Five-axis linkage dispensing machine

Abstract

The utility model discloses a five-axis linkage dispensing machine which comprises an X-axis left-right moving mechanism, a Z-axis up-down moving mechanism, an RX-axis rotating mechanism, an RZ-axis rotating mechanism, a visual system, a dispensing mechanism and a Y-axis front-back moving mechanism, the Y-axis front-back moving mechanism is movably arranged below the Z-axis up-down moving mechanism, and the Y-axis front-back moving mechanism is connected with a tool jig. The visual system can scan a product on the tool jig to generate a dispensing path, then the dispensing mechanism achieves five-axis linkage automatic dispensing work under mutual movement cooperation with the X-axis left-right moving mechanism, the Z-axis up-down moving mechanism, the RX-axis rotating mechanism, the RZ-axis rotating mechanism and the Y-axis front-back moving mechanism, the dispensing precision is high, and the dispensing efficiency is high. And the dispensing work is more flexible.

Description

Technical Field

[0001] The present application relates to the field of glue dispensing technology, and more specifically, to a five-axis linkage glue dispensing machine. Background Art

[0002] For existing optical modules in the optical communication industry, COB, 100G, 400G, 800GQSFP28 and other interface components usually use full manual dispensing.

[0003] For example, when manually clamping products, hold the dispensing syringe in your right hand to fill glue in the gaps of COB, 100G, 400G, 800GQSFP28 and other optical modules.

[0004] Due to the special shape of the module dispensing position path, the uneven filling of the glue is difficult to control. The handheld needle touching the product is likely to displace the pre-coupled receiving end product. In addition, the glue quantity standard is extremely high, and the efficiency of full manual dispensing is low, and the yield rate is extremely low. It requires manual hands, eyes and feet to coordinate actions, resulting in manual fatigue, high process repetition frequency, and low efficiency. If the glue quantity does not meet the standard, the subsequent process needs to be re-coupled and dispensed again. The number of personnel and the work intensity are very large.

[0005] Therefore, the prior art needs to be improved. Utility Model Content

[0006] The purpose of the present application is to provide a five-axis linkage glue dispensing machine, aiming to solve the technical problem of low efficiency of manual glue dispensing for optical communication workpieces in the prior art.

[0007] To achieve the above purpose, the technical solution adopted in this application is:

[0008] The present application provides a five-axis linkage dispensing machine, which includes:

[0009] X-axis left and right moving mechanism;

[0010] A Z-axis up-and-down moving mechanism, the Z-axis up-and-down moving mechanism is connected to the X-axis left-and-right moving mechanism;

[0011] RX axis rotating mechanism, the RX axis rotating mechanism is connected to the Z axis up and down moving mechanism;

[0012] An RZ-axis rotation mechanism, the RZ-axis rotation mechanism is connected to the RX-axis rotation mechanism;

[0013] Visual system, the visual system is connected to the Z-axis up and down moving mechanism;

[0014] A glue dispensing mechanism, the glue dispensing mechanism is connected to the RZ axis rotating mechanism;

[0015] The Y-axis forward and backward moving mechanism is movably arranged below the Z-axis up and down moving mechanism, and the Y-axis forward and backward moving mechanism is connected to the tooling fixture.

[0016] Through the above scheme, the visual system can scan the products on the tooling and fixture, generate a dispensing path, and then the dispensing mechanism realizes five-axis linkage automatic dispensing through the mutual movement and coordination of the X-axis left and right moving mechanism, the Z-axis up and down moving mechanism, the RX-axis rotation mechanism, the RZ-axis rotation mechanism and the Y-axis forward and backward moving mechanism. The dispensing accuracy is high, the dispensing work is more flexible, and it can adapt to the dispensing requirements of various existing components on the curved surface. The glue thickness is more uniform, avoiding glue shortage and overflow, ensuring the stability of product quality, improving production efficiency, and having a wider application space. It can adapt to more dispensing varieties and save production costs.

[0017] In one embodiment, the X-axis left-right movement mechanism includes:

[0018] A first support seat;

[0019] A first stepper motor, the first stepper motor is arranged on a first supporting seat;

[0020] The first screw rod module is transmission-connected to the first stepper motor.

[0021] Through the above scheme, the X-axis left and right moving mechanism in this application drives the dispensing mechanism to move left and right through the screw stepper motor. The first screw module is driven by the guide rail and the slider, and the slider is moved under the drive of the stepper motor, making the dispensing mechanism more stable during the left and right movement, thereby improving the dispensing accuracy and stability.

[0022] In one embodiment, the Z-axis up and down movement mechanism includes:

[0023] A second support base, the second support base is connected to the X-axis left-right moving mechanism;

[0024] A second stepper motor, the second stepper motor is arranged on a second supporting seat;

[0025] The second screw rod module is transmission-connected to the second stepping motor.

[0026] Through the above scheme, the Z-axis left and right moving mechanism in this application drives the dispensing mechanism to move up and down through the screw stepper motor. The second screw module moves through the guide rail and the slider, and the slider is driven by the stepper motor to move, making the dispensing mechanism more stable during the lifting movement, thereby improving the dispensing accuracy and stability.

[0027] In one embodiment, the RX axis rotation mechanism includes:

[0028] A third support seat, the third support seat is connected to the Z-axis up and down moving mechanism;

[0029] A first rotating motor, the first rotating motor is arranged on a third supporting seat;

[0030] The first rotating shaft is transmission-connected with the first rotating motor.

[0031] Through the above scheme, the RX-axis rotation mechanism in this application realizes horizontal rotation through a rotating motor, which is used to drive the dispensing mechanism to rotate in the horizontal direction, so as to facilitate the adjustment of the dispensing position and angle during the dispensing process, improve the dispensing efficiency, and ensure the accuracy of the dispensing position.

