Dispensing machine function module automatic replacement method

Abstract

This invention relates to the field of dispensing machine technology, and more particularly to an automatic replacement method for functional modules of a dispensing machine. The replacement system of this method includes a dispensing machine, an automated guided vehicle (AGV), and an industrial control computer. The dispensing machine includes a machine door, a dispensing mechanism, a wiping mechanism, and a vision inspection mechanism. The dispensing mechanism includes a dispensing valve and a glue cartridge, which are detachably connected to the dispensing valve via quick-release parts. The wiping mechanism includes a first mounting part and a second mounting part detachably connected to the first mounting part, with a brush mounted on the second mounting part. The vision inspection mechanism includes a camera base and a camera mounting part detachably connected to the camera base, with a camera mounted on the camera mounting part. The AAV includes a robotic arm. The AAV responds to replacement commands from the industrial control computer and controls the robotic arm to replace the glue cartridge, brush, or camera on the dispensing machine, thus completing the automatic replacement of various functional components on the dispensing equipment and adapting to the actual needs of a lights-out factory.

Description

Technical Field

[0001] This invention relates to the field of dispensing machine technology, and in particular to an automatic method for changing the functional modules of a dispensing machine. Background Technology

[0002] Lights-out factories, as a prime example of highly automated, intelligent, and unmanned modern manufacturing, are leading a new direction for industrial upgrading. By integrating advanced automation, IoT, and AI technologies, lights-out factories achieve fully autonomous operation of the production process, eliminating the need for direct human intervention and significantly improving production efficiency, product quality, and safety. Dispensing technology, a key process in modern manufacturing, is widely used in numerous fields such as electronic component packaging, semiconductor manufacturing, automotive parts assembly, and medical device production.

[0003] Taking the semiconductor manufacturing industry as an example, in the precision production environment of a lights-out factory, dispensing equipment needs to complete the adhesive application operation at designated locations with preset shapes, precise flow rates, and high accuracy. This is a crucial step in ensuring the electrical performance and mechanical reliability of semiconductor devices. To ensure that the dispensing operation can run continuously and stably in a lights-out factory, dispensing equipment is usually equipped with a variety of functional components, which play a vital role in the normal operation of the equipment and the quality of dispensing.

[0004] However, the replacement of the aforementioned functional components in the prior art mainly relies on manual operation, which has the following technical drawbacks: First, the manual replacement of parts takes a long time, which shortens the effective operating time of the equipment and makes it difficult to meet the needs of a lights-out factory for high-speed, continuous production.

[0005] Secondly, manual operation is susceptible to problems such as operator skill level, fatigue level, and subjective judgment, which can easily lead to issues like component installation deviations, poor fit of the first connection interface, or inconsistent tightening torque. These assembly errors may result in glue leakage, shift in the inspection field of view, or reduced cleaning effectiveness, thereby affecting equipment operational stability and product quality consistency, failing to meet the high-quality product production requirements of a lights-out factory.

[0006] Third, frequent manual replacement increases the workload of operators, and under certain working conditions (such as high-temperature curing environments, high-pressure glue supply systems, or scenarios involving volatile toxic substances), close-range manual operation poses personal safety risks and does not meet the safety production requirements of human-machine isolation in dark factories. Summary of the Invention

[0007] The technical problem to be solved by this invention is to address the issue that the existing technology, which involves replacing various functional components of the dispensing equipment, cannot meet the actual needs of a dark factory.

[0008] Therefore, the present invention provides an automatic replacement method for functional modules of a dispensing machine, which automatically replaces various functional components of the dispensing equipment and can adapt to the actual needs of a dark factory.

[0009] According to an embodiment of the present invention, an automatic replacement method for a dispensing machine functional module includes an automatic replacement system for a dispensing machine functional module comprising a dispensing machine, an automatic guided vehicle, and an industrial control computer, wherein the dispensing machine and the automatic guided vehicle are both signal-connected to the industrial control computer. The dispensing machine includes: Machine door; A dispensing mechanism is mounted on a machine base. The dispensing mechanism includes a dispensing valve and a glue cartridge. The glue cartridge and the dispensing valve are detachably connected by a quick-release component. The automated guided vehicle includes an AGV body, a material rack on one side of the AGV body, and a robotic arm on the other side of the AGV body. The method includes the following steps: S1, Process initialization: Start the replacement process and initialize the settings for each device; S2, detect the current status of the dispensing machine and the automated guided vehicle. If neither the dispensing machine nor the automated guided vehicle is in an alarm state, proceed to the next step; otherwise, enter the waiting state until the alarm is cleared. S3, obtain the current state of the gantry on the dispensing machine. If it is in standby mode, proceed to the next step; otherwise, control the gantry to enter standby mode. S4, a first scheduling request signal is sent to the automated guided vehicle and the dispensing machine via the industrial control computer; S5. The automated guided vehicle enters the running start state based on the first scheduling request signal and automatically moves to the dispensing machine according to the first path. The dispensing machine controls the gantry to move to a preset safe position based on the first scheduling request signal, and automatically controls the machine door to open; S6. The industrial control computer sends a control command to the automated guided vehicle to enter the work area, and performs alarm checks on the dispensing machine and the automated guided vehicle. If there is no alarm signal, proceed directly to the material changeover stage and then to the next step; Otherwise, return to step S2; S7. The industrial control computer sends a glue tube replacement command to the automated guided vehicle. The automated guided vehicle recognizes the glue tube replacement command, controls the robotic arm to grab the glue tube to be replaced to the material rack, and then continues to control the robotic arm to grab the glue tube to be replaced from the material rack and install it, thereby realizing the replacement of the glue tube. S8. The dispensing machine obtains the replacement completion instruction and sends the replacement completion instruction to the industrial control computer. The industrial control computer then sends the replacement completion instruction to the automated guided vehicle. The automated guided vehicle receives the instruction and automatically travels to the designated area according to the second path.

[0010] The beneficial effects of this invention are: 1. The automatic replacement method for the functional modules of the dispensing machine of the present invention can automatically, quickly and accurately complete the replacement of the glue cartridge, improve production efficiency, ensure the stability of equipment operation and product quality, and reduce labor intensity and safety risks.

[0011] 2. This invention enables automatic replacement of components without requiring manual shutdown, automatically responding to changes and significantly shortening replacement time, thereby improving production efficiency.

[0012] 3. The automatic replacement process of this invention does not require direct human intervention, which reduces the labor intensity of operators and effectively avoids the safety risks caused by manual operation, especially in some special environments.

