication can be used as the adaptive dispensing path matrix. The adaptive dispensing path matrix includes the set of coordinates for the dispensing path of the current workpiece, and can represent the path of the dispensing actuator when performing the dispensing operation.

[0043] Step 7: Based on the aforementioned adaptive dispensing path matrix, control the dispensing actuator to perform the dispensing operation. In practice, the dispensing actuator can be controlled to perform the dispensing operation according to the aforementioned adaptive dispensing path matrix.

[0044] The above-described optional embodiments, as an inventive point of this disclosure, solve the technical problem that "the workpiece's pose shift during movement leads to low dispensing quality when the dispensing actuator dispenses adhesive according to a fixed program." Factors leading to low dispensing quality often include: the workpiece's pose shift during movement, and the dispensing quality being low when the dispensing actuator dispenses adhesive according to a fixed program. Solving these factors can improve dispensing quality. To achieve this, this disclosure incorporates a vision sensor and a processing chip. First, the vision sensor acquires three-dimensional point cloud data of the workpiece surface, ensuring the comprehensiveness and accuracy of the data. Then, the processing chip performs noise reduction and filtering on the acquired three-dimensional point cloud data, effectively removing environmental noise and data fluctuations, thus improving data quality. Next, a feature extraction algorithm extracts key geometric features of the workpiece from the filtered data, forming feature data to provide a foundation for subsequent pose shift prediction. Based on this, the feature data is input into a preset offset model to predict the workpiece's pose shift during the dispensing process, resulting in a pose shift dataset. By utilizing a path affine transformation algorithm, the pose offset dataset is converted into an offset transformation matrix, describing the difference between the current pose of the workpiece and the standard pose. Finally, the offset transformation matrix is ​​subjected to coordinate transformation with a preset dispensing path matrix to generate an adaptive dispensing path matrix. This matrix guides the dispensing actuator to perform the dispensing operation according to the actual pose of the workpiece, effectively solving the problem of poor dispensing quality caused by workpiece pose offset, improving dispensing accuracy and consistency, and thus enhancing the overall dispensing quality.

[0045] In the process of adopting technical solutions to address the aforementioned technical problems, the precision instrument dispensing scenarios to which this technical solution is applied often present the following technical issues: the viscosity of the adhesive fluctuates during the dispensing process, leading to unstable dispensing volume and consequently affecting dispensing quality. Conventional solutions to these problems typically involve manually periodically checking the adhesive viscosity and adjusting dispensing parameters. However, considering the low efficiency of conventional solutions and leveraging the technical advantages of our organization, we have decided to adopt the following solution: Optionally, the dispensing actuator further includes a viscosity detection unit, a temperature control unit, a bubble sensor, and a control chip. The viscosity detection unit can be a vibratory viscometer, in which the vibrating element (such as a vibrating plate or vibrating rod) is immersed in the adhesive. The viscosity of the adhesive dampens the vibration, and the viscosity data can be obtained by detecting the current that maintains the constant amplitude of the vibrating element. The viscosity data can include the real-time viscosity value of the adhesive and the corresponding timestamp, providing an accurate basis for subsequent viscosity adjustment. The viscosity detection unit can be located in the adhesive supply line of the dispensing head 3, enabling real-time and accurate detection of adhesive viscosity changes. The adhesive supply line can be a closed pipeline system that delivers the adhesive from a storage container (such as a pressure tank or syringe) to the outlet of the dispensing head 3. The temperature control unit can be a semiconductor cooler and a temperature sensor, capable of detecting and adjusting the temperature of the adhesive and generating temperature data through the temperature sensor. The aforementioned temperature data may include the real-time temperature value of the adhesive and the corresponding timestamp, providing a temperature reference for viscosity adjustment and ensuring that the dispensing actuator performs dispensing operations at a suitable adhesive temperature. The aforementioned temperature control unit can be located on the outer wall of the adhesive supply pipe of the dispensing head 3, and can change the temperature of the adhesive through heat conduction, maintaining the adhesive within a suitable dispensing viscosity range. For example, the aforementioned semiconductor cooler can be a semiconductor cooler employing the Peltier effect, which can adjust the adhesive temperature by changing the direction of current to achieve heating and cooling. The aforementioned bubble sensor can be a capacitive bubble sensor, which can detect the presence of bubbles in the adhesive by the difference in conductivity between bubbles and the adhesive itself, generating bubble data. The aforementioned bubble data can be Boolean data (true if bubbles are present, false if no bubbles are present). The aforementioned bubble sensor can be installed in the pipe between the viscosity detection unit and the dispensing head 3, and can detect whether the adhesive contains bubbles before flowing out of the dispensing head 3. The aforementioned viscosity detection unit, temperature control unit, and bubble sensor are all communicatively connected to the control chip. The aforementioned control chip is configured to perform the following steps: The first step is to acquire the viscosity data, temperature data, and bubble data mentioned above. In practice, these data can be acquired using the viscosity detection unit, temperature control unit, and bubble sensor.