[0032] In one embodiment, the RZ axis rotation mechanism comprises:

[0033] A fourth support seat, the fourth support seat is connected to the RX axis rotation mechanism;

[0034] A second rotating motor, the second rotating motor is arranged on a fourth supporting seat;

[0035] The second rotating shaft is transmission-connected to the second rotating motor.

[0036] Through the above scheme, the RZ-axis rotation mechanism in this application realizes rotation in the vertical direction through a rotating motor, which is used to drive the dispensing mechanism to rotate in the vertical direction, so as to facilitate the adjustment of the dispensing position and angle during the dispensing process, improve the dispensing efficiency, and ensure the accuracy of the dispensing position.

[0037] In one embodiment, the vision system comprises:

[0038] A camera housing, the camera housing being connected to the Z-axis up-and-down moving mechanism;

[0039] A 3D scanning camera, wherein the 3D scanning camera is disposed in a camera housing;

[0040] A camera hole is provided in the camera housing and is used to expose the 3D scanning camera;

[0041] The rubber sleeve is arranged on one side of the camera housing close to the Y-axis forward and backward moving mechanism, and the rubber sleeve is connected with the camera hole.

[0042] Through the above scheme, the 3D scanning camera is moved by driving the X-axis left-right moving mechanism and the Z-axis up-and-down moving mechanism respectively, so as to collect image information of the dispensing mechanism, and then confirm the direction and angle of the dispensing mechanism to ensure the dispensing accuracy and quality of the dispensing mechanism. At the same time, the 3D scanning camera is placed in the camera housing, and a rubber ring is connected to its lower end. The camera housing and the rubber ring can effectively protect the 3D scanning camera and prevent the 3D scanning camera from collision damage.

[0043] In one embodiment, the dispensing mechanism includes:

[0044] Constant temperature control system, the constant temperature control system is set on the X-axis left and right moving mechanism;

[0045] A syringe constant temperature module, the syringe constant temperature module is electrically connected to the constant temperature control system;

[0046] The dispensing syringe is arranged on the RZ axis rotating mechanism, and the syringe constant temperature module is wrapped around the dispensing syringe.

[0047] Through the above scheme, the constant temperature control system is used to heat the dispensing syringe, so that the dispensing syringe has a constant temperature function, which can be adjusted from 0 to 100°C and precisely maintain a constant temperature to ensure the fluidity of the glue.

[0048] In one embodiment, the Y-axis forward and backward movement mechanism includes:

[0049] The fifth support seat is located below the Z-axis up-and-down moving mechanism;

[0050] A third stepper motor, the third stepper motor is arranged on a fifth supporting seat;

[0051] The third screw rod module is transmission-connected to the third stepping motor.

[0052] Through the above scheme, the Y-axis forward and backward moving mechanism in this application drives the tooling fixture to move forward and backward through a screw stepper motor. The third screw module is driven by a guide rail and a slider, and the slider moves forward and backward under the drive of the stepper motor, making the tooling fixture more stable during the forward and backward movement, thereby improving the dispensing accuracy and stability.

[0053] In one embodiment, the fifth support seat comprises:

[0054] A fifth base, the fifth base is arranged below the Z-axis up-and-down moving mechanism, the fifth base has a fifth cavity, and a third stepping motor and a third screw rod module are arranged in the fifth cavity;

[0055] a set of fifth flanges, the fifth flanges being arranged on the fifth base;

[0056] The fifth cover plate is disposed on the fifth base through a fifth flange.

[0057] Through the above scheme, the third stepper motor is driven and connected to the third screw module, the third screw module is connected to the tooling fixture, and the fifth cover plate is arranged on the third stepper motor and the third screw module. During the dispensing process, the fifth cover plate can prevent the dispensing mechanism from dripping glue on the third screw module to ensure the stable and safe operation of the Y-axis forward and backward moving mechanism.

[0058] In one embodiment, the tooling fixture comprises:

[0059] A fifth connecting base, the fifth connecting base is connected to the third screw rod module;

[0060] a set of fifth supporting flanges, the fifth supporting flanges extending upwardly from the fifth connecting base;

[0061] The tray part is connected to the fifth connecting base through the fifth supporting flange, and the tray part is sleeved on the fifth cover plate through the fifth supporting flange.

[0062] Through the above scheme, the fifth connecting base is connected to the third screw module, and fifth supporting flanges are provided at both ends of the fifth connecting base, so that the fifth cover plate of the fifth support seat passes through the fifth connecting base. When the third screw module drives the fifth connecting base to move, the tray part moves on the fifth cover plate, which can prevent the glue dispensing mechanism from dripping glue on the third screw module, so as to ensure the stable and safe operation of the Y-axis forward and backward moving mechanism.