[0013] According to one embodiment of the present invention, in order to be adaptable to the replacement of various different functional modules and to have wide applicability, and to be flexibly applied according to different production needs, the dispensing machine further includes: The adhesive application mechanism includes a first mounting part and a second mounting part. The first mounting part is mounted on the machine base, and the second mounting part is provided with a brush. The first mounting part and the second mounting part are detachably connected to the attracted part by a magnetic suction component, and the magnetic suction component is magnetically connected to the attracted part. A visual inspection mechanism, comprising a camera base and a camera mounting part, wherein the camera base is mounted on a machine platform, and a camera is mounted on the camera mounting part, and the camera base and the camera mounting part are connected by a male and a female connector; In step S7, the industrial control computer will also send a brush replacement command or a camera replacement command to the automated guided vehicle. The automated guided vehicle will recognize the brush replacement command or the camera replacement command and control the robotic arm to replace the brush or the camera on the dispensing machine.

[0014] According to one embodiment of the present invention, the glue tube is an integral glue tube; The integrated rubber sleeve includes: Hose section; The glue dispensing section is located at one end of the glue tube section, and the glue dispensing section is connected to the glue dispensing valve through the quick-release component; And an adapter, located at the other end of the hose, the adapter being connected to an external gas delivery device via a quick-release connector; The dispensing valve includes: The valve body has a first interface for connecting to the quick-release component; A first clamping assembly is connected to the valve body and has a first clamping port adapted to clamp a rubber cylinder in a first direction. A second clamping assembly is located below the first clamping assembly. The second clamping assembly has a second clamping port adapted to clamp the rubber tube in a second direction. Both the second clamping port and the first clamping port are distributed along the axial direction of the rubber tube. An adjustment component is provided, which is adapted to adaptively adjust the opening area of ​​the first clamping port according to the outer diameter of the rubber tube.

[0015] According to one embodiment of the present invention, the first clamping assembly includes two first clamping blocks disposed opposite to each other, each of the two first clamping blocks being provided with a first clamping groove for clamping a rubber tube, and the two first clamping grooves being disposed opposite to each other to form the first clamping opening; The second clamping assembly includes two second clamping blocks, and each of the two second clamping blocks has a second clamping groove on its opposite sidewall for clamping the rubber tube. The two second clamping grooves are arranged opposite each other to form a second clamping opening. The two first clamping blocks are a fixed clamping block and a movable clamping block, respectively. The fixed clamping block is fixedly connected to the valve body, and the movable clamping block can move relative to the fixed clamping block to increase or decrease the opening area of ​​the first clamping port.

[0016] According to one embodiment of the present invention, the replacement of the rubber sleeve specifically includes the following steps: Control the robotic arm to move to the rubber tube that needs to be replaced; The robotic arm is controlled to grip the second interface of the external gas delivery device and press down to separate the second interface of the external gas delivery device from the quick-connect connector on the rubber tube, thereby achieving quick disconnection between the rubber tube and the external gas delivery device. The robotic arm is controlled to grip the rubber tube and press it downwards, causing the quick-release component to separate from the first interface of the valve body; Control the robotic arm to adjust the adjustment component so that the opening area of ​​the first clamping port of the dispensing valve is at a first threshold value, and then control the robotic arm to grab the glue tube to be replaced; The robotic arm is controlled to place the glue cartridge to be replaced on the material rack and to take the glue cartridge full of glue from the material rack; Control the movement of the robotic arm to insert the glue-filled glue tube downwards along the second clamping port and the first clamping port of the dispensing valve until the quick-release piece is inserted into the first interface on the valve body, and the quick-release piece is connected to the first interface on the valve body; Control the robotic arm to adjust the adjustment component so that the opening area of ​​the first clamping port of the dispensing valve is adjusted to the second threshold, thereby pressing the glue cylinder; The robotic arm is controlled to grasp the second interface of the external gas delivery device and press it down, so that the second interface of the external gas delivery device connects to the quick-connect connector on the rubber tube; Wherein, the first threshold is less than the second threshold.

[0017] According to one embodiment of the present invention, the magnetic attracting member is mounted on the first mounting portion, and the attracted member is mounted on the second mounting portion; The first mounting part is connected to the output shaft of the motor and rotates around the output shaft. The brush is coaxially arranged with the output shaft of the motor, and the center of the magnetic suction member is eccentrically arranged relative to the axis of the output shaft.

[0018] According to one embodiment of the present invention, a mating groove is provided on one side wall of the first mounting part facing the second mounting part, and a motor is connected to the other side wall of the first mounting part; The docking groove is coaxially arranged with the brush, and the second mounting part is connected to a docking post for inserting and engaging with the docking groove. The bottom of the docking groove is configured as a mounting surface for mounting the magnetic component, and the attracted component is mounted on the end face of the docking post. The surface on the magnetic attractor used to attract the attracted object is a first magnetic attractor surface, and the surface on the attracted object used to cooperate with the magnetic attractor surface is a second magnetic attractor surface. The first magnetic attractor surface and the second magnetic attractor surface on the magnetic attractor surface are completely opposite to and in contact with each other.

[0019] According to one embodiment of the present invention, a support ring is provided on the outer side of the second mounting portion, the support ring being used for gripping by a robotic arm.

[0020] According to one embodiment of the present invention, in step S7, the brush replacement specifically includes the following steps: The robotic arm is controlled to first pull the second mounting part to be replaced upwards, separating the brush mounted on the second mounting part from the first mounting part; The robotic arm is controlled to grasp the second mounting part to be replaced and place it on the material rack, and then remove the second mounting part to be replaced from the material rack; The robotic arm is controlled to move and place the second mounting part to be replaced downwards towards the docking groove of the first mounting part, so that the second mounting part connects with the first mounting part, thus completing the replacement of the brush.

[0021] According to one embodiment of the present invention, the male connector is disposed on the camera base, and the female connector is disposed on the camera mounting portion, wherein the male connector and the female connector are plugged into each other. The camera base is also provided with a positioning post, and the camera mounting part is provided with a positioning hole, and the positioning post is inserted into the positioning hole.

[0022] According to one embodiment of the present invention, in step S7, the camera replacement specifically includes the following steps: The robotic arm is controlled to first pull the camera mounting part upwards, separating the camera from the camera base; The robotic arm is controlled to grasp the camera mounting part and place it on the material rack, and to take the camera mounting part to be replaced from the material rack; Control the movement of the robotic arm to place the camera mounting part to be replaced downwards toward the camera base, so that the camera mounting part is connected to the camera base.

