Fan dynamic balancing point dispensing apparatus based on identification positioning

Abstract

The embodiment of the application relates to a fan dynamic balance point gluing equipment based on identification positioning, which is used for applying balance glue to a fan and comprises a rack, an identification forming mechanism arranged in the rack and used for forming identifiable reference identification on the fan before the fan enters a balance detection mechanism, the balance detection mechanism arranged in the rack and located downstream of the identification forming mechanism, the balance detection mechanism being used for bearing the fan with the reference identification and acquiring unbalance information of the fan, an identification acquisition assembly arranged in the rack and used for acquiring a first orientation of the reference identification when the fan is located in the balance detection mechanism and acquiring a second orientation of the reference identification when the fan is located in a point gluing area, a transfer mechanism arranged in the rack and used for transferring the fan after being detected by the balance detection mechanism to the point gluing area, a point gluing mechanism arranged in the rack, and a control unit electrically connected with the identification forming mechanism, the balance detection mechanism, the identification acquisition assembly, the transfer mechanism and the point gluing mechanism respectively.

Description

Technical Field

[0001] This application relates to the field of fan dynamic balancing correction technology, and in particular to a fan dynamic balancing dispensing device based on marker positioning. Background Technology

[0002] During the production and assembly process of fans, dynamic balance deviations are easily generated due to factors such as impeller forming deviations, assembly deviations, and differences in material distribution. In order to maintain a relatively stable rotation state during operation, it is usually necessary to perform dynamic balance testing on the fan, and apply balancing adhesive to the fan based on the imbalance information obtained from the test, so as to correct the balance of the fan by adding a substance.

[0003] In current fan dynamic balancing and dispensing processes, the unbalanced phase of the fan is typically obtained first through a balancing detection mechanism, and then the fan is transferred to the dispensing area for correction. However, during the transfer of the fan from the balancing detection mechanism to the dispensing area, angular position changes may occur due to handling, buffering, placement, or flipping. When the dispensing area still directly uses the unbalanced phase measured by the balancing detection mechanism to determine the dispensing position, a deviation can easily occur between the phase reference during balancing and the actual angular attitude of the fan during dispensing. This results in an inconsistency between the dispensing position and the actual correction position, thus affecting the dynamic balancing correction effect.

[0004] However, the relevant technology has at least the following technical problem: how to accurately restore the corrected position of the fan after it has been transferred from the balancing detection mechanism to the dispensing area, and how to enable the dispensing mechanism to apply balancing adhesive to the fan according to the dispensing position and amount corresponding to the corrected position. Summary of the Invention

[0005] One objective of this application is to provide a fan dynamic balancing dispensing device based on marker positioning, which at least solves the above-mentioned problems.

[0006] To achieve the above objectives, some embodiments of this application provide a fan dynamic balancing dispensing device based on identifier positioning, used to apply balancing adhesive to a fan, including:

[0007] frame;

[0008] A marking forming mechanism, mounted on the frame, is used to form a recognizable reference mark on the fan before it enters the balance detection mechanism;

[0009] The balance detection mechanism is set on the frame and located downstream of the mark forming mechanism. The balance detection mechanism is used to support the fan with the reference mark formed and to obtain the imbalance information of the fan, including the imbalance amount and imbalance phase.

[0010] The identification acquisition component is mounted on the rack and is used to acquire the first position of the reference mark when the fan is located in the balance detection mechanism, and to acquire the second position of the reference mark when the fan is located in the dispensing area.

[0011] The transfer mechanism, located on the frame, is used to transfer the fan, which has been tested by the balancing detection mechanism, to the dispensing area;

[0012] The dispensing mechanism, mounted on the frame, is used to apply balancing adhesive to the fan located in the dispensing area;

[0013] The control unit is electrically connected to the marking forming mechanism, the balance detection mechanism, the marking acquisition component, the transfer mechanism, and the dispensing mechanism, respectively.

[0014] The control unit is used to determine the relative angular position of the fan's corrected position with respect to the reference mark based on the unbalance phase and the first orientation, and to determine the dispensing position of the dispensing mechanism based on the second orientation and the relative angular position, and to determine the amount of balancing adhesive to be applied based on the amount of unbalance, so that the dispensing mechanism applies balancing adhesive to the fan according to the dispensing position and the amount applied.

[0015] Optionally, it also includes a retest balancing mechanism and a buffer rotary table.

[0016] The buffer rotary table is positioned between the balancing detection mechanism, the dispensing area, and the retesting balancing mechanism. The buffer rotary table includes a rotating support component and three buffer stations spaced circumferentially along the rotating support component. Driven by the rotating support component, the three buffer stations cycle between the material receiving position, the dispensing processing position, and the retesting transfer position, respectively. The material receiving position corresponds to the balancing detection mechanism, the dispensing processing position corresponds to the dispensing area, and the retesting transfer position corresponds to the retesting balancing mechanism.

[0017] Optionally, each time the rotary bearing rotates one station interval, one of the three buffer stations is switched from the material receiving position to the dispensing position, another of the three buffer stations is switched from the dispensing position to the retesting and transfer position, and yet another of the three buffer stations is switched back to the material receiving position.

[0018] Optionally, the dispensing area is provided with a functional rotary table, which integrates a vision component, a first dispensing component, a second dispensing component, and a curing component; wherein, the vision component constitutes at least a part of the identification acquisition component, the first dispensing component and the second dispensing component constitute at least a part of the dispensing mechanism, and the functional rotary table is used to drive any one of the vision component, the first dispensing component, the second dispensing component and the curing component to rotate to a position corresponding to the buffer station at the dispensing processing position.

[0019] Optionally, when the fan remains in the same buffer station at the dispensing position, the control unit controls the rotary table to sequentially align the vision component, the first dispensing component or the second dispensing component, and the curing component with the buffer station, so that the vision component recognizes the reference mark, the first dispensing component or the second dispensing component applies the balancing adhesive, and the curing component cures the balancing adhesive.

