Dispensing manipulator for dispensing machine

Abstract

The utility model discloses a dispensing manipulator for a dispensing machine, which comprises a fixed base, the top of the fixed base is provided with a multi-axis mechanical arm, the execution end of the multi-axis mechanical arm is downwards provided with a mounting seat through a vertical connecting shaft, and the mounting seat is provided with a dispensing component, a camera component and a sucker component; the glue dispensing assembly comprises a glue dispensing seat, and a glue dispensing valve rotating group, a glue dispensing needle head and a storage barrel are arranged on the glue dispensing seat; the camera assembly comprises a camera seat, a camera module is rotatably arranged on the camera seat, and the shooting direction of a lens of the camera module faces the position below the glue dispensing needle head; the two suction cup assemblies are arranged on one side of the mounting base in a bilateral symmetry mode. The multi-shaft mechanical arm is arranged, accurate positioning can be achieved, the high-quality dispensing machining requirement can be met, the moving freedom degree is high, the reliability is high, the arranged dispensing assembly, camera assembly and suction cup assembly have good moving flexibility and freedom degree, the use space is effectively reduced, and the working efficiency is improved.

Description

Technical Field

[0001] The utility model relates to the field of glue dispensing equipment, in particular to a glue dispensing manipulator for a glue dispensing machine. Background Art

[0002] With the development of science and technology, electronic products are becoming thinner and lighter, and their precision is also getting higher and higher. Automatic dispensing machine is an automated equipment developed for the packaging industry. It realizes product packaging by controlling the colloid to drip or apply it on the workpiece product. It is also called glue machine or glue coating machine. Since automatic dispensing machine can effectively reduce the demand for human resources, the phenomenon of manpower shortage can be alleviated to a certain extent.

[0003] As the prior art CN108607778A Chinese patent discloses a dispensing robot, including a connecting frame, a first sliding device, a second sliding device, a third sliding device and a dispensing device, the connecting frame includes a U-shaped bend and a connecting rod, the number of connecting frames is two, including a first connecting frame and a second connecting frame, the first connecting frame is connected to one side of the first sliding device, the second connecting frame is connected to one side of the second sliding device, the second sliding device is arranged above the first sliding device, and the second sliding device is perpendicular to the first sliding device, the third sliding device is arranged at the front side of the second sliding device, and the third sliding device is perpendicular to the second sliding device, and the dispensing device is arranged at the bottom of the third sliding device.

[0004] The above-mentioned prior art adopts a gantry-type dispensing machine, which has insufficient practical performance during use, and the dispensing mechanism has insufficient freedom of movement, resulting in reduced work efficiency. Moreover, it has a single function and can only play a dispensing role, and cannot meet other usage requirements such as sucking workpieces. Utility Model Content

[0005] The purpose of the utility model is to provide a glue dispensing robot for a glue dispensing machine to solve the problems mentioned in the above background technology.

[0006] To achieve the above purpose, the utility model adopts the following contents:

[0007] The utility model provides a dispensing robot for a dispensing machine, which comprises a fixed base, a multi-axis robot arm is arranged on the top of the fixed base, an execution end of the multi-axis robot arm is downwardly provided with a mounting seat through a vertical connecting shaft, and a dispensing component, a camera component, and a suction cup component are arranged on the mounting seat;

[0008] The dispensing assembly comprises a dispensing seat, which is movably mounted on a mounting seat by a lifting cylinder, a dispensing valve rotating group is inserted on the dispensing seat, a dispensing needle is arranged on the dispensing valve rotating group, and a storage barrel for supplying liquid to the dispensing valve rotating group is arranged on the outer side of the dispensing seat;

[0009] The camera assembly includes a camera seat, on which a camera module is rotatably arranged, and the shooting direction of the camera module lens is toward the position below the dispensing needle;

[0010] There are two suction cup assemblies arranged symmetrically on one side of the mounting seat, and the suction cup assemblies can be movably mounted on the mounting seat up and down through a pneumatic cylinder.

[0011] According to the utility model, a glue dispensing robot for a glue dispensing machine also includes an auxiliary frame, which is movably arranged on a mounting seat up and down through a lifting cylinder, and a positioning head is arranged vertically downward on the auxiliary frame.

[0012] According to a dispensing robot for a dispensing machine provided by the utility model, a first rotating motor is vertically installed on the dispensing seat, a first rotating synchronous wheel is downwardly arranged at the output end of the first rotating motor, a first driven synchronous wheel is sleeved on the middle part of the dispensing valve rotating group, and the first rotating synchronous wheel and the first driven synchronous wheel are connected for transmission via a first synchronous belt.

