Dispensing and detection integrated machine

Abstract

The application relates to the technical field of dispensing equipment, and discloses a dispensing and detection all-in-one machine which comprises a dispensing machine, a detection machine and a feeding device penetrating through the two. The dispensing machine is provided with a plurality of parallel feeding modules, each feeding module carrying a feeding tool; a feeding and carrying assembly, a visual positioning assembly and a dispensing assembly selectively serve the plurality of feeding modules, and the working range of the feeding and carrying assembly is different from the working ranges of the visual positioning assembly and the dispensing assembly. The dispensing assembly dispenses according to the visual positioning result. The detection machine detects the glue path state of the product after dispensing. The piston in the dispensing device divides the first sleeve into two working cavities for alternately absorbing glue and discharging glue, and through the linkage of the sliding plate, the second sliding rod and the rubber ball, the glue liquid flow channel in the dispensing pipe is closed at the end of dispensing. The application can improve the multi-station cooperation efficiency, reduce repeated positioning errors, and improve the glue supply continuity and the plugging stability.

Description

Technical Field

[0001] This invention relates to the field of dispensing equipment technology, specifically to an integrated dispensing and testing machine. Background Technology

[0002] The dispensing and inspection integrated machine is used to perform dispensing processing on electronic components, circuit boards or precision modules and to inspect the quality of the glue path formed after dispensing.

[0003] When existing dispensing equipment has multiple product-bearing stations, the feeding mechanism, vision positioning mechanism, and dispensing mechanism are typically fixedly associated with the corresponding stations. As the number of stations increases, the number of actuators needs to increase accordingly, easily leading to complex equipment structures and large space requirements. Furthermore, the different processing times for different processes mean that a fixed association can cause actuators to wait or station positions to remain idle. Some equipment also requires re-grabbing or transferring products after vision positioning, causing changes in the product's bearing reference and potentially introducing repetitive positioning errors.

[0004] Secondly, existing equipment typically lacks dispensing volume calibration and nozzle cleaning before formal dispensing, and requires separate transfer to testing equipment after dispensing. Some dispensing devices use a single working chamber for dispensing, making continuous dispensing and drainage difficult, and the adhesive flow path cannot be closed in time after dispensing, easily leading to dispensing fluctuations and residual adhesive dripping. Therefore, there is a need for an integrated dispensing and testing machine that can improve multi-station collaborative efficiency, maintain visual positioning benchmarks, and simultaneously handle dispensing calibration, adhesive path detection, and stable dispensing. Summary of the Invention

[0005] To address the problems in the prior art, this invention provides an integrated dispensing and inspection machine.

[0006] The technical solution adopted by this invention to solve its technical problem is: An integrated dispensing and testing machine includes a dispensing machine, a testing machine, and a feeding device for conveying products; The dispensing machine is equipped with multiple feeding modules arranged in parallel, and each feeding module is equipped with a dual-position feeding fixture for carrying the product to be dispensed. Above the multiple feeding modules are a feeding and handling assembly, a vision positioning assembly, and a dispensing assembly. The feeding and handling assembly can selectively transfer the product to be dispensed between the feeding device and the multiple feeding modules. The vision positioning assembly and the dispensing assembly can selectively perform vision positioning and dispensing on the product to be dispensed on the multiple feeding modules, respectively. The feeding and handling assembly includes multiple feeding and handling units, the vision positioning assembly includes multiple vision positioning units, and the dispensing assembly includes multiple dispensing units. The multiple feeding modules form a first working group according to the working range of each feeding and handling unit, and form a second working group according to the common working range of each corresponding vision positioning unit and each dispensing unit. The grouping methods of the first working group and the second working group are different. The feeding module is used to move the dual-position feeding fixture carrying the product to be glued from the working area of ​​the vision positioning component to the working area of ​​the dispensing component, so that the dispensing component can dispense glue onto the product to be glued on the same dual-position feeding fixture according to the product position obtained by the vision positioning component. The testing machine is located downstream of the dispensing machine along the conveying direction of the feeding device and is used to test the glue path status of the product after dispensing.

[0007] Preferably, the plurality of feeding modules include six sets of feeding modules, wherein three sets of feeding modules are disposed on one side of the feeding device and the other three sets of feeding modules are disposed on the other side of the feeding device, and each feeding module extends in the same or substantially the same direction as the conveying direction of the feeding device. The dispensing machine has a first gantry and a second gantry arranged at intervals along the feeding direction of the feeding module. The first gantry is located upstream of the second gantry, and the first gantry and the second gantry are respectively straddling the feeding device and the six sets of feeding modules.

[0008] Preferably, the feeding and handling assembly includes two sets of variable-pitch material handling grippers mounted on the first gantry. One set of variable-pitch material handling grippers can move between the feeding device and three sets of feeding modules located on one side of the feeding device, and the other set of variable-pitch material handling grippers can move between the feeding device and three sets of feeding modules located on the other side of the feeding device. Each set of variable-pitch material handling grippers has two clamping ends for clamping the product to be dispensed. The first gantry is also equipped with two sets of double-feeding grippers. The two sets of double-feeding grippers correspond to the three sets of feeding modules located on both sides of the feeding device, and can selectively transfer the products on the double-position feeding fixture to the feeding device or the first NG belt line.

[0009] Preferably, the feeding device is provided with a blocking and limiting mechanism and a side-push pre-positioning mechanism within the material picking range of the variable-pitch picking claw. The blocking and limiting mechanism protrudes upward from the conveying bearing surface of the feeding device and forms a limiting surface for the product to be glued to abut against along the conveying direction. The side-push pre-positioning mechanism is located on one side of the feeding device and can push the product to be dispensed along the width direction of the feeding device from the side of the product while the product is against the limiting surface, so that the product to be dispensed enters the predetermined picking position of the variable-pitch picking claw.

[0010] Preferably, the dual-position feeding fixture is a dual-position feeding fixture with two product bearing positions; The variable pitch material handling gripper is equipped with a servo motor, a lead screw that is driven to the output end of the servo motor, and a linear guide rail that is parallel to the lead screw. At least one of the two gripping ends is slidably engaged with the linear guide rail and is driven to the lead screw through the lead screw nut. When the servo motor drives the lead screw to rotate, the lead screw nut drives the corresponding clamping end to move along the linear guide rail, so as to adjust the distance between the two clamping ends to correspond to the two product bearing positions on the dual-position feeding fixture.

[0011] Preferably, each feeding module includes a support base fixed on the dispensing machine frame, a feeding guide rail disposed on the support base along the feeding direction, and a bearing slide that slides with the feeding guide rail. The dual-position feeding fixture is fixed on the bearing slide and is driven by the feeding drive mechanism to pass sequentially through the working areas of the vision positioning component and the dispensing component. The product to be dispensed remains in the same product bearing position of the dual-position feeding fixture during the vision positioning and dispensing process. The visual positioning component includes three sets of guide positioning cameras mounted on the second gantry, and the dispensing component includes three sets of dispensing devices mounted on the second gantry. Each set of guide positioning cameras and each set of dispensing devices corresponds to two sets of feeding modules. A set of guide positioning cameras and a set of dispensing devices located in the middle of the second gantry are respectively connected to a transverse drive mechanism, and can switch the working position between two sets of feeding modules located on both sides of the feeding device and close to the feeding device.

[0012] Preferably, the dispensing machine is further equipped with a weighing device and a glue-cleaning device located in the working area of ​​the dispensing assembly. The weighing device is used to receive the test glue liquid output by the dispensing assembly before the product is officially dispensed, and to detect the weight of the test glue liquid. The adhesive removal device includes a support frame fixed on the dispensing machine frame, a main wheel and a take-up wheel rotatably mounted on the support frame, and a positioning block mounted on the upper part of the support frame. The cleaning cloth is led out from the main wheel, covers the cleaning support surface of the positioning block, and extends to the take-up wheel. The take-up roller is connected to the tension control motor, and the main roller is connected to the torque retainer. The take-up roller pulls the cleaning cloth relative to the nozzle of the dispensing assembly, and the torque retainer keeps the cleaning cloth covering the positioning block taut.

