Dispensing device

Abstract

The utility model provides an adhesive dispensing device which comprises a first transmission line, an adhesive dispensing assembly, CCD visual detection equipment, a weight sensor, a mechanical arm and a first carrying mechanism. The weight sensor is used for weighing and detecting whether the first qualified piece is a second qualified piece or a second defective piece, and the mechanical arm is used for transferring the machined piece on the first conveying line to the dispensing assembly and further used for transferring the machined piece obtained after glue dripping from the dispensing assembly to the CCD visual detection equipment. And the first conveying mechanism is used for conveying the first qualified piece to the first conveying line, conveying the first qualified piece back to the first conveying line from the CCD visual detection equipment, conveying the first defective product and the second defective product to a secondary grade point, and the first conveying mechanism is used for conveying the first qualified piece at the second feeding position of the first conveying line to the weight sensor and conveying the second qualified piece back to the first conveying line for discharging. The glue dispensing device is beneficial to improving the glue dripping quality and improving the discharging operation efficiency.

Description

Technical Field

[0001] The utility model relates to the technical field of glue dispensing processing, in particular to a glue dispensing device. Background Art

[0002] Existing glue dispensing machines usually only have the function of dispensing glue, and cannot detect the glue quality of the product, resulting in low material quality of the dispensing machine. In addition, existing glue dispensing machines usually only use a single manipulator to deliver materials at multiple locations, resulting in low efficiency of the dispensing machine's dispensing operation. Utility Model Content

[0003] In order to overcome the deficiencies of the prior art, the utility model aims to provide a glue dispensing device which is beneficial to improving the glue dripping quality and the discharging operation efficiency.

[0004] In order to solve the above problems, the technical solutions adopted by the utility model are as follows:

[0005] A dispensing device, comprising:

[0006] A first transmission line, used for transmitting the workpiece;

[0007] A glue dispensing component, used for at least dripping colloid onto the workpiece;

[0008] CCD visual inspection equipment, used to detect whether the processed part after glue dispensing is the first qualified part or the first defective part;

[0009] A weight sensor, used for weighing and detecting whether the first qualified part is a second qualified part or a second qualified part;

[0010] a robot arm coupled to the CCD visual inspection device and the weight sensor, the robot arm being used to transfer the workpiece at the first loading position of the first transmission line to the glue dispensing assembly, and also being used to transfer the workpiece after glue dispensing from the glue dispensing assembly to the CCD visual inspection device, and also being used to transfer the first qualified part from the CCD visual inspection device back to the first transmission line, and also being used to transfer the first qualified part and the second qualified part to the defective position; and

[0011] The first conveying mechanism is coupled to the weight sensor, and is used for transferring the first qualified part at the second loading position of the first transmission line to the weight sensor, and is also used for transferring the second qualified part back to the first transmission line for unloading. The first conveying mechanism and the robot arm are arranged along the transmission direction of the first transmission line. When viewed along the transmission direction, the weight sensor, the dispensing assembly and the CCD visual inspection device are arranged on the side of the first transmission line.

[0012] In some possible implementations, the following further includes:

[0013] A first position sensor, disposed at one side of the first loading position, the first position sensor being used to detect that the workpiece has reached the first loading position, the first position sensor being coupled to the robot arm; and

[0014] The second position sensor is arranged at one side of the second loading position. The second position sensor is used to detect that the first qualified part reaches the second loading position. The second position sensor is coupled to the first transport mechanism.

[0015] In some possible implementations, the first transport mechanism includes:

[0016] A gripper, for picking up the first qualified piece;

[0017] A first axis moving platform, the gripper is mounted on the first axis moving platform, and the first axis moving platform is used to drive the gripper to move closer to or away from the weight sensor; and

[0018] The second-axis movable platform is arranged crosswise with the first transmission line. The second-axis movable platform is arranged on the side of the second loading position away from the first loading position. The first-axis movable platform is installed on the second-axis movable platform. The second-axis movable platform is used to drive the first-axis movable platform to move back and forth between the first transmission line and the weight sensor. The moving directions of the second-axis movable platform and the first-axis movable platform are perpendicular to each other.

[0019] In some possible embodiments, the dispensing assembly, the CCD visual inspection device, the robotic arm, the weight sensor and the first conveying mechanism are all arranged on one side of the first transmission line, the dispensing assembly, the CCD visual inspection device and the first conveying mechanism are arranged around the robotic arm in sequence, and the weight sensor is arranged on the bottom side of the first conveying mechanism or on the side of the first conveying mechanism opposite to the robotic arm.