[0020] Optionally, the first dispensing assembly has a straight dispensing needle, and the second dispensing assembly has a bent dispensing needle; the control unit can select the first dispensing assembly or the second dispensing assembly according to the fan part to be dispensed corresponding to the dispensing position, so that the selected first dispensing assembly or the second dispensing assembly applies balanced glue to the corresponding fan part to be dispensed.

[0021] Optionally, the transfer mechanism includes a first flipping mechanism, which is located on one side of the dispensing processing position and is used to flip the fan when the fan is located in the buffer station of the dispensing processing position; wherein, the control unit can determine the dispensing position according to the flipping angle of the first flipping mechanism, the second orientation of the reference mark, and the relative angular position of the correction position with respect to the reference mark.

[0022] Optionally, the transfer mechanism also includes a retesting and loading robot and a second flipping mechanism. The retesting and loading robot is used to transfer the fan in the buffer station at the retesting and transfer position to the retesting and balancing mechanism. The second flipping mechanism is used to flip the fan to a posture suitable for detection by the retesting and balancing mechanism before or during the process of the fan entering the retesting and balancing mechanism.

[0023] Optionally, it may also include a loading conveyor, an unloading conveyor, and a handling assembly.

[0024] The handling assembly includes a lifting rotary table, a first robotic arm, and a second robotic arm. Both the first and second robotic arms are mounted on the lifting rotary table, which drives the first and second robotic arms to lift and rotate. The first robotic arm is used to transfer fans from the loading conveyor line to the balancing detection mechanism. The second robotic arm is used to transfer fans from the re-balancing mechanism to the unloading conveyor line or to the balancing detection mechanism based on the re-measurement results of the re-balancing mechanism. When the second robotic arm transfers a fan to the balancing detection mechanism, the balancing detection mechanism is used to re-acquire the remaining imbalance information of the fan.

[0025] Optionally, it also includes: a material storage assembly and a material pushing assembly.

[0026] A material storage assembly is disposed on one side of the feeding conveyor line. The material storage assembly includes a material cylinder and a material seat disposed at the lower end of the material cylinder. The material cylinder has a material storage cavity for multiple fans to be stacked vertically in sequence. The material seat has a receiving cavity located below the material storage cavity and communicating with the material storage cavity. The receiving cavity is used to receive a single fan falling from the material storage cavity. The material seat has a discharge port on the side of the receiving cavity facing the feeding conveyor line. The bearing surface of the receiving cavity is connected to the conveying surface of the feeding conveyor line.

[0027] The material pushing assembly includes a pusher plate and a material pushing drive connected to the pusher plate. The pusher plate is slidably disposed on the material seat in the direction from the accommodating cavity toward the conveying surface. The material pushing drive is used to drive the pusher plate to move so as to push the fan in the accommodating cavity to the conveying surface through the discharge port.

[0028] Compared with related technologies, the solution provided in this application, by forming an identifiable reference mark before the fan enters the balance detection mechanism and obtaining the first position of the reference mark at the balance detection mechanism, ensures that the unbalanced phase obtained by the balance detection mechanism no longer corresponds solely to the mechanical zero position of the balance detection mechanism itself, but can be converted into the relative angular position of the fan's correction position relative to the reference mark. Thus, even if angular offset, clamping offset, or changes in placement posture occur during the transfer to the dispensing area after the fan leaves the balance detection mechanism, the relative relationship between the fan body and the correction position can still be maintained through the reference mark.

[0029] Furthermore, when the fan is in the dispensing area, the second position of the reference marker is acquired again, and the control unit determines the dispensing position of the dispensing mechanism based on the second position and the relative angular position. Therefore, the dispensing position is not simply based on the unbalanced phase measured by the balance detection mechanism, but is recalculated within the dispensing area in conjunction with the fan's current actual posture. This ensures that the position where the dispensing mechanism applies balancing adhesive corresponds to the actual position that the fan needs to correct, reducing the risk of dispensing misalignment caused by handling, buffering, or posture changes.

[0030] Simultaneously, the imbalance information is limited to include both the amount and phase of imbalance. The control unit determines the amount of balancing adhesive to be applied based on the amount of imbalance, ensuring that dynamic balance correction has both angular position and adhesive quantity as a basis. This setting avoids the problem of failing to match the actual degree of imbalance when only the dispensing position is determined, allowing the dispensing mechanism to apply adhesive according to the dispensing position and quantity, thereby improving the consistency and controllability of fan dynamic balance dispensing correction. Attached Figure Description

[0031] One or more embodiments are illustrated by way of example with reference numerals in the accompanying drawings. These illustrations do not constitute a limitation on the embodiments. Elements with the same reference numerals in the drawings are denoted as similar elements. Unless otherwise stated, the figures in the drawings are not to be limited by scale.

[0032] Figure 1 This is a schematic diagram of the structure of the dynamic balancing dispensing equipment provided in the embodiments of this disclosure;

[0033] Figure 2 This is a structural schematic diagram of the dynamic balancing dispensing equipment provided in an embodiment of this disclosure from another perspective;

[0034] Figure 3 yes Figure 2 A magnified view of a portion of point A in the middle;

[0035] Figure 4 This is a top-view structural schematic diagram of the dynamic balancing dispensing equipment provided in this embodiment of the disclosure;

[0036] Figure 5 This is a schematic diagram of the fan feeding mechanism provided in an embodiment of this disclosure;

[0037] Figure 6 This is a schematic diagram of the fan feeding mechanism provided in an embodiment of this disclosure from a first-view perspective;

[0038] Figure 7 This is a schematic diagram of the fan feeding mechanism provided in an embodiment of this disclosure from a second perspective;

[0039] Figure 8 This is a schematic diagram of the fan feeding mechanism provided in the embodiments of this disclosure from a third-person perspective;

[0040] Figure 9 This is a partial structural schematic diagram of the fan feeding mechanism provided in an embodiment of this disclosure;

[0041] Figure 10 This is another partial structural schematic diagram of the fan feeding mechanism provided in the embodiments of this disclosure;

[0042] Figure 11 This is a schematic diagram of the fan feeding mechanism provided in another embodiment of the present disclosure;

[0043] Figure 12 This is a flowchart of the dynamic balancing dispensing method provided in the embodiments of this disclosure.