[0023] Other features and advantages of the invention will be set forth in the description which follows, and will be apparent in part from the description, or may be learned by practicing the invention. The objects and other advantages of the invention are realized and obtained in accordance with the structures particularly pointed out in the description, claims and drawings.

[0024] To make the above-mentioned objects, features and advantages of the present invention more apparent and understandable, preferred embodiments are described below in detail with reference to the accompanying drawings. Attached Figure Description

[0025] The present invention will be further described below with reference to the accompanying drawings and embodiments.

[0026] Figure 1 This is a schematic diagram of the system structure of Embodiment 1 of the present invention.

[0027] Figure 2 This is a schematic diagram of the operation of the robotic arm of the automated guided vehicle according to Embodiment 1 of the present invention.

[0028] Figure 3 This is a schematic diagram of the dispensing machine part of Embodiment 1 of the present invention.

[0029] Figure 4 This is a schematic diagram of the dispensing valve in the vertical installation state according to Embodiment 1 of the present invention.

[0030] Figure 5 This is a schematic diagram of the structure of the rubber tube according to Embodiment 1 of the present invention.

[0031] Figure 6 This is a schematic diagram of the structure of the first clamping component and the second clamping component in Embodiment 1 of the present invention.

[0032] Figure 7 This is a schematic diagram of the structure of the first clamping component in Embodiment 1 of the present invention.

[0033] Figure 8This is a schematic diagram of the screw structure according to Embodiment 1 of the present invention.

[0034] Figure 9 This is a schematic diagram of the dispensing valve in an inclined installation state according to Embodiment 1 of the present invention.

[0035] Figure 10 This is a schematic diagram of the positional relationship between the first clamping component and the second clamping component in the tilted installation state of Embodiment 1 of the present invention.

[0036] Figure 11 This is a schematic diagram of the adhesive application mechanism according to Embodiment 1 of the present invention.

[0037] Figure 12 This is a schematic diagram of the assembly relationship between the motor and the first mounting part in Embodiment 1 of the present invention.

[0038] Figure 13 This is a schematic diagram of the assembly relationship between the brush and the second mounting part in Embodiment 1 of the present invention.

[0039] Figure 14 This is a structural schematic diagram of the positional relationship between the magnetic attractor and the attracted object in Embodiment 1 of the present invention.

[0040] Figure 15 This is a schematic diagram of the magnetic suction component installation structure according to Embodiment 1 of the present invention.

[0041] Figure 16 This is a structural schematic diagram of the assembly relationship between the camera and the camera mounting part in Embodiment 1 of the present invention.

[0042] Figure 17 This is a schematic diagram of the assembly relationship between the camera base and the camera mounting part in Embodiment 1 of the present invention.

[0043] In the diagram: 100, dispensing machine; 600, automated guided vehicle; 1, machine door; 2, dispensing mechanism; 3, machine base; 4, glue wiping mechanism; 5, vision inspection mechanism; 21, dispensing valve; 211, valve body; 212, first interface; 213, first clamping assembly; 214, second clamping assembly; 215, adjusting assembly; 216, first clamping port; 217, second clamping port; 2131, first clamping block; 2132, first clamping groove; 2133, fixed clamping block; 2134, movable clamping block; 2135, chamfer; 2141, second clamping block; 2142, second clamping groove; 2151. Screw; 2152. First elastic element; 2153. Second elastic element; 2154. Threaded section; 2155. Optical axis section; 2156. Limiting section; 22. Glue tube; 221. Glue hose section; 222. Glue dispensing section; 223. Adapter; 224. Quick-release connector; 23. Quick-release component; 41. First mounting part; 42. Second mounting part; 43. Brush; 44. Magnetic suction component; 45. Attached component; 46. Mounting surface; 47. Motor; 48. Support ring; 411. Docking groove; 412. Docking post; 51. Camera base; 52. Camera mounting part; 53. Camera; 54. Male connector; 55. Female connector; 56. Positioning post; 57. Positioning hole; 61. AGV vehicle body; 62. Material rack; 63. Robot arm. Detailed Implementation

[0044] The present invention will now be described in further detail with reference to the accompanying drawings. These drawings are simplified schematic diagrams, illustrating only the basic structure of the invention, and therefore only show the components relevant to the invention.

[0045] In the description of this invention, it should be understood that the terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," and "circumferential," etc., indicating orientation or positional relationships, are based on the orientation or positional relationships shown in the accompanying drawings and are only for the convenience of describing the invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of the invention. Furthermore, features defined with "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this invention, unless otherwise stated, "a plurality of" means two or more.

[0046] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0047] This invention provides a method for automatically changing functional modules of a dispensing machine, such as... Figure 1-17 As shown, the automatic replacement system for the dispensing machine functional modules using this automatic replacement method includes a dispensing machine 100, an automatic guided vehicle 600, and an industrial control computer (not shown in the figure). The dispensing machine 100 includes: a machine door 1, a dispensing mechanism 2, a glue-wiping mechanism 4, and a vision inspection mechanism 5. The dispensing mechanism 2 is mounted on the machine base 3 and includes a dispensing valve 21 and a glue cartridge 22. The glue cartridge 22 and the dispensing valve 21 are detachably connected by a quick-release component 23. The glue-wiping mechanism 4 includes a first mounting part 41 and a second mounting part 42. The first mounting part 41 is mounted on the machine base 3, and the second mounting part 42 is provided with a brush 43. The first mounting part 41 and the second mounting part 42 are detachably connected by a magnetic component 44 and a attracted component 45. The magnetic component 44 and the attracted component 45 are magnetically connected. The detection mechanism 5 includes a camera base 51 and a camera mounting part 52. The camera base 51 is mounted on the machine base 3, and the camera mounting part 52 is equipped with a camera 53. The camera base 51 and the camera mounting part 52 are detachably connected by a male connector 54 and a female connector 55. The automated guided vehicle 600 includes an AGV body 61, a material rack 62 located on one side of the AGV body 61, and a robotic arm 63 located on the other side of the AGV body 61. Both the dispensing machine 100 and the automated guided vehicle 600 are connected to an industrial control computer. The automated guided vehicle 600 responds to the replacement command from the industrial control computer and controls the robotic arm 63 to replace the glue cylinder 22, brush 43, or camera 53 on the dispensing machine 100, thus completing the automatic replacement of various functional components on the dispensing equipment. Specifically, the automatic replacement method for the functional components of the dispensing machine includes the following process: S1, Process Initialization: Initiate the replacement process and initialize the settings for each device. Through initialization settings, ensure that all devices are in an initial, uniformly controllable state, laying the foundation for subsequent operations and avoiding problems caused by inconsistent initial device states.

