Automatic curved surface dispensing equipment

Abstract

The utility model relates to the technical field of midwifery, and discloses an automatic curved surface dispensing equipment, including a frame device, a double-layer assembly line device, a robot loading and unloading device, a dispensing workbench device, a dispensing weighing device, a glue needle positioning device, a dispensing device, a material tray feeding device, and an NG conveyor line device, wherein the double-layer assembly line device is installed above the frame device and is located at the frontmost side of the frame device. In the utility model, when the curved surface dispensing equipment is used, the double-layer assembly line device utilizes the upper and lower conveyor line design, and the two sides independently lift the assembly line mechanism to achieve the goal of automatic circulation of the carrier inside the equipment, and the robot loading and unloading device utilizes the four-axis robot body and the end material-picking device to facilitate the completion of product positioning and adsorption functions, thereby achieving the goal of automatic loading and unloading of products, and the dispensing workbench device utilizes the linear motion mechanism, the Tx rotating device and the Ty rotating device to complete the product positioning, translation and rotation functions.

Description

Technical Field

[0001] The utility model relates to the technical field of glue dispensing for vehicle-mounted laser radar window mirrors, in particular to an automatic curved surface glue dispensing device. Background Art

[0002] As we all know, the existing automotive laser radar window mirror dispensing equipment is mainly based on 2D visual positioning, manual loading and unloading, and a five-axis linkage dispensing mechanism for semi-automatic dispensing operations. These methods are intended to replace operators in the window mirror sealant coating process, improve the gluing efficiency and yield, and ensure the product's sealing performance while being compatible with a good appearance.

[0003] However, with the widespread application of automotive laser radar, the market's requirements for products of traditional curved surface dispensing equipment have become increasingly stringent. Currently, window mirror dispensing technology is widely used, but the dispensing accuracy, operating efficiency, and automatic operation need to be improved. Therefore, technical improvements are urgently needed. Utility Model Content

[0004] The purpose of the utility model is to solve the shortcomings existing in the prior art, and to propose an automatic curved surface dispensing equipment. When the curved surface dispensing equipment is used, the double-layer assembly line device uses the upper and lower conveyor line design, and the two sides independently lift the assembly line mechanism to achieve the goal of automatic circulation of the carrier inside the equipment. The robot loading and unloading device uses the four-axis robot body and the end of the material picking device to facilitate the completion of product positioning and adsorption functions, thereby achieving the goal of automatic loading and unloading of products. The dispensing workbench device uses the linear motion mechanism, Tx rotation device and Ty rotation device to complete the product positioning, translation and rotation functions, so as to achieve multi-degree-of-freedom switching of the product during the dispensing process. , ensure the planning goal of the curved surface dispensing path, use the dispensing weighing device to use the weighing instrument to realize the timed and quantitative inspection function of the dispensing amount, monitor the stability of the equipment dispensing, and use the camera to realize the positioning and calibration of the glue needle through the glue needle positioning device, so as to ensure the accuracy of the dispensing position. The dispensing device uses a 3D camera to realize automatic scanning and imaging of the product dispensing surface, automatically calculate and fit the dispensing path, cooperate with the linear motion mechanism and the precision screw valve, so as to achieve the curved surface dispensing goal. The tray feeding device completes the product feeding and the recovery and collection of empty trays through the tray lifting mechanism, so as to achieve the automatic feeding goal. The NG conveyor line device mainly completes the recovery of dispensing NG products, which is convenient for manual material collection.

[0005] In order to achieve the above purpose, the utility model provides the following technical solutions:

[0006] An automatic curved surface glue dispensing device, comprising a frame device, a double-layer assembly line device, a robot loading and unloading device, a glue dispensing workbench device, a glue dispensing weighing device, a glue needle positioning device, a glue dispensing device, a material tray feeding device, and an NG conveyor line device, wherein the double-layer assembly line device is installed above the frame device and is located at the frontmost side of the frame device, the robot loading and unloading device is installed at the left rear side of the double-layer assembly line device, the glue dispensing workbench device is installed at the right rear side of the double-layer assembly line device, the glue dispensing weighing device is installed at the right rear side of the double-layer assembly line device and is located between the glue dispensing workbench device and the double-layer assembly line device, the glue needle positioning device is installed at the rear side of the glue dispensing workbench device, the glue dispensing device is installed directly above the glue dispensing workbench device, and the material tray feeding device is installed at the rear side of the glue dispensing device and is located at the rearmost side of the frame device;

[0007] The NG conveyor line device is installed on the rear side of the robot loading and unloading device and is located at the leftmost rear side of the frame device. The double-layer assembly line device includes an assembly line lifting device and an intermediate double-layer assembly line device. The assembly line lifting device includes a first fixed component and an assembly line fixed frame. The upper ends of the first fixed components are respectively fixedly connected with a guide mechanism and a first blocking mechanism. A first drag chain is installed on one side of the outer wall of the first fixed component. A telescopic cylinder is provided at the front end of the first fixed component. A first sensing component is fixedly connected to one side of the upper end of the first fixed component. A first power transmission mechanism is provided on the other side of the upper end of the first fixed component. First driven wheels are provided on both sides of the first power transmission mechanism. The outer wall of the first driven wheel is sleeved with a synchronous belt.

[0008] A plurality of idler wheel assemblies are fixedly connected to the lower end of the assembly line fixed frame, a second blocking mechanism is fixedly connected to the upper end of the assembly line fixed frame, a second power transmission mechanism is fixedly connected to the upper and lower ends of the outer wall on one side of the assembly line fixed frame, a second driven wheel is fixedly connected to both sides of the second power transmission mechanism, side guard assemblies are fixedly connected to both sides of the upper end of the assembly line fixed frame, a tensioning wheel assembly is fixedly connected to the front end of the outer wall on one side adjacent to the side guard assembly, and a second induction assembly is provided in the middle of the outer wall on one side adjacent to the side guard assembly.

[0009] Through the above technical scheme, compared with the existing curved surface dispensing equipment, when the curved surface dispensing equipment is used, by integrating the double-layer assembly line device, the robot loading and unloading device, the dispensing workbench device, the dispensing weighing device, the glue needle positioning device, the dispensing device, the material tray feeding device and the NG conveyor line device into one, the dispensing process can be automatically completed, manual intervention can be reduced, production efficiency can be improved, and practical performance is high.