[0044] Figure label:

[0045] 110: Frame; 120: Fan feeding mechanism; 121: Feeding conveyor line; 1211: Support frame; 1212: Conveyor belt; 1213: Feeding drive motor; 122: Material cylinder; 1221: Storage chamber; 1222: Strip opening; 123: Material seat; 1231: Receiving cavity; 1232: Discharge port; 1234: Guide groove; 124: Push plate; 125: Pushing drive component; 126: Connecting plate; 130: Mark forming mechanism; 131: Mark forming end; 140: Balance detection mechanism; 161: First flipping mechanism; 162: Retesting and loading robot; 163: Second flipping mechanism; 201: Rotary bearing component; 202: Buffer station; 2021: Receiving position; 2022: Dispensing position; 2023: Retesting and transferring position; 210: Functional rotary table; 211: Vision component; 212: First dispensing component; 213: Second dispensing component; 214: Curing component; 220: Retesting and balancing mechanism; 231: Lifting rotary table; 232: First robot; 233: Second robot; 240: Unloading conveyor line; 250: Waste collection mechanism; 300: Fan. Detailed Implementation

[0046] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0047] Combination Figures 1 to 12 As shown in the illustration, this disclosure provides a fan dynamic balancing dispensing device based on marker positioning. This device is used to apply balancing adhesive to a fan to correct its dynamic balance. The device includes a frame 110, a marker forming mechanism 130, a balance detection mechanism 140, a marker acquisition component, a transfer mechanism, a dispensing mechanism, and a control unit. The marker forming mechanism 130, balance detection mechanism 140, marker acquisition component, transfer mechanism, and dispensing mechanism are all mounted on the frame 110. The control unit is electrically connected to each of these components.

[0048] The marking forming mechanism 130 is positioned on the transport path before the fan 300 enters the balance detection mechanism 140, and is used to form identifiable reference markings on the fan. The reference markings can be at least one of dot markings, line markings, color block markings, hole markings, or coded markings. The reference markings can be formed on the outer periphery, end face, or impeller area of ​​the fan, and are preferably located in a position that is not easily obstructed during subsequent clamping, flipping, and dispensing processes. By forming the reference markings before balance detection, the fan has an identifiable angular reference before the initial balance detection, allowing a correspondence between the unbalance phase obtained from the balance detection and the reference markings, rather than relying solely on the mechanical placement angle of the fan in the balance detection mechanism 140.

[0049] The balance detection mechanism 140 is located downstream of the mark forming mechanism 130 and is used to carry the fan with the reference mark formed on it and acquire the fan's imbalance information. The imbalance information includes the imbalance amount and the imbalance phase. The imbalance phase is used to determine the angular position where the fan needs to be corrected, and the imbalance amount is used to determine the amount of balancing adhesive to be applied. When the fan is located in the balance detection mechanism 140, the mark acquisition component acquires the first orientation of the reference mark in the balance detection coordinate system. The control unit determines the relative angular position of the fan's correction position with respect to the reference mark based on the imbalance phase and the first orientation. In this way, the imbalance phase obtained by the balance detection mechanism 140 is converted into an angular relationship relative to the fan body's reference mark. After the fan leaves the balance detection mechanism 140, even after being transported, buffered, rotated, or flipped, the correction position can be restored by re-identifying the reference mark.

[0050] In some embodiments, the balance detection coordinate system can have its origin at the rotation center of the balance detection mechanism 140, and its preset zero-position direction as the angular reference direction. The first orientation is the angle of the reference marker relative to the preset zero-position direction, and the unbalance phase is the angle of the fan's unbalanced position relative to the preset zero-position direction. The control unit can obtain the relative angular position of the corrected position relative to the reference marker based on the angular difference between the unbalance phase and the first orientation. Using this method, determining the dispensing position does not require the fan to maintain an angular posture completely consistent with the balance detection mechanism 140 in the dispensing area, thereby reducing the impact of handling repeatability positioning accuracy and fixture angular positioning accuracy on dispensing accuracy.

[0051] The transfer mechanism is used to transfer the fan, after being detected by the balance detection mechanism 140, to the dispensing area. When the fan is in the dispensing area, the identification acquisition component acquires the second position of the reference mark in the dispensing coordinate system. The dispensing coordinate system can take the bearing center of the fan in the dispensing area as the origin, and the preset reference direction of the dispensing area or the preset needle advance direction of the dispensing mechanism as the angular reference direction. The control unit determines the dispensing position of the fan in the dispensing area based on the second position and the relative angular position, and determines the amount of balancing adhesive to be applied based on the imbalance. The dispensing mechanism applies balancing adhesive to the fan according to the dispensing position and the amount applied. Thus, after the fan is transferred from the balance detection mechanism 140 to the dispensing area, if angular offset, clamping offset, or placement deviation occurs, the dispensing position can still be restored by the second position of the reference mark in the dispensing coordinate system.

[0052] In some embodiments, the control unit has a preset correspondence between the imbalance amount and the amount of balancing adhesive applied. This correspondence can be a lookup table relationship or determined based on the balancing adhesive density, dispensing needle diameter, dispensing pressure, dispensing valve opening time, or number of dispensing cycles. The dispensing mechanism can adjust the amount of balancing adhesive applied by controlling the dispensing valve opening time, dispensing pressure, or number of dispensing cycles. With this setting, the imbalance phase is used to determine the dispensing position, and the imbalance amount is used to determine the application amount, so that dispensing correction has both angular position and adhesive amount as a basis.