[0020] In some possible implementations, the following further includes:

[0021] a needle alignment instrument, disposed on a side of the robot arm away from the first transmission line, the needle alignment instrument being used to detect whether the glue dispensing needle of the glue dispensing component is offset; and

[0022] The second transport mechanism includes a third-axis movable platform arranged on the top side of the needle alignment instrument. The glue dispensing component is installed on the third-axis movable platform. The third-axis movable platform drives the glue dispensing component to move closer to or away from the needle alignment instrument. The third-axis movable platform is oriented relative to the first transport mechanism.

[0023] In some possible implementations, the following further includes:

[0024] a weighing instrument, disposed between the weight sensor and the needle alignment instrument; and

[0025] A glue bucket is used to be placed on the weighing instrument, and the glue dispensing component is also used to drip colloid into the glue bucket, so that the weighing instrument detects the glue dripping speed of the glue dispensing component;

[0026] The second transport mechanism also includes:

[0027] A fourth axis movable platform, wherein the third axis movable platform is installed on the fourth axis movable platform, and the dispensing assembly is at least transferred from the needle alignment instrument to the top of the glue barrel through the fourth axis movable platform, and the reciprocating movement directions of the fourth axis movable platform and the third axis movable platform are perpendicular to each other.

[0028] In some possible implementations, the following further includes:

[0029] A glue eraser, which is arranged on one side of the needle alignment instrument away from the mechanical arm, and is used to erase residual glue from the glue dispensing needle of the glue dispensing component;

[0030] The second transport mechanism also includes:

[0031] A fifth-axis moving platform, wherein the fourth-axis moving platform is installed on the fifth-axis moving platform, and the reciprocating directions of the fifth-axis moving platform, the fourth-axis moving platform and the third-axis moving platform are perpendicular to each other, and the dispensing component is transferred to the eraser at least through the fifth-axis moving platform.

[0032] In some possible implementations, the CCD visual inspection device is also installed on the third-axis moving platform, so that the CCD visual inspection device and the dispensing component move synchronously.

[0033] In some possible implementations, the following further includes:

[0034] The second transmission line is arranged on a side of the dispensing component away from the CCD visual inspection device, and the second transmission line is used to transmit the first product and the second product.

[0035] In some possible implementations, the first transport mechanism further includes:

[0036] The two support members are both arranged on the side of the second axis movable platform away from the second loading position. The second axis movable platform is installed on the end of the support member. Observed along the transmission direction, each support member is arranged on one side of the first transmission line opposite to the two sides.

[0037] Compared with the prior art, the beneficial effects of the present invention are:

[0038] In the present application, the CCD visual inspection device of the glue dispensing device can detect whether the glue dispensing component is dispensed at the glue dispensing position of the workpiece according to the preset glue dispensing position, and the weight sensor can detect whether the glue dispensing amount on the workpiece meets the standard. The coordinated cooperation of the CCD visual inspection device and the weight sensor can effectively improve the glue dispensing quality of the workpiece. In addition, the robot arm and the first conveying mechanism are used to cooperate to transfer qualified parts and unqualified parts to different placement positions between different detection positions, thereby avoiding the problem of low single-pass operation efficiency caused by using a single conveying device to transfer materials. Therefore, the glue dispensing device provided by the present application is conducive to improving the efficiency of material discharging operations.

[0039] The utility model is further described in detail below in conjunction with the accompanying drawings and specific implementation methods. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] Figure 1 A schematic diagram of the structure of a dispensing device provided in one embodiment of the present application;

[0041] Figure 2 for Figure 1 A top view of the dispensing device shown;

[0042] Figure 3 for Figure 1 An enlarged view of part A is shown.