[0048] S2, detect the current status of the dispensing machine 100 and the automated guided vehicle 600. If neither the dispensing machine 100 nor the automated guided vehicle 600 is in an alarm state, proceed to the next step; otherwise, enter a waiting state until the alarm is cleared. Detecting whether the current status of the dispensing machine 100 and the automated guided vehicle 600 is in an alarm state, such as a sensor system failure, actuator failure, or controller failure in the dispensing machine 100, or a navigation system failure, battery failure, communication link failure, or abnormal sensor data in the automated guided vehicle 600, ensures that the dispensing machine 100 and the automated guided vehicle 600 are in normal operating condition. This avoids replacement operations when the dispensing machine 100 or the automated guided vehicle 600 has equipment failures or abnormalities, prevents the fault from escalating or causing safety accidents during functional module replacement, and further improves the stability of equipment operation.

[0049] S3: Obtain the current state of the gantry on the dispensing machine 100. If it is in standby mode, proceed to the next step; otherwise, control the gantry to enter standby mode. The host computer on the dispensing machine obtains the current state of the gantry and controls the gantry to be in a suitable initial state (such as standby mode) based on the current state of the gantry, so as to facilitate subsequent operations such as movement according to the predetermined process and ensure the safety and accuracy of the operation.

[0050] S4, the industrial control computer sends a first scheduling request signal to the automated guided vehicle 600 and the dispensing machine 100; the first scheduling request signal is used to coordinate the subsequent work between the automated guided vehicle 600 and the dispensing machine 100.

[0051] S5. The automated guided vehicle 600 enters the running start state based on the first scheduling request signal and automatically moves to the dispensing machine according to the first path; the dispensing machine 100 controls the gantry to move to the preset safe position based on the first scheduling request signal and automatically controls the machine door 1 to open.

[0052] The first path is the path from the position coordinates of the automated guided vehicle 600 to the position coordinates of the dispensing machine. It can be pre-planned in the automated guided vehicle 600 system or planned in real time based on positioning and navigation.

[0053] S6. The industrial control computer sends a control command to the automated guided vehicle 600 to enter the work area and performs an alarm check on the dispensing machine 100 and the automated guided vehicle 600: if there is no alarm signal, it directly enters the material replacement stage and proceeds to the next step; otherwise, it returns to step S2; this further ensures that the equipment is in a safe and fault-free state when the automated guided vehicle 600 enters the work area, and prevents danger or impact on replacement quality caused by sudden failures of the dispensing machine 100 and the automated guided vehicle 600 during the replacement process.

[0054] S7. The industrial control computer sends a replacement command to the automated guided vehicle 600. The replacement command includes a rubber tube replacement command, a brush replacement command, and a camera replacement command. The automated guided vehicle 600 recognizes the replacement command, controls the robot arm 63 to grab the part to be replaced to the material rack 62, removes the part to be replaced, and then continues to control the robot arm 63 to grab the part to be replaced from the material rack 62 and install it, so as to realize the replacement of at least one functional component among the rubber tube 22, brush 43, or camera 53.

[0055] S8. The dispensing machine 100 receives the replacement completion instruction and sends it to the industrial control computer. The industrial control computer then sends the replacement completion instruction to the automated guided vehicle 600. The automated guided vehicle 600 receives the instruction and automatically travels to the designated area according to the second path.

[0056] The second path is the path from the current position coordinates of the automated guided vehicle 600 to the position coordinates of a designated area (the designated area is the parking position of the automated guided vehicle 600). The second path can be pre-planned in the automated guided vehicle 600 system or planned in real time based on positioning and navigation.

[0057] This embodiment enables automatic replacement of the glue cartridge 22, brush 43, or camera 53 on the dispensing machine 100, improving the efficiency of glue replacement, brush replacement, and camera replacement, as well as the production efficiency of the dispensing machine 100. It can avoid human error and meet the stringent requirements of high precision and high consistency in a dark factory.

[0058] In this embodiment, a vision system can perform non-contact monitoring of the liquid level in the glue cartridge 22 and the surface of the brush 43. For example, when the liquid level in the glue cartridge 22 drops to a preset value, a glue cartridge 22 replacement command is generated; when the cured adhesive coverage on the brush 43 surface exceeds a set threshold, such as 85%, a brush 43 replacement command is generated. When the dispensing product is changed, the dispensing machine 100 has adaptive vision configuration capabilities to meet the needs of multiple dispensing processes. The camera 53 used for quality inspection also needs to be replaced, generating a camera 53 replacement command to meet the needs of multiple application scenarios. The dispensing machine 100 sends the generated glue cartridge 22 replacement command, brush 43 replacement command, or camera 53 replacement command to the industrial control computer, which then sends them to the automated guided vehicle 600.

[0059] In this embodiment, the material rack 62 stores a full glue tube 22, a clean second mounting part 42, a camera mounting part 52 for mounting different camera models, a disassembled glue tube 22, a second mounting part 42, and a camera mounting part 52.

[0060] In this embodiment, as Figure 5As shown, the glue cartridge 22 is an integrated cartridge. Specifically, the glue cartridge 22 includes a glue tube section 221, a glue dispensing section 222, and an adapter 223. The glue dispensing section 222 is located at one end of the glue tube section 221, and a quick-release piece 23 is installed on the glue dispensing section 222. The glue dispensing section 222 is connected to the dispensing valve 21 through the quick-release piece 23. The adapter 223 is located at the other end of the glue tube section 221, and a quick-release connector 224 is installed on the adapter 223. The adapter 223 is connected to the external air pipe through the second interface at the end of the external air supply equipment via the quick-release connector 224. The integrated structural design of the glue cartridge 22 allows the robot arm 63 to quickly change the glue during the replacement of the glue cartridge 22, and the adapter 223 prevents glue leakage and overflow, ensuring that no glue overflows during the material picking and changing process of the robot arm 63. Furthermore, the quick-release component 23 and quick-release connector 224 can be configured as Luer quick-release connectors, facilitating the robot arm 63 to detach the glue cartridge 22 from the valve body 211 and the external air supply equipment, enabling rapid disassembly and further improving the efficiency of glue cartridge 22 replacement. Furthermore, a one-way valve can be installed between the glue hose section 221 and the quick-release component 23 to further ensure that the integrated glue cartridge does not leak during movement.