[0053] In some embodiments, the device further includes a retesting and balancing mechanism 220 and a buffer rotary table. The buffer rotary table is disposed between the balancing detection mechanism 140, the dispensing area, and the retesting and balancing mechanism 220. The buffer rotary table includes a rotating support 201 and three buffer stations 202 spaced circumferentially along the rotating support 201. The three buffer stations 202 are driven by the rotating support 201 to cycle between the receiving position 2021, the dispensing processing position 2022, and the retesting and transferring position 2023, respectively. The receiving position 2021 corresponds to the balancing detection mechanism 140, the dispensing processing position 2022 corresponds to the dispensing area, and the retesting and transferring position 2023 corresponds to the retesting and balancing mechanism 220. After being detected by the balancing detection mechanism 140, the fan first enters the buffer station 202 at the receiving position 2021, and is then driven by the buffer rotary table to the dispensing processing position 2022. After dispensing and curing are completed, the buffer rotary table then drives the fan to the retesting and transferring position 2023. The circumferential circulation of the three buffer stations 202 enables material receiving, dispensing, and retesting to be seamlessly connected on different fans, reducing the time fans spend waiting at a single transfer position.

[0054] Furthermore, each time the rotary carrier 201 rotates one station interval, one of the three buffer stations 202 switches from the receiving position 2021 to the dispensing position 2022, another of the three buffer stations 202 switches from the dispensing position 2022 to the retesting and transfer position 2023, and yet another of the three buffer stations 202 switches back to the receiving position 2021. In this way, each rotation of the buffer rotary table completes the synchronous repositioning of the three buffer stations 202, ensuring a fixed flow sequence for receiving, dispensing, and retesting / transfer. Compared to the method of transferring fans one by one between multiple fixed stations using multiple linear conveying mechanisms, this structure reduces the multiple pick-and-place operations during the buffering process, which helps to reduce the probability of uncontrollable changes in the fan's angular attitude.

[0055] In some embodiments, a functional rotary table 210 is provided in the dispensing area. The functional rotary table 210 integrates a vision component 211, a first dispensing component 212, a second dispensing component 213, and a curing component 214. The vision component 211 constitutes at least a part of the identification acquisition component, and the first dispensing component 212 and the second dispensing component 213 constitute at least a part of the dispensing mechanism. The functional rotary table 210 is used to rotate any one of the vision component 211, the first dispensing component 212, the second dispensing component 213, and the curing component 214 to a position corresponding to the buffer station 202 at the dispensing processing position 2022. When the fan is at the dispensing processing position 2022, there is no need to move the components between the vision inspection station, the dispensing station, and the curing station again; instead, the functional rotary table 210 switches different functional components to the corresponding positions of the same buffer station 202. In this way, visual recognition, dispensing, and curing are completed around the same buffer station 202, reducing secondary positioning errors caused by repeated handling after visual positioning.

[0056] Specifically, when the buffer station 202 carrying the fan rotates to the dispensing position 2022, the control unit first controls the rotary table 210 to rotate, aligning the vision component 211 with the buffer station 202. The vision component 211 identifies the reference mark on the fan and obtains the second orientation of the reference mark in the dispensing coordinate system. The control unit determines the dispensing position based on the second orientation and the relative angular position, and determines the amount of balancing adhesive to be applied based on the imbalance. Subsequently, the control unit controls the rotary table 210 to rotate, causing either the first dispensing component 212 or the second dispensing component 213 to rotate to the dispensing position opposite to the buffer station 202, whereby the selected dispensing component applies balancing adhesive to the fan according to the dispensing position and amount. After the balancing adhesive is applied, the control unit controls the rotary table 210 to rotate, causing the curing component 214 to rotate to the curing position opposite to the buffer station 202, whereby the curing component 214 cures the balancing adhesive. During the above process, the fan remains within the same buffer station 202 at the dispensing processing position 2022, and the visual recognition result and the dispensing execution action share the same buffer station 202 reference.

[0057] In some embodiments, the control unit stores a first positional deviation between the vision component 211 and the first dispensing component 212, and a second positional deviation between the vision component 211 and the second dispensing component 213. The first and second positional deviations can be obtained through calibration during the equipment commissioning phase. For example, a calibration piece with calibration points can be placed at the dispensing processing position 2022, allowing the vision component 211 to identify the calibration points and rotate the first and second dispensing components 212 and 213 to the dispensing operation position, respectively. The corresponding positional deviation is obtained by the difference between the visually recognized coordinates and the actual landing point coordinates of the dispensing needle. The control unit determines the dispensing position of the dispensing mechanism based on the second orientation of the reference marker and the positional deviation corresponding to the selected dispensing component. By incorporating the relative positional deviations between the vision component 211 and different dispensing components into the calculation, the impact of differences in the installation positions of various functional components on the functional rotary table 210, dispensing needle tip offset, or rotational positioning errors on the dispensing position can be reduced.

[0058] In some embodiments, the first dispensing assembly 212 has a straight dispensing needle, and the second dispensing assembly 213 has a bent dispensing needle. The control unit selects either the first dispensing assembly 212 or the second dispensing assembly 213 according to the fan part to be dispensed corresponding to the dispensing position. The straight dispensing needle is suitable for parts to be dispensed where there is no obstruction above the dispensing path and the dispensing direction can be towards the fan end face; the bent dispensing needle is suitable for parts to be dispensed near the inner side of the fan frame, near the blade root, or obstructed by the edge of the fan housing. By setting dispensing assemblies with different needle insertion forms and selectively switching to the dispensing processing position 2022 by the functional rotary table 210, parts to be dispensed with different spatial accessibility can be adapted, reducing the need to repeatedly adjust the fan posture to adapt to the dispensing needle path.