[0013] Furthermore, a first slot-type sensor is disposed at the bottom end of the dispensing seat, and a first triggering protrusion is protruding outwardly on the outer periphery of the first rotating synchronous wheel and is used to trigger the first slot-type sensor.

[0014] According to a dispensing robot for a dispensing machine provided by the utility model, the camera module is rotatably mounted on the camera seat through a rotating shaft group, a second rotating motor is horizontally arranged on the camera seat, a second rotating synchronous wheel is arranged outwardly at the output end of the second rotating motor, a second driven synchronous wheel is sleeved on the middle part of the rotating shaft group, and the second rotating synchronous wheel and the second driven synchronous wheel are connected for transmission via a second synchronous belt.

[0015] Furthermore, a second slot-type sensor is disposed on the side wall of the camera seat, and a second triggering protrusion is protruding outwardly on the outer periphery of the second rotating synchronous wheel and is used to trigger the second slot-type sensor.

[0016] According to a dispensing robot for a dispensing machine provided by the utility model, the suction cup assembly includes a suction cup seat, a vacuum suction cup module and a pressure sensor module, the vacuum suction cup module is rotatably mounted on the suction cup seat through a mounting shaft, a third rotating motor is vertically arranged on the top of the suction cup seat, a third rotating synchronous wheel is arranged at the output end of the third rotating motor, a third driven synchronous wheel is sleeved on the mounting shaft, and the third rotating synchronous wheel and the third driven synchronous wheel are transmission-connected via a third synchronous belt.

[0017] Furthermore, a third slot-type sensor is arranged on the top of the suction cup seat, and a third triggering protrusion is protruding outwardly on the outer periphery of the third rotating synchronous wheel for triggering the third slot-type sensor.

[0018] Compared with the prior art, the utility model has the following technical effects: the utility model has a simple structure and a reasonable design; by setting a multi-axis robotic arm, it can accurately locate and achieve high-quality dispensing processing requirements, with high freedom of movement and high reliability; the camera component identifies the workpiece and finds the position on the workpiece where dispensing is required, the dispensing component implements the dispensing of the workpiece, and the suction cup component implements the picking and placing of the workpiece, and the dispensing component, camera component, and suction cup component all have good flexibility and freedom of movement, which effectively improves work efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] The specific implementation of the utility model is further described in detail below with reference to the accompanying drawings.

[0020] Figure 1 This is an overall appearance diagram of a glue dispensing robot for a glue dispensing machine according to an embodiment of the utility model;

[0021] Figure 2 About Figure 1 A magnified schematic diagram of part A;

[0022] Figure 3 It is a schematic diagram of the structure of the dispensing component of the embodiment of the utility model;

[0023] Figure 4 It is a schematic diagram of the structure of the camera assembly according to an embodiment of the utility model;

[0024] Figure 5 It is a schematic diagram of the structure of the suction cup assembly according to an embodiment of the utility model;

[0025] 1-fixed base, 2-multi-axis robotic arm, 3-connecting axis, 4-mounting seat, 10-dispensing assembly, 20-camera assembly, 30-suction cup assembly, 40-auxiliary frame; 110-dispensing seat, 111-lifting cylinder, 112-first slot sensor, 120-dispensing valve rotation group, 121-dispensing needle, 122-first driven synchronous wheel, 130-first rotating motor, 131-first rotating synchronous wheel, 132-first trigger protrusion, 133-first synchronous belt, 140-storage barrel, 210-camera seat, 211-second slot sensor, 2 20-rotating shaft group, 221-second driven synchronous wheel, 230-camera module, 240-second rotating motor, 241-second rotating synchronous wheel, 242-second trigger protrusion, 243-second synchronous belt, 310-suction cup seat, 311-pneumatic cylinder, 312-third slot sensor, 320-vacuum suction cup module, 321-mounting shaft, 322-third driven synchronous wheel, 330-third rotating motor, 331-third rotating synchronous wheel, 332-third trigger protrusion, 333-third synchronous belt, 410-lifting cylinder, 420-positioning head. DETAILED DESCRIPTION

[0026] In order to explain the present invention more clearly, the present invention is further described below in conjunction with preferred embodiments. Those skilled in the art should understand that the following specific description is illustrative rather than restrictive, and should not be used to limit the scope of protection of the present invention.

[0027] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or an indirect connection through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to the specific circumstances.

[0028] like Figures 1 to 5 As shown. The embodiment of the utility model proposes a dispensing robot for a dispensing machine, comprising a fixed base 1, a multi-axis robot arm 2 is arranged on the top of the fixed base 1, and the execution end of the multi-axis robot arm 2 is downwardly provided with a mounting seat 4 through a vertical connecting shaft 3, and the mounting seat 4 has a dispensing component 10, a camera component 20, and a suction cup component 30. By setting up a multi-axis robot arm, it is possible to accurately locate and achieve high-quality dispensing processing requirements, with high freedom of movement and high reliability; the camera component identifies the workpiece and finds the position on the workpiece where dispensing is required, the dispensing component implements the dispensing of the workpiece, and the two suction cup components respectively implement the picking and placing actions of the workpiece and the tray.