[0063] The beneficial effects of a five-axis linkage dispensing machine provided by the present application are at least:

[0064] The present application discloses a five-axis linkage glue dispensing machine, which includes: an X-axis left-right moving mechanism, a Z-axis up-and-down moving mechanism, an RX-axis rotation mechanism, an RZ-axis rotation mechanism, a vision system, a glue dispensing mechanism and a Y-axis forward-and-backward moving mechanism. The Z-axis forward-and-backward moving mechanism is connected to the X-axis left-and-right moving mechanism, the RX-axis rotation mechanism is connected to the Z-axis up-and-down moving mechanism, the RZ-axis rotation mechanism is connected to the RX-axis rotation mechanism, the vision system is connected to the Z-axis up-and-down moving mechanism, the glue dispensing mechanism is connected to the RZ-axis rotation mechanism, the Y-axis forward-and-backward moving mechanism is movably arranged below the Z-axis up-and-down moving mechanism, and the Y-axis forward-and-backward moving mechanism is connected to a tooling fixture. In the present application, the visual system can scan the product on the tooling fixture and generate a dispensing path. Then the dispensing mechanism realizes five-axis linkage automatic dispensing by cooperating with the X-axis left-right moving mechanism, the Z-axis up-and-down moving mechanism, the RX-axis rotation mechanism, the RZ-axis rotation mechanism and the Y-axis forward-and-backward moving mechanism. The dispensing accuracy is high and the dispensing work is more flexible. It can adapt to the dispensing requirements of various existing components on the curved surface. The glue thickness is more uniform, avoiding glue shortage and overflow, ensuring the stability of product quality, improving production efficiency, and having a wider application space. It can adapt to more dispensing varieties and save production costs. BRIEF DESCRIPTION OF THE DRAWINGS

[0065] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0066] Figure 1 A schematic diagram of the structure of a five-axis linkage dispensing machine provided in an embodiment of the present application;

[0067] Figure 2 A schematic diagram of the structure of a specific embodiment of the X-axis left-right moving mechanism provided in an embodiment of the present application;

[0068] Figure 3 A schematic diagram of the structure of a specific embodiment of the Z-axis up-and-down moving mechanism provided in an embodiment of the present application;

[0069] Figure 4 A schematic diagram of the assembly structure of the RX axis rotation mechanism provided in an embodiment of the present application;

[0070] Figure 5 A schematic diagram of the assembly structure of the RX-axis rotation mechanism and the RZ-axis rotation mechanism provided in the embodiment of the present application;

[0071] Figure 6 A schematic diagram of a specific embodiment of a dispensing mechanism provided in an embodiment of the present application;

[0072] Figure 7 A schematic diagram of the structure of a specific embodiment of the Y-axis forward and backward moving mechanism provided in an embodiment of the present application;

[0073] Figure 8 A schematic diagram of the structure of a specific embodiment of a tooling fixture provided in an embodiment of the present application;

[0074] Fig. 9 A schematic diagram of the structure of a specific embodiment of the five-axis linkage dispensing machine provided in the embodiment of the present application.

[0075] Among them, the reference numerals in the figure are:

[0076] 100, X-axis left and right moving mechanism; 200, Z-axis up and down moving mechanism; 300, RX-axis rotating mechanism; 400, RZ-axis rotating mechanism; 500, visual system; 600, dispensing mechanism; 700, Y-axis forward and backward moving mechanism; 800, tooling fixture; 900, machine body; 110, first support seat; 120, first stepper motor; 130, first screw rod module; 111, first base; 112, first flange; 113, first cover plate; 131, first center axis; 132, first running nut; 133, First slide rail; 134, first slider; 135, first connecting base; 136, first supporting flange; 210, second supporting base; 220, second stepping motor; 230, second screw rod module; 211, second base; 212, second flange; 213, second cover plate; 231, second center axis; 232, second running nut; 233, second slide rail; 234, second slider; 235, second connecting base; 236, second supporting flange; 237, third connecting plate; 310, third supporting base; 320, first Rotating motor; 330, first rotating axis; 340, third rotating base; 410, fourth supporting base; 420, second rotating motor; 430, second rotating axis; 440, fourth rotating base; 510, camera housing; 520, 3D scanning camera; 530, camera hole; 540, rubber sleeve; 610, constant temperature control system; 620, syringe constant temperature module; 630, syringe fixing base; 640, dispensing syringe; 631, upper fixing plate; 632, lower fixing plate; 710, fifth supporting base; 720, third stepping Motor; 730, third screw module; 711, fifth base; 712, fifth flange; 713, fifth cover plate; 731, third center axis; 732, third running nut; 733, third slide rail; 734, third slider; 810, fifth connecting base; 820, fifth supporting flange; 830, tray part; 831, tray base; 832, workpiece box; 833, angle code; 910, working platform; 920, visual folding door; 921, first folding door; 922, second folding door; 923, visual window. DETAILED DESCRIPTION

[0077] In order to make the technical problems, technical solutions and beneficial effects to be solved by the present application more clearly understood, the present application is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0078] It should be noted that when a component is referred to as being "fixed on" or "disposed on" another component, it may be directly or indirectly located on the other component. When a component is referred to as being "connected to" another component, it may be directly or indirectly connected to the other component. The directions or positions indicated by the terms "upper", "lower", "left", "right", "front", "back", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc. are based on the directions or positions shown in the accompanying drawings and are only for the convenience of description and cannot be understood as limitations on the present technical solution. The terms "first" and "second" are only used for the convenience of description and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features. "Multiple" means two or more, unless otherwise clearly and specifically defined.

[0079] See also Figure 1 The present embodiment provides a five-axis linkage glue dispensing machine, which includes: an X-axis left-right moving mechanism 100, a Z-axis up-and-down moving mechanism 200, an RX-axis rotation mechanism 300, an RZ-axis rotation mechanism 400, a vision system 500, a glue dispensing mechanism 600, and a Y-axis forward and backward moving mechanism 700. The Z-axis forward and backward moving mechanism 200 is connected to the X-axis left-right moving mechanism 100, the RX-axis rotation mechanism 300 is connected to the Z-axis up-and-down moving mechanism 200, the RZ-axis rotation mechanism 400 is connected to the RX-axis rotation mechanism 300, the vision system 500 is connected to the Z-axis up-and-down moving mechanism 200, the glue dispensing mechanism 600 is connected to the RZ-axis rotation mechanism 400, the Y-axis forward and backward moving mechanism 700 is movably arranged below the Z-axis up-and-down moving mechanism 200, and the Y-axis forward and backward moving mechanism 700 is connected to a tooling fixture 800.