[0043] Description of Figure Numbers:

[0044] 100-glue dispensing device; 10-first transmission line; 20-glue dispensing assembly; 30-CCD visual inspection equipment; 40-weight sensor; 50-robot arm; 60-first conveying mechanism; 61-gripper; 62-first axis moving platform; 63-second axis moving platform; 64-support; 71-first position sensor; 72-second position sensor; 81-needle alignment instrument; 82-second conveying mechanism; 821-third axis moving platform; 822-fourth axis moving platform; 823-fifth axis moving platform; 83-weighing instrument; 84-glue eraser; 90-second transmission line; 200-processed part. DETAILED DESCRIPTION

[0045] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0046] The terms "first", "second", etc. in the specification and claims of this application and the above-mentioned drawings are used to distinguish different objects, rather than to describe a specific order. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions. It should be noted that when an element is referred to as "fixed to" another element, it can be directly on the other element or there can be a centered element. When an element is referred to as "connected to" another element, it can be directly connected to the other element or there can be a centered element. When an element is referred to as "arranged on" another element, it can be arranged on the other element or there can be a centered element.

[0047] Reference Figures 1 to 3 An embodiment of the present application provides a dispensing device 100, which includes a first transmission line 10, a dispensing component 20, a CCD visual inspection device 30, a weight sensor 40, a robotic arm 50 and a first transport mechanism 60.

[0048] The first transmission line 10 is used to transmit the workpiece 200. For example, the workpiece 200 may include a copper bar. For example, the first transmission line 10 may include a motor, a rotating shaft (may include two rotating shafts arranged in parallel) and a conveyor belt. The motor drives the rotating shaft to rotate. The conveyor belt is sleeved on the periphery of the rotating shaft. The rotating shaft rotates to drive the conveyor belt to rotate, thereby realizing the function of the first transmission line 10 to transmit the workpiece 200. For example, the first transmission line may also include a motor, a gear and a chain. The motor drives the gear to rotate. The chain is meshed and connected to the gear, thereby realizing the function of the first transmission line 10 to transmit the workpiece 200. The structure of the first transmission line 10 can be changed as long as the transmission function can be realized.

[0049] The glue dispensing component 20 is used to at least drip colloid onto the workpiece 200. Exemplarily, the glue dispensing component 20 can use an air pump spray gun or a screw valve glue dispensing gun, and glue dispensing components 20 with different structures can be used as needed. The CCD visual inspection device 30 is used to detect whether the workpiece 200 after glue dripping is the first qualified part or the first product. The weight sensor 40 is used to weigh and detect whether the first qualified part is the second qualified part or the second product. Through the coordinated cooperation of the photo detection of the CCD visual inspection device 30 and the weight detection of the weight sensor 40, the glue dispensing yield of the glue dispensing device 100 can be maximized. The CCD visual inspection device 30 can be an open source component, so the specific structure is not repeated.

[0050] The robot arm 50 is coupled to the CCD visual inspection device 30 and the weight sensor 40. For example, the robot arm 50, the CCD visual inspection device 30 and the weight sensor 40 can realize signal interaction through a PLC (Programmable Logic Controller) controller and / or a computer. The robot arm 50 is used to transfer the workpiece 200 of the first loading position of the first transmission line 10 to the dispensing assembly 20. After that, the robot arm 50 is also used to transfer the workpiece 200 after glue dripping from the dispensing assembly 20 to the CCD visual inspection device 30 for photo detection to determine whether it is the first qualified part or the first qualified part. After that, the robot arm 50 is also used to transfer the first qualified part from the CCD visual inspection device 30 back to the first transmission line 10 according to the OK signal sent by the CCD visual inspection device 30. For example, it can be transferred back to the first loading position, and the transferred workpiece 200 is transferred to the next loading position through the first transmission line 10. The robot arm 50 is also used to transfer the first and second products to the defective product position according to the NG signals sent by both the CCD visual inspection device 30 and the weight sensor 40. Exemplarily, the robot arm 50 may include a six-axis robot arm or a SCARA robot arm.

[0051] The first conveying mechanism 60 is coupled to the weight sensor 40. The first conveying mechanism 60 is used to transfer the first qualified part of the second loading position of the first transmission line 10 to the weight sensor 40 for weight detection, so as to detect whether it is a second qualified part or a second qualified part. According to the OK signal sent by the weight sensor 40, the first conveying mechanism 60 is also used to transfer the second qualified part back to the first transmission line 10 for unloading. The first conveying mechanism 60 and the robot arm 50 are arranged along the transmission direction of the first transmission line 10. When viewed along the transmission direction, the weight sensor 40, the dispensing assembly 20 and the CCD visual inspection device 30 are arranged on the side of the first transmission line 10.