[0029] The dispensing assembly 10 includes a dispensing seat 110, which can be mounted on the mounting seat 4 in an upward and downward manner by means of a lifting cylinder 111. A dispensing valve rotating group 120 is inserted on the dispensing seat 110, a dispensing needle 121 is arranged on the dispensing valve rotating group 120, and a material storage barrel 140 for supplying liquid to the dispensing valve rotating group 120 is arranged on the outer side of the dispensing seat 110. The dispensing assembly is controlled by the lifting cylinder to move up and down to approach the position to be dispensed on the workpiece, and the connection and matching relationship between the dispensing valve rotating group, the dispensing needle, and the material storage barrel is the current conventional technology.

[0030] The camera assembly 20 includes a camera seat 210, on which a camera module 230 is rotatably arranged. The shooting direction of the lens of the camera module 230 is toward the position below the dispensing needle 121. The camera module is adjusted so that its lens can shoot the surface of the workpiece, so as to adapt to different workpiece models.

[0031] There are two suction cup assemblies 30 symmetrically arranged on one side of the mounting base 4 , and the suction cup assembly 30 can be movably mounted on the mounting base 4 up and down through a pneumatic cylinder 311 .

[0032] The auxiliary frame 40 is also included. The auxiliary frame 40 is movably arranged on the mounting seat 4 by means of a lifting cylinder 410. A vertical downward positioning head 420 is arranged on the auxiliary frame 40. The movable positioning head is used to drag the pallet and achieve a positioning effect on the pallet.

[0033] In this embodiment, a first rotary motor 130 is vertically mounted on the dispensing seat 110, a first rotary synchronous wheel 131 is downwardly arranged at the output end of the first rotary motor 130, a first driven synchronous wheel 122 is sleeved in the middle of the dispensing valve rotating group 120, and the first rotary synchronous wheel 131 and the first driven synchronous wheel 122 are connected by a first synchronous belt 133. The first rotary motor 130 drives the first rotary synchronous wheel 131 to rotate, and the first driven synchronous wheel 122 is driven to rotate by the first synchronous belt 133, thereby realizing the rotation of the dispensing valve rotating group 120, and thus adjusting the dispensing direction of the dispensing needle on the dispensing valve rotating group.

[0034] Among them, a first slot-type sensor 112 is arranged at the bottom end of the dispensing seat 110, and a first triggering protrusion 132 for triggering the first slot-type sensor 112 is protruding outwardly on the outer periphery of the first rotating synchronous wheel 131. In this way, the rotation angle of the dispensing valve rotating group 120 can be flexibly judged through the cooperation between the first triggering protrusion 132 and the first slot-type sensor 112.

[0035] In this embodiment, the camera module 230 is rotatably mounted on the camera base 210 through the rotating shaft group 220, and a second rotating motor 240 is horizontally arranged on the camera base 210. A second rotating synchronous wheel 241 is arranged outwardly at the output end of the second rotating motor 240, and a second driven synchronous wheel 221 is sleeved in the middle of the rotating shaft group 220. The second rotating synchronous wheel 241 and the second driven synchronous wheel 221 are connected by a second synchronous belt 243. The second rotating synchronous wheel 241 is driven by the second rotating motor 240 to rotate, and the second driven synchronous wheel 221 is driven by the second synchronous belt 243 to rotate, thereby realizing the rotation of the camera module 230, and thus adjusting the shooting direction of the camera module lens.

[0036] Among them, a second slot-type sensor 211 is set on the side wall of the camera seat 210, and a second trigger protrusion 242 for triggering the second slot-type sensor 211 is protruding outward on the outer periphery of the second rotating synchronous wheel 241. In this way, the rotation angle of the camera module 230 can be flexibly judged through the cooperation between the second trigger protrusion 242 and the second slot-type sensor 211.

[0037] In this embodiment, the suction cup assembly 30 includes a suction cup seat 310, a vacuum suction cup module 320 and a pressure sensor module ( Figure 5 It can be roughly seen that it is actually designed at the lower part of the vacuum suction cup module). The vacuum suction cup module 320 is rotatably mounted on the suction cup seat 310 through the mounting shaft 321. A third rotary motor 330 is vertically arranged on the top of the suction cup seat 310. The output end of the third rotary motor 330 is provided with a third rotary synchronous wheel 331. A third driven synchronous wheel 322 is sleeved on the mounting shaft 321. The third rotary synchronous wheel 331 and the third driven synchronous wheel 322 are connected by a third synchronous belt 333. The third rotary motor 330 drives the third rotary synchronous wheel 331 to rotate, and the third driven synchronous wheel 322 is driven to rotate through the third synchronous belt 333, thereby realizing the rotation of the vacuum suction cup module 320, so as to flexibly adjust the direction of the workpiece to be taken and placed thereon, so as to facilitate suction or placement.