[0080] In this embodiment, the Z-axis up and down moving mechanism 200 is connected to the X-axis left and right moving mechanism 100, the RX-axis rotation mechanism 300 is connected to the Z-axis up and down moving mechanism 200, the RZ-axis rotation mechanism 400 is connected to the RX-axis rotation mechanism 300, the dispensing mechanism 600 is connected to the RZ-axis rotation mechanism 400, the Y-axis forward and backward moving mechanism 700 is movably arranged below the Z-axis up and down moving mechanism 200, and the Y-axis forward and backward moving mechanism 700 is connected to the tooling fixture 800, and the visual system 500 is connected to the Z-axis up and down moving mechanism 200. Therefore, the X-axis left-right moving mechanism 100 can drive the dispensing mechanism 600 to move left-right, the Z-axis up-and-down moving mechanism 200 can drive the dispensing mechanism 600 to move up and down, the RX-axis rotation mechanism 300 can drive the dispensing mechanism 600 to rotate horizontally, the RZ-axis rotation mechanism 400 can drive the dispensing mechanism 600 to rotate vertically, and the Y-axis forward and backward moving mechanism 700 can drive the tooling fixture 800 to move forward and backward to solve the technical problem of dispensing in special-shaped space positions, wherein the tooling fixture 800 can place the product to be dispensed, and the visual system 500 can scan the product on the tooling fixture 800, automatically grasp the features of the dispensing part, and then automatically generate a path to guide the dispensing mechanism 600 to perform contactless dispensing until all products in the tooling fixture 800 are dispensed.

[0081] In the current technology, in the optical communication industry, interface components such as COB, 100G, 400G, 800GQSFP28 are usually dispensed by hand, and the process is difficult to control the amount of glue and the yield is extremely low. The five-axis linkage dispensing machine provided in this application needs to put the component product into the tray part 830, and then put the tray part 830 into the tooling fixture 800 for positioning. The visual system 500 automatically locates and shoots the extraction of the component product path, and guides the dispensing mechanism 600 to perform contactless follow-up dispensing to improve the dispensing efficiency and dispensing accuracy.

[0082] Therefore, in the present application, the visual system 500 can scan the product on the tooling fixture 800 and generate a glue dispensing path. Then the glue dispensing mechanism 600 realizes five-axis linkage automatic glue dispensing by cooperating with the X-axis left and right moving mechanism 100, the Z-axis up and down moving mechanism 200, the RX-axis rotation mechanism 300, the RZ-axis rotation mechanism 400 and the Y-axis forward and backward moving mechanism 700. The glue dispensing has high precision and is more flexible. It can adapt to the glue dispensing requirements of various existing component curved surface positions. The glue thickness is more uniform, avoiding glue shortage and overflow, ensuring the stability of product quality, improving production efficiency, and having a wider application space. It can adapt to more glue dispensing varieties and save production costs.

[0083] Specifically, see Figure 2The X-axis left-right moving mechanism 100 includes: a first support base 110, a first stepper motor 120 and a first screw module 130. The first stepper motor 120 is arranged on the first support base 110, and the first screw module 130 is transmission-connected to the first stepper motor 120.

[0084] In this embodiment, the first support seat 110 is used to provide an installation space for the first stepper motor 120. The first stepper motor 120 and the first screw module 130 are driven and connected. The first screw module 130 is connected to the Z-axis up and down moving mechanism 200. When the first stepper motor 120 drives the first screw module 130 to move, the dispensing mechanism 600 moves left and right. The first screw module 130 can make the movement of the dispensing mechanism 600 during the dispensing process more stable, which can improve the dispensing accuracy and stability. It can be seen that the X-axis left and right moving mechanism 100 in this embodiment has the advantages of compact structure, small space occupation, stable and precise operation.

[0085] For example, see Figure 2 The first support seat 110 may include a first base 111, a group of first flanges 112 and a first cover plate 113. The first base 111 has a first cavity, in which a first stepper motor 120 and a first screw module 130 are arranged. The first flange 112 is arranged on the first base 111, and the first cover plate 113 is covered on the first base 111 through the first flange 112, and the first cover plate 113 is located above the first stepper motor 120 and the first screw module 130.

[0086] The first screw module 130 may include a first central axis 131, a first running nut 132, a group of first slide rails 133, a first slider 134 and a first connecting base 135, wherein the first stepper motor 120 is drivingly connected to the first central axis 131, the first running nut 132 is cooperatively connected to the first central axis 131, a group of first slide rails 133 are arranged in the first base 111, the first slider 134 is slidingly connected to the first slide rails 133, and the first slider 134 is connected to the first running nut 132, the first connecting base 135 is fixed to the first slider 134, and the first connecting base 135 has first supporting flanges 136 on both sides, and the first connecting base 135 is connected to the Z-axis up and down moving mechanism 200 through the first supporting flange 136 to form a first cavity, and the first cover plate 113 runs through the first cavity.

[0087] When the first stepper motor 120 drives the first central shaft 131 to rotate, the first running nut 132 moves left and right along the first central shaft 131, and then drives the first slider 134 to move along the first slide rail 133, so that the Z-axis up-and-down moving mechanism 200 moves left and right on the first cover plate 113 to achieve left and right movement of the dispensing mechanism 600. The first cover plate 113 can ensure the stable and safe operation of the first central shaft 131, the first running nut 132, the first slide rail 133 and the first slider 134, so that the dispensing mechanism 600 is more stable during the left and right movement, and the dispensing accuracy and stability are improved.