[0013] Preferably, the inspection machine is equipped with a line scanning component located above the feeding device. The image acquisition area of ​​the line scanning component faces the product conveying path on the feeding device to acquire glue path images of the product after dispensing and identify at least one glue path defect among glue overflow, glue breakage, glue shortage, and glue deviation. A second NG conveyor belt is provided on one side of the feeding device. The inspection machine is also provided with a kicking assembly. The kicking assembly is connected to a transverse drive mechanism that spans the feeding device and the second NG conveyor belt. It has a vertical drive component and a picking gripper that is driven to rise and fall by the vertical drive component, so as to transfer products with glue path defects from the feeding device to the second NG conveyor belt.

[0014] Preferably, the dispensing assembly includes a dispensing device having a housing and a first sleeve disposed within the housing, wherein a piston is slidably disposed along the axial direction of the first sleeve and divides the internal space of the first sleeve into two working chambers; The two working chambers are respectively connected to the glue storage area inside the shell through corresponding feed pipes, and respectively connected to the glue inlet channel inside the second sleeve through corresponding discharge pipes. The feed pipe is equipped with a feed one-way valve that allows glue to flow from the glue storage area into the corresponding working chamber, and the discharge pipe is equipped with a discharge one-way valve that allows glue to flow from the corresponding working chamber to the glue inlet channel. The piston is connected to the output end of the hydraulic cylinder via a first sliding rod, so that when the piston reciprocates, one working chamber discharges adhesive as its volume decreases, while the other working chamber draws adhesive from the adhesive storage area as its volume increases. The two working chambers switch between adhesive suction and discharge states when the piston moves in the opposite direction.

[0015] Preferably, the portion of the first sliding rod located outside the first sleeve is connected to a sliding plate that moves synchronously with the piston. The lower surface of the sliding plate forms a flat abutment portion, and arc-shaped clearance grooves are formed at positions corresponding to the two effective glue discharge stroke endpoints of the piston. The second sliding rod is vertically slidably disposed inside the second sleeve. Its upper end is provided with a steel ball that rolls against the lower surface of the sliding plate, and its lower end is connected with a rubber ball. The second sleeve is provided with a return spring that pushes the second sliding rod upward. The lower end of the second sleeve is connected to a dispensing tube, and the inner wall of the dispensing tube forms an annular sealing part above the rubber ball. The middle part of the annular sealing part forms a through hole with a diameter larger than the outer diameter of the second sliding rod and smaller than the diameter of the rubber ball. When the steel ball rolls into contact with the flat contact part, the sliding plate overcomes the force of the return spring and keeps the second sliding rod in the downward position, so that the rubber ball separates from the annular sealing part; when the steel ball enters the arc-shaped relief groove, the return spring pushes the second sliding rod and the rubber ball to move upward, so that the rubber ball abuts against the annular sealing part and seals the through hole.

[0016] The beneficial effects of this invention are: (1) The present invention forms a first working group according to the working range of each material handling unit and a second working group according to the working range of each vision positioning unit and each dispensing unit. The two working groups are grouped in different ways, so that the material handling, vision positioning and dispensing mechanisms can selectively serve multiple material handling modules according to their respective working relationships, reduce the detection process of split equipment and improve the collaborative working efficiency between multiple material handling modules.

[0017] (2) The present invention drives the feeding tooling from the visual positioning area to the dispensing area through the feeding module, so that the product is kept on the same feeding tooling during the visual positioning and dispensing process, thereby reducing the error caused by re-grabbing or repositioning.

[0018] (3) The present invention uses a weighing device to verify the weight of the test adhesive before formal dispensing and uses a cleaning device to remove residual adhesive from the nozzle; the dispensed product enters the inspection machine along the feeding device, and the adhesive path is inspected by the line scanning component, and the unqualified products are transferred to the NG belt line, thereby improving the continuity of dispensing, inspection and unqualified product diversion.

[0019] (4) The present invention divides the first sleeve into two working chambers by a piston, so that the two working chambers alternately perform the suction and discharge actions as the piston moves back and forth; at the same time, a sealing structure is formed by a sliding plate, a second sliding rod, a return spring and a rubber ball that is linked with the piston stroke, which can improve the utilization rate of the piston reciprocating stroke and cut off the glue flow channel at the end of dispensing to reduce the continued dripping of residual glue. Attached Figure Description

[0020] The present invention will be further described below with reference to the accompanying drawings and embodiments.

[0021] Figure 1 This is a first three-dimensional structural schematic diagram of the dispensing and inspection integrated machine of the present invention; Figure 2 This is a schematic diagram of the second three-dimensional structure of the dispensing and testing integrated machine of the present invention; Figure 3 This is a three-dimensional structural diagram of the internal working mechanism of the dispensing machine of the present invention; Figure 4 This is a three-dimensional structural diagram of the internal feeding mechanism of the dispensing machine of the present invention; Figure 5This is a three-dimensional structural diagram of the internal loading and unloading mechanism of the dispensing machine of the present invention; Figure 6 This is a schematic diagram of the connection structure between the dispensing device of the present invention and the second gantry frame; Figure 7 This is a schematic diagram of the internal structure of the testing machine of the present invention; Figure 8 This is a cross-sectional view of the dispensing device of the present invention; Figure 9 This is a schematic diagram of the internal glue supply structure of the dispensing device of the present invention; Figure 10 This is a schematic diagram of the internal structure of the dispensing tube of the present invention; Figure 11 for Figure 8 A magnified schematic diagram of the local structure at point A; Figure 12 This is a schematic diagram of the structure of the guiding and positioning camera of the present invention; Figure 13 for Figure 4 A magnified schematic diagram of the local structure at point B; Figure 14 This is a schematic diagram of the variable-pitch material handling gripper of the present invention; Figure 15 This is a schematic diagram of the adhesive removal device of the present invention.

[0022] In the diagram: 1. Dispensing machine; 2. Feeding device; 21. Blocking and limiting mechanism; 22. Side-push pre-positioning mechanism; 3. First gantry frame; 31. Variable-pitch material gripper; 32. Double material gripper; 310. Servo motor; 311. Lead screw; 4. Second gantry frame; 41. Guide positioning camera; 42. Dispensing device; 5. Feeding module; 51. Double-position feeding fixture; 521. Housing; 522. Partition; 523. Feed pipe; 524. First sleeve; 525. Discharge pipe; 5 26. Piston; 527. First sliding rod; 528. Hydraulic cylinder; 529. Sliding plate; 530. Second sliding rod; 531. Second sleeve; 532. Dispensing tube; 61. Line sweeping assembly; 62. Material ejection assembly; 7. First NG conveyor belt; 8. Glue removal device; 81. Bearing frame; 82. Tension control motor; 83. Take-up wheel; 84. Main wheel; 85. Positioning block; 86. Torque retainer; 9. Weighing device; 10. Detector; 11. Second NG conveyor belt. Detailed Implementation

[0023] To make the technical means, creative features, achieved objectives and effects of this invention easier to understand, the invention will be further described in detail below with reference to the accompanying drawings. It should be understood that the following embodiments are used to illustrate the structural composition, connection relationships, and working principle of this invention, and are not intended to limit the scope of protection of this invention.

[0024] like Figure 1 and Figure 2 As shown, this embodiment provides an integrated dispensing and testing machine. The dispensing machine 1 and the testing machine 10 are arranged adjacent to each other along the product conveying direction. The feeding device 2 enters the dispensing machine 1 from the feeding end of the dispensing machine 1, passes through the dispensing machine 1 and the testing machine 10 in sequence, and extends to the dispensing end of the testing machine 10. This allows the product to be dispensed to complete feeding, dispensing, and glue path testing in sequence along the same conveying path, avoiding the need for the product to be re-clamped between the dispensing machine 1 and the testing machine 10 or to be manually transferred.

[0025] The feeding device 2 can adopt a belt conveyor structure. The conveyor belt extends along the product conveying direction and is tensioned between the driving roller and the driven roller. The driving roller is connected to the conveyor motor. When the conveyor motor drives the driving roller to rotate, the conveyor belt carries the product to be glued and moves from the feeding end of the dispensing machine 1 to the dispensing end of the inspection machine 10.