[0061] like Figure 6 As shown, the dispensing valve 21 includes: a valve body 211, a first clamping assembly 213, and a second clamping assembly 214; the valve body 211 is provided with a first interface 212 for connection with the quick-release piece 23, so as to realize the quick insertion of the glue cartridge 22 into the valve body 211; the first clamping assembly 213 and the second clamping assembly 214 are respectively connected to the valve body 211 through two mounting brackets, the first clamping assembly 213 is located above the second clamping assembly 214, and the first clamping assembly 213 and the second clamping assembly 214 are respectively used to guide and clamp the bottom of the glue cartridge 22 near the middle part of the glue dispensing part 222 and the glue tube part 221.

[0062] Taking the axial direction of the hose section 221 as the Z-axis, the plane perpendicular to the axial direction of the hose section 221 is called the XY plane. It should be noted that the axial direction (Z-axis direction) of the hose section 221 can be parallel to the side wall of the valve body 211 (e.g., ...). Figure 4 , 6 As shown, it is installed vertically) or at an angle (e.g. Figure 9 , 10 As shown, the rubber sleeve 22 is installed at an angle, and when it is installed at an angle, the first clamping assembly 213 is connected to the valve body 211 through a connecting block.

[0063] like Figure 6-7The first clamping assembly 213 shown includes two first clamping blocks 2131, which are arranged along the Y-axis. One first clamping block 2131 is fixedly connected to the valve body 211 through a mounting bracket and is defined as a fixed clamping block 2133. The other first clamping block 2131 is connected to the first clamping block 2131 fixedly mounted on the valve body 211 through a screw 2151 and is defined as a movable clamping block 2134.

[0064] Specifically, such as Figure 8 As shown, the screw 2151 has a threaded section 2154, a smooth axis section 2155, and a limiting section 2156 on its shank. The outer diameter of the limiting section 2156 is larger than that of the smooth axis section 2155. The shank of the screw 2151 passes through the movable clamping block 2134, which is sleeved on the smooth axis section 2155. The threaded section 2154 is threadedly connected to the fixed clamping block 2133. The limiting section 2156 corresponds to the end face of the movable clamping block 2134 and abuts against it.

[0065] A first elastic element 2152 and a second elastic element 2153 are fitted onto the screw 2151. In this embodiment, the first elastic element 2152 is a disc spring, and its two ends abut against the fixed clamping block 2133 and the movable clamping block 2134, respectively. The first elastic element 2152 is used to adjust the distance between the movable clamping block 2134 and the fixed clamping block 2133. The second elastic element 2153 is a disc spring or a spring, with one end abutting against the head of the screw 2151 and the other end abutting against the movable clamping block 2134. The axial length of the second elastic element 2153 in the compressed state is not less than the axial length of the limiting segment 2156.

[0066] Through the connection structure of the screw 2151 described above, the screw 2151 can pre-adjust the opening area of ​​the first clamping port 216 by setting the threaded section 2154 and the limiting section 2156. The first elastic element 2152 and the second elastic element 2153 are used to maintain the opening state of the first clamping port 216, and can also prevent the movable clamping block 2134 from colliding with the fixed clamping block 2133 under the elastic force of the second elastic element 2153 after the integrated rubber tube is taken out from the first clamping port 216. When the integrated rubber tube is inserted into the first clamping port 216, the movable clamping block 2134 can be automatically separated from the fixed clamping block 2133, and the movable clamping block 2134 moves toward the limiting section 2156, thereby adapting to integrated rubber tubes with different outer diameters. Under the elastic force of the second elastic element 2153, the movable clamping block 2134 adaptively presses the rubber tube part 221, clamping and correcting the rubber tube part 221.

[0067] It should be noted that in other embodiments, by adjusting the screw depth of the screw 2151 relative to the movable clamping block 2134, combined with the outer diameter of the integrated rubber tube, the first clamping port 216 can be adapted to clamp the integrated rubber tube. In this embodiment, it is not necessary to install the second elastic element 2153.

[0068] Each of the two first clamping blocks 2131 has a first clamping groove 2132 on its opposite sidewall. The first clamping grooves 2132 on the two first clamping blocks 2131 are arranged opposite each other to form a first clamping opening 216. The first clamping grooves 2132 are U-shaped, V-shaped, or arc-shaped to abut against the sidewall of the rubber tube part 221. The first clamping blocks 2131 can be made of rubber directly, or an anti-slip pad made of rubber can be provided at the bottom of the first clamping groove 2132. Preferably, a chamfer 2135 is provided between the top and bottom surfaces of the first clamping groove 2132 and the first clamping block 2131, thereby forming an inclined surface that is inclined towards the first clamping opening 216 to guide the integrated rubber tube into the first clamping opening 216.

[0069] The second clamping assembly 214 includes two second clamping blocks 2141, which are arranged along the X-axis. Both second clamping blocks 2141 are fixedly connected to the valve body 211 via a mounting bracket. Each of the two clamping blocks has a second clamping groove 2142 on its opposite sidewall. The second clamping grooves 2142 on the two second clamping blocks 2141 are arranged opposite each other to form a second clamping opening 217. The second clamping grooves 2142 are U-shaped, V-shaped, or arc-shaped and are used to abut against the sidewall of the hose section 221. The second clamping blocks 2141 can be made of rubber, or an anti-slip pad can be provided at the bottom of the second clamping groove 2142. The anti-slip pad is made of rubber.

[0070] It should be noted that the first clamping component 213 clamps the rubber tube 22 along the first direction through the first clamping port 216, and the second clamping component 214 clamps the rubber tube 22 along the second direction through the second clamping port 217. The first direction and the second direction are both located in the XY plane, and the first direction and the second direction are staggered. In this embodiment, the first direction and the second direction are perpendicular to each other.

[0071] In this embodiment, when the automated guided vehicle 600 responds to the industrial control computer's instruction to replace the rubber sleeve 22, the replacement of the rubber sleeve 22 specifically includes the following steps: Control the robotic arm 63 to move to the rubber tube 22 that needs to be replaced.

[0072] The control robot 63 grips the second interface of the external gas delivery equipment and presses it down to separate the second interface of the external gas delivery equipment from the quick-connect connector on the rubber sleeve 22, thereby achieving quick disconnection between the rubber sleeve 22 and the external gas delivery equipment.

[0073] The robotic arm 63 is controlled to grip the rubber tube 22 and press it downwards, so that the quick-release piece 23 is separated from the first interface 212 of the valve body 211.

[0074] The robot arm 63 is controlled to adjust the adjustment component 215 so that the opening area of ​​the first clamping port 216 of the dispensing valve 21 is up to the first threshold value, and then the robot arm 63 is controlled to grab the glue tube 22 to be replaced. The robot arm 63 places the glue cartridge 22 to be replaced on the material rack 62 and takes the glue cartridge 22 full of glue from the material rack 62.