[0088] Therefore, the X-axis left-right moving mechanism 100 drives the dispensing mechanism 600 to move left-right through the screw stepper motor. Through the guide rail and the slider, the slider is driven by the stepper motor to move, making the dispensing mechanism 600 more stable during the left-right movement, thereby improving the dispensing accuracy and stability.

[0089] Specifically, see Figure 3 The Z-axis up-and-down moving mechanism 200 includes: a second support base 210, a second stepper motor 220, and a third screw module 730. The second support base 210 is connected to the X-axis left-and-right moving mechanism 100. The second stepper motor 220 is arranged on the second support base 210. The third screw module 730 is transmission-connected to the second stepper motor 220.

[0090] In this embodiment, the second support seat 210 is used to provide an installation space for the second stepper motor 220. The second stepper motor 220 is driven and connected to the second screw module 230. The second screw module 230 is connected to the RX-axis rotation mechanism 300. When the second stepper motor 220 drives the second screw module 230 to move, the dispensing mechanism 600 is lifted and lowered. The second screw module 230 can make the movement of the dispensing mechanism 600 during the dispensing process more stable, which can improve the dispensing accuracy and stability. It can be seen that the Z-axis up and down moving mechanism 200 in this embodiment has the advantages of compact structure, small space occupation, and stable and precise operation.

[0091] For example, see Figure 3 The second support seat 210 may include a second base 211, a set of second flanges 212 and a second cover plate 213. The second base 211 has a second cavity, in which a second stepper motor 220 and a second screw module 230 are arranged. The second flange 212 is arranged on the second base 211, and the second cover plate 213 is covered on the fifth base 711 through the second flange 212, and the second cover plate 213 is located above the second stepper motor 220 and the second screw module 230.

[0092] The second screw module 230 may include a second central shaft 231, a second running nut 232, a group of second slide rails 233, a second slider 234 and a second connecting base 235, wherein the second stepping motor 220 is drivingly connected to the second central shaft 231, the second running nut 232 is cooperatively connected to the second central shaft 231, a group of second slide rails 233 are arranged in the second base 211, the second slider 234 is slidingly connected to the second slide rails 233, and the second slider 234 is connected to the second running nut 232, the second connecting base 235 is fixed to the second slider 234, and the second connecting base 235 has second supporting flanges 236 on both sides, and the second connecting base 235 is connected to the RX axis rotation mechanism 300 through the second supporting flange 236 to form a second cavity, and the second cover plate 213 runs through the second cavity.

[0093] When the second stepper motor 220 drives the second central shaft 231 to rotate, the second running nut 232 moves up and down along the second central shaft 231, and then drives the second slider 234 to move along the second slide rail 233, so that the RX axis rotation mechanism 300 moves up and down on the second cover plate 213 to achieve the lifting and lowering movement of the dispensing mechanism 600. The second cover plate 213 can ensure the stable and safe operation of the second central shaft 231, the second running nut 232, the second slide rail 233 and the second slider 234, so that the dispensing mechanism 600 is more stable during the lifting and lowering movement, and the dispensing accuracy and stability are improved.

[0094] It can be seen that the Z-axis up and down moving mechanism 200 drives the dispensing mechanism 600 to move up and down through the screw stepper motor. The slider is moved by the guide rail and the stepper motor, making the dispensing mechanism 600 more stable during the lifting movement, thereby improving the dispensing accuracy and stability.

[0095] Specifically, see Figure 4 and Figure 5 The RX-axis rotation mechanism 300 includes: a third support seat 310, a first rotation motor 320 and a first rotation shaft 330. The third support seat 310 is connected to the Z-axis up and down moving mechanism 200. The first rotation motor 320 is arranged on the third support seat 310. The first rotation shaft 330 is transmission-connected to the first rotation motor 320.

[0096] In this embodiment, the RX-axis rotation mechanism 300 is connected to the Z-axis up and down moving mechanism 200 through the third support seat 310, wherein the first rotation motor 320 is arranged on the third support seat 310, and the first rotation motor 320 is driven and connected to the RZ-axis rotation mechanism 400 through the first rotation shaft 330, that is, the first rotation motor 320 drives the first rotation shaft 330 to rotate so that the RZ-axis rotation mechanism 400 rotates in the horizontal direction.

[0097] For example, the second slider 234 is connected to a third connecting plate 237, one side of the third connecting plate 237 is connected to the third support seat 310, and the other side of the third connecting plate 237 is connected to the visual system 500. The third support seat 310 is provided with a first rotating motor 320, and the first rotating motor 320 is connected to the third rotating base 340 through the first rotating shaft 330. The third rotating base 340 is used to be fixedly connected to the RZ-axis rotating mechanism 400. When the first rotating motor 320 drives the first rotating shaft 330 to rotate, the first rotating shaft 330 drives the RZ-axis rotating mechanism 400 to rotate in a horizontal direction through the third rotating base 340, so that the dispensing mechanism 600 rotates.

[0098] It can be seen that in the present application, the RX-axis rotation mechanism 300 realizes horizontal rotation through a rotating motor, which is used to drive the dispensing mechanism 600 to rotate in the horizontal direction, so as to facilitate the adjustment of the dispensing position and angle during the dispensing process, improve the dispensing efficiency, and ensure the accuracy of the dispensing position.

[0099] Specifically, see Figure 4 and Figure 5 The RZ axis rotation mechanism 400 includes: a fourth support seat 410, a second rotation motor 420 and a second rotation shaft 430. The fourth support seat 410 is connected to the RX axis rotation mechanism 300. The second rotation motor 420 is arranged on the fourth support seat 410. The second rotation shaft 430 is transmission-connected to the second rotation motor 420.