[0059] In some embodiments, the transfer mechanism includes a first flipping mechanism 161. The first flipping mechanism 161 is disposed adjacent to the dispensing processing position 2022 and is used to flip the fan when the fan is located within the buffer station 202 of the dispensing processing position 2022. The first flipping mechanism 161 may include a flipping gripper and a flipping drive. The flipping gripper is used to hold the fan, and the flipping drive is used to drive the flipping gripper to rotate about a flipping axis. The flipping angle can be 180°, or it can be set to other angles depending on the orientation of the fan's surface to be dispensed. The control unit determines the dispensing position based on the flipping angle of the first flipping mechanism 161, the second orientation of the reference marker, and the relative angular position of the corrected position relative to the reference marker. By incorporating the flipping angle into the dispensing position calculation, the angular relationship before the flipping can be avoided after the fan is flipped, which would cause the dispensing position to deviate from the actual corrected position.

[0060] In some embodiments, the transfer mechanism includes a retest loading robot 162 and a second flipping mechanism 163. The retest loading robot 162 is used to transfer the fan in the buffer station 202 at the retest transfer position 2023 to the retest balancing mechanism 220. The second flipping mechanism 163 is used to flip the fan to a posture suitable for detection by the retest balancing mechanism 220 before or during the process of the fan entering the retest balancing mechanism 220. The second flipping mechanism 163 can be independently set between the buffer rotary table and the retest balancing mechanism 220, or it can be integrated into the retest loading robot 162. By adjusting the fan posture before retesting, the surface to be detected and the clamping direction when the fan enters the retest balancing mechanism 220 are consistent with the retest requirements, reducing the deviation of retest data caused by posture inconsistency.

[0061] In some embodiments, the device further includes a loading conveyor line 121, a discharging conveyor line 240, and a handling assembly. The handling assembly includes a lifting rotary table 231, a first robotic arm 232, and a second robotic arm 233, both of which are mounted on the lifting rotary table 231. The lifting rotary table 231 is used to drive the first robotic arm 232 and the second robotic arm 233 to lift and rotate. The first robotic arm 232 is used to transfer the fan on the loading conveyor line 121 to the balance detection mechanism 140. The second robotic arm 233 is used to transfer the fan on the re-measurement balance mechanism 220 to the discharging conveyor line 240 or to the balance detection mechanism 140 based on the re-measurement result of the re-measurement balance mechanism 220. When the re-measurement result is qualified, the second robotic arm 233 transfers the fan to the discharging conveyor line 240; when the re-measurement result is unqualified, the second robotic arm 233 returns the fan to the balance detection mechanism 140, and the balance detection mechanism 140 re-acquires the remaining imbalance information of the fan. In this way, fans that pass the retest and fans that need to be corrected again are separated after the retest; fans that fail the retest first return to the balance detection mechanism 140 to obtain the remaining imbalance information, and then enter the subsequent glue application correction process, so as to avoid repeated glue application based solely on the initial test data.

[0062] In some embodiments, the device further includes a fan feeding mechanism 120. The fan feeding mechanism 120 includes a feeding conveyor line 121, a storage assembly, and a pushing assembly. The feeding conveyor line 121 has a conveying surface for carrying and conveying fans. The storage assembly is disposed on one side of the feeding conveyor line 121 and includes a material cylinder 122 and a material seat 123 disposed at the lower end of the material cylinder 122. The material cylinder 122 has a storage cavity 1221 for multiple fans to be stacked vertically in sequence. The material seat 123 has a receiving cavity 1231 located below and communicating with the storage cavity 1221. The receiving cavity 1231 is used to receive a single fan falling from the storage cavity 1221. The material seat 123 has a discharge port 1232 on the side of the receiving cavity 1231 facing the conveying surface, and the bearing surface of the receiving cavity 1231 is connected to the conveying surface. The pushing assembly includes a pusher plate 124 and a pushing drive 125 that is pulsatorically connected to the pusher plate 124. The pusher plate 124 is slidably disposed on the material seat 123 along the direction from the receiving cavity 1231 toward the conveying surface. The pushing drive 125 is used to drive the pusher plate 124 to move, so as to push the fan in the receiving cavity 1231 to the conveying surface through the discharge port 1232. Through the vertical storage of material in the material cylinder 122, the single-piece receiving of material in the material seat 123, and the horizontal pushing of material by the pusher plate 124, multiple stacked fans can enter the feeding conveyor line 121 one by one, avoiding multiple fans entering the conveying surface at the same time.

[0063] Multiple fans are stacked sequentially in the storage cavity 1221 along the axial direction of the material cylinder 122, with the central axis of the fans parallel to the axis of the material cylinder 122. This ensures that after the bottom fan falls into the receiving cavity 1231, its posture remains relatively stable with respect to the conveying surface, facilitating the pusher plate 124 to eject the fan in a predetermined direction. The side wall of the material cylinder 122 may have a strip-shaped opening 1222 extending along the axial direction of the material cylinder 122. The strip-shaped opening 1222 communicates with the storage cavity 1221 to expose the fans within the storage cavity 1221. Operators can observe the remaining number and stacking status of the fans in the storage cavity 1221 through the strip-shaped opening 1222, and can also adjust the fans if they become stuck.

[0064] In one alternative embodiment, the effective vertical height of the accommodating cavity 1231 is greater than the axial dimension of a single fan but less than the sum of the axial dimensions of two fans. With this dimensional relationship, only one fan's discharge channel can be formed within the accommodating cavity 1231 at a time. The upper fan, constrained by the material seat 123 or the push plate 124, will not be discharged simultaneously through the discharge port 1232 along with the fans within the accommodating cavity 1231. This structure further solidifies the function of "accommodating a single fan" through the dimensional constraints of the accommodating cavity 1231, reducing the possibility of two stacked fans simultaneously entering the discharge port 1232.