[0075] The robotic arm 63 is controlled to move and insert the glue-filled glue tube 22 downwards along the second clamping port 217 and the first clamping port 216 of the dispensing valve 21 until the quick-release piece 23 is inserted into the first interface 212 on the valve body 211. The quick-release piece 23 is connected to the first interface 212 on the valve body 211.

[0076] The control robot 63 adjusts the adjustment component 215 to bring the opening area of ​​the first clamping port 216 of the dispensing valve 21 to the second threshold value, thus pressing the glue cylinder 22.

[0077] The robotic arm 63 is controlled to grasp the second interface of the external gas supply equipment and press it down, so that the second interface of the external gas supply equipment is connected to the quick-connect connector on the rubber tube 22.

[0078] Wherein, the first threshold is less than the second threshold.

[0079] In this embodiment, as Figure 12-15 As shown, the first mounting part 41 is coaxially connected to the output shaft of the motor 47, and the brush 43 is coaxially mounted on one end of the second mounting part 42. A support ring 48 is connected to the outer side wall of the second mounting part 42 to facilitate the movement of the second mounting part 42 by the robot arm 63. The second mounting part 42 is provided with a mounting groove for mounting the brush 43. The other end of the second mounting part 42 is used to dock with the first mounting part 41, and a docking post 412 for docking with the first mounting part 41 is connected to the second mounting part 42.

[0080] like Figure 13As shown, a docking groove 411 is formed on the side wall of the first mounting part 41 facing the second mounting part 42. A motor 47 is connected to the other side wall of the first mounting part 41. The docking groove 411 is coaxially arranged with the output shaft of the motor 47. A magnetic suction member 44 is fixedly installed at the bottom of the docking groove 411 by screws 2151. The bottom surface of the docking groove 411 is set as the mounting surface 46 of the magnetic suction member 44. A magnetically attracted part 45 is fixedly installed on the docking post 412 by screws 2151, which magnetically engages with the magnetic suction member 44. Specifically, the axis of the magnetic suction member 44 does not coincide with the axis of the output shaft of the motor 47, that is, the magnetic suction member 44 is eccentrically set. With the magnetic suction member 44 eccentrically set, when the brush 43 is installed, the robot uses the manipulator 63 to grasp the second mounting part 42, inserts the docking post 412 into the docking groove 411, and the magnetic suction member 44 and the attracted part 45 are attracted together.

[0081] It should be noted that both the magnetic suction component 44 and the attracted component 45 are set as columns. The contact surface between the magnetic suction component 44 and the attracted component 45 is the first magnetic suction surface, and the contact surface between the attracted component 45 and the attracted component 45 is the second magnetic suction surface. The first magnetic suction surface and the second magnetic suction surface are completely opposite and fit together. The first magnetic suction surface is flush with the bottom surface of the docking groove 411 to realize the installation of the brush 43. The brush 43 and the output shaft of the motor 47 are set coaxially. When the motor 47 drives the brush 43 to rotate, due to the eccentric setting of the magnetic suction component 44 and the attracted component 45, the torque of the magnetic suction component 44 and the attracted component 45 under the centrifugal force is large. Therefore, compared with the magnetic suction component 44 and the output shaft of the motor 47 being set coaxially, the first mounting part 41 and the second mounting part 42 are less likely to slip, and the installation stability of the brush 43 is better.

[0082] Furthermore, in this embodiment, the magnetic attractor 44 is a magnet, and the attracted part 45 is an iron part, specifically an iron sheet. Compared to embodiments where both the magnetic attractor 44 and the attracted part 45 are magnets, this embodiment provides a stronger magnetic attraction and more stable installation. Of course, in other embodiments, both the magnetic attractor 44 and the attracted part 45 can be magnets. In other embodiments, the magnetic attractor 44 can be disposed on the second mounting part 42, and the attracted part 45 can be disposed on the first mounting part 41.

[0083] Furthermore, such as Figure 15 As shown, the ratio of the distance OE between the axis E of the magnetic attractor 44 and the axis O of the rotating shaft of the brush 43 to the radius r of the mounting surface 46 is 0.3:1 to 0.4:1, preferably 0.33. The ratio of the area S1 of the first magnetic attractor surface to the area S2 of the mounting surface 46 is 20% to 25%, preferably 23%. The magnetic attractor 44 and the attracted part 45 maintain a suitable adsorption area and magnetic force. While maintaining stable adsorption between the two magnetic blocks, this facilitates the operation of the second mounting part 42 by the robot arm 63 to separate the magnetic attractor 44 and the attracted part 45.

[0084] In this embodiment, the first magnetic surface is set to a circle or a plane. In other embodiments, the first magnetic surface can also be set to a polygon.

[0085] In this embodiment, the second mounting part 42 and the first mounting part 41 are quickly disassembled and assembled using magnetic attraction. When the automated guided vehicle 600 responds to the brush 43 replacement command from the industrial control computer, the brush 43 replacement specifically includes the following steps: The control robot 63 first pulls the second mounting part 42 that needs to be replaced upward, separating the first magnetic block from the second magnetic block, thus separating the second mounting part 42 from the first mounting part 41.

[0086] The robot arm 63 is controlled to grab the second mounting part 42 to be replaced and place it on the material rack 62, and then remove the second mounting part 42 to be replaced from the material rack 62.

[0087] The robot arm 63 is controlled to move and place the second mounting part 42 to be replaced downward toward the docking groove 411 of the first mounting part 41. The magnetic suction part 44 and the suction part 45 are magnetically connected, so that the second mounting part 42 is connected to the first mounting part 41, thus completing the replacement of the brush.

[0088] In this embodiment, as Figure 16-17 As shown, the male connector 54 is mounted on the camera base 51, and the female connector 55 is mounted on the camera mounting part 52. The male connector 54 and the female connector 55 are plugged into each other. The camera base 51 is also provided with a positioning post 56, and the camera mounting part 52 is provided with a positioning hole 57. The positioning post 56 is plugged into the positioning hole 57. The positioning hole 57 and the positioning post 56 cooperate to facilitate the quick connection of the male connector 54 and the female connector 55.

[0089] In this embodiment, replacing camera 53 specifically includes the following steps: The control robot 63 first pulls the camera mounting part 52 upward, separating the positioning post and positioning hole, separating the male plug and female plug, and separating the corresponding camera 53 from the camera base 51.

[0090] The robot arm 63 is controlled to grab the camera mounting part 52 and place it on the material rack 62, and then take the camera mounting part 52 to be replaced from the material rack 62.