[0010] Furthermore, the robot loading and unloading device comprises a mounting seat, a four-axis robot body, and a material picking device, the material picking device comprises a suction cup assembly, the mounting seat is mounted on the frame device, the four-axis robot body is mounted on the mounting seat, the material picking device is mounted on the four-axis robot body, the lower end of the four-axis robot body is fixedly connected with a clamping block, the lower end of the clamping block is fixedly connected with a connecting plate, a top camera assembly is arranged on one side of the connecting plate, a fixed side plate is fixedly connected with a rear end of the connecting plate, a first reducer is fixedly connected with a rear end of the fixed side plate, a first stepper motor is arranged at the front end of the first reducer, a third induction assembly is arranged at the upper end of the outer wall of the rear end of the fixed side plate, the suction cup assembly is fixed at the rear end of the first reducer, and the suction cup assembly comprises a compression spring and a vacuum suction cup;

[0011] Through the above technical solution, through the four-axis robot body and the material picking device, it is easy to complete the product positioning and adsorption functions to achieve the goal of automatic loading and unloading of products.

[0012] Further, the dispensing workbench device includes a first linear motion mechanism, a second drag chain, a Tx rotating device, and a Ty rotating device. The first linear motion mechanism and the second drag chain are installed on the frame device, the Ty rotating device is installed on the first linear motion mechanism, and the Tx rotating device is installed on the Ty rotating device. The Tx rotating device includes a base assembly, and the base assembly is fixed on the Ty rotating device. The front end of the base assembly is fixedly connected with a second reducer, and the rear end of the second reducer is provided with a first servo motor. The front end of the second reducer is provided with a positioning jig bottom plate, the front end of the positioning jig bottom plate is fixedly connected with a positioning jig, and the lower end of the positioning jig bottom plate is fixedly connected with a downward positioning mechanism, and a left-side positioning mechanism is provided on one side of the positioning jig bottom plate. The upper end of the positioning jig is provided with a rear-side positioning mechanism, and a glue needle cleaning alignment mechanism is provided on one side of the upper end of the base assembly;

[0013] The Ty rotating device comprises a fixed base plate, the fixed base plate is fixed on the first linear motion mechanism, the front end of the upper surface of the fixed base plate is fixedly connected with the left side plate, the front end of the outer wall of the left side plate is fixedly connected with the third reducer, the lower end of the third reducer is provided with a second servo motor, the rear end of the upper surface of the fixed base plate is fixedly connected with the right side plate, the inner wall of the right side plate is provided with a deep groove ball bearing, the rear end of the outer wall of the right side plate is fixedly connected with a bearing end cover, the upper part of the front end of the outer wall of the right side plate is provided with a first sensor assembly, and the rear end of the third reducer is fixedly connected with a rotating base assembly;

[0014] Through the above technical solution, the dispensing workbench device utilizes the first linear motion mechanism, the Tx rotation device and the Ty rotation device to facilitate the completion of product positioning, translation and rotation functions.

[0015] Further, the dispensing weighing device comprises a mounting support, a first mounting base plate, a shock-absorbing pad and a weighing instrument, wherein the mounting support is mounted on a frame device, the first mounting base plate is mounted on an upper end of the mounting support, the upper end of the first mounting base plate is fixedly connected to the shock-absorbing pad, and the upper end of the shock-absorbing pad is fixedly connected to the weighing instrument;

[0016] Through the above technical solution, the dispensing weighing device uses a weighing instrument to facilitate the timed and quantitative inspection of the dispensing amount and monitor the stability of the equipment's dispensing.

[0017] Further, the glue needle positioning device includes a second mounting base plate, a side plate, a first reinforcing rib, a camera, a camera mounting seat, an optical lens, a light source fixing seat and an annular light source, the second mounting base plate is mounted on the frame device, the upper end of the second mounting base plate is fixedly connected to the side plate, one side of the side plate is fixedly connected to the first reinforcing rib, the upper end of the other side of the side plate is fixedly connected to the camera mounting seat, one side of the camera mounting seat is fixedly connected to the camera, the upper end of the outer wall of the side plate is fixedly connected to the light source fixing seat, and the upper end of the light source fixing seat is fixedly connected to the annular light source;

[0018] Through the above technical solution, the position positioning and calibration of the glue needle can be easily achieved through the camera to ensure the accuracy of the glue dispensing position.

[0019] Furthermore, the dispensing device includes a mounting column, a crossbeam, a second linear motion mechanism, a third servo motor, a reinforcing support, a vertical motion mechanism, a fourth servo motor, a screw valve assembly, and a 3D camera assembly. The mounting column is mounted on a rack device, the upper end of the mounting column is fixedly connected to a crossbeam, the upper end of the crossbeam is provided with a second linear motion mechanism, one side of the outer wall of the second linear motion mechanism is provided with a third servo motor, the front end of the upper end of the second linear motion mechanism is fixedly connected to a reinforcing support, one side of the reinforcing support is provided with a vertical motion mechanism, the upper end of the vertical motion mechanism is provided with a fourth servo motor, the lower end of the vertical motion mechanism is provided with a screw valve assembly, and the rear end of one side of the outer wall of the reinforcing support is provided with a 3D camera assembly;

[0020] The screw valve assembly comprises a screw valve, a screw valve fixing seat, a rubber cylinder, a liquid level sensor mounting seat and a liquid level sensor, wherein the lower end of the screw valve is fixedly connected to the screw valve fixing seat, one side of the upper end of the screw valve fixing seat is fixedly connected to the rubber cylinder, the lower end of the rubber cylinder is fixedly connected to the liquid level sensor mounting seat, and one side of the upper end of the liquid level sensor mounting seat is provided with a liquid level sensor;

[0021] The 3D camera assembly includes a second fixing plate, a third fixing plate, a second stepping motor, a second reinforcing rib, a fourth fixing plate, a fifth fixing plate, a camera fixing plate and a 3D camera, wherein one side of the second fixing plate is fixedly connected to the third fixing plate, one side of the third fixing plate is provided with a second reinforcing rib, the lower end of the second reinforcing rib is fixedly connected to the fourth fixing plate, the lower end of the fourth fixing plate is fixedly connected to the fifth fixing plate, the lower end of the fifth fixing plate is fixedly connected to the camera fixing plate, and the lower end of the camera fixing plate is fixedly connected to the 3D camera;

[0022] Through the above technical solution, the 3D camera can be used to automatically scan and image the product dispensing surface, automatically calculate and fit the dispensing path, and the second linear motion mechanism and precision screw valve can be used to achieve the curved surface dispensing goal.