[0052] The specific working process of the dispensing device 100 includes:

[0053] The robot arm 50 transfers the workpiece 200 at the first loading position of the first transmission line 10 to the glue dispensing component 20 for glue dripping, and then the robot arm 50 transfers the workpiece 200 after glue dripping from the glue dispensing component 20 to the CCD visual inspection device 30 for photo inspection. According to the OK signal sent by the CCD visual inspection device 30, the robot arm 50 transfers the workpiece 200 after glue dripping back to the first transmission line 10 for continued transmission. According to the NG signal sent by the CCD visual inspection device 30, the robot arm 50 transfers the workpiece 200 after glue dripping to the defective position. The first conveying mechanism 60 transfers the workpiece 200 after glue dripping that continues to be transmitted to the weight sensor 40 for weight detection. According to the OK signal sent by the weight sensor 40, the first conveying mechanism 60 transfers the workpiece 200 that has passed the weight detection back to the first transmission line 10 for unloading. According to the NG signal sent by the weight sensor 40, the robot arm 50 transfers the workpiece 200 that has failed the weight detection to the defective position.

[0054] In the present application, the CCD visual inspection device 30 of the glue dispensing device 100 can detect whether the glue dispensing component 20 is dispensed at the glue dispensing position of the workpiece 200 according to the preset glue dispensing position, and the weight sensor 40 can detect whether the glue dispensing amount on the workpiece 200 meets the standard. The coordinated cooperation of the CCD visual inspection device 30 and the weight sensor 40 can effectively improve the glue dispensing quality of the workpiece 200. In addition, the robot arm 50 and the first conveying mechanism 60 are used to transfer qualified parts and unqualified parts to different placement positions between different detection positions, thereby avoiding the problem of low single-pass operation efficiency caused by using a single transfer device to transfer materials. Therefore, the glue dispensing device 100 provided in the present application is conducive to improving the efficiency of material discharging operations.

[0055] In some embodiments, the dispensing assembly 20, the CCD visual inspection device 30, the mechanical arm 50, the weight sensor 40 and the first conveying mechanism 60 are all arranged on one side of the first transmission line 10. The dispensing assembly 20, the CCD visual inspection device 30 and the first conveying mechanism 60 are arranged around the mechanical arm 50 in sequence, and the weight sensor 40 is arranged on the bottom side of the first conveying mechanism 60 or on the side of the first conveying mechanism 60 opposite to the mechanical arm 50. The location setting of the above functional components is conducive to improving the compactness of the matching, thereby further improving the efficiency of the material discharging operation.

[0056] In some embodiments, the dispensing device 100 further includes a first position sensor 71 and a second position sensor 72. For example, at least one of the first position sensor 71 and the second position sensor 72 may be an infrared position sensor. The first position sensor 71 is disposed on one side of the first loading position. The first position sensor 71 is used to detect that the workpiece 200 has arrived at the first loading position. The first position sensor 71 is coupled to the robot arm 50, so that the robot arm 50 can move and pick up the corresponding workpiece 200 according to the signal detected by the first position sensor 71 that the workpiece 200 is in place, thereby facilitating the improvement of the picking accuracy of the robot arm 50. The second position sensor 72 is disposed on one side of the second loading position. The second position sensor 72 is used to detect that the first qualified part has arrived at the second loading position. The second position sensor 72 is coupled to the first conveying mechanism 60, so that the first conveying mechanism 60 can move and pick up the corresponding first qualified part according to the signal detected by the second position sensor 72 that the first qualified part is in place, thereby facilitating the improvement of the picking accuracy of the first conveying mechanism 60. The coordinated cooperation of the position sensor and the material moving mechanism can improve the picking accuracy of the dispensing device 100, thereby helping to further improve the discharging operation efficiency.

[0057] In another embodiment, the first transport mechanism 60 and the robot arm 50 may perform the picking operation at a set time interval.

[0058] In some embodiments, the first transport mechanism 60 includes a gripper 61, a first axis moving platform 62 and a second axis moving platform 63. The gripper 61 is used to pick up the first qualified part 200. For example, the gripper 61 may include a pneumatic clamp or a suction cup. For example, the gripper 61 may pick up the object by clamping or adsorption. For example, the robot arm 50 may also pick up the object by adsorption or clamping. The gripper 61 may be mounted on the first axis moving platform 62 by means of a connecting nail, and the first axis moving platform 62 is used to drive the gripper 61 to move closer to or away from the weight sensor 40. The second axis moving platform 63 is arranged crosswise with the first transmission line 10, and the second axis moving platform 63 is arranged on the side of the second loading position away from the first loading position. The first axis moving platform 62 may be mounted on the second axis moving platform 63 by means of a connecting nail, and the second axis moving platform 63 is used to drive the first axis moving platform 62 to move back and forth between the first transmission line 10 and the weight sensor 40, and the moving directions of the second axis moving platform 63 and the first axis moving platform 62 are perpendicular. The first qualified part is transported by the structure of the axis moving platform, which is beneficial to improving the compactness of the dispensing device 100.