[0046] The second step involves inputting the aforementioned viscosity and temperature data into a preset viscosity-temperature model to obtain the viscosity-temperature value. This preset viscosity-temperature model can be a neural network model that takes viscosity and temperature data as input and outputs the viscosity-temperature value. For example, the neural network model can be a recurrent neural network (RNN). This RNN can be trained using viscosity-temperature samples, which can include measured viscosity values ​​of the adhesive at different temperatures. This allows the model to predict the actual viscosity of the adhesive under given initial temperature and viscosity conditions. The neural network model trained with these viscosity-temperature samples is then used as the preset viscosity-temperature model. The viscosity-temperature value characterizes the actual viscosity of the adhesive under the current temperature conditions and can provide a reference for subsequent temperature adjustments. In practice, the aforementioned viscosity and temperature data can be input into the preset viscosity-temperature model to obtain the viscosity-temperature value.

[0047] The third step involves generating temperature adjustment information in response to the viscosity-temperature value being outside the preset viscosity threshold range. This preset viscosity threshold range is a range of viscosity that can be pre-set based on the actual application scenario and adhesive characteristics to ensure stable dispensing quality. In practice, if the viscosity-temperature value exceeds the maximum value of the preset viscosity threshold range, information indicating a decrease in adhesive temperature can be used as temperature adjustment information. Conversely, if the viscosity-temperature value is below the minimum value of the preset viscosity threshold range, information indicating an increase in adhesive temperature can be used as temperature adjustment information. After receiving the temperature adjustment information, the temperature control unit can adjust the adhesive temperature until the adhesive viscosity falls within the preset viscosity threshold range.

[0048] The fourth step involves generating an alarm message in response to the aforementioned bubble data indicating the presence of bubbles. This alarm message serves as a warning signal to the operator that bubbles are present in the adhesive. In practice, when the bubble sensor detects bubbles in the adhesive, the dispensing operation can be immediately paused, and the operator will be notified via audible and visual alarms or a display screen notification. This allows the operator to take timely action, such as stopping dispensing or checking the adhesive supply line, thereby preventing dispensing quality degradation caused by bubbles.

[0049] The above optional embodiments, as an inventive point of this disclosure, solve the technical problem that "the viscosity of the adhesive fluctuates during the dispensing process, leading to unstable dispensing volume and thus affecting dispensing quality." Factors leading to low dispensing quality often include: fluctuations in adhesive viscosity during dispensing, resulting in unstable dispensing volume and thus affecting dispensing quality. Solving these factors can improve dispensing quality. To achieve this, this disclosure adds a viscosity detection unit, a temperature control unit, a bubble sensor, and a control chip to the dispensing actuator. The viscosity detection unit acquires real-time viscosity data, the temperature control unit detects and adjusts the adhesive temperature to generate temperature data, and the bubble sensor detects the presence of bubbles in the adhesive to generate bubble data. After acquiring this data, the control chip inputs the viscosity and temperature data into a preset viscosity-temperature model to obtain a viscosity-temperature value. If the viscosity-temperature value is not within the preset viscosity threshold range, temperature adjustment information is generated, causing the temperature control unit to adjust the adhesive temperature to a suitable range. If the bubble data indicates the presence of bubbles, an alarm message is generated to prompt the operator to handle the bubble problem promptly. These measures effectively solved the problem of poor dispensing quality caused by glue viscosity fluctuations and air bubbles, improved the stability and consistency of dispensing, and thus enhanced the dispensing quality.

[0050] The various embodiments of this disclosure have the following beneficial effects: the apparatus for continuous dispensing production according to some embodiments of this disclosure can improve the efficiency of dispensing production. Specifically, the reason for the low efficiency of dispensing production is that commonly used dispensing devices are usually single-station dispensing devices. When the dispensing device is performing dispensing operations, the operator is in a waiting state, and when the operator is performing loading and unloading operations, the dispensing device is in an idle state, resulting in low dispensing production efficiency. Based on this, some embodiments of this disclosure provide an apparatus for continuous dispensing production, which includes: a base, a dispensing actuator, a conveying actuator, and a control system; the base has at least two stations, which are arranged in parallel, and each station is provided with a sliding component, which includes a fixed guide rail, a movable slider, and a drive mechanism. The two ends of the fixed guide rail are respectively set as a working position and a replacement position, wherein the working position is located within the preset working range of the dispensing actuator, and the replacement position is located outside the preset working range of the dispensing actuator; the movable slider is provided with a groove for carrying the workpiece, and the drive mechanism is configured to drive the movable slider on the fixed guide rail. The dispensing actuator moves between the working position and the changing position. Located above the base, it includes a moving component and a dispensing head mounted on the moving component. The moving component is configured to move the dispensing head between various working positions. The dispensing actuator is configured to perform dispensing operations on a workpiece placed on the moving slider at a working position via the dispensing head. A transport actuator is located on one side of the base and is configured to perform workpiece pick-up and place operations on the moving slider at the changing position. The dispensing actuator, the transport component, the drive mechanism, and the transport actuator are all communicatively connected to the control system. By setting multiple workstations, the dispensing actuator can operate continuously. The sliding component ensures that the transport actuator's pick-up and place operations do not affect the dispensing actuator's operation, thus achieving continuous dispensing operations and greatly improving dispensing production efficiency.

