Dispensing equipment

Abstract

The utility model discloses dispensing equipment which comprises a first sliding rail, a clamp, a three-axis robot, a dispensing head assembly and a 3D camera assembly. The clamp can slide to the dispensing position in the length direction of the first sliding rail, then the dispensing head assembly is driven by the three-axis robot to dispense glue on a workpiece, the rotary air cylinder and the three-axis robot are matched, the posture of the 3D camera can be adjusted to the optimal position after dispensing is completed, and the work efficiency is improved. Therefore, the 3D camera can be improved to accurately detect the dispensed workpiece so as to judge whether the dispensed glue meets the standard or not.

Description

Technical Field

[0001] The present application relates to the field of new energy equipment manufacturing, and in particular to a glue dispensing device. Background Art

[0002] During the production and assembly of battery boxes, glue dispensing is required in multiple processes to assemble various workpieces. For example, during the installation of ceramic sheets, glue dispensing equipment is required to dispense glue on the ceramic sheets and then bond the ceramic sheets to the corresponding products.

[0003] In some existing solutions, X, Y and Z axis sliding solutions are often used to drive the dispensing head to move and achieve dispensing. This solution cannot quickly adjust the posture of the detection component (the detection component is used to detect the quality of dispensing), and thus cannot accurately measure whether the glue dispensed on the workpiece meets the requirements. Utility Model Content

[0004] The embodiment of the present application provides a dispensing device that can improve work efficiency and accurately detect the quality of dispensing.

[0005] The present application provides a dispensing device, including a first slide rail, a fixture, a three-axis robot, a dispensing head assembly and a 3D camera assembly; the first slide rail is horizontally arranged, the fixture is slidably arranged on the first slide rail, and the workpiece to be dispensed is arranged on the fixture; the action end of the three-axis robot is connected to the dispensing head assembly, which is used to drive the dispensing head assembly to move; the dispensing head assembly is used to dispense glue on the workpiece; the 3D camera assembly includes a