[0100] In this embodiment, the RZ-axis rotation mechanism 400 is connected to the RX-axis rotation mechanism 300 through the fourth support seat 410, wherein the second rotating motor 420 is arranged on the fourth support seat 410, and the second rotating motor 420 is driven and connected to the dispensing mechanism 600 through the second rotating shaft 430, that is, the second rotating motor 420 drives the second rotating shaft 430 to rotate so that the dispensing mechanism 600 rotates in the vertical direction.

[0101] For example, the RZ-axis rotation mechanism 400 is connected to the third rotating base 340 through the fourth support base 410, the fourth support base 410 is provided with a second rotating motor 420, and the second rotating motor 420 is connected to the fourth rotating base through the second rotating shaft 430, and the fourth rotating base 440 is used to be fixedly connected to the dispensing mechanism 600. When the second rotating motor 420 drives the second rotating shaft 430 to rotate, the second rotating shaft 430 drives the dispensing mechanism 600 to rotate in a vertical direction through the fourth rotating base 440, so that the dispensing mechanism 600 rotates.

[0102] It can be seen that in the present application, the RZ-axis rotation mechanism 400 realizes rotation in the vertical direction through a rotating motor, which is used to drive the dispensing mechanism 600 to rotate in the vertical direction, so as to facilitate the adjustment of the dispensing position and angle during the dispensing process, improve the dispensing efficiency, and ensure the accuracy of the dispensing position.

[0103] Specifically, see Figure 4 and Figure 5 The visual system 500 includes: a camera housing 510, a 3D scanning camera 520, a camera hole 530 and a rubber ring 540. The camera housing 510 is connected to the Z-axis up and down moving mechanism 200. The 3D scanning camera 520 is arranged in the camera housing 510. The camera hole 530 is opened in the camera housing 510. The camera hole 530 is used to expose the 3D scanning camera 520. The rubber ring 540 is arranged on a side of the camera housing 510 close to the Y-axis forward and backward moving mechanism 700, and the rubber ring 540 is connected to the camera hole 530.

[0104] In this embodiment, the 3D scanning camera 520 can collect image information of the product in the tooling fixture 800, and automatically extract the group product path, and guide the dispensing mechanism 600 to perform contactless follow-up dispensing to improve the dispensing efficiency and dispensing accuracy.

[0105] For example, the camera housing 510 can be set on a side of the third connecting plate 237 away from the RX-axis rotation mechanism 300. A 3D scanning camera 520 is set in the camera housing 510. The 3D scanning camera 520 is driven by the X-axis left-right moving mechanism 100 and the Z-axis up-and-down moving mechanism 200 respectively to realize the movement of the 3D scanning camera 520, so as to collect image information of the dispensing mechanism 600, and then confirm the direction and angle of the dispensing mechanism 600 to ensure the dispensing accuracy and quality of the dispensing mechanism 600. At the same time, the 3D scanning camera 520 is placed in the camera housing 510, and a rubber ring 540 is connected to its lower end. The camera housing 510 and the rubber ring 540 can effectively protect the 3D scanning camera 520 and prevent the 3D scanning camera 520 from collision damage.

[0106] Specifically, see Figure 1 and Figure 6The glue dispensing mechanism 600 includes: a constant temperature control system 610, a syringe constant temperature module 620, a syringe fixing seat 630 and a glue dispensing syringe 640. The constant temperature control system 610 is arranged on the X-axis left-right moving mechanism 100. The glue dispensing syringe 640 is arranged on the RZ-axis rotating mechanism 400 through the syringe fixing seat 630. The constant temperature control system 610 is electrically connected to the syringe constant temperature module 620. The syringe constant temperature module 620 is wrapped around the outer wall of the glue dispensing syringe 640. The syringe constant temperature module 620 is used to heat and keep the glue dispensing syringe 640. In this embodiment, the constant temperature control system 610 is used to control the heating and keeping of the glue dispensing syringe 640, so that the glue dispensing syringe 640 has a constant temperature function to ensure the fluidity of the glue.

[0107] For example, the constant temperature control system 610 is arranged on the X-axis left-right moving mechanism 100, and the dispensing syringe 640 is arranged on the fourth rotating base of the RZ-axis rotating mechanism 400 through the syringe fixing seat 630, wherein the syringe fixing seat 630 is provided with an upper fixed plate 631 and a lower fixed plate 632, and the dispensing syringe 640 passes through the upper fixed plate 631 and the lower fixed plate 632, and the syringe constant temperature module 620 is wrapped around the outer wall of the dispensing syringe 640, and the syringe constant temperature module 620 is located between the upper fixed plate 631 and the lower fixed plate 632, and the syringe constant temperature module 620 is used to heat and keep the dispensing syringe 640 warm, and the temperature of the dispensing syringe 640 can be accurately adjusted through the constant temperature control system 610.

[0108] It can be seen that the constant temperature control system 610 is used to heat the glue dispensing syringe 640, so that the glue dispensing syringe 640 has a constant temperature function, and the glue temperature in the glue dispensing syringe 640 can be adjusted from 0 to 100°C, and the temperature is precisely constant to ensure the fluidity of the glue.

[0109] Specifically, see Figure 7 and Figure 8 The Y-axis forward and backward moving mechanism 700 includes: a fifth support seat 710, a third stepper motor 720 and a third screw module 730. The fifth support seat 710 is located below the Z-axis up and down moving mechanism 200. The third stepper motor 720 is arranged on the fifth support seat 710. The third screw module 730 is transmission-connected to the third stepper motor 720.