[0051] The above description is merely a selection of preferred embodiments of this disclosure and an explanation of the technical principles employed. Those skilled in the art should understand that the scope of the invention involved in the embodiments of this disclosure is not limited to technical solutions formed by specific combinations of the above-described technical features, but should also cover other technical solutions formed by arbitrary combinations of the above-described technical features or their equivalents without departing from the above-described inventive concept. For example, technical solutions formed by substituting the above-described features with (but not limited to) technical features with similar functions disclosed in the embodiments of this disclosure.

Claims

1. An apparatus for continuous dispensing production, characterized in that, The apparatus for continuous dispensing production includes: a base, a dispensing actuator, a conveying actuator, and a control system; The base has at least two workstations arranged in parallel. Each workstation is equipped with a sliding component, which includes a fixed guide rail, a movable slider, and a drive mechanism. The two ends of the fixed guide rail are respectively set as a working position and a replacement position. The working position is located within the preset working range of the dispensing actuator, and the replacement position is located outside the preset working range of the dispensing actuator. The movable slider is provided with a groove for carrying the workpiece, and the driving mechanism is configured to drive the movable slider to move between the working position and the changing position of the fixed guide rail; The dispensing actuator is located above the base. The dispensing actuator includes a moving component and a dispensing head. The dispensing head is disposed on the moving component. The moving component is configured to drive the dispensing head to move between various working positions. The dispensing actuator is configured to perform a dispensing operation on a workpiece placed on the moving slider at a working position via the dispensing head. The transfer actuator is located on one side of the base and is configured to perform workpiece pick-up and drop operations on the movable slider located at the change position. The dispensing actuator, the conveying assembly, the drive mechanism, and the handling actuator are all communicatively connected to the control system.

2. The apparatus for continuous dispensing production according to claim 1, characterized in that, The apparatus for continuous dispensing production also includes a stage and a conveying assembly; The stage is used to support the workpiece before dispensing; The pick-and-place operation of the transport actuator includes transporting the dispensed workpiece on the movable slider at the change position to the transport assembly, and transporting the workpiece on the platform to the movable slider at the change position.

3. The apparatus for continuous dispensing production according to claim 1, characterized in that, The sliding component also includes a detection device configured to detect the position of the moving slider.

4. The apparatus for continuous dispensing production according to claim 2, characterized in that, The handling actuator includes a vision camera, a robotic arm, and a gripper; The clamp has at least two gripping positions, the clamp is located at the end of the robotic arm, and the clamp is configured to pick up and place the workpiece; The vision camera is positioned above the fixture and is configured to identify the state of the workpiece.

5. The apparatus for continuous dispensing production according to claim 4, characterized in that, The transport actuator also includes a lighting device located between the at least two gripping positions.

6. The apparatus for continuous dispensing production according to claim 1, characterized in that, The base is equipped with a leveling component and a horizontal detection component; The leveling components are located at the four bottom corners of the base, and the level detection components are fixedly installed on the surface of the base.

7. The apparatus for continuous dispensing production according to claim 2, characterized in that, The bottom of the platform is provided with a set of movable wheels, and the top surface of the platform is provided with at least one partition, which is used to support the workpiece before dispensing.

8. The apparatus for continuous dispensing production according to claim 4, characterized in that, The clamp is a suction cup clamp, and the suction cup clamp is equipped with at least two sets of suction cups.

9. The apparatus for continuous dispensing production according to claim 1, characterized in that, The fixed guide rail is a linear guide rail, the fixed guide rail is equipped with a ball array, and the surface of the fixed guide rail is equipped with an anti-scratch coating; The movable slider is provided with a groove that is adapted to the fixed guide rail; The side wall of the movable slider is provided with a positioning pin, and the working position and the replacement position of the fixed guide rail are provided with positioning holes, and the positioning pin is adapted to the positioning hole. Both ends of the fixed guide rail are provided with buffer pads; The drive mechanism includes a drive motor, a transmission assembly, and a brake assembly; the drive motor is fixedly mounted on the bottom of the fixed guide rail, and the output shaft of the drive motor is connected to the transmission assembly; The transmission assembly includes a timing belt and a timing pulley, the timing belt is connected to the movable slider, and the timing pulley is mounted on the output shaft of the drive motor; The braking assembly is configured to automatically lock the moving slider when power is lost.

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