[0026] like Figure 5 and Figure 13 As shown, the feeding device 2 is equipped with a blocking and limiting mechanism 21 and a side-push pre-positioning mechanism 22 on the conveying section inside the dispensing machine 1. The blocking and limiting mechanism 21 is located within the picking range of the variable-pitch picking claw 31. The blocking and limiting mechanism 21 is plate-shaped and protrudes upward from the conveying bearing surface of the feeding device 2. Its side facing the product to be dispensed forms a limiting surface for restricting the product from continuing to move along the conveying direction.

[0027] The side-push pre-positioning mechanism 22 is disposed on one side of the feeding device 2 and is positioned towards the location of the blocking and limiting mechanism 21. In this embodiment, the side-push pre-positioning mechanism 22 adopts a side-push cylinder and a side-push member connected to the output end of the side-push cylinder. The side-push cylinder is fixed on the support structure of the feeding device 2, and the side-push member can be a plate-shaped or block-shaped structure, and can reciprocate along the width direction of the feeding device 2 under the drive of the side-push cylinder.

[0028] After the product to be dispensed moves with the feeding device 2 to its front end and abuts against the blocking and limiting mechanism 21, the side-push cylinder drives the side-push component to push the product from the side, causing the product to move to a predetermined lateral position while still abutting against the blocking and limiting mechanism 21. The blocking and limiting mechanism 21 thus limits the position of the product to be dispensed in the conveying direction, and the side-push pre-positioning mechanism 22 limits the position of the product to be dispensed in the width direction of the feeding device 2, allowing two products to be dispensed in a group to enter the picking range of the variable-pitch picking gripper 31 in a predetermined posture. After the product is removed, the side-push cylinder drives the side-push component to reset, avoiding subsequent products to be dispensed.

[0029] like Figures 3 to 5 As shown, the dispensing machine 1 has a frame inside for supporting each working mechanism. Multiple feeding modules 5 are fixedly installed on the frame, and each feeding module 5 is equipped with a double-position feeding fixture 51 for carrying the product to be dispensed.

[0030] In this embodiment, the feeding modules 5 are configured as six groups, divided into two parts and arranged on both sides of the feeding device 2. Three groups of feeding modules 5 are located on one side of the feeding device 2, and the other three groups are located on the other side. All six groups of feeding modules 5 extend along the same or substantially the same longitudinal direction as the feeding device 2, thus forming a parallel arrangement with the feeding device 2. The dual-position feeding fixture 51 specifically adopts a dual-position feeding fixture with two product bearing positions.

[0031] The first gantry 3 and the second gantry 4 are spaced apart along the feeding direction of the product within the dispensing machine 1. Both the first gantry 3 and the second gantry 4 have columns fixed to the internal frame of the dispensing machine 1 and crossbeams connected to the upper ends of the columns. The crossbeams are suspended above the feeding device 2 and the six sets of feeding modules 5, and extend in a direction intersecting the extending directions of the feeding device 2 and the feeding modules 5. The first gantry 3 is located upstream of the second gantry 4 along the feeding direction and is used to complete the loading, unloading, and transfer of defective products between the feeding device 2 and the feeding modules 5. The second gantry 4 is located downstream of the first gantry 3 and is used to complete product identification, position detection, and dispensing operations.

[0032] In this embodiment, the material handling assembly includes two sets of variable-pitch material handling claws 31 disposed on the first gantry 3. Each set of variable-pitch material handling claws 31 and the drive mechanism for driving its lateral and vertical movement constitute a material handling unit.

[0033] Two sets of variable-pitch material handling grippers 31 correspond to the three sets of feeding modules 5 located on both sides of the feeding device 2. One set of variable-pitch material handling grippers 31 is used to transfer products between the feeding device 2 and the three sets of feeding modules 5 located on one side of the feeding device 2, and the other set of variable-pitch material handling grippers 31 is used to transfer products between the feeding device 2 and the three sets of feeding modules 5 located on the other side of the feeding device 2.

[0034] The first gantry 3 has a transverse guide rail extending along the length of the beam. The variable pitch material picker 31 is slidably connected to the transverse guide rail via a slider and is driven by a transverse drive component on the first gantry 3 to move along the transverse guide rail, so that the variable pitch material picker 31 can switch pick-up and put-down positions between the feeding device 2 and the corresponding three sets of feeding modules 5.

[0035] In this embodiment, the lateral movement drive can be a linear motor. The stator of the linear motor is fixedly mounted along the crossbeam of the first gantry 3, and the mover of the linear motor is connected to the variable-pitch material gripper 31. When the linear motor is working, the variable-pitch material gripper 31 moves laterally along the first gantry 3 through the linear movement of the mover along the stator. In other embodiments, a servo motor, a lead screw, and a linear guide rail forming a lead screw linear module, or a synchronous belt linear module can be used to drive the variable-pitch material gripper 31 to move laterally.

[0036] The variable-pitch gripper 31 is also connected to a vertical drive mechanism mounted on the first gantry 3. The vertical drive mechanism is used to move the variable-pitch gripper 31 closer to or further away from the feeding device 2 and the double-position feeding fixture 51. The vertical drive mechanism can be a lifting module formed by a servo motor and a vertical lead screw, or it can be a pneumatic cylinder or an electric cylinder. Before the variable-pitch gripper 31 moves laterally, the vertical drive mechanism first lifts the product to a position higher than the feeding device 2 and the feeding module 5 to avoid interference between the product and adjacent structures during the lateral transfer process.

[0037] like Figure 14 As shown, each set of variable-pitch grippers 31 has two gripping ends, each gripping end being used to grip one product to be glued, so that one set of variable-pitch grippers 31 can simultaneously grasp two products to be glued. The gripping ends can be pneumatic grippers, which have two oppositely arranged gripping fingers. When the gripper cylinder drives the two gripping fingers to move towards each other, it clamps the product; when it drives the two gripping fingers to move away from each other, it releases the product.

[0038] The servo motor 310 is fixedly mounted on the support structure of the variable pitch material handling gripper 31, and its output end is connected to the lead screw 311 for transmission. The lead screw 311 is rotatably supported on the variable pitch material handling gripper 31 and is set in a direction intersecting the extension direction of the first gantry frame 3 crossbeam. A linear guide rail parallel to the lead screw 311 is also provided on one side of the lead screw 311.

[0039] At least one of the two clamping ends is connected to a slider that slides in conjunction with a linear guide rail. The slider is connected to a lead screw nut sleeved on the lead screw 311. When the servo motor 310 drives the lead screw 311 to rotate, the lead screw nut causes the corresponding clamping end to move along the linear guide rail, thereby changing the clamping distance between the two clamping ends.

[0040] By adjusting the rotation angle of the servo motor 310, the clamping distance between the two clamping ends can be adjusted according to the outer dimensions of the product to be glued, so that the two clamping ends correspond to the clamping positions of the two products to be glued respectively; after the product to be glued is clamped, the clamping distance between the two clamping ends can also be adjusted to match the two product bearing positions on the double-position feeding fixture 51, so that the two products to be glued can be placed on the two product bearing positions of the double-position feeding fixture 51 respectively.

[0041] After the dispensing products are positioned, the variable-pitch gripper 31 moves along the first gantry 3 to above the feeding device 2. The vertical drive mechanism drives the two clamping ends to descend, clamping the two products to be dispensed. After the products are lifted, the servo motor 310 adjusts the distance between the two clamping ends via the lead screw 311. The variable-pitch gripper 31 then moves along the first gantry 3 to above the corresponding feeding module 5, placing the two products to be dispensed onto the dual-position feeding fixture 51.

[0042] Each feeding module 5 has a long strip support base fixed on the internal frame of the dispensing machine 1. The support base is provided with a feeding guide rail extending along the feeding direction and a bearing slide that slides with the feeding guide rail. The dual-position feeding fixture 51 is fixedly installed on the bearing slide.