[0065] The vertical opening size of the discharge port 1232 can also be adapted to the axial size of a single fan. The discharge port 1232 allows a single fan located within the receiving cavity 1231 to pass through, while restricting the entry of the next fan above it into the discharge port 1232. The height restriction of the receiving cavity 1231, in conjunction with the opening height of the discharge port 1232, can act as a barrier to the fan above it during the fan's ejection process.

[0066] The material holder 123 may be provided with a guide groove 1234 extending along the direction from the receiving cavity 1231 to the discharge port 1232. The guide groove 1234 communicates with the receiving cavity 1231 and the discharge port 1232 respectively. The push plate 124 is slidably disposed in the guide groove 1234. The push plate 124 can reciprocate between a clearance position and a pushing position. When the push plate 124 is in the clearance position, the push plate 124 clears the communication area between the storage cavity 1221 and the receiving cavity 1231, so that the fan at the bottom of the storage cavity 1221 can fall into the receiving cavity 1231. When the push plate 124 moves from the clearance position to the pushing position, the push plate 124 extends at least partially into the receiving cavity 1231 and pushes the fan in the receiving cavity 1231 to the conveying surface through the discharge port 1232. By setting the avoidance position and the pushing position, the push plate 124 can both prevent a single fan from falling from the storage chamber 1221 into the receiving chamber 1231 and push the fan out after it falls into the receiving chamber 1231, thereby realizing single-piece material distribution.

[0067] The feeding assembly may also include a connecting plate 126. A feeding drive 125 is positioned below the material base 123. One end of the connecting plate 126 is connected to the output end of the feeding drive 125, and the other end is connected to the push plate 124. The output direction of the feeding drive 125 is parallel to the extension direction of the guide groove 1234. Positioning the feeding drive 125 below the material base 123 reduces the space occupied by the feeding drive 125 on the side of the material base 123, maintaining a shorter connection distance between the discharge port 1232 and the feeding conveyor line 121. The parallel extension direction of the feeding drive 125 to the guide groove 1234 causes the push plate 124 to push the fan out in a straight line along the guide groove 1234, reducing the probability of fan wobbling during feeding.

[0068] The feeding conveyor line 121 may include a support frame 1211, a conveyor belt 1212 disposed on the support frame 1211, and a feeding drive motor 1213 that is drivenly connected to the conveyor belt 1212. The upper conveying section of the conveyor belt 1212 forms a conveying surface. The discharge port 1232 is located on one side of the feeding conveying section of the conveyor belt 1212 and is disposed facing the feeding conveying section. The push plate 124 pushes the fan out of the discharge port 1232 in the same direction as the conveyor belt 1212 conveying the fan. In this way, after the fan is pushed from the receiving cavity 1231 to the conveying surface, it can enter the marking forming mechanism 130 or a subsequent transfer position along the conveying direction of the conveyor belt 1212, reducing the possibility of the fan coming into contact with the edge of the conveyor belt 1212 after entering the conveying surface from the side.

[0069] The marking forming mechanism 130 can be disposed on the support frame 1211 and located downstream of the storage assembly along the conveyor belt 1212. The marking forming mechanism 130 has a marking forming end 131 facing the conveyor surface. The marking forming end 131 can move in a direction close to or away from the conveyor surface to form a reference mark for the fan conveyed to the area below the marking forming end 131. By disposing of the marking forming mechanism 130 downstream of the storage assembly, the fan first completes single-piece dispensing and enters the conveyor surface, and then the marking forming end 131 forms a reference mark, which then enters the balance detection mechanism 140 with the fan. Since the reference mark already exists before the balance detection, the unbalanced phase obtained by the balance detection can be correlated with the reference mark during the detection stage.

[0070] This invention also provides a fan dynamic balancing dispensing method based on marker positioning. This method can be implemented using the fan dynamic balancing dispensing equipment described in any of the above embodiments, or using other equipment capable of performing the same action. The method includes the following steps.

[0071] Before the fan enters the balancing detection mechanism 140, a recognizable reference mark is formed on the fan. The reference mark can be formed on the outer periphery, end face, or impeller area of ​​the fan. Then, the fan with the reference mark is transferred to the balancing detection mechanism 140, where the unbalance information of the fan, including the amount and phase of the unbalance, is acquired. When the fan is in the balancing detection mechanism 140, the first orientation of the reference mark in the balancing detection coordinate system is obtained. Based on the unbalance phase and the first orientation, the control unit determines the angular position of the fan's corrected position relative to the reference mark. This step converts the corrected angular position detected by the balancing detection mechanism 140 into an angular relationship relative to the fan body's reference mark.

[0072] Subsequently, the fan, after being detected by the balance detection mechanism 140, is transferred to the dispensing area. While the fan is in the dispensing area, the second position of the reference marker in the dispensing coordinate system is obtained. The control unit determines the dispensing position of the fan within the dispensing area based on the second position and the relative angular position, and determines the amount of balancing adhesive to be applied based on the imbalance. The dispensing mechanism applies balancing adhesive to the fan according to the dispensing position and the amount applied. Using this method, even if the fan undergoes an angular change relative to the dispensing area after being transferred from the balance detection mechanism 140 to the dispensing area, its dispensing position can still be restored using the second position of the reference marker in the dispensing coordinate system.

[0073] In a specific scenario, miniature cooling fans are first fed one by one to the feeding conveyor line 121 by the fan feeding mechanism 120. The marking forming mechanism 130 forms dot-shaped reference marks on the fan end face. The first robot arm 232 of the handling component transfers the fans with the dot-shaped reference marks to the balance detection mechanism 140. The balance detection mechanism 140 performs an initial detection on the fans, obtaining the imbalance amount M1 and the imbalance phase A1. The marking acquisition component obtains the first orientation B1 of the dot-shaped reference marks in the balance detection coordinate system. The control unit obtains the relative angular position C1 of the corrected position with respect to the dot-shaped reference marks based on A1 and B1, and determines the amount of balancing adhesive Q1 to be applied based on the imbalance amount M1.