[0091] The robot arm 63 is controlled to move and place the camera mounting part 52 to be replaced downward toward the camera base 51. The positioning post and positioning hole are inserted into each other, and the male plug and female plug are inserted into each other to connect the camera mounting part 52 and the camera base 51.

[0092] In this embodiment, during the replacement process, the robotic arm 63 can use the vision module installed on the robotic arm 63 to visually position the replacement rubber tube 22, the second mounting part 42, and the camera mounting part 52, which facilitates the precise and rapid replacement by the robotic arm 63. It can accurately identify the position and posture of each component, ensure the accuracy of grasping and placement, and avoid problems such as inaccurate installation position and loose component connection that may occur during manual operation, thus ensuring the stability of equipment operation and product quality.

[0093] In this embodiment, photoelectric sensors are also used to detect the position of the replaced rubber sleeve 22, the second mounting part 42, and the camera mounting part 52. If an installation abnormality is detected, an alarm is immediately triggered so that the operator can handle it in time.

[0094] In this embodiment, after the arrival detection is completed, the dispensing machine 100 and the automatic guide vehicle 600 will be checked again for alarms. If there is still an alarm in machine 3 or automatic guide vehicle 600, manual intervention is required. If all alarms have been cleared, the automatic replacement process of functional components is completed.

[0095] In summary, the automatic replacement method for the dispensing machine's functional modules in this embodiment can automatically, quickly, and accurately replace components such as the glue cartridge 22, brush 43, and camera 53, improving production efficiency, ensuring equipment stability and product quality, and reducing labor intensity and safety risks. Furthermore, the automatic replacement of components eliminates the need for manual shutdown, significantly shortening replacement time and increasing production efficiency. The automatic replacement process also eliminates the need for direct human intervention, reducing the labor intensity of operators, especially in special environments such as high temperature, high pressure, or toxic environments, effectively avoiding the safety risks associated with manual operation. This embodiment is applicable to the replacement of various components such as the glue cartridge 22, camera 53, and brush 43, demonstrating wide applicability and flexibly adaptable to different production needs.

[0096] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "illustrative embodiment," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of the invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0097] Based on the above-described preferred embodiments of the present invention, and through the foregoing description, those skilled in the art can make various changes and modifications without departing from the inventive concept. The technical scope of this invention is not limited to the contents of the specification, but must be determined according to the scope of the claims.

Claims

1. A method for automatically changing functional modules of a dispensing machine, characterized in that, The automatic replacement system for the dispensing machine functional modules using this automatic replacement method includes: a dispensing machine (100), an automatic guide vehicle (600), and an industrial control computer, wherein the dispensing machine (100) and the automatic guide vehicle (600) are both connected to the industrial control computer via signals; The dispensing machine (100) includes: Machine door (1); The dispensing mechanism (2) is mounted on the machine base (3). The dispensing mechanism (2) includes a dispensing valve (21) and a glue cylinder (22). The glue cylinder (22) and the dispensing valve (21) are detachably connected by a quick-release piece (23). The automated guided vehicle (600) includes an AGV body (61), a material rack (62) located on one side of the AGV body (61), and a robotic arm (63) located on the other side of the AGV body (61). The method includes the following steps: S1, Process initialization: Start the replacement process and initialize the settings for each device; S2, detect the current status of the dispensing machine (100) and the automated guided vehicle (600). If neither the dispensing machine (100) nor the automated guided vehicle (600) is in an alarm state, proceed to the next step; otherwise, enter the waiting state until the alarm is cleared. S3, obtain the current state of the gantry on the dispensing machine (100). If it is in standby mode, proceed to the next step; otherwise, control the gantry to enter standby mode. S4, a first scheduling request signal is sent to the automated guided vehicle (600) and the dispensing machine (100) via the industrial control computer; S5. The automated guided vehicle (600) enters the running start state based on the first scheduling request signal and automatically moves to the dispensing machine according to the first path; The dispensing machine (100) controls the gantry to move to a preset safe position based on the first scheduling request signal, and automatically controls the machine door (1) to open; S6. The industrial control computer sends a control command to the automated guided vehicle (600) to enter the work area, and performs alarm checks on the dispensing machine (100) and the automated guided vehicle (600): If there is no alarm signal, proceed directly to the material changeover stage and then to the next step; Otherwise, return to step S2; S7. The industrial control computer sends a glue tube replacement command to the automatic guided vehicle (600). The automatic guided vehicle (600) recognizes the glue tube replacement command, controls the robot arm (63) to grab the glue tube to be replaced to the material rack (62), and then controls the robot arm (63) to grab the glue tube to be replaced from the material rack (62) and install it to realize the replacement of the glue tube. S8. The dispensing machine (100) obtains the replacement completion instruction and sends the replacement completion instruction to the industrial control computer. The industrial control computer then sends the replacement completion instruction to the automated guided vehicle (600). The automated guided vehicle (600) receives the replacement completion instruction and automatically travels to the designated area according to the second path.

2. The automatic replacement method for functional modules of a dispensing machine according to claim 1, characterized in that, The dispensing machine (100) also includes: The adhesive wiping mechanism (4) includes a first mounting part (41) and a second mounting part (42). The first mounting part (41) is mounted on the machine base (3), and the second mounting part (42) is provided with a brush (43). The first mounting part (41) and the second mounting part (42) are detachably connected by a magnetic suction member (44) and a suction-bearing member (45). The magnetic suction member (44) is magnetically connected to the suction-bearing member (45). The visual inspection mechanism (5) includes a camera base (51) and a camera mounting part (52). The camera base (51) is mounted on the machine base (3), and a camera (53) is provided on the camera mounting part (52). The camera base (51) and the camera mounting part (52) are detachably connected by a male connector (54) and a female connector (55). In step S7, the industrial control computer will also send a brush replacement command or a camera replacement command to the automated guided vehicle (600). The automated guided vehicle (600) will recognize the brush replacement command or the camera replacement command and control the robot arm (63) to perform a replacement operation on the brush (43) or the camera (53) on the dispensing machine (100).