[0043] A feeding screw parallel to the feeding guide rail is rotatably mounted on the support base. The bearing slide is connected to the feeding screw via a screw nut and slides with the feeding guide rail via a slider. When the feeding motor located at the end of the support base drives the feeding screw to rotate, the bearing slide moves along the feeding direction under the guidance of the feeding guide rail, thereby driving the double-position feeding fixture 51 to sequentially pass through the loading position, visual recognition position, dispensing position, and unloading position. In other embodiments, the feeding module 5 can also use a linear motor or a synchronous belt linear module to drive the movement of the double-position feeding fixture 51.

[0044] The dual-position feeding fixture 51 is tray-shaped, with two product-bearing positions for each product to be dispensed, allowing each feeding module 5 to simultaneously transport two products to be dispensed in one feeding stroke. Each product-bearing position can have a positioning groove adapted to the outer contour of the product, or it can be equipped with a positioning block or positioning pin to abut against the side of the product, thereby restricting the lateral movement or rotation of the product relative to the dual-position feeding fixture 51.

[0045] After the product is placed into the dual-position feeding fixture 51 by the variable-pitch gripper 31, it remains in the same product-bearing position before visual recognition and dispensing are completed. When the feeding module 5 moves the dual-position feeding fixture 51 from the visual recognition position to the dispensing position, the relative position between the product and the dual-position feeding fixture 51 remains unchanged, reducing positioning errors caused by re-gripping the product.

[0046] The first gantry 3 is also equipped with two sets of double-grabbing grippers 32, which correspond to the three sets of feeding modules 5 located on both sides of the feeding device 2. The double-grabbing grippers 32 are slidably connected to the transverse guide rail on the first gantry 3 via sliders, and can move laterally along the first gantry 3 under the drive of the transverse drive component to transfer products between the corresponding three sets of feeding modules 5, the feeding device 2, and the first NG belt conveyor 7.

[0047] Two sets of variable-pitch material-picking claws 31 are set on one side of the first gantry 3 facing the product loading position, and two sets of double-pitch material-picking claws 32 are set on the other side of the first gantry 3; the variable-pitch material-picking claws 31 and the double-pitch material-picking claws 32 are slidably connected to the first gantry 3 through corresponding transverse guide rails.

[0048] The dual-grip gripper 32 is connected to the vertical lifting mechanism. Its lower part has two gripping ends, each corresponding to a product-bearing position on the dual-position feeding fixture 51, allowing the dual-grip gripper 32 to simultaneously grip two products on the dual-position feeding fixture 51. The two gripping ends can also be controlled separately to grip only one product based on the product identification result.

[0049] like Figures 3 to 5 As shown, both the visual positioning component and the dispensing component are mounted on the second gantry 4. In this embodiment, the visual positioning component includes three sets of guide positioning cameras 41, each set of guide positioning cameras 41 constituting a visual positioning unit; the dispensing component includes three sets of dispensing devices 42, each set of dispensing devices 42 constituting a dispensing unit.

[0050] The three sets of guiding and positioning cameras 41 and the three sets of dispensing devices 42 respectively form a visual positioning unit and a dispensing unit corresponding to the operation of the two sets of feeding modules 5 with the six sets of feeding modules 5.

[0051] The four sets of feeding modules 5 located on both sides of the feeding device 2 and relatively far away from the feeding device 2 correspond to the guide positioning camera 41 and dispensing device 42 located on both sides of the second gantry 4 in pairs; the two sets of feeding modules 5 located on both sides of the feeding device 2 and close to the feeding device 2 correspond to a set of guide positioning camera 41 and a set of dispensing device 42 located in the middle of the second gantry 4.

[0052] Each set of guide positioning cameras 41 is mounted on the second gantry 4 and can switch shooting positions between the corresponding two sets of feeding modules 5. The guide positioning camera 41 located in the middle of the second gantry 4 is connected to a transverse drive mechanism, whose transverse stroke crosses the feeding device 2, so that the middle guide positioning camera 41 can move to above the two sets of inner feeding modules 5 located on both sides of the feeding device 2.

[0053] The three sets of dispensing devices 42 correspond to the working areas of the three sets of guiding and positioning cameras 41. The dispensing device 42 located in the middle of the second gantry 4 is also connected to a transverse drive mechanism. Its transverse stroke crosses the feeding device 2, so that the middle dispensing device 42 can move to the top of the two sets of inner feeding modules 5 located on both sides of the feeding device 2 to perform dispensing on the products on the corresponding double-position feeding fixtures 51.

[0054] Therefore, the six sets of feeding modules 5 form two first operating groups according to the operating range of the two loading and handling units. Each first operating group includes three sets of feeding modules 5 located on the same side of the feeding device 2. The six sets of feeding modules 5 form three second operating groups according to the operating range of the three vision positioning units and the three dispensing units. Each second operating group includes two sets of feeding modules 5. The different grouping methods of the first and second operating groups enable the loading and handling units, vision positioning units, and dispensing units to selectively serve the corresponding feeding modules 5 according to their respective operating relationships.

[0055] After the dual-position feeding fixture 51 moves to the visual recognition position, the guiding positioning camera 41 captures images of the two products to be dispensed. This process identifies the actual position and orientation of the products relative to the fixture 51, and also reads the QR code information on the products. The control system then determines whether the product's batch, model, or identity information meets the current processing requirements based on the product's actual position and QR code information.

[0056] When the product QR code cannot be recognized or the information corresponding to the QR code is inconsistent with the current processing batch, the control system does not allow the corresponding product to enter the formal dispensing process. The feeding module 5 drives the double-position feeding fixture 51 to the working position of the double-grabbing gripper 32. The double-grabbing gripper 32 grabs the non-compliant product and transfers it to the first NG conveyor belt 7. The first NG conveyor belt 7 then conveys the non-compliant product out of the dispensing machine 1 before dispensing.

[0057] Specifically, such as Figure 6 , Figure 8 and Figure 9 As shown, the dispensing device 42 has a housing 521, and a partition 522 is horizontally arranged inside the housing 521, dividing the internal space of the housing 521 into a glue storage area above the partition 522 and a glue supply mechanism installation area below the partition 522. Two feed pipes 523 pass through the partition 522 and are fixedly connected to the partition 522. The glue inlet end of each feed pipe 523 extends into the glue storage area, and the glue outlet end communicates with two working chambers located on both sides of the piston 526 in the first sleeve 524.

[0058] The piston 526 is slidably disposed along the axial direction of the first sleeve 524, dividing the internal space of the first sleeve 524 into two working chambers whose volume alternately increases or decreases as the piston 526 moves. The two working chambers are respectively connected to the corresponding feed pipe 523 and discharge pipe 525. The feed pipe 523 is equipped with a feed check valve that allows adhesive to flow from the storage area to the corresponding working chamber, and the discharge pipe 525 is equipped with a discharge check valve that allows adhesive to flow from the corresponding working chamber to the second sleeve 531. The discharge ends of both discharge pipes 525 are connected to the adhesive inlet channel within the second sleeve 531, which is connected to the internal flow channel of the dispensing pipe 532.

[0059] The cylinder body of the hydraulic cylinder 528 is fixed inside the housing 521, and its output end is connected to the first sliding rod 527. The first sliding rod 527 is fixedly connected to the piston 526. When the hydraulic cylinder 528 drives the first sliding rod 527 to move, the first sliding rod 527 drives the piston 526 to reciprocate within the first sleeve 524.

[0060] When piston 526 moves toward one of the working chambers, the volume of that chamber decreases, and the adhesive inside is discharged through the corresponding discharge pipe 525 under the pushing action of piston 526. At the same time, the volume of the working chamber on the other side of piston 526 increases, and adhesive is drawn into the adhesive storage area through the corresponding feed pipe 523. When piston 526 moves in the reverse direction, the adhesive suction and discharge states of the two working chambers switch back and forth, so that both the forward and reverse strokes of piston 526 can form an adhesive discharge process.

[0061] By controlling the output stroke of the hydraulic cylinder 528, the piston 526 forms an effective dispensing stroke within the first sleeve 524 corresponding to the target dispensing volume per cycle. The effective dispensing stroke is the stroke during which the piston 526 dispenses adhesive when the adhesive flow channel in the dispensing tube 532 is open, thus ensuring that one unidirectional effective dispensing stroke of the piston 526 corresponds to one product dispensing operation.