[0059] Exemplarily, the first axis movable table 62 and the second axis movable table 63 may both include a driving assembly, a base and a slide. Exemplarily, the driving assembly may include a connected motor and a lead screw. The lead screw may pass through the opposite ends of the base and the slide disposed in the base. The lead screw may be screwed to the slide, so that when the motor drives the lead screw to rotate, the slide can move along the axial direction of the lead screw under the action of the thread force. The moving direction of the slide can be changed by changing the rotation direction of the motor. The gripper 61 is installed on the slide of the first axis movable table 62. The slide of the second axis movable table 63 is installed with the base of the first axis movable table 62. Exemplarily, the driving assembly may also be a cylinder or a hydraulic cylinder. The base and the slide may be assembled by means of concave-convex engagement, and the driving assembly may directly drive the slide to directional reciprocating motion. It is understandable that the structure of the axis movable table may be changed.

[0060] In another embodiment, the first transport mechanism 60 may also adopt a robot structure.

[0061] In some embodiments, the first conveying mechanism 60 also includes two support members 64, and the two support members 64 are both arranged on the side of the second axis movable platform 63 away from the second loading position. The second axis movable platform 63 can be installed on the end of the support member 64 by means of socket connection or connecting nail fixation. When observed along the transmission direction, each support member 64 is arranged on one side of the first transmission line 10 opposite to the two sides.

[0062] In some embodiments, the glue dispensing device 100 further includes a needle alignment instrument 81 and a second transport mechanism 82, and the needle alignment instrument 81 is arranged on the side of the robot arm 50 away from the first transmission line 10. The needle alignment instrument 81 is used to detect whether the glue dispensing needle of the glue dispensing component 20 is offset, so as to facilitate the control of the glue dispensing quality of the glue dispensing component 20. Exemplarily, the needle alignment instrument 81 may include a fiber optic needle alignment instrument or a laser needle alignment instrument. The second transport mechanism 82 includes a third-axis moving platform 821 arranged on the top side of the needle alignment instrument 81. Exemplarily, the structure of the third-axis moving platform 821 can be the same as the structure of the first-axis moving platform 62, so it is not repeated here. The glue dispensing component 20 is installed on the third-axis moving platform 821. Specifically, the glue dispensing component 20 can be installed on the slide of the third-axis moving platform 821 by fixing with connecting nails. The third-axis moving platform 821 drives the glue dispensing component 20 to move closer to or away from the needle alignment instrument 81, and the third-axis moving platform 821 is oriented relative to the first transport mechanism 60. Exemplarily, the third-axis moving stage 821 may be oriented along the transmission direction of the first transmission line 10 .

[0063] In some embodiments, the CCD visual inspection device 30 is also mounted on the third axis moving platform 821, so that the CCD visual inspection device 30 and the dispensing assembly 20 move synchronously. Specifically, the CCD visual inspection device 30 can be mounted on the slide of the third axis moving platform 821 by means of connecting pins.

[0064] In some embodiments, the glue dispensing device 100 further includes a weighing instrument 83 and a glue bucket (not shown in the figure). The weighing instrument 83 is arranged between the weight sensor 40 and the needle alignment instrument 81. Exemplarily, the weighing instrument 83 may include an electronic scale. The glue bucket is used to be placed on the weighing instrument 83, and the glue dispensing component 20 is also used to drip colloid into the glue bucket, so that the weighing instrument 83 detects the glue dripping speed of the glue dispensing component 20. Specifically, a preset amount of colloid can be dripped into the glue bucket according to a preset time, and then the actual weight of the colloid can be weighed by the weighing instrument 83. Finally, the difference between the preset value and the actual weighing value can be compared to determine whether there is a deviation in the glue dripping speed of the glue dispensing component 20, thereby further improving the glue dripping quality of the workpiece 200. The second transport mechanism 82 also includes a fourth-axis moving platform 822. For example, the structure of the fourth-axis moving platform 822 can also be the same as that of the first-axis moving platform 62, so it is not repeated here. The third-axis moving platform 821 is installed on the fourth-axis moving platform 822. Specifically, the base of the third-axis moving platform 821 can be installed on the slide of the fourth-axis moving platform 822 by fixing with connecting nails. At least the fourth-axis moving platform 822 is used to transfer the dispensing component 20 from the needle alignment instrument 81 to the top of the glue bucket, and the reciprocating directions of the fourth-axis moving platform 822 and the third-axis moving platform 821 are perpendicular. For example, when the weighing instrument 83 and the needle alignment instrument 81 are arranged along the moving track of the fourth-axis moving platform 822, the dispensing component 20 can be transferred from the needle alignment instrument 81 to the top of the glue bucket only by the fourth-axis moving platform 822.