3. The automatic replacement method for functional modules of a dispensing machine according to claim 1, characterized in that, The rubber tube (22) is an integral rubber tube; The integrated rubber sleeve includes: Hose section (221); The glue outlet (222) is located at one end of the glue tube (221), and the glue outlet (222) is connected to the glue dispensing valve (21) through the quick-release member (23); And an adapter (223), located at the other end of the hose (221), the adapter (223) being connected to an external gas supply device via a quick-release connector (224); The dispensing valve (21) includes: Valve body (211), the valve body (211) is provided with a first interface (212) for connecting with the quick release part (23); A first clamping assembly (213) is connected to the valve body (211) and has a first clamping port (216) adapted to clamp the rubber cylinder (22) in a first direction. The second clamping assembly (214) is located below the first clamping assembly (213). The second clamping assembly (214) has a second clamping port (217) suitable for clamping the rubber tube (22) in a second direction. The second clamping port (217) and the first clamping port (216) are both distributed along the axial direction of the rubber tube (22). Adjustment component (215) is adapted to adaptively adjust the opening area of ​​the first clamping port (216) according to the outer diameter of the rubber tube (22).

4. The automatic replacement method for functional modules of a dispensing machine according to claim 3, characterized in that, The first clamping assembly (213) includes two first clamping blocks (2131) arranged opposite to each other. Each of the two first clamping blocks (2131) is provided with a first clamping groove (2132) for clamping the rubber tube (22). The two first clamping grooves (2132) are arranged opposite to each other to form the first clamping opening (216). The second clamping assembly (214) includes two second clamping blocks (2141). Each of the two second clamping blocks (2141) has a second clamping groove (2142) for clamping the rubber tube (22) on its opposite sidewall. The two second clamping grooves (2142) are arranged opposite each other to form a second clamping opening (217). Among them, the two first clamping blocks (2131) are a fixed clamping block (2133) and a movable clamping block (2134), respectively. The fixed clamping block (2133) is fixedly connected to the valve body (211), and the movable clamping block (2134) can move relative to the fixed clamping block (2133) to increase or decrease the opening area of ​​the first clamping port (216).

5. The automatic replacement method for functional modules of a dispensing machine according to any one of claims 3 to 4, characterized in that, The replacement of the rubber sleeve (22) specifically includes the following steps: Control the robotic arm (63) to move to the rubber tube (22) that needs to be replaced; Control the robotic arm (63) to clamp the second interface of the external gas delivery device and press it down to separate the second interface of the external gas delivery device from the quick-connect connector on the rubber tube (22), thereby realizing quick disconnection between the rubber tube (22) and the external gas delivery device; Control the robotic arm (63) to clamp the rubber tube (22) and press it down, so that the quick release piece (23) is separated from the first interface (212) of the valve body (211); Control the robotic arm (63) to adjust the adjustment component (215) so that the opening area of ​​the first clamping port (216) of the dispensing valve (21) is up to the first threshold, and then control the robotic arm (63) to grab the glue tube (22) to be replaced. The robot arm (63) is controlled to place the glue tube (22) to be replaced on the material rack (62) and take the glue tube (22) full of glue from the material rack (62). Control the movement of the robotic arm (63) to insert the glue-filled glue tube (22) downwards along the second clamping port (217) and the first clamping port (216) of the dispensing valve (21) until the quick-release piece (23) is inserted into the first interface (212) on the valve body (211). The quick-release piece (23) is connected to the first interface (212) on the valve body (211). Control the robotic arm (63) to adjust the adjustment component (215) so that the opening area of ​​the first clamping port (216) of the dispensing valve (21) is up to the second threshold, and press the glue cylinder (22). Control the robotic arm (63) to grab the second interface of the external gas delivery device and press it down so that the second interface of the external gas delivery device connects to the quick-connect connector on the rubber tube (22); Wherein, the first threshold is less than the second threshold.

6. The automatic replacement method for functional modules of a dispensing machine according to claim 2, characterized in that, The magnetic attractor (44) is mounted on the first mounting part (41), and the attracted part (45) is mounted on the second mounting part (42); The first mounting part (41) is connected to the output shaft of the motor (47) and rotates around the output shaft. The brush (43) is coaxially arranged with the output shaft of the motor (47). The center of the magnetic suction member (44) is eccentrically arranged relative to the axis of the output shaft.

7. The automatic replacement method for functional modules of a dispensing machine according to claim 2, characterized in that, The first mounting part (41) has a docking groove (411) on one side wall facing the second mounting part (42), and a motor (47) is connected to the other side wall of the first mounting part (41). The docking groove (411) is coaxially arranged with the brush (43). The second mounting part (42) is connected to a docking post (412) for inserting and engaging with the docking groove (411). The bottom of the docking groove (411) is configured as a mounting surface (46) for mounting the magnetic suction member (44). The suction member (45) is mounted on the end face of the docking post (412). The surface of the magnetic attractor (44) used to attract the attracted part (45) is the first magnetic attractor surface, and the surface of the attracted part (45) used to cooperate with the magnetic attractor (44) is the second magnetic attractor surface. The first magnetic attractor surface and the second magnetic attractor surface are completely opposite to and in contact with each other.

8. The automatic replacement method for functional modules of a dispensing machine according to claim 2, characterized in that, A support ring (48) is provided on the outer side of the second mounting part (42), and the support ring (48) is used for the robot arm (63) to grasp.

9. The automatic replacement method for functional modules of a dispensing machine according to any one of claims 6 to 8, characterized in that, In step S7, the replacement of the brush (43) specifically includes the following steps: The robot arm (63) is controlled to first pull the second mounting part (42) to be replaced upward, and the brush (43) installed on the second mounting part (42) is separated from the first mounting part (41); Control the robotic arm (63) to grab the second mounting part (42) to be replaced and place it on the material rack (62), and take the second mounting part (42) to be replaced from the material rack (62). Control the movement of the robotic arm (63) to place the second mounting part (42) to be replaced downward toward the docking groove (411) of the first mounting part (41), so that the second mounting part (42) connects to the first mounting part (41), and the replacement of the brush is completed.

10. The automatic replacement method for functional modules of a dispensing machine according to claim 2, characterized in that, The male connector (54) is disposed on the camera base (51), and the female connector (55) is disposed on the camera mounting part (52). The male connector (54) and the female connector (55) are plugged into each other. The camera base (51) is also provided with a positioning post (56), and the camera mounting part (52) is provided with a positioning hole (57) opposite to it. The positioning post (56) and the positioning hole (57) are inserted and engaged.

11. The automatic replacement method for functional modules of a dispensing machine according to claim 10, characterized in that, In step S7, the replacement of the camera (53) specifically includes the following steps: The robot arm (63) is controlled to first pull the camera mounting part (52) upward, so that the camera (53) is separated from the camera base (51); Control the robotic arm (63) to grab the camera mounting part (52) and place it on the material rack (62), and take the camera mounting part (52) to be replaced from the material rack (62). Control the movement of the robotic arm (63) to place the camera mounting part (52) to be replaced downward toward the camera base (51) so that the camera mounting part (52) is connected to the camera base (51).

Images