[0062] The portion of the first sliding rod 527 located outside the first sleeve 524 is fixedly connected to the sliding plate 529, causing the sliding plate 529 to move synchronously with the first sliding rod 527 and the piston 526. The lower surface of the sliding plate 529 forms a flat abutment portion, and arc-shaped clearance grooves are formed at positions corresponding to the two effective glue discharge stroke endpoints of the piston 526.

[0063] The second sliding rod 530 is vertically slidably disposed within the second sleeve 531, and its upper end is provided with a steel ball that rolls against the lower surface of the sliding plate 529. A return spring is disposed within the second sleeve 531, with one end abutting against the second sleeve 531 and the other end abutting against the second sliding rod 530, so as to apply an upward return force to the second sliding rod 530.

[0064] like Figure 10 As shown, the inner wall of the dispensing tube 532 forms an inwardly protruding annular sealing part above the rubber ball. A through hole is formed in the middle of the annular sealing part. The diameter of the through hole is larger than the outer diameter of the second sliding rod 530 and smaller than the diameter of the rubber ball, so that the second sliding rod 530 can pass through the through hole, and an annular gap for the adhesive to flow through is formed between the second sliding rod 530 and the inner wall of the through hole.

[0065] The annular sealing part forms an annular sealing surface on the side facing the rubber ball, which mates with the upper spherical surface of the rubber ball. The lower end of the second sliding rod 530 passes through the through hole and connects to the rubber ball. The internal space of the dispensing tube 532 above the annular sealing part forms an adhesive inlet area, and the internal space below the annular sealing part forms an adhesive outlet area. The adhesive outlet area gradually tapers towards the lower end of the dispensing tube 532.

[0066] When the piston 526 is in the effective discharging stroke, the steel ball at the upper end of the second sliding rod 530 rolls into contact with the flat abutment part of the sliding plate 529. The sliding plate 529 overcomes the force of the return spring and keeps the second sliding rod 530 in the downward position, so that the upper spherical surface of the rubber ball separates from the annular sealing surface of the annular sealing part.

[0067] At this time, the adhesive discharged from the discharge pipe 525 enters the adhesive inlet area of ​​the dispensing pipe 532 through the adhesive inlet channel in the second sleeve 531, and flows downward through the through hole in the middle of the annular sealing part and the annular gap between the second sliding rod 530 and the inner wall of the through hole. Then, it enters the adhesive outlet area along the flow gap between the rubber ball and the inner wall of the dispensing pipe 532, and is discharged from the lower end of the dispensing pipe 532.

[0068] When piston 526 moves to the end of the effective dispensing stroke, the steel ball enters the arc-shaped clearance groove corresponding to sliding plate 529, and the downward pressure of sliding plate 529 on steel ball and second sliding rod 530 is released. The return spring pushes second sliding rod 530 and rubber ball upwards, causing the upper spherical surface of rubber ball to abut against the annular sealing surface of the annular sealing part, thereby sealing the through hole and cutting off the flow path of adhesive to the lower end of dispensing tube 532. After the rubber ball completes the sealing, hydraulic cylinder 528 stops this unidirectional movement.

[0069] When the next dispensing operation begins, the hydraulic cylinder 528 drives the first sliding rod 527 to move in the opposite direction. The sliding plate 529 moves in the opposite direction with the first sliding rod 527, causing the steel ball to exit the arc-shaped relief groove and re-roll into contact with the flat contact part. The sliding plate 529 then pushes the second sliding rod 530 downward, causing the rubber ball to separate from the annular sealing part and reopening the adhesive flow channel.

[0070] After the adhesive flow channel is opened, piston 526 enters the reverse effective dispensing stroke. The suction side working chamber in the previous stroke turns to the dispensing state, and the other working chamber turns to the suction state to complete the next product dispensing operation.

[0071] Weighing device 9 and adhesive removal device 8 are both installed inside dispensing machine 1 and located in the working area of ​​second gantry 4 near dispensing device 42, so that dispensing device 42 can reach weighing device 9 and adhesive removal device 8 in sequence before each batch of products is officially dispensed.

[0072] The weighing device 9 is fixedly installed on the frame inside the dispensing machine 1, and it is equipped with a weighing receiving part for receiving the test adhesive. The weighing device 9 is communicatively connected to the control system and is used to transmit the actual weight of the test adhesive to the control system.

[0073] Before processing a batch of products to be glued, the dispensing device 42 moves above the weighing device 9 and outputs test glue to the weighing receiving unit according to the currently set dispensing parameters. The weighing device 9 detects the actual weight of the test glue, and the control system compares the actual weight with the preset dispensing weight corresponding to this batch of products.

[0074] When the actual weight of the test adhesive is within the preset allowable range, the dispensing volume verification before the formal dispensing of this batch is completed; when the actual weight of the test adhesive exceeds the preset allowable range, the control system adjusts at least one of the effective output stroke, moving speed and driving force of the hydraulic cylinder 528, and re-executes the test dispensing, or outputs an abnormal dispensing status prompt.

[0075] The three sets of dispensing devices 42 are respectively connected to the dispensing traverse mechanism on the second gantry 4. The movement range of each dispensing traverse mechanism covers the batch preparation position where the weighing device 9 and the cleaning device 8 are located, so that each dispensing device 42 can complete the test dispensing and nozzle cleaning in sequence.

[0076] like Figure 5 and Figure 15 As shown, the adhesive removal device 8 is fixedly installed on the frame inside the dispensing machine 1 via a support frame 81, and is located in the working area of ​​the second gantry 4 near the dispensing device 42. The support frame 81 is in the shape of an upright plate frame, with its lower end forming a base fixedly connected to the frame of the dispensing machine 1, and its upper part extending to the cleaning height that the dispensing device 42 can reach.

[0077] The main wheel 84 and the take-up wheel 83 are rotatably mounted on one side of the support frame 81 along the height direction of the support frame 81, with the main wheel 84 located above the take-up wheel 83. The positioning block 85 is provided at the upper end of the support frame 81 and protrudes to one side from the support frame 81. The upper surface of the positioning block 85 forms a cleaning support surface for supporting the cleaning cloth from below.

[0078] A cleaning cloth roll is detachably mounted on the main wheel 84. The free end of the cleaning cloth extends upward from the main wheel 84 and covers the cleaning support surface of the positioning block 85. Then it extends downward from the positioning block 85 and wraps around the take-up wheel 83, so that the cleaning cloth forms a continuous unwinding, support and winding path between the main wheel 84, the positioning block 85 and the take-up wheel 83.

[0079] The shaft of the main wheel 84 is connected to a torque retainer 86, which applies a retaining force to the main wheel 84 to prevent it from rotating in the unwinding direction of the cleaning cloth. The take-up wheel 83 is connected to the output of a tension control motor 82, which is fixedly mounted on a support frame 81. The tension control motor 82 drives the take-up wheel 83 to rotate and pulls the cleaning cloth from the main wheel 84 to the take-up wheel 83. The torque retainer 86 keeps the cleaning cloth taut between the main wheel 84 and the take-up wheel 83 by restricting the free unwinding of the main wheel 84.

[0080] After completing the dispensing test and dispensing volume verification, the dispensing device 42 moves above the positioning block 85 and then moves downwards, so that the nozzle of the dispensing device 42 contacts the cleaning cloth covering the positioning block 85. The tension control motor 82 then drives the take-up roller 83 to rotate, and the take-up roller 83 pulls the cleaning cloth along the cleaning support surface of the positioning block 85, so that the cleaning cloth generates a wiping motion relative to the nozzle to remove the residual adhesive at the tip and periphery of the nozzle.

[0081] During the wiping process, the positioning block 85 provides support from below the cleaning cloth, preventing the cleaning cloth from sinking excessively under the pressure of the nozzle; the torque retainer 86 maintains the tension of the cleaning cloth, ensuring stable contact between the cleaning cloth and the nozzle.

[0082] After one cleaning action is completed, the tension control motor 82 continues to drive the take-up wheel 83 to rotate, so that the cleaning cloth that has been in contact with the nozzle leaves the cleaning support surface of the positioning block 85, and moves the unused cleaning cloth on the main wheel 84 to above the positioning block 85 for use in the next nozzle cleaning.