[0065] In specific applications, the glue dispensing component 20 can be moved to the needle alignment instrument 81 and the weighing instrument 83 in sequence before glue is dispensed, so as to detect in sequence whether the glue dispensing needle is offset and whether the glue dispensing speed is deviated.

[0066] In some embodiments, the glue dispensing device 100 also includes a glue eraser 84, which is arranged on one side of the needle-aligning instrument 81 away from the mechanical arm 50, and the glue eraser 84 is used to erase the residual glue of the glue dispensing needle of the glue dispensing component 20, so as to prevent the residual glue from affecting the adhesive quality. In specific application, before a new glue dispensing operation, the glue dispensing component 20 can be transferred to the glue eraser 84 to remove the residual glue. Exemplarily, the glue eraser 84 may include two rotating components and a rotating belt (not shown in the figure), and the rotating component may include a motor and a rotating box, the motor drives the rotating box to rotate around the central axis, and the rotating belt is rotatably sleeved between the two rotating boxes to rotate and take away the residual glue. Exemplarily, the glue eraser 84 may also include only two rotating components, and the rotating box may be replaced with a rotating brush. Therefore, it can be understood that the structure of the glue eraser 84 can be changed. The second transport mechanism 82 also includes a fifth-axis moving platform 823, and the structure of the fifth-axis moving platform 823 may be the same as that of the first-axis moving platform 62, so it is not repeated. The fourth axis moving platform 822 is mounted on the fifth axis moving platform 823. For example, the base of the fourth axis moving platform 822 can be mounted on the slide of the fifth axis moving platform 823 by means of a connecting pin. The reciprocating directions of the fifth axis moving platform 823, the fourth axis moving platform 822 and the third axis moving platform 821 are perpendicular to each other. The dispensing component is transferred to the eraser at least through the fifth axis moving platform.

[0067] In some embodiments, the dispensing device 100 further includes a second transmission line 90, which is disposed on a side of the dispensing assembly 20 away from the CCD visual inspection device 30, and the second transmission line 90 is used to transmit the first and second products. Exemplarily, the structure of the second transmission line 90 may be the same as that of the first transmission line 10, and thus will not be described in detail. The second transmission line 90 can assist in removing defective products, thereby shortening the operation path of the robot arm 50, and is also conducive to further improving the operation efficiency of the dispensing device 100.

[0068] The above-mentioned implementation modes are only preferred implementation modes of the present invention, and cannot be used to limit the protection scope of the present invention. Any non-substantial changes and substitutions made by technicians in this field on the basis of the present invention shall fall within the scope of protection required by the present invention.

Claims

1. A dispensing device, characterized in that: include: A first transmission line, used for transmitting the workpiece; A glue dispensing component, used for at least dripping colloid onto the workpiece; CCD visual inspection equipment, used to detect whether the processed part after glue dispensing is the first qualified part or the first defective part; A weight sensor, used for weighing and detecting whether the first qualified part is a second qualified part or a second qualified part; A robot arm is coupled to the CCD visual inspection device and the weight sensor, and is used to transfer the workpiece at the first loading position of the first transmission line to the glue dispensing assembly, and is also used to transfer the workpiece after glue dispensing from the glue dispensing assembly to the CCD visual inspection device, and is also used to transfer the first qualified part from the CCD visual inspection device back to the first transmission line, and is also used to transfer the first qualified part and the second qualified part to the defective position; as well as The first conveying mechanism is coupled to the weight sensor, and is used for transferring the first qualified part at the second loading position of the first transmission line to the weight sensor, and is also used for transferring the second qualified part back to the first transmission line for unloading. The first conveying mechanism and the robot arm are arranged along the transmission direction of the first transmission line. When viewed along the transmission direction, the weight sensor, the dispensing assembly and the CCD visual inspection device are arranged on the side of the first transmission line.