[0074] After the initial inspection, the fan is transferred to the buffer station 202 in the buffer rotary table, which is located at the receiving position 2021. The buffer rotary table rotates one station interval, causing the buffer station 202 carrying the fan to rotate to the dispensing position 2022. The functional rotary table 210 first rotates the vision component 211 to the recognition position opposite to the buffer station 202. The vision component 211 recognizes the dot-shaped reference mark on the fan and obtains its second position B2 in the dispensing coordinate system. The control unit determines the dispensing position P1 based on B2 and C1. If the fan part to be glued at dispensing position P1 is suitable for a straight needle insertion, the functional rotary table 210 rotates the first dispensing assembly 212 to the dispensing position, and the first dispensing assembly 212 applies balancing glue according to P1 and Q1. If the fan part to be glued at dispensing position P1 is suitable for a bent needle insertion, the functional rotary table 210 rotates the second dispensing assembly 213 to the dispensing position, and the second dispensing assembly 213 applies balancing glue according to P1 and Q1. After glue application is completed, the functional rotary table 210 rotates the curing assembly 214 to the curing position to cure the balancing glue. During this process, the fan remains within the same buffer station 202 and does not need to be transferred to another station for glue dispensing after identification.

[0075] When the fan needs to be flipped before dispensing, and the fan is located within the buffer station 202 of the dispensing processing position 2022, the first flipping mechanism 161 clamps the fan and flips it by a preset angle, such as 180°. After flipping, the vision component 211 re-identifies the reference marker and obtains the second orientation after flipping. The control unit redetermines the dispensing position based on the flipping angle of the first flipping mechanism 161, the second orientation after flipping, and the relative angular position of the corrected position relative to the reference marker. Through this process, the coordinate relationship change caused by the flipping action is incorporated into the dispensing position calculation.

[0076] After the fan completes dispensing and curing, the buffer rotary table rotates again, switching the buffer station 202 carrying the fan from the dispensing position 2022 to the retesting transfer position 2023. The retesting loading robot 162 removes the fan from the retesting transfer position 2023. If the retesting balancing mechanism 220 requires the fan to enter the testing end in a specific posture, the second flipping mechanism 163 flips the fan before or during its entry into the retesting balancing mechanism 220, so that the fan's testing surface faces the testing end of the retesting balancing mechanism 220. Subsequently, the retesting balancing mechanism 220 retests the fan.

[0077] When the retest result is qualified, the second robot 233 of the handling component transfers the fan to the unloading conveyor line 240. When the retest result is unqualified, the second robot 233 returns the fan to the balance detection mechanism 140. The balance detection mechanism 140 reacquires the remaining imbalance information of the fan, including the remaining imbalance amount M2 and the remaining imbalance phase A2. When the fan is located at the balance detection mechanism 140, the identification acquisition component reacquires the retest orientation B3 of the reference marker in the balance detection coordinate system. The control unit determines the re-correction position relative to the reference marker, the relative angular position C2, based on A2 and B3. Subsequently, the fan is transferred again to the dispensing processing position 2022, and the vision component 211 re-identifies the reference marker and acquires the re-orientation B4 of the reference marker in the dispensing coordinate system. The control unit determines the re-dispensing position P2 based on B4 and C2, and determines the incremental balancing adhesive application amount Q2 based on the remaining imbalance amount M2. The dispensing mechanism applies incremental balancing adhesive to the fan according to P2 and Q2. After curing, the balancing mechanism 220 performs a second retest. If the second retest still fails, the fan is transferred to the waste collection mechanism 250.

[0078] In the above method embodiments, the reference mark is formed before the initial fan test. During the initial test, it establishes a relative angular relationship with the unbalanced phase. It is used to restore the dispensing position during dispensing and to reposition the fan after a failed retest. This method ensures that both the initial and subsequent dispensing are based on the same fan body reference, rather than on the temporary placement angle of the fan at a certain workstation. For fans that have undergone rotation on the buffer rotary table, switching on the functional rotary table 210, flipping by the flipping mechanism, and retesting, this method can maintain the correspondence between the detection data, the dispensing position, and the angular position of the fan body, reducing the risk of dispensing position mismatch after multiple transfers.

[0079] The foregoing description and accompanying drawings fully illustrate embodiments of the present disclosure to enable those skilled in the art to practice them. Other embodiments may include structural and other changes. The embodiments represent only possible variations. Individual components and functions are optional unless explicitly required, and the order of operation may vary. Parts and features of some embodiments may be included or substituted for parts and features of other embodiments. Embodiments of the present disclosure are not limited to the structures described above and shown in the accompanying drawings, and various modifications and changes may be made without departing from its scope. The scope of the present disclosure is limited only by the appended claims, and the foregoing embodiments should be considered exemplary and non-limiting.