[0083] After the dispensing device 42 completes the dispensing volume verification and nozzle cleaning before the formal dispensing of this batch, the feeding module 5 moves the qualified products to be dispensed to the corresponding working position of the dispensing device 42.

[0084] After the product is dispensing, the feeding module 5 moves the dual-position feeding fixture 51 to the corresponding unloading position on the first gantry 3. The dual-grabbing grippers 32 move along the first gantry 3 to above the dual-position feeding fixture 51, and their two picking ends descend to grab two dispensing products respectively. Then, the two products are lifted and transferred to the feeding device 2. The feeding device 2 continues to carry the dispensing products into the inspection machine 10.

[0085] like Figure 7 As shown, the feeding device 2 passes through the inspection machine 10 and extends to the discharge end of the inspection machine 10. In order to ensure that the dispensed product enters the inspection area in a relatively centered position, a guiding mechanism (not shown in the attached figure) can also be provided in the feeding section of the inspection machine 10.

[0086] The guiding mechanism can employ guide plates respectively positioned on both sides of the feeding device 2. Both guide plates extend along the product conveying direction and gradually approach each other, forming a guiding channel with a wider inlet and a narrower outlet between them. As the product passes through the guiding channel, its sides are gradually restricted by the guide plates, causing it to move towards the center of the conveying surface of the feeding device 2 and enter the detection area of ​​the line scanning assembly 61 with a relatively stable position and posture. In other embodiments, the guide plates can also be replaced by guide rollers arranged along the product conveying direction.

[0087] The line scanning component 61 is mounted on the frame of the inspection machine 10 and located above the feeding device 2, with its image acquisition area facing the product conveying path on the feeding device 2. When the product passes under the line scanning component 61 with the feeding device 2, the line scanning component 61 continuously acquires images of the product's dispensing area. The control system determines whether there is overflow, interruption, lack of glue, or off-center glue in the product's glue path based on the acquired images.

[0088] The second NG belt 11 is disposed on one side of the feeding device 2, and the kicking assembly 62 is mounted on the transverse drive mechanism spanning the feeding device 2 and the second NG belt 11, and can move between the material pick-up position on the feeding device 2 and the material discharge position on the second NG belt 11.

[0089] The lateral drive mechanism can employ a linear motor and a lateral guide rail. The lateral guide rail is fixed to the frame of the inspection machine 10 and spans the feeding device 2 and the second NG belt 11. The ejector assembly 62 is slidably connected to the lateral guide rail via a slider, and the linear motor drives the ejector assembly 62 to move along the lateral guide rail. In other embodiments, the lateral drive mechanism can also employ a servo motor and a lead screw guide rail structure.

[0090] The kicking assembly 62 is also connected to a vertical drive component and a lifting gripper that is driven to rise and fall by the vertical drive component. The vertical drive component can be a lifting cylinder, the cylinder body of which is fixed on the lateral movement part of the kicking assembly 62, and its output end is connected to the lifting gripper.

[0091] The material handling gripper may include a gripper cylinder and two clamping parts driven by the gripper cylinder to move in opposite directions or in opposite directions. When the gripper cylinder drives the two clamping parts to move in opposite directions, it clamps the product; when it drives the two clamping parts to move in opposite directions, it releases the product. By adjusting the distance between the two clamping parts, the material handling gripper can adapt to products of different widths.

[0092] When the line scanning component 61 determines that the product has a glue path defect, the control system controls the kicking component 62 to move above the defective product according to the product's conveying position on the feeding device 2. The vertical drive component drives the picking jaws to descend, and the two clamping parts move towards each other and clamp the product; after the product is lifted, the horizontal drive mechanism drives the kicking component 62 to move from above the feeding device 2 to above the second NG conveyor belt 11, the picking jaws descend and release the product, so that the defective product is conveyed out of the inspection machine 10 by the second NG conveyor belt 11.

[0093] Products for which no defects in the adhesive path are detected are not picked up by the kicking assembly 62, but continue to move along the feeding device 2 and are output by the discharge end of the inspection machine 10.

[0094] Before each batch of products is officially glued, the glue dispensing device 42 first verifies and tests the glue dispensing amount through the weighing device 9, and then removes residual glue from the nozzle through the glue cleaning device 8. After the product is glued, it is transferred to the feeding device 2 by the double pick-up gripper 32 and enters the inspection machine 10 with the feeding device 2. The glue path status is detected by the line scanning component 61. Products with glue path defects are transferred to the second NG belt line 11 by the kicking component 62.

[0095] In operation, the product to be dispensed is fed into the dispensing machine 1 by the feeding device 2. When the product moves to the blocking and limiting mechanism 21, the front end of the product abuts against the blocking and limiting mechanism 21, and the side-push pre-positioning mechanism 22 pushes the product from the side, so that the product moves along the width direction of the feeding device 2 to the predetermined position while still abutting against the blocking and limiting mechanism 21. This completes the pre-positioning of the product in the conveying direction and the lateral direction, and brings the product into the picking range of the variable-pitch picking claw 31.

[0096] Two sets of variable-pitch grippers 31 move along the first gantry 3 to above the feeding device 2. Each set of variable-pitch grippers 31 has two gripping ends corresponding to one product to be glued. After the variable-pitch grippers 31 descend and simultaneously grab two products to be glued, the servo motor 310 drives the lead screw 311 to rotate, causing at least one gripping end to move along the axial direction of the lead screw 311 to adjust the gripping distance between the two gripping ends, so that the two products to be glued are aligned with the two product bearing positions on the corresponding double-position feeding fixture 51.

[0097] The variable-pitch gripper 31 then moves along the first gantry 3 to above the corresponding feeding module 5, and places the two products to be dispensed onto the two product-bearing positions of the dual-position feeding fixture 51. The feeding module 5 drives the dual-position feeding fixture 51 to move along the feeding direction, so that the two products to be dispensed enter the working area of ​​the guide positioning camera 41.

[0098] The positioning camera 41 captures images of the product to be glued and reads the QR code on the product. The control system determines the positional and orientation deviations of the product relative to the dual-position feeding fixture 51 based on the captured images, and judges whether the batch, model, or identity information of the product meets the current processing requirements based on the QR code information.

[0099] When a product's QR code cannot be recognized, or the product information corresponding to the QR code is inconsistent with the current processing batch, the control system does not allow the corresponding product to enter the formal dispensing process. The feeding module 5 moves the dual-position feeding fixture 51 to the working position of the dual-grabbing gripper 32. The dual-grabbing gripper 32 removes non-compliant products from the dual-position feeding fixture 51 and transfers them to the first NG conveyor belt 7, which then transports the non-compliant products out of the dispensing machine 1 before dispensing. Products that pass the identification remain on the dual-position feeding fixture 51 to maintain the product bearing reference during visual recognition.

[0100] Before each batch of products begins formal dispensing, the dispensing device 42 moves above the weighing device 9 and outputs test adhesive to the weighing device 9 according to the currently set dispensing parameters. The weighing device 9 detects the actual weight of the test adhesive, and the control system compares the actual weight with the preset dispensing weight corresponding to that batch of products.

[0101] When the actual weight of the test adhesive is within the preset allowable range, the dispensing volume verification before formal dispensing of this batch of products is completed; when the actual weight of the test adhesive exceeds the preset allowable range, the control system adjusts at least one of the effective output stroke, moving speed and driving force of the hydraulic cylinder 528, and re-executes the test dispensing, or outputs an abnormal dispensing status prompt when multiple verifications still do not meet the requirements.

[0102] After completing the glue dispensing quantity calibration, the dispensing device 42 moves above the positioning block 85 of the glue cleaning device 8 and moves downward, so that the nozzle of the dispensing device 42 contacts the cleaning cloth covering the positioning block 85. The tension control motor 82 drives the take-up roller 83 to rotate, and the take-up roller 83 pulls the cleaning cloth from the main roller 84 to the take-up roller 83, so that the cleaning cloth generates a wiping motion relative to the nozzle to remove the residual glue adhering to the tip and outer periphery of the nozzle after the test dispensing.