2. The dispensing device according to claim 1, characterized in that: Also includes: A first position sensor is disposed at one side of the first loading position, the first position sensor is used to detect that the workpiece reaches the first loading position, and the first position sensor is coupled to the robot arm; as well as The second position sensor is arranged at one side of the second loading position. The second position sensor is used to detect that the first qualified part reaches the second loading position. The second position sensor is coupled to the first transport mechanism.

3. The dispensing device according to claim 1 or 2, characterized in that: The first transport mechanism comprises: A gripper, for picking up the first qualified piece; A first axis moving platform, the gripper is mounted on the first axis moving platform, and the first axis moving platform is used to drive the gripper to move closer to or away from the weight sensor; and The second-axis movable platform is arranged crosswise with the first transmission line. The second-axis movable platform is arranged on the side of the second loading position away from the first loading position. The first-axis movable platform is installed on the second-axis movable platform. The second-axis movable platform is used to drive the first-axis movable platform to move back and forth between the first transmission line and the weight sensor. The moving directions of the second-axis movable platform and the first-axis movable platform are perpendicular to each other.

4. The dispensing device according to claim 1, characterized in that: The dispensing assembly, the CCD visual inspection device, the robotic arm, the weight sensor and the first conveying mechanism are all arranged on one side of the first transmission line. The dispensing assembly, the CCD visual inspection device and the first conveying mechanism are arranged around the robotic arm in sequence. The weight sensor is arranged on the bottom side of the first conveying mechanism or on the side of the first conveying mechanism opposite to the robotic arm.

5. The dispensing device according to claim 4, characterized in that: Also includes: A needle alignment instrument is provided on a side of the mechanical arm away from the first transmission line, and the needle alignment instrument is used to detect whether the dispensing needle of the dispensing component is offset; as well as The second transport mechanism includes a third-axis movable platform arranged on the top side of the needle alignment instrument. The glue dispensing component is installed on the third-axis movable platform. The third-axis movable platform drives the glue dispensing component to move closer to or away from the needle alignment instrument. The third-axis movable platform is oriented relative to the first transport mechanism.

6. The dispensing device according to claim 5, characterized in that: Also includes: a weighing instrument, disposed between the weight sensor and the needle alignment instrument; and A glue bucket is used to be placed on the weighing instrument, and the glue dispensing component is also used to drip colloid into the glue bucket, so that the weighing instrument detects the glue dripping speed of the glue dispensing component; The second transport mechanism also includes: A fourth axis movable platform, wherein the third axis movable platform is installed on the fourth axis movable platform, and the dispensing assembly is at least transferred from the needle alignment instrument to the top of the glue barrel through the fourth axis movable platform, and the reciprocating movement directions of the fourth axis movable platform and the third axis movable platform are perpendicular to each other.

7. The dispensing device according to claim 6, characterized in that: Also includes: A glue eraser, which is arranged on one side of the needle alignment instrument away from the mechanical arm, and is used to erase residual glue from the glue dispensing needle of the glue dispensing component; The second transport mechanism also includes: A fifth-axis moving platform, wherein the fourth-axis moving platform is installed on the fifth-axis moving platform, and the reciprocating directions of the fifth-axis moving platform, the fourth-axis moving platform and the third-axis moving platform are perpendicular to each other, and the dispensing component is transferred to the eraser at least through the fifth-axis moving platform.

8. The glue dispensing device according to claim 5, characterized in that: The CCD visual inspection device is also installed on the third-axis moving platform, so that the CCD visual inspection device and the dispensing component move synchronously.

9. The glue dispensing device according to claim 4, characterized in that: Also includes: The second transmission line is arranged on a side of the dispensing component away from the CCD visual inspection device, and the second transmission line is used to transmit the first product and the second product.

10. The dispensing device according to claim 3, characterized in that: The first transport mechanism also includes: The two support members are both arranged on the side of the second axis movable platform away from the second loading position. The second axis movable platform is installed on the end of the support member. Observed along the transmission direction, each support member is arranged on one side of the first transmission line opposite to the two sides.

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