[0038] Among them, a third slot sensor 312 is arranged on the top of the suction cup seat 310, and a third trigger protrusion 332 for triggering the third slot sensor 312 is protruding outward on the outer periphery of the third rotating synchronous wheel 331. In this way, the rotation angle of the vacuum suction cup module 320 can be flexibly judged through the cooperation between the third trigger protrusion 332 and the third slot sensor 312.

[0039] Obviously, the above embodiments of the present invention are merely examples for clearly illustrating the present invention, and are not limitations on the implementation methods of the present invention. For ordinary technicians in the relevant field, other different forms of changes or modifications can be made on the basis of the above description. It is impossible to list all the implementation methods here. All obvious changes or modifications derived from the technical solution of the present invention are still within the scope of protection of the present invention.

Claims

1. A dispensing robot for a dispensing machine, characterized in that: It includes a fixed base, a multi-axis robotic arm is arranged on the top of the fixed base, a mounting seat is arranged downwardly through a vertical connecting shaft at the execution end of the multi-axis robotic arm, and a dispensing component, a camera component, and a suction cup component are arranged on the mounting seat; The dispensing assembly comprises a dispensing seat, which is movably mounted on a mounting seat by a lifting cylinder, a dispensing valve rotating group is inserted on the dispensing seat, a dispensing needle is arranged on the dispensing valve rotating group, and a storage barrel for supplying liquid to the dispensing valve rotating group is arranged on the outer side of the dispensing seat; The camera assembly includes a camera seat, on which a camera module is rotatably arranged, and the shooting direction of the camera module lens is toward the position below the dispensing needle; There are two suction cup assemblies arranged symmetrically on one side of the mounting seat, and the suction cup assemblies can be movably mounted on the mounting seat up and down through a pneumatic cylinder.

2. A dispensing robot for a dispensing machine according to claim 1, characterized in that: The utility model also comprises an auxiliary frame, which is movably arranged on the mounting seat up and down through a lifting cylinder, and a positioning head is arranged vertically downward on the auxiliary frame.

3. A glue dispensing robot for a glue dispensing machine according to claim 1, characterized in that: A first rotating motor is vertically mounted on the dispensing seat, a first rotating synchronous wheel is downwardly arranged at the output end of the first rotating motor, a first driven synchronous wheel is sleeved on the middle part of the dispensing valve rotating group, and the first rotating synchronous wheel and the first driven synchronous wheel are connected through a first synchronous belt.

4. A dispensing robot for a dispensing machine according to claim 3, characterized in that: A first slot-type sensor is disposed at the bottom end of the dispensing seat, and a first triggering protrusion for triggering the first slot-type sensor is protruding outwardly from the outer periphery of the first rotating synchronous wheel.

5. The glue dispensing robot for a glue dispensing machine according to claim 1, characterized in that: The camera module is rotatably mounted on the camera seat via a rotating shaft group, a second rotating motor is horizontally arranged on the camera seat, a second rotating synchronous wheel is arranged outwardly at the output end of the second rotating motor, a second driven synchronous wheel is sleeved on the middle part of the rotating shaft group, and the second rotating synchronous wheel and the second driven synchronous wheel are connected through a second synchronous belt.

6. The glue dispensing robot for a glue dispensing machine according to claim 5, characterized in that: A second slot-type sensor is disposed on the side wall of the camera seat, and a second triggering protrusion for triggering the second slot-type sensor is protruded outwardly on the outer periphery of the second rotating synchronous wheel.

7. The glue dispensing robot for a glue dispensing machine according to claim 1, characterized in that: The suction cup assembly includes a suction cup seat, a vacuum suction cup module and a pressure sensor module. The vacuum suction cup module is rotatably mounted on the suction cup seat through a mounting shaft. A third rotating motor is vertically arranged on the top of the suction cup seat. A third rotating synchronous wheel is arranged at the output end of the third rotating motor. A third driven synchronous wheel is sleeved on the mounting shaft. The third rotating synchronous wheel and the third driven synchronous wheel are connected for transmission via a third synchronous belt.

8. The glue dispensing robot for a glue dispensing machine according to claim 7, characterized in that: A third slot-type sensor is arranged on the top of the suction cup seat, and a third triggering protrusion is protruding outwardly on the outer periphery of the third rotating synchronous wheel for triggering the third slot-type sensor.

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