[0023] Further, the tray feeding device includes a full bin stacking device, an empty bin stacking device, a third linear motion mechanism, a fifth servo motor and a tray lifting device, the full bin stacking device, the empty bin stacking device and the third linear motion mechanism are mounted on a frame device, a fifth servo motor is arranged on one side of the third linear motion mechanism, a tray lifting device is arranged on one side of an upper surface of the third linear motion mechanism, the full bin stacking device includes a plurality of first mounting vertical plates, the plurality of first mounting vertical plates are mounted on the frame device, the upper ends of the first mounting vertical plates are fixedly connected to a bottom plate, a tray dividing mechanism is arranged in the middle of the upper end of the bottom plate, both sides of the upper surface of the bottom plate are fixedly connected to limiting vertical plates, and a tray monitoring sensor assembly is arranged on one side of the upper surface of the bottom plate;

[0024] The tray lifting device comprises a third mounting base plate, the third mounting base plate is mounted on the third linear motion mechanism, a tray lifting mechanism is arranged on the upper end of the third mounting base plate, the upper end of the tray lifting mechanism is fixedly connected to a cylinder base plate, the upper end of the cylinder base plate is fixedly connected to a tray-dividing cylinder, a plurality of supporting columns are fixedly connected to the upper end of the cylinder base plate, a clamping claw base plate is arranged at the front end and the rear end of the upper surface of the tray-dividing cylinder, two clamping claws are fixedly connected to the outer wall of one side adjacent to the clamping claw base plate, the upper end of the supporting column is fixedly connected to a tray support plate, and tray sensors are arranged on both sides of the upper surface of the tray support plate;

[0025] Through the above technical solution, the feeding of products and the recycling and collection of empty trays are facilitated by the tray lifting mechanism.

[0026] Further, the NG conveyor line device includes a second mounting plate, a cross plate, a profile beam, a bearing seat, an idler shaft, a blocking block, a second sensor assembly, a third power transmission mechanism and a flat belt, the second mounting plate is mounted on the frame device, the middle part of the outer wall of one adjacent side of the second mounting plate is fixedly connected with a cross plate, the upper part of the outer wall of one adjacent side of the second mounting plate is fixedly connected with a profile beam, the rear end of the profile beam is fixedly connected with a bearing seat, the inner wall of the bearing seat is provided with an idler shaft, the upper end of the bearing seat is fixedly connected with a blocking block, the front end and rear end of the outer walls on both sides of the profile beam are provided with second sensor assemblies, one side of the outer wall of the profile beam is provided with a third power transmission mechanism, and the outer wall of the third power transmission mechanism is provided with a flat belt;

[0027] Through the above technical solution, the recycling of dispensing NG products is mainly completed through the NG conveyor line device, which is convenient for manual material collection.

[0028] The utility model has the following beneficial effects:

[0029] 1. The utility model proposes an automatic curved surface dispensing equipment. Compared with the existing curved surface dispensing equipment, when the curved surface dispensing equipment is used, the double-layer assembly line device uses the upper and lower conveyor line design, and the two sides independently lift the assembly line mechanism to achieve the goal of automatic circulation of the carrier inside the equipment. The robot loading and unloading device uses the four-axis robot body and the end of the material picking device to facilitate the completion of product positioning and adsorption functions, thereby achieving the goal of automatic loading and unloading of products. The dispensing workbench device uses the linear motion mechanism, Tx rotation device and Ty rotation device to complete the product positioning, translation and rotation functions, so as to achieve the product in the dispensing process. Multi-degree-of-freedom switching to ensure The planning goal of the curved surface dispensing path is to use a dispensing weighing device to use a weighing instrument to realize the timed and quantitative inspection function of the dispensing amount, monitor the stability of the equipment dispensing, and use a camera to realize the positioning and calibration of the glue needle through the glue needle positioning device to ensure the accuracy of the dispensing position. The dispensing device uses a 3D camera to realize automatic scanning and imaging of the product dispensing surface, automatically calculate and fit the dispensing path, and cooperate with the linear motion mechanism and precision screw valve to achieve the curved surface dispensing goal. The tray feeding device completes the product feeding and the recovery and collection of empty trays through the tray lifting mechanism to achieve the automatic feeding goal. The NG conveyor line device mainly completes the recovery of dispensing NG products, which is convenient for manual material collection.

[0030] 2. The utility model proposes an automatic curved surface dispensing equipment. Compared with the existing curved surface dispensing equipment, when the curved surface dispensing equipment is used, the double-layer assembly line device, the robot loading and unloading device, the dispensing workbench device, the dispensing weighing device, the glue needle positioning device, the dispensing device, the material tray feeding device and the NG conveyor line device are integrated into one to automatically complete the dispensing process, reduce manual intervention, improve production efficiency, and have high practical performance. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] Figure 1 This is an axonometric diagram of an automatic curved surface dispensing device proposed by the utility model;

[0032] Figure 2 This is an axonometric schematic diagram of a double-layer assembly line device in an automatic curved surface dispensing device proposed by the utility model;

[0033] Figure 3 This is an axonometric schematic diagram of a four-axis robot body in an automatic curved surface dispensing device proposed by the utility model;

[0034] Figure 4 This is an axonometric schematic diagram of a Tx rotating device in an automatic curved surface dispensing device proposed by the utility model;

[0035] Figure 5 This is an axonometric diagram of an installation support in an automatic curved surface dispensing device proposed by the utility model;

[0036] Figure 6 This is an axonometric diagram of a camera in an automatic curved surface dispensing device proposed by the utility model;

[0037] Figure 7 It is an axonometric schematic diagram of a second linear motion mechanism in an automatic curved surface dispensing device proposed by the utility model;

[0038] Figure 8 This is an axonometric schematic diagram of a full bin stacking device in an automatic curved surface dispensing device proposed by the utility model;

[0039] Fig. 9 This is an axonometric schematic diagram of a second mounting vertical plate in an automatic curved surface dispensing device proposed by the utility model;

[0040] Fig.10 It is an axonometric schematic diagram of a first power transmission mechanism in an automatic curved surface dispensing device proposed by the utility model;

[0041] Fig.11 This is an axonometric diagram of a fixed frame of an assembly line in an automatic curved surface dispensing device proposed by the utility model;

[0042] Fig.12 This is an axonometric schematic diagram of a top camera assembly in an automatic curved surface dispensing device proposed by the utility model;

[0043] Fig.13 This is an axonometric schematic diagram of a base assembly in an automatic curved surface dispensing device proposed by the utility model;

[0044] Fig.14This is an axonometric schematic diagram of a rotating base assembly in an automatic curved surface dispensing device proposed by the utility model;

[0045] Fig.15 This is an axonometric diagram of a plate-dividing mechanism in an automatic curved surface glue dispensing device proposed by the utility model;

[0046] Fig.16 This is an axonometric diagram of a material tray lifting mechanism in an automatic curved surface dispensing device proposed by the utility model;

[0047] Legend:

[0048] 1. Rack installation;

[0049] 2. Double-layer assembly line device; 21. Assembly line lifting device; 211. Fixed assembly; 212. Guide mechanism; 213. Telescopic cylinder; 214. First drag chain; 215. First blocking mechanism; 216. First sensing assembly; 217. First power transmission mechanism; 218. First driven wheel; 219. Synchronous belt; 22. Middle double-layer assembly line device; 221. Assembly line fixed frame; 222. Idler assembly; 223. Second blocking mechanism; 224. Second power transmission mechanism; 225. Second driven wheel; 226. Sidewall assembly; 227. Tensioning wheel assembly; 228. Second sensing assembly;

[0050] 3. Robot loading and unloading device; 31. Mounting seat; 32. Four-axis robot body; 33. Picking device; 331. Clamping block; 332. Connecting plate; 333. Top camera assembly; 334. Fixed side plate; 335. First reducer; 336. First stepper motor; 337. Third induction assembly; 338. Suction cup assembly; 3381. Compression spring; 3382. Vacuum suction cup;

[0051] 4. Glue dispensing workbench device; 41. First linear motion mechanism; 42. Second drag chain; 43. Tx rotating device; 431. Base assembly; 432. First servo motor; 433. Second reducer; 434. Positioning jig bottom plate; 435. Positioning jig; 436. Pressing down positioning mechanism; 437. Left side positioning mechanism; 438. Rear side positioning mechanism; 439. Glue needle cleaning alignment mechanism; 44. Ty rotating device; 441. Fixed bottom plate; 442. Left side plate; 443. Second servo motor; 444. Third reducer; 445. Rotating base assembly; 446. First sensor assembly; 447. Right side plate; 448. Deep groove ball bearing; 449. Bearing end cover;

[0052] 5. Glue dispensing weighing device; 51. Mounting support; 52. First mounting base plate; 53. Shock-absorbing pad; 54. Weighing instrument;

[0053] 6. Glue needle positioning device; 61. Second mounting base plate; 62. Side plate; 63. First reinforcing rib; 64. Camera; 65. Camera mounting seat; 66. Optical lens; 67. Light source fixing seat; 68. Ring light source; 7. Glue dispensing device; 71. Mounting column; 72. Crossbeam; 73. Second linear motion mechanism; 74. Third servo motor; 75. Reinforced support; 76. Vertical motion mechanism; 77. Fourth servo motor; 78. Screw valve assembly; 781. Screw valve; 782. Screw valve fixing seat; 783. Glue cylinder; 784. Liquid level sensor mounting seat; 785. Liquid level sensor; 79. 3D camera assembly; 791. Second fixing plate; 792. Third fixing plate; 793. Second stepping motor; 794. Second reinforcing rib; 795. Fourth fixing plate; 796. Fifth fixing plate; 797. Camera fixing plate; 798. 3D camera;

[0054] 8. Tray feeding device; 81. Full silo stacking device; 811. First mounting vertical plate; 812. Bottom plate; 813. Tray separation mechanism; 814. Position limiting vertical plate; 815. Tray monitoring sensor assembly; 82. Empty silo stacking device; 83. Fifth servo motor; 84. Third linear motion mechanism; 85. Tray lifting device; 851. Third mounting bottom plate; 852. Tray lifting mechanism; 853. Cylinder bottom plate; 854. Support column; 855. Clamp bottom plate; 856. Clamp; 857. Tray support plate; 858. Tray separation cylinder; 859. Tray sensor;

[0055] 9. NG conveyor line device; 91. Second mounting vertical plate; 92. Transverse plate; 93. Profile beam; 94. Bearing seat; 95. Idle pulley shaft; 96. Stop block; 97. Second sensor assembly; 98. Third power transmission mechanism; 99. Flat belt. DETAILED DESCRIPTION

[0056] The following will be combined with the drawings in the embodiments of the utility model to clearly and completely describe the technical solutions in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, not all of the embodiments. Based on the embodiments in the utility model, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the utility model.

[0057] Reference Figure 1-16, the utility model provides an embodiment: an automatic curved surface glue dispensing equipment, including a frame device 1, a double-layer assembly line device 2, a robot loading and unloading device 3, a glue dispensing workbench device 4, a glue dispensing weighing device 5, a glue needle positioning device 6, a glue dispensing device 7, a material tray feeding device 8, and an NG conveyor line device 9, the double-layer assembly line device 2 is installed above the frame device 1 and is located at the front side of the frame device 1, the robot loading and unloading device 3 is installed on the left rear side of the double-layer assembly line device 2, the glue dispensing workbench device 4 is installed on the right rear side of the double-layer assembly line device 2, the glue dispensing weighing device 5 is installed on the right rear side of the double-layer assembly line device 2 and is located between the glue dispensing workbench device 4 and the double-layer assembly line device 2, the glue needle positioning device 6 is installed on the rear side of the glue dispensing workbench device 4, the glue dispensing device 7 is installed directly above the glue dispensing workbench device 4, and the material tray feeding device 8 is installed on the rear side of the glue dispensing device 7 and is located at the rear side of the frame device 1;

[0058] The NG conveyor line device 9 is installed at the rear side of the robot loading and unloading device 3 and is located at the leftmost rear side of the frame device 1. The double-layer assembly line device 2 includes an assembly line lifting device 21 and an intermediate double-layer assembly line device 22. The assembly line lifting device 21 includes a first fixed component 211 and an assembly line fixed frame 221. The upper ends of the first fixed component 211 are respectively fixedly connected with a guide mechanism 212 and a first blocking mechanism 215. A first drag chain 214 is installed on one side of the outer wall of the first fixed component 211. A telescopic cylinder 213 is provided at the front end of the first fixed component 211. A first sensing component 216 is fixedly connected to one side of the upper end of the first fixed component 211. A first power transmission mechanism 217 is provided on the other side of the upper end of the first fixed component 211. First driven wheels 218 are provided on both sides of the first power transmission mechanism 217. The outer wall of the first driven wheel 218 is sleeved with a synchronous belt 219.

[0059] The lower end of the assembly line fixed frame 221 is fixedly connected to a plurality of idler wheel assemblies 222, the upper end of the assembly line fixed frame 221 is fixedly connected to a second blocking mechanism 223, the upper and lower ends of the outer wall on one side of the assembly line fixed frame 221 are fixedly connected to a second power transmission mechanism 224, both sides of the second power transmission mechanism 224 are fixedly connected to a second driven wheel 225, both sides of the upper end of the assembly line fixed frame 221 are fixedly connected to a side guard assembly 226, the front end of the outer wall on one side adjacent to the side guard assembly 226 is fixedly connected to a tensioning wheel assembly 227, and the middle part of the outer wall on one side adjacent to the side guard assembly 226 is provided with a second sensing assembly 228.

[0060] Compared with the existing curved surface dispensing equipment, when the curved surface dispensing equipment is used, the double-layer assembly line device, the robot loading and unloading device 3, the dispensing workbench device 4, the dispensing weighing device 5, the glue needle positioning device 6, the dispensing device 7, the material tray feeding device 8 and the NG conveyor line device 9 are integrated into one to automatically complete the dispensing process, reduce manual intervention, improve production efficiency, and have high practical performance.

[0061] The robot loading and unloading device 3 includes a mounting seat 31, a four-axis robot body 32, and a material picking device 33. The material picking device 33 includes a suction cup assembly 338. The mounting seat 31 is installed on the frame device 1, the four-axis robot body 32 is installed on the mounting seat 31, and the material picking device 33 is installed on the four-axis robot body 32. The lower end of the four-axis robot body 32 is fixedly connected with a clamping block 331, and the lower end of the clamping block 331 is fixedly connected with a connecting plate 332. A top camera assembly 333 is arranged on one side of the connecting plate 332. The rear end of the connecting plate 332 is fixedly connected with a fixed side plate 334, and the rear end of the fixed side plate 334 is fixedly connected with a first reducer 335. The front end of the first reducer 335 is provided with a first stepper motor 336. The rear end of the fixed side plate 334 A third induction component 337 is provided at the upper end of the outer wall of the end, and a suction cup component 338 is fixed to the rear end of the first reducer 335. The suction cup component 338 includes a compression spring 3381 and a vacuum suction cup 3382. Through the four-axis robot body 32 and the material-picking device 33, it is convenient to complete the product positioning and adsorption functions to achieve the goal of automatic loading and unloading of products. The dispensing workbench device 4 includes a first linear motion mechanism 41, a second drag chain 42, a Tx rotating device 43, and a Ty rotating device 44. The first linear motion mechanism 41 and the second drag chain 42 are installed on the frame device 1, the Ty rotating device 44 is installed on the first linear motion mechanism 41, the Tx rotating device 43 is installed on the Ty rotating device 44, and the Tx rotating device 43 includes a base component 431 The base assembly 431 is fixed on the Ty rotating device 44. The front end of the base assembly 431 is fixedly connected with the second reducer 433. The rear end of the second reducer 433 is provided with a first servo motor 432. The front end of the second reducer 433 is provided with a positioning jig bottom plate 434. The front end of the positioning jig bottom plate 434 is fixedly connected with a positioning jig 435. The lower end of the positioning jig bottom plate 434 is fixedly connected with a downward positioning mechanism 436. A left positioning mechanism 437 is provided on one side of the positioning jig bottom plate 434. A rear positioning mechanism 438 is provided on the upper end of the positioning jig 435. A glue needle cleaning alignment mechanism 439 is provided on one side of the upper end of the base assembly 431. The Ty rotating device 44 includes a fixed bottom plate 441, which is fixed on the first On the linear motion mechanism 41, the front end of the upper surface of the fixed base plate 441 is fixedly connected with the left side plate 442, the front end of the outer wall of the left side plate 442 is fixedly connected with the third reducer 444, the lower end of the third reducer 444 is provided with a second servo motor 443, the rear end of the upper surface of the fixed base plate 441 is fixedly connected with the right side plate 447, the inner wall of the right side plate 447 is provided with a deep groove ball bearing 448, the rear end of the outer wall of the right side plate 447 is fixedly connected with a bearing end cover 449, the upper part of the front end of the outer wall of the right side plate 447 is provided with a first sensor assembly 446, the rear end of the third reducer 444 is fixedly connected with a rotating base assembly 445, and the dispensing workbench device 4 uses the first linear motion mechanism 41, the Tx rotating device 43 and the Ty rotating device 44,It is convenient to complete product positioning, translation and rotation functions. The glue dispensing weighing device 5 includes a mounting support 51, a first mounting base plate 52, a shock-absorbing pad 53 and a weighing instrument 54. The mounting support 51 is installed on the frame device 1, and the first mounting base plate 52 is installed on the upper end of the mounting support 51. The upper end of the first mounting base plate 52 is fixedly connected with a shock-absorbing pad 53, and the upper end of the shock-absorbing pad 53 is fixedly connected with a weighing instrument 54. The glue dispensing weighing device 5 uses the weighing instrument 54 to facilitate the timed and quantitative inspection function of the glue dispensing amount and monitor the stability of the equipment glue dispensing. The glue needle positioning device 6 includes a second mounting base plate 61, a side plate 62, a first reinforcing rib 63, a camera 64, a camera mounting seat 65, an optical lens 66, a light source fixing seat 67 and a ring light source 68. The second mounting base plate 61 is mounted on the frame device 1, the upper end of the second mounting base plate 61 is fixedly connected to the side plate 62, one side of the side plate 62 is fixedly connected to the first reinforcing rib 63, the upper end of the other side of the side plate 62 is fixedly connected to the camera mounting seat 65, one side of the camera mounting seat 65 is fixedly connected to the camera 64, the upper end of the outer wall of the side plate 62 is fixedly connected to the light source fixing seat 67, the upper end of the light source fixing seat 67 is fixedly connected to the annular light source 68, the position positioning and calibration of the glue needle is facilitated by the camera 64, and the accuracy of the glue dispensing position is ensured. The glue dispensing device 7 includes a mounting column 71, a beam 72, a second linear motion mechanism 73, a third servo motor 74, a reinforcing support 75, a vertical motion mechanism 76, a fourth servo motor 77, and a screw valve assembly 78. 3D camera assembly 79, mounting column 71 is mounted on rack device 1, upper end of mounting column 71 is fixedly connected with cross beam 72, upper end of cross beam 72 is provided with second linear motion mechanism 73, one side of outer wall of second linear motion mechanism 73 is provided with third servo motor 74, front end of upper end of second linear motion mechanism 73 is fixedly connected with reinforcing support 75, one side of reinforcing support 75 is provided with vertical motion mechanism 76, upper end of vertical motion mechanism 76 is provided with fourth servo motor 77, lower end of vertical motion mechanism 76 is provided with screw valve assembly 78, rear end of outer wall of reinforcing support 75 is provided with 3D camera assembly 79, screw valve assembly 78 comprises screw valve 781, screw valve fixing seat 782, rubber cylinder 783, liquid level sensor The mounting seat 784 and the liquid level sensor 785, the lower end of the screw valve 781 is fixedly connected to the screw valve fixing seat 782, one side of the upper end of the screw valve fixing seat 782 is fixedly connected to the rubber cylinder 783, the lower end of the rubber cylinder 783 is fixedly connected to the liquid level sensor mounting seat 784, and one side of the upper end of the liquid level sensor mounting seat 784 is provided with a liquid level sensor 785, the 3D camera assembly 79 includes a second fixing plate 791, a third fixing plate 792, a second stepping motor 793, a second reinforcing rib 794, a fourth fixing plate 795, a fifth fixing plate 796, a camera fixing plate 797 and a 3D camera 798, one side of the second fixing plate 791 is fixedly connected to the third fixing plate 792, and one side of the third fixing plate 792 is provided with a second reinforcing rib 794,The lower end of the second reinforcing rib 794 is fixedly connected to the fourth fixing plate 795, the lower end of the fourth fixing plate 795 is fixedly connected to the fifth fixing plate 796, the lower end of the fifth fixing plate 796 is fixedly connected to the camera fixing plate 797, and the lower end of the camera fixing plate 797 is fixedly connected to a 3D camera 798. The 3D camera 789 is used to facilitate automatic scanning and imaging of the product dispensing surface, and automatically calculate the fitting dispensing path. The second linear motion mechanism 73 and the precision screw valve 781 are used to facilitate the realization of the curved surface dispensing target. The tray feeding device 8 includes a full bin stacking device 81, an empty bin stacking device 82, a third linear motion mechanism 84, and a fifth servo motor 83 and a tray lifting device 85. The full bin stacking device 81 and the empty bin stack The device 82 and the third linear motion mechanism 84 are installed on the frame device 1, a fifth servo motor 83 is arranged on one side of the third linear motion mechanism 84, a material tray lifting device 85 is arranged on one side of the upper surface of the third linear motion mechanism 84, the full bin stacking device 81 includes a plurality of first mounting vertical plates 811, and the plurality of first mounting vertical plates 811 are installed on the frame device 1, the upper ends of the first mounting vertical plates 811 are fixedly connected with the bottom plate 812, the middle part of the upper end of the bottom plate 812 is provided with a tray dividing mechanism 813, the two sides of the upper surface of the bottom plate 812 are fixedly connected with the limiting vertical plates 814, and one side of the upper surface of one side of the bottom plate 812 is provided with a material tray monitoring sensor assembly 815, the material tray lifting device 85 includes a third mounting bottom plate 851, the third mounting vertical plates 852 are fixedly connected with the bottom plate 812, and the material tray monitoring sensor assembly 815 is arranged on one side of the upper surface of the bottom plate 812. The mounting base plate 851 is mounted on the third linear motion mechanism 84, and a tray lifting mechanism 852 is provided on the upper end of the third mounting base plate 851, and a cylinder base plate 853 is fixedly connected to the upper end of the tray lifting mechanism 852, and a tray dividing cylinder 858 is fixedly connected to the upper end of the cylinder base plate 853, and a plurality of support columns 854 are fixedly connected to the upper end of the cylinder base plate 853, and a clamping claw base plate 855 is provided at the front end and the rear end of the upper surface of the tray dividing cylinder 858, and two clamping claws 856 are fixedly connected to the outer wall of one side adjacent to the clamping claw base plate 855, and a tray support plate 857 is fixedly connected to the upper end of the support column 854, and tray sensors 859 are provided on both sides of the upper surface of the tray support plate 857, so that the feeding and emptying of the product can be completed conveniently through the tray lifting mechanism 852. The recycling and collection of the material tray, the NG conveyor line device 9 includes a second mounting plate 91, a cross plate 92, a profile beam 93, a bearing seat 94, an idler shaft 95, a blocking block 96, a second sensor assembly 97, a third power transmission mechanism 98 and a flat belt 99, the second mounting plate 91 is mounted on the frame device 1, the middle part of the outer wall of the adjacent side of the second mounting plate 91 is fixedly connected with the cross plate 92, the upper part of the outer wall of the adjacent side of the second mounting plate 91 is fixedly connected with the profile beam 93, the rear end of the profile beam 93 is fixedly connected with the bearing seat 94, the inner wall of the bearing seat 94 is provided with an idler shaft 95, the upper end of the bearing seat 94 is fixedly connected with a blocking block 96, the front end and rear end of the outer walls on both sides of the profile beam 93 are provided with second sensor assemblies 97,A third power transmission mechanism 98 is provided on one side of the outer wall of the profile beam 93, and a flat belt 99 is provided on the outer wall of the third power transmission mechanism 98. The NG conveyor line device 9 mainly completes the recycling of the dispensing NG products, which is convenient for manual material collection.

[0062] Working principle: When in use, when the right side carrier comes in, the right side lifting assembly line senses that it is in place, the right side cylinder retracts and descends to the lower assembly line, and the carrier is transported to the left side lifting assembly line through the lower assembly line. The left side lifting assembly line senses that the carrier is in place, and the left side cylinder extends and rises to the upper assembly line. The carrier is transported to the upper assembly line, and the product is discharged into the carrier (robot discharges the material), and then transported to the right side lifting assembly line. The product is taken manually, and the upper and lower conveying lines are designed through the double-layer assembly line device, and the lifting assembly line mechanism on both sides is independent, so as to achieve the goal of automatic circulation of the carrier inside the equipment. The robot loading and unloading device 3 uses the four-axis robot body 32 and the material taking device 33 at the end to complete the product positioning and adsorption functions, so as to achieve the goal of automatic loading and unloading of products. The dispensing workbench device 4 uses the linear motion mechanism, the Tx rotating device 43 and the Ty rotating device Device 44 is used to complete product positioning, translation and rotation functions, so as to realize multi-degree-of-freedom switching of the product during the dispensing process, and ensure the planning goal of the curved surface dispensing path. The dispensing weighing device 5 uses a weighing instrument 54 to realize the timed and quantitative inspection function of the dispensing glue amount, monitor the stability of the equipment dispensing, and use a camera 64 through the glue needle positioning device 6 to realize the position positioning and calibration of the glue needle, so as to ensure the accuracy of the dispensing position. The dispensing device 7 uses a 3D camera 798 to realize automatic scanning and imaging of the product dispensing surface, automatically calculate and fit the dispensing path, and cooperate with the linear motion mechanism and the precision screw valve 781 to achieve the curved surface dispensing goal. The tray feeding device 8 and the tray lifting mechanism 852 complete the product feeding and the recovery and collection of empty trays to achieve the automatic feeding goal. The NG conveying line device 9 mainly completes the recovery of dispensing NG products, which is convenient for manual material collection.

[0063] Finally, it should be noted that the above is only a preferred embodiment of the present invention and is not intended to limit the present invention. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art can still modify the technical solutions described in the aforementioned embodiments or make equivalent substitutions for some of the technical features therein. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. An automatic curved surface glue dispensing device, comprising a frame device (1), a double-layer assembly line device (2), a robot loading and unloading device (3), a glue dispensing workbench device (4), a glue dispensing weighing device (5), a glue needle positioning device (6), a glue dispensing device (7), a material tray feeding device (8), and an NG conveying line device (9), characterized in that: The double-layer assembly line device (2) is installed above the frame device (1) and is located at the frontmost side of the frame device (1); the robot loading and unloading device (3) is installed at the left rear side of the double-layer assembly line device (2); the glue dispensing workbench device (4) is installed at the right rear side of the double-layer assembly line device (2); the glue dispensing weighing device (5) is installed at the right rear side of the double-layer assembly line device (2) and is located between the glue dispensing workbench device (4) and the double-layer assembly line device (2); the glue needle positioning device (6) is installed at the rear side of the glue dispensing workbench device (4); the glue dispensing device (7) is installed directly above the glue dispensing workbench device (4); and the material tray feeding device (8) is installed at the rear side of the glue dispensing device (7) and is located at the rearmost side of the frame device (1); The NG conveyor line device (9) is installed at the rear side of the robot loading and unloading device (3) and is located at the leftmost rear side of the frame device (1). The double-layer assembly line device (2) includes an assembly line lifting device (21) and an intermediate double-layer assembly line device (22). The assembly line lifting device (21) includes a first fixing component (211) and an assembly line fixing frame (221). The upper end of the first fixing component (211) is fixedly connected to a guide mechanism (212) and a first blocking mechanism (215). The first fixing component ( A first drag chain (214) is installed on one side of the outer wall of the first fixed component (211), a telescopic cylinder (213) is arranged at the front end of the first fixed component (211), a first sensing component (216) is fixedly connected to one side of the upper end of the first fixed component (211), a first power transmission mechanism (217) is arranged on the other side of the upper end of the first fixed component (211), first driven wheels (218) are arranged on both sides of the first power transmission mechanism (217), and a synchronous belt (219) is sleeved on the outer wall of the first driven wheel (218); The lower end of the assembly line fixed frame (221) is fixedly connected to a plurality of idler wheel assemblies (222), the upper end of the assembly line fixed frame (221) is fixedly connected to a second blocking mechanism (223), the upper and lower ends of an outer wall on one side of the assembly line fixed frame (221) are fixedly connected to a second power transmission mechanism (224), both sides of the second power transmission mechanism (224) are fixedly connected to a second driven wheel (225), both sides of the upper end of the assembly line fixed frame (221) are fixedly connected to a side guard assembly (226), the front end of an outer wall on one side adjacent to the side guard assembly (226) is fixedly connected to a tensioning wheel assembly (227), and a second sensing assembly (228) is provided in the middle of an outer wall on one side adjacent to the side guard assembly (226).

2. The automatic curved surface dispensing equipment according to claim 1, characterized in that: The robot loading and unloading device (3) comprises a mounting seat (31), a four-axis robot body (32), and a material picking device (33); the material picking device (33) comprises a suction cup assembly (338); the mounting seat (31) is mounted on the frame device (1); the four-axis robot body (32) is mounted on the mounting seat (31); the material picking device (33) is mounted on the four-axis robot body (32); the lower end of the four-axis robot body (32) is fixedly connected to a clamping block (331); the lower end of the clamping block (331) is fixedly connected to a connecting plate (332); the connecting plate (33 2) is provided with a top camera assembly (333) on one side, the rear end of the connecting plate (332) is fixedly connected to a fixed side plate (334), the rear end of the fixed side plate (334) is fixedly connected to a first reducer (335), the front end of the first reducer (335) is provided with a first stepper motor (336), the upper end of the outer wall of the rear end of the fixed side plate (334) is provided with a third induction assembly (337), the suction cup assembly (338) is fixed to the rear end of the first reducer (335), and the suction cup assembly (338) includes a compression spring (3381) and a vacuum suction cup (3382).

3. The automatic curved surface glue dispensing device according to claim 1, characterized in that: The dispensing workbench device (4) comprises a first linear motion mechanism (41), a second drag chain (42), a Tx rotating device (43), and a Ty rotating device (44); the first linear motion mechanism (41) and the second drag chain (42) are mounted on the frame device (1); the Ty rotating device (44) is mounted on the first linear motion mechanism (41); the Tx rotating device (43) is mounted on the Ty rotating device (44); the Tx rotating device (43) comprises a base assembly (431); the base assembly (431) is fixed on the Ty rotating device (44); a second reduction gear is fixedly connected to the front end of the base assembly (431); The first servo motor (432) is disposed at the rear end of the second reducer (433), the second reducer (433) is disposed at the front end of the second reducer (433), the front end of the positioning jig bottom plate (434) is fixedly connected to a positioning jig (435), the lower end of the positioning jig bottom plate (434) is fixedly connected to a downward positioning mechanism (436), a left positioning mechanism (437) is disposed on one side of the positioning jig bottom plate (434), a rear positioning mechanism (438) is disposed on the upper end of the positioning jig (435), and a glue needle cleaning alignment mechanism (439) is disposed on one side of the upper end of the base assembly (431); The Ty rotating device (44) comprises a fixed base plate (441), wherein the fixed base plate (441) is fixed on the first linear motion mechanism (41), the front end of the upper surface of the fixed base plate (441) is fixedly connected to a left side plate (442), the front end of the outer wall of the left side plate (442) is fixedly connected to a third reducer (444), the lower end of the third reducer (444) is provided with a second servo motor (443), the rear end of the upper surface of the fixed base plate (441) is fixedly connected to a right side plate (447), the inner wall of the right side plate (447) is provided with a deep groove ball bearing (448), the rear end of the outer wall of the right side plate (447) is fixedly connected to a bearing end cover (449), the upper part of the front end of the outer wall of the right side plate (447) is provided with a first sensor assembly (446), and the rear end of the third reducer (444) is fixedly connected to a rotating base assembly (445).

4. The automatic curved surface dispensing equipment according to claim 1, characterized in that: The dispensing weighing device (5) comprises a mounting support (51), a first mounting base plate (52), a shock-absorbing pad (53) and a weighing instrument (54); the mounting support (51) is mounted on the frame device (1); the first mounting base plate (52) is mounted on the upper end of the mounting support (51); the upper end of the first mounting base plate (52) is fixedly connected to the shock-absorbing pad (53); and the upper end of the shock-absorbing pad (53) is fixedly connected to the weighing instrument (54).

5. The automatic curved surface glue dispensing device according to claim 1, characterized in that: The glue needle positioning device (6) comprises a second mounting base plate (61), a side plate (62), a first reinforcing rib (63), a camera (64), a camera mounting seat (65), an optical lens (66), a light source fixing seat (67) and an annular light source (68); the second mounting base plate (61) is mounted on the frame device (1); the upper end of the second mounting base plate (61) is fixedly connected to the side plate (62); one side of the side plate (62) is fixedly connected to the first reinforcing rib (63); the upper end of the other side of the side plate (62) is fixedly connected to the camera mounting seat (65); one side of the camera mounting seat (65) is fixedly connected to the camera (64); the upper end of the outer wall of the side plate (62) is fixedly connected to the light source fixing seat (67); the upper end of the light source fixing seat (67) is fixedly connected to the annular light source (68).

6. The automatic curved surface glue dispensing device according to claim 1, characterized in that: The dispensing device (7) comprises a mounting column (71), a crossbeam (72), a second linear motion mechanism (73), a third servo motor (74), a reinforcing support (75), a vertical motion mechanism (76), a fourth servo motor (77), a screw valve assembly (78), and a 3D camera assembly (79). The mounting column (71) is mounted on the frame device (1). The upper end of the mounting column (71) is fixedly connected to the crossbeam (72). The upper end of the crossbeam (72) is provided with a second linear motion mechanism (73). A third servo motor (74) is arranged on one side of the outer wall of the second linear motion mechanism (73); a reinforcing support (75) is fixedly connected to the front end of the upper end of the second linear motion mechanism (73); a vertical motion mechanism (76) is arranged on one side of the reinforcing support (75); a fourth servo motor (77) is arranged on the upper end of the vertical motion mechanism (76); a screw valve assembly (78) is arranged on the lower end of the vertical motion mechanism (76); and a 3D camera assembly (79) is arranged on the rear end of one side of the outer wall of the reinforcing support (75); The screw valve assembly (78) comprises a screw valve (781), a screw valve fixing seat (782), a rubber cylinder (783), a liquid level sensor mounting seat (784) and a liquid level sensor (785); the lower end of the screw valve (781) is fixedly connected to the screw valve fixing seat (782); one side of the upper end of the screw valve fixing seat (782) is fixedly connected to the rubber cylinder (783); the lower end of the rubber cylinder (783) is fixedly connected to the liquid level sensor mounting seat (784); and one side of the upper end of the liquid level sensor mounting seat (784) is provided with a liquid level sensor (785); The 3D camera assembly (79) comprises a second fixing plate (791), a third fixing plate (792), a second stepping motor (793), a second reinforcing rib (794), a fourth fixing plate (795), a fifth fixing plate (796), a camera fixing plate (797) and a 3D camera (798), wherein one side of the second fixing plate (791) is fixedly connected to the third fixing plate (792), one side of the third fixing plate (792) is provided with a second reinforcing rib (794), the lower end of the second reinforcing rib (794) is fixedly connected to the fourth fixing plate (795), the lower end of the fourth fixing plate (795) is fixedly connected to the fifth fixing plate (796), the lower end of the fifth fixing plate (796) is fixedly connected to the camera fixing plate (797), and the lower end of the camera fixing plate (797) is fixedly connected to the 3D camera (798).

7. The automatic curved surface glue dispensing device according to claim 1, characterized in that: The tray feeding device (8) comprises a full bin stacking device (81), an empty bin stacking device (82), a third linear motion mechanism (84), a fifth servo motor (83) and a tray lifting device (85); the full bin stacking device (81), the empty bin stacking device (82) and the third linear motion mechanism (84) are mounted on a frame device (1); a fifth servo motor (83) is disposed on one side of the third linear motion mechanism (84); and a tray lifting device (85) is disposed on one side of an upper surface of the third linear motion mechanism (84). 5), the full bin stacking device (81) comprises a plurality of first mounting upright plates (811), the plurality of first mounting upright plates (811) being mounted on the frame device (1), the upper ends of the first mounting upright plates (811) being fixedly connected to a bottom plate (812), a tray separation mechanism (813) being arranged in the middle of the upper end of the bottom plate (812), both sides of the upper surface of the bottom plate (812) being fixedly connected to limiting upright plates (814), and a tray monitoring sensor assembly (815) being arranged on one side of the upper surface of the bottom plate (812); The tray lifting device (85) comprises a third mounting base plate (851), the third mounting base plate (851) being mounted on a third linear motion mechanism (84), a tray lifting mechanism (852) being arranged at the upper end of the third mounting base plate (851), a cylinder base plate (853) being fixedly connected to the upper end of the tray lifting mechanism (852), a tray separation cylinder (858) being fixedly connected to the upper end of the cylinder base plate (853), and the cylinder base plate The upper end of (853) is fixedly connected to a plurality of support columns (854), the front and rear ends of the upper surface of the tray-dividing cylinder (858) are provided with a clamping base plate (855), the outer wall adjacent to one side of the clamping base plate (855) is fixedly connected to two clamping claws (856), the upper end of the support column (854) is fixedly connected to a tray support plate (857), and tray sensors (859) are provided on both sides of the upper surface of the tray support plate (857).

8. The automatic curved surface glue dispensing device according to claim 1, characterized in that: The NG conveyor line device (9) comprises a second mounting plate (91), a transverse plate (92), a profile crossbeam (93), a bearing seat (94), an idler shaft (95), a blocking block (96), a second sensor assembly (97), a third power transmission mechanism (98) and a flat belt (99), wherein the second mounting plate (91) is mounted on the frame device (1), the middle part of the outer wall of one side adjacent to the second mounting plate (91) is fixedly connected to the transverse plate (92), and the upper part of the outer wall of one side adjacent to the second mounting plate (91) is fixedly connected to the transverse plate (92). A profile crossbeam (93) is connected, the rear end of the profile crossbeam (93) is fixedly connected to a bearing seat (94), the inner wall of the bearing seat (94) is provided with an idler shaft (95), the upper end of the bearing seat (94) is fixedly connected to a blocking block (96), the front and rear ends of the outer walls on both sides of the profile crossbeam (93) are provided with second sensor components (97), one side of the outer wall of the profile crossbeam (93) is provided with a third power transmission mechanism (98), and the outer wall of the third power transmission mechanism (98) is provided with a flat belt (99).

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