[0110] In this embodiment, the fifth support seat 710 is used to provide an installation space for the third stepper motor 720. The third stepper motor 720 and the third screw module 730 are driven and connected. The third screw module 730 is connected to the tooling fixture 800. The product components to be glued can be placed in the tooling fixture 800. When the third stepper motor 720 drives the third screw module 730 to move, the tooling fixture 800 moves back and forth. The third screw module 730 can make the movement of the tooling fixture 800 during the glue dispensing process more stable, which can improve the glue dispensing accuracy and stability. It can be seen that the Y-axis forward and backward moving mechanism 700 in this embodiment has the advantages of compact structure, small space occupation, and stable and precise operation.

[0111] For example, the fifth support seat 710 may include a fifth base 711, a group of fifth flanges 712 and a fifth cover plate 713. The fifth base 711 is arranged below the Z-axis up and down moving mechanism 200. The fifth base 711 has a fifth cavity, and the third stepper motor 720 and the third screw module 730 are arranged in the fifth cavity. The fifth flange 712 is arranged on the fifth base 711. The fifth cover plate 713 is covered on the fifth base 711 through the fifth flange 712, and the fifth cover plate 713 is located above the third stepper motor 720 and the third screw module 730.

[0112] The third screw module 730 may include a third center shaft 731, a third running nut 732, a group of third slide rails 733, and a third slider 734, wherein the third stepper motor 720 is drivingly connected to the third center shaft 731, the third running nut 732 is cooperatively connected to the third center shaft 731, a group of third slide rails 733 is arranged in the fifth base 711, the third slider 734 is slidingly connected to the third slide rails 733, and the third slider 734 is connected to the third running nut 732, and the third slider 734 is used to connect to the tooling fixture 800.

[0113] The tooling fixture 800 includes a fifth connecting base 810, a set of fifth supporting flanges 820 and a tray portion 830. The fifth connecting base 810 is connected to the third slider 734 of the third screw module 730. The fifth supporting flange 820 is formed by extending upward from the fifth connecting base 810. The tray portion 830 is connected to the fifth connecting base 810 through the fifth supporting flange 820, and the tray portion 830 is sleeved on the fifth cover plate 713 through the fifth supporting flange 820.

[0114] When the third stepper motor 720 drives the third central shaft 731 to rotate, the third running nut 732 moves forward and backward along the third central shaft 731, and then drives the third slider 734 to move along the third slide rail 733, so that the tooling fixture 800 moves forward and backward on the fifth cover plate 713, so as to realize the forward and backward movement of the tooling fixture 800. The fifth cover plate 713 can ensure the stable and safe operation of the third central shaft 731, the third running nut 732, the third slide rail 733 and the third slider 734, so that the tooling fixture 800 runs more stably during the dispensing process, and improves the dispensing accuracy and stability.

[0115] It can be seen that in the present application, the Y-axis forward and backward moving mechanism 700 drives the tooling fixture 800 to move forward and backward through a screw stepper motor. The slider is driven by the stepper motor to move forward and backward through the guide rail and the slider, so that the tooling fixture 800 is more stable during the forward and backward movement, and the dispensing accuracy and stability are improved. The fifth cover plate 713 can prevent the dispensing mechanism 600 from dripping glue on the third screw module 730 to ensure the stable and safe operation of the Y-axis forward and backward moving mechanism 700.

[0116] Specifically, see Figure 8 The tray portion 830 includes a tray base 831, a workpiece box 832 and a group of angle codes 833. The tray base 831 is fixed to the third slider 734. The group of angle codes 833 are arranged on the tray base 831 to form a clamping space for installing the workpiece box 832. The workpiece box 832 is used to place the product to be glued, wherein the tray base 831 can be fixedly connected to the third slider 734 by screws, and the group of angle codes 833 can also be fixedly connected to the tray base 831 by bolts.

[0117] For example, see Fig. 9A five-axis linkage dispensing machine can also include a body 900, the body 900 is provided with a working platform 910, the working platform 910 is provided with an X-axis left-right moving mechanism 100, the Y-axis front-back moving mechanism 700 is arranged on the working platform 910 and is located at the X-axis left-right moving mechanism 100, the Z-axis up-and-down moving mechanism 200 is connected to the X-axis left-and-right moving mechanism 100, the RX-axis rotation mechanism 300 is connected to the Z-axis up-and-down moving mechanism 200, the RZ-axis rotation mechanism 400 is connected to the RX-axis rotation mechanism 300, the dispensing mechanism 600 is connected to the RZ-axis rotation mechanism 400, and the visual system 500 is located at the Z-axis up-and-down moving mechanism 200. Among them, a visual folding door 920 is arranged on the body 900, and the visual folding door 920 includes a first folding door 921 and a second folding door 922. The first folding door 921 is rotatably connected to the body 900, and the second folding door 922 is rotatably connected to the first folding door 921, and a visual window 923 is arranged in the middle of the first folding door 921. When it is necessary to replace the product to be dispensed on the tooling fixture 800, the first folding door 921 and the second folding door 922 can be opened, which occupies a small space. When the five-axis linkage dispensing machine is dispensing, the dispensing status can be observed in real time through the visual window 923.