Claims

1. A fan dynamic balancing dispensing device based on marker positioning, used to apply balancing adhesive to a fan, characterized in that, include: frame; A marking forming mechanism, mounted on the frame, is used to form a recognizable reference mark on the fan before it enters the balance detection mechanism; The balance detection mechanism is set on the frame and located downstream of the mark forming mechanism. The balance detection mechanism is used to support the fan with the reference mark formed and to obtain the imbalance information of the fan, including the imbalance amount and imbalance phase. The identification acquisition component is mounted on the rack and is used to acquire the first position of the reference mark when the fan is located in the balance detection mechanism, and to acquire the second position of the reference mark when the fan is located in the dispensing area. The transfer mechanism, located on the frame, is used to transfer the fan, which has been tested by the balancing detection mechanism, to the dispensing area; The dispensing mechanism, mounted on the frame, is used to apply balancing adhesive to the fan located in the dispensing area; The control unit is electrically connected to the marking forming mechanism, the balance detection mechanism, the marking acquisition component, the transfer mechanism, and the dispensing mechanism, respectively. The control unit is used to determine the relative angular position of the fan's corrected position with respect to the reference mark based on the unbalance phase and the first orientation, and to determine the dispensing position of the dispensing mechanism based on the second orientation and the relative angular position, and to determine the amount of balancing adhesive to be applied based on the amount of unbalance, so that the dispensing mechanism applies balancing adhesive to the fan according to the dispensing position and the amount applied.

2. The fan dynamic balancing dispensing equipment based on marker positioning according to claim 1, characterized in that, It also includes a retest balancing mechanism and a buffer rotary table; The buffer rotary table is located between the balancing detection mechanism, the dispensing area, and the retesting balancing mechanism. The buffer rotary table includes a rotating carrier and three buffer stations spaced circumferentially along the rotating carrier. Driven by the rotating carrier, the three buffer stations cyclically switch between the receiving position, the dispensing processing position, and the retesting transfer position, respectively. Among them, the material receiving position corresponds to the balance detection mechanism, the glue dispensing position corresponds to the glue dispensing area, and the retesting and transfer position corresponds to the retesting and balancing mechanism.

3. The fan dynamic balancing dispensing equipment based on marker positioning according to claim 2, characterized in that, Each time the rotating bearing rotates one station spacing, one of the three buffer stations switches from the material receiving position to the dispensing position, another of the three buffer stations switches from the dispensing position to the retesting and transfer position, and the last of the three buffer stations switches back to the material receiving position.

4. The fan dynamic balancing dispensing equipment based on marker positioning according to claim 2, characterized in that, The dispensing area is equipped with a functional rotary table, which integrates a vision component, a first dispensing component, a second dispensing component, and a curing component. The vision component constitutes at least a part of the identification acquisition component, the first dispensing component and the second dispensing component constitute at least a part of the dispensing mechanism, and the functional rotary table is used to drive any one of the vision component, the first dispensing component, the second dispensing component and the curing component to rotate to a position corresponding to the buffer station in the dispensing processing position.

5. The fan dynamic balancing dispensing equipment based on marker positioning according to claim 4, characterized in that, When the fan remains in the same buffer station at the dispensing position, the control unit controls the rotary table to sequentially align the vision component, the first dispensing component or the second dispensing component, and the curing component with the buffer station, so that the vision component recognizes the reference mark, the first dispensing component or the second dispensing component applies the balancing adhesive, and the curing component cures the balancing adhesive.

6. The fan dynamic balancing dispensing equipment based on marker positioning according to claim 4, characterized in that, The first dispensing assembly has a straight dispensing needle, and the second dispensing assembly has a bent dispensing needle. The control unit can select the first dispensing assembly or the second dispensing assembly according to the fan part to be dispensed corresponding to the dispensing position, so that the selected first dispensing assembly or the second dispensing assembly applies balanced glue to the corresponding fan part to be dispensed.

7. The fan dynamic balancing dispensing equipment based on marker positioning according to claim 4, characterized in that, The transfer mechanism includes a first flipping mechanism, which is located on one side of the dispensing position and is used to flip the fan when the fan is located in the buffer station of the dispensing position. The control unit can determine the dispensing position based on the flipping angle of the first flipping mechanism, the second orientation of the reference mark, and the relative angular position of the correction position with respect to the reference mark.

8. The fan dynamic balancing dispensing equipment based on marker positioning according to claim 2, characterized in that, The transfer mechanism also includes a retesting and loading robot and a second flipping mechanism. The retesting and loading robot is used to transfer the fan in the buffer station at the retesting and transfer position to the retesting and balancing mechanism. The second flipping mechanism is used to flip the fan to a posture suitable for detection by the retesting and balancing mechanism before or during the process of the fan entering the retesting and balancing mechanism.

9. The fan dynamic balancing dispensing equipment based on marker positioning according to claim 2, characterized in that, It also includes loading conveyor lines, unloading conveyor lines, and handling components; The handling assembly includes a lifting rotary table, a first robotic arm, and a second robotic arm. Both the first and second robotic arms are mounted on the lifting rotary table, which drives the first and second robotic arms to lift and rotate. The first robotic arm is used to transfer the fan on the loading conveyor line to the balancing detection mechanism, and the second robotic arm is used to transfer the fan on the re-measurement balancing mechanism to the unloading conveyor line or to the balancing detection mechanism based on the re-measurement results of the re-measurement balancing mechanism. When the second robotic arm transfers the fan to the balance detection mechanism, the balance detection mechanism is used to reacquire the remaining imbalance information of the fan.

10. The fan dynamic balancing dispensing equipment based on marker positioning according to claim 9, characterized in that, Also includes: A material storage assembly is disposed on one side of the feeding conveyor line. The material storage assembly includes a material cylinder and a material seat disposed at the lower end of the material cylinder. The material cylinder has a material storage cavity for multiple fans to be stacked vertically in sequence. The material seat has a receiving cavity located below the material storage cavity and communicating with the material storage cavity. The receiving cavity is used to receive a single fan falling from the material storage cavity. The material seat has a discharge port on the side of the receiving cavity facing the feeding conveyor line. The bearing surface of the receiving cavity is connected to the conveying surface of the feeding conveyor line. The material pushing assembly includes a pusher plate and a material pushing drive connected to the pusher plate. The pusher plate is slidably disposed on the material seat in a direction from the accommodating cavity toward the conveying surface. The material pushing drive is used to drive the pusher plate to move so as to push the fan in the accommodating cavity to the conveying surface through the discharge port.

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