[0103] During the cleaning process, the positioning block 85 supports the cleaning cloth from below, and the torque retainer 86 applies a retaining force to the main wheel 84 to prevent it from unwinding freely, thus keeping the cleaning cloth taut between the main wheel 84 and the take-up wheel 83. After one cleaning cycle, the take-up wheel 83 continues to pull the cleaning cloth, causing the used cleaning cloth to leave the positioning block 85 and moving the unused cleaning cloth above the positioning block 85 for subsequent cleaning.

[0104] After completing the glue dispensing quantity verification and nozzle cleaning for this batch of products, the feeding module 5 moves the identified qualified products to the corresponding dispensing device 42 to the working position.

[0105] At the start of a dispensing operation, hydraulic cylinder 528 drives the first sliding rod 527 to move, which in turn drives piston 526 and sliding plate 529 to move. As sliding plate 529 moves, the steel ball at the upper end of the second sliding rod 530 exits the corresponding arc-shaped clearance groove and rolls into contact with the flat abutment part of sliding plate 529. Sliding plate 529 overcomes the force of the return spring and pushes the second sliding rod 530 downward, causing the rubber ball connected to the lower end of the second sliding rod 530 to separate from the annular sealing part inside the dispensing tube 532, thereby opening the adhesive flow channel inside the dispensing tube 532.

[0106] After the rubber ball separates from the annular sealing part, the piston 526 enters the effective dispensing stroke for this dispensing operation. The volume of the working chamber on one side of the piston 526's movement direction gradually decreases, and the adhesive in this working chamber is discharged into the adhesive inlet channel in the second sleeve 531 through the corresponding discharge pipe 525 under the pushing action of the piston 526; the volume of the working chamber on the other side of the piston 526 gradually increases, and adhesive is drawn into the adhesive storage area in the housing 521 through the corresponding feed pipe 523. The feed check valve and the discharge check valve respectively limit the flow direction of the adhesive to prevent the adhesive from flowing backward.

[0107] The adhesive discharged from the discharge pipe 525 enters the adhesive inlet area of ​​the dispensing pipe 532 above the annular sealing part through the adhesive inlet channel in the second sleeve 531, and flows downward through the through hole in the middle of the annular sealing part. Since the diameter of the through hole is larger than the outer diameter of the second sliding rod 530, the adhesive can flow into the lower part of the annular sealing part through the annular gap formed between the second sliding rod 530 and the inner wall of the through hole, and then flow downward along the flow gap between the rubber ball and the inner wall of the dispensing pipe 532, and finally be discharged from the lower end of the dispensing pipe 532 and applied to the target dispensing position of the product.

[0108] The effective output stroke of hydraulic cylinder 528 corresponds to the target dispensing amount per stroke. When piston 526 moves to the end of the effective dispensing stroke, sliding plate 529 moves synchronously to a position where the steel ball at the upper end of second sliding rod 530 aligns with the arc-shaped clearance groove. After the steel ball enters the arc-shaped clearance groove, the downward pressure of sliding plate 529 on the steel ball and second sliding rod 530 is released, and the return spring pushes second sliding rod 530 and rubber ball upward.

[0109] After the rubber ball moves upward, its upper spherical surface abuts against the annular sealing surface of the annular sealing part facing the rubber ball inside the dispensing tube 532, thereby sealing the through hole in the middle of the annular sealing part and cutting off the path for the adhesive to continue flowing to the lower end of the dispensing tube 532. After the rubber ball completes the sealing, the hydraulic cylinder 528 stops this unidirectional movement, thus ending the dispensing operation and reducing the amount of residual adhesive dripping from the nozzle.

[0110] When the next dispensing operation begins, hydraulic cylinder 528 drives the first sliding rod 527 to move in the opposite direction. Sliding plate 529 moves in the opposite direction with the first sliding rod 527, causing the steel ball at the upper end of the second sliding rod 530 to exit the arc-shaped clearance groove and re-roll into contact with the flat contact portion of the sliding plate 529. Sliding plate 529 pushes the second sliding rod 530 downwards, causing the rubber ball to separate from the annular sealing portion and reopening the adhesive flow channel within the dispensing tube 532. During the valve opening transition phase, the hydraulic cylinder 528 moves at a preset speed lower than the effective dispensing speed until the rubber ball separates from the annular sealing part. After the adhesive flow channel is opened, the hydraulic cylinder 528 then performs effective dispensing according to the speed and stroke corresponding to the target dispensing amount.

[0111] After the adhesive flow channel is opened, piston 526 enters the reverse effective dispensing stroke. The working chamber that completed the adhesive suction in the previous stroke turns to the dispensing state, and the dispensing side working chamber in the previous stroke turns to the suction state, so that the forward effective dispensing stroke and the reverse effective dispensing stroke of piston 526 can each correspond to one dispensing operation.

[0112] After the product is glued, the feeding module 5 moves the double-position feeding fixture 51 to the unloading position corresponding to the first gantry 3. The double-grabbing grippers 32 move above the double-position feeding fixture 51 and simultaneously grab the two products on the double-position feeding fixture 51 through the two grabbing ends, and then transfer the products to the feeding device 2.

[0113] The finished product enters the inspection machine 10 along with the feeding device 2. Before entering the inspection area of ​​the line scan assembly 61, it is gradually guided to the middle of the conveying surface of the feeding device 2 by the guide structures set on both sides of the feeding device 2. When the product passes through the inspection area of ​​the line scan assembly 61, the line scan assembly 61 collects the glue path image of the product's glued area. The control system determines whether the product has glue overflow, glue breakage, glue shortage, or glue deviation based on the collected glue path image.

[0114] Products without detected glue path defects continue to move along the feeding device 2 and are output from the discharge end of the inspection machine 10. When the line scan assembly 61 detects a glue path defect in a product, the kicking assembly 62 moves above the corresponding non-conforming product, its picking jaws descend and clamp the product, and then transfers the non-conforming product from the feeding device 2 to the second NG conveyor belt 11, which then conveys the glued non-conforming product out of the inspection machine 10.

[0115] The foregoing has shown and described the basic principles, main features, and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited to the above embodiments. The descriptions in the above embodiments and specification are merely illustrative of the principles of the invention. Various changes and modifications can be made to the present invention without departing from its spirit and scope, and all such changes and modifications fall within the scope of protection claimed by the present invention. The scope of protection of the present invention is defined by the appended claims and their equivalents.

Claims

1. A dispensing and inspection integrated machine, characterized in that: It includes a dispensing machine (1), an inspection machine (10), and a feeding device (2) for conveying products; The dispensing machine (1) is provided with multiple feeding modules (5) arranged in parallel. Each feeding module (5) is provided with a double-position feeding fixture (51) for carrying the product to be dispensed. Above the multiple feeding modules (5) are provided a feeding and handling component, a vision positioning component and a dispensing component. The feeding and handling component can selectively transfer the product to be dispensed between the feeding device (2) and the multiple feeding modules (5). The vision positioning component and the dispensing component can selectively perform vision positioning and dispensing on the product to be dispensed on the multiple feeding modules (5). The feeding and handling component includes multiple feeding and handling units. The vision positioning component includes multiple vision positioning units. The dispensing component includes multiple dispensing units. The multiple feeding modules (5) form a first working group according to the working range of each feeding and handling unit, and form a second working group according to the working range of each vision positioning unit and each dispensing unit. The grouping methods of the first working group and the second working group are different. The feeding module (5) is used to move the double-position feeding fixture (51) carrying the product to be glued from the working area of ​​the vision positioning component to the working area of ​​the dispensing component, so that the dispensing component can dispense glue onto the product to be glued on the same double-position feeding fixture (51) according to the product position obtained by the vision positioning component. The testing machine (10) is located downstream of the dispensing machine (1) along the conveying direction of the feeding device (2) and is used to test the glue path status of the product after dispensing. The plurality of feeding modules (5) include six sets of feeding modules (5), of which three sets of feeding modules (5) are located on one side of the feeding device (2) and the other three sets of feeding modules (5) are located on the other side of the feeding device (2). The feeding direction of each feeding module (5) is parallel to the conveying direction of the feeding device (2). The dispensing machine (1) is provided with a first gantry (3) and a second gantry (4) arranged at intervals along the feeding direction of the feeding module (5). The first gantry (3) is located on the upstream side of the second gantry (4). The first gantry (3) and the second gantry (4) are respectively straddling the feeding device (2) and the six sets of feeding modules (5). The material handling assembly includes two sets of variable-pitch material handling grippers (31) mounted on the first gantry (3). One set of variable-pitch material handling grippers (31) can move between the feeding device (2) and three sets of feeding modules (5) located on one side of the feeding device (2). The other set of variable-pitch material handling grippers (31) can move between the feeding device (2) and three sets of feeding modules (5) located on the other side of the feeding device (2). Each set of variable-pitch material handling grippers (31) has two clamping ends for clamping the product to be glued. The first gantry (3) is also equipped with two sets of double pick-up grippers (32). Each set of double pick-up grippers (32) corresponds to three sets of feeding modules (5) located on one side of the feeding device (2), and can selectively transfer the products on the double-position feeding fixture (51) to the feeding device (2) or the first NG belt line (7).

2. The dispensing and inspection integrated machine according to claim 1, characterized in that: The feeding device (2) is provided with a blocking limit mechanism (21) and a side push pre-positioning mechanism (22) within the material picking range of the variable pitch picking claw (31). The blocking limit mechanism (21) protrudes upward from the conveying bearing surface of the feeding device (2) and forms a limiting surface for the product to be glued to abut against along the conveying direction. The side-push prepositioning mechanism (22) is located on one side of the feeding device (2) and can push the product to be dispensed along the width direction of the feeding device (2) from the side of the product while the product to be dispensed is against the limiting surface, so that the product to be dispensed enters the predetermined picking position of the variable pitch picking claw (31).

3. The dispensing and inspection integrated machine according to claim 1, characterized in that: The dual-position feeding fixture (51) is a dual-position feeding fixture (51) with two product carrying positions. The variable pitch material handling gripper (31) is equipped with a servo motor (310), a lead screw (311) that is connected to the output end of the servo motor (310) and a linear guide rail that is parallel to the lead screw (311). At least one of the two clamping ends is slidably engaged with the linear guide rail and is connected to the lead screw (311) through the lead screw nut. When the servo motor (310) drives the lead screw (311) to rotate, the lead screw nut drives the corresponding clamping end to move along the linear guide rail, so as to adjust the distance between the two clamping ends to correspond to the two product bearing positions on the double-position feeding fixture (51).

4. The dispensing and inspection integrated machine according to claim 3, characterized in that: Each feeding module (5) includes a support base fixed on the frame of the dispensing machine (1), a feeding guide rail set on the support base along the feeding direction, and a bearing slide that slides with the feeding guide rail. The dual-position feeding fixture (51) is fixed on the bearing slide and is driven by the feeding drive mechanism to pass through the working areas of the vision positioning component and the dispensing component in sequence. The product to be dispensed remains in the same product bearing position of the dual-position feeding fixture (51) during the vision positioning and dispensing process. The visual positioning component includes three sets of guide positioning cameras (41) set on the second gantry (4), and the dispensing component includes three sets of dispensing devices (42) set on the second gantry (4). Each set of guide positioning cameras (41) and each set of dispensing devices (42) corresponds to two sets of feeding modules (5). A set of guide positioning cameras (41) and a set of dispensing devices (42) located in the middle of the second gantry (4) are respectively connected to a transverse drive mechanism. The travel of each transverse drive mechanism crosses the feeding device (2) so that the guide positioning camera (41) and the dispensing device (42) can switch their working positions between the two sets of feeding modules (5) located on both sides of the feeding device (2) and close to the feeding device (2).

5. The dispensing and inspection integrated machine according to claim 1, characterized in that: The dispensing machine (1) is also equipped with a weighing device (9) and a glue removal device (8) located in the working area of ​​the dispensing component. The weighing device (9) is used to receive the test glue liquid output by the dispensing component before the product is officially dispensed, and to detect the weight of the test glue liquid. The adhesive removal device (8) includes a support frame (81) fixed on the frame of the dispensing machine (1), a main wheel (84) and a take-up wheel (83) rotatably mounted on the support frame (81), and a positioning block (85) mounted on the upper part of the support frame (81). The cleaning cloth is led out from the main wheel (84) and covers the cleaning support surface of the positioning block (85) before extending to the take-up wheel (83). The take-up roller (83) is connected to the tension control motor (82) for transmission, and the main roller (84) is connected to the torque retainer (86) to pull the cleaning cloth relative to the nozzle of the dispensing assembly through the take-up roller (83) and to keep the cleaning cloth covering the positioning block (85) taut through the torque retainer (86).

6. The dispensing and inspection integrated machine according to claim 1, characterized in that: The inspection machine (10) is equipped with a line scanning component (61) located above the feeding device (2). The image acquisition area of ​​the line scanning component (61) faces the product conveying path on the feeding device (2) to acquire the glue path image of the product after dispensing and identify at least one glue path defect among glue overflow, glue breakage, glue shortage and glue deviation. The feeding device (2) is provided with a second NG belt line (11) located inside the inspection machine (10) on one side. The inspection machine (10) is also provided with a kicking assembly (62). The kicking assembly (62) is connected to a transverse drive mechanism that spans the feeding device (2) and the second NG belt line (11), and has a vertical drive member and a picking gripper that is driven to rise and fall by the vertical drive member, so as to transfer products with glue path defects from the feeding device (2) to the second NG belt line (11).

7. The dispensing and inspection integrated machine according to claim 1, characterized in that: The dispensing assembly includes a dispensing device (42), which has a housing (521) and a first sleeve (524) disposed in the housing (521). A piston (526) is slidably disposed along the axial direction of the first sleeve (524) and divides the internal space of the first sleeve (524) into two working chambers. The two working chambers are respectively connected to the glue storage area in the shell (521) through the corresponding feed pipe (523), and respectively connected to the glue inlet channel in the second sleeve (531) through the corresponding discharge pipe (525). The feed pipe (523) is provided with a feed one-way valve that allows glue to flow from the glue storage area into the corresponding working chamber, and the discharge pipe (525) is provided with a discharge one-way valve that allows glue to flow from the corresponding working chamber to the glue inlet channel. The piston (526) is connected to the output end of the hydraulic cylinder (528) via the first sliding rod (527) so that when the piston (526) moves back and forth, one working chamber discharges adhesive during the process of decreasing volume, and the other working chamber draws adhesive from the adhesive storage area during the process of increasing volume. When the piston (526) moves in the opposite direction, the adhesive suction state and adhesive discharge state of the two working chambers are switched.

8. The dispensing and inspection integrated machine according to claim 7, characterized in that: The first sliding rod (527) is connected to a sliding plate (529) that moves synchronously with the piston (526) on the outer side of the first sleeve (524). The lower surface of the sliding plate (529) forms a flat abutment part, and arc-shaped clearance grooves are formed at the positions corresponding to the two effective glue discharge stroke endpoints of the piston (526). The second sliding rod (530) is vertically slidably disposed in the second sleeve (531). Its upper end is provided with a steel ball that rolls against the lower surface of the sliding plate (529), and its lower end is connected with a rubber ball. The second sleeve (531) is provided with a return spring that pushes the second sliding rod (530) upward. The lower end of the second sleeve (531) is connected to a dispensing tube (532). The inner wall of the dispensing tube (532) forms an annular sealing part above the rubber ball. A through hole is formed in the middle of the annular sealing part. The diameter of the through hole is larger than the outer diameter of the second sliding rod (530) and smaller than the diameter of the rubber ball. When the steel ball rolls into contact with the flat contact part, the sliding plate (529) overcomes the force of the return spring and keeps the second sliding rod (530) in the downward position, so that the rubber ball separates from the annular sealing part; when the steel ball enters the arc-shaped relief groove, the return spring pushes the second sliding rod (530) and the rubber ball to move upward, so that the rubber ball abuts against the annular sealing part and closes the through hole.

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