[0118] In summary, the present application discloses a five-axis linkage dispensing machine, which includes: an X-axis left-right moving mechanism, a Z-axis up-and-down moving mechanism, an RX-axis rotation mechanism, an RZ-axis rotation mechanism, a vision system, a dispensing mechanism and a Y-axis forward and backward moving mechanism. The Z-axis forward and backward moving mechanism is connected to the X-axis left-right moving mechanism, the RX-axis rotation mechanism is connected to the Z-axis up-and-down moving mechanism, the RZ-axis rotation mechanism is connected to the RX-axis rotation mechanism, the vision system is connected to the Z-axis up-and-down moving mechanism, the dispensing mechanism is connected to the RZ-axis rotation mechanism, the Y-axis forward and backward moving mechanism is movably arranged below the Z-axis up-and-down moving mechanism, and the Y-axis forward and backward moving mechanism is connected to the tooling fixture. In the present application, the visual system can scan the product on the tooling fixture and generate a dispensing path. Then the dispensing mechanism realizes five-axis linkage automatic dispensing by cooperating with the X-axis left-right moving mechanism, the Z-axis up-and-down moving mechanism, the RX-axis rotation mechanism, the RZ-axis rotation mechanism and the Y-axis forward-and-backward moving mechanism. The dispensing accuracy is high and the dispensing work is more flexible. It can adapt to the dispensing requirements of various existing components on the curved surface. The glue thickness is more uniform, avoiding glue shortage and overflow, ensuring the stability of product quality, improving production efficiency, and having a wider application space. It can adapt to more dispensing varieties and save production costs.

[0119] The above description is only a preferred embodiment of the present application and is not intended to limit the present application. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present application should be included in the protection scope of the present application.

Claims

1. A five-axis linkage dispensing machine, characterized in that: include: X-axis left and right moving mechanism; A Z-axis up-and-down moving mechanism, the Z-axis up-and-down moving mechanism is connected to the X-axis left-and-right moving mechanism; An RX axis rotating mechanism, wherein the RX axis rotating mechanism is connected to the Z axis up and down moving mechanism; An RZ-axis rotation mechanism, the RZ-axis rotation mechanism is connected to the RX-axis rotation mechanism; A visual system, wherein the visual system is connected to the Z-axis up-and-down moving mechanism; A glue dispensing mechanism, the glue dispensing mechanism is connected to the RZ axis rotating mechanism; The Y-axis forward and backward moving mechanism is movably arranged below the Z-axis up and down moving mechanism, and the Y-axis forward and backward moving mechanism is connected to a tooling fixture.

2. The five-axis linkage glue dispensing machine according to claim 1, characterized in that: The X-axis left-right moving mechanism comprises: A first support seat; A first stepper motor, wherein the first stepper motor is disposed on the first support seat; A first screw rod module is drivingly connected to the first stepper motor.

3. The five-axis linkage glue dispensing machine according to claim 1, characterized in that: The Z-axis up and down moving mechanism comprises: A second support base, the second support base is connected to the X-axis left-right moving mechanism; A second stepper motor, wherein the second stepper motor is disposed on the second supporting seat; A second screw rod module is drivingly connected to the second stepping motor.

4. The five-axis linkage glue dispensing machine according to claim 1, characterized in that: The RX axis rotation mechanism comprises: A third support base, the third support base is connected to the Z-axis up-and-down moving mechanism; a first rotating motor, wherein the first rotating motor is disposed on the third supporting seat; A first rotating shaft is drivingly connected to the first rotating motor.

5. The five-axis linkage glue dispensing machine according to claim 1, characterized in that: The RZ axis rotation mechanism comprises: A fourth support seat, the fourth support seat is connected to the RX axis rotation mechanism; a second rotating motor, the second rotating motor being disposed on the fourth supporting seat; A second rotating shaft is drivingly connected to the second rotating motor.

6. The five-axis linkage glue dispensing machine according to claim 1, characterized in that: The visual system comprises: A camera housing, wherein the camera housing is connected to the Z-axis up-and-down moving mechanism; A 3D scanning camera, wherein the 3D scanning camera is disposed in the camera housing; A camera hole, the camera hole is opened in the camera housing, and the camera hole is used to expose the 3D scanning camera; A rubber ring is arranged on a side of the camera housing close to the Y-axis forward and backward moving mechanism, and the rubber ring is connected to the camera hole.

7. The five-axis linkage glue dispensing machine according to claim 1, characterized in that: The dispensing mechanism comprises: A constant temperature control system, wherein the constant temperature control system is arranged on the X-axis left-right moving mechanism; A syringe thermostatic module, the syringe thermostatic module is electrically connected to the thermostatic control system; The glue dispensing syringe is arranged on the RZ axis rotating mechanism, and the syringe constant temperature module is wrapped around the glue dispensing syringe.

8. The five-axis linkage glue dispensing machine as claimed in claim 1, characterized in that: The Y-axis forward and backward moving mechanism comprises: A fifth support seat, the fifth support seat is located below the Z-axis up and down moving mechanism; A third stepper motor, wherein the third stepper motor is arranged on the fifth supporting seat; A third screw rod module is drivingly connected to the third stepping motor.

9. The five-axis linkage glue dispensing machine as claimed in claim 8, characterized in that: The fifth support base comprises: A fifth base, the fifth base is arranged below the Z-axis up-and-down moving mechanism, the fifth base has a fifth cavity, and the third stepping motor and the third screw module are arranged in the fifth cavity; a set of fifth flanges, wherein the fifth flanges are disposed on the fifth base; A fifth cover plate is disposed on the fifth base through the fifth flange.

10. The five-axis linkage glue dispensing machine according to claim 9, characterized in that: The tooling fixture comprises: A fifth connecting base, the fifth connecting base being connected to the third screw rod module; a set of fifth supporting flanges, wherein the fifth supporting flanges are formed by extending upward from the fifth connecting base; The tray portion is connected to the fifth connection base through the fifth supporting flange, and the tray portion is sleeved on the fifth cover plate through the fifth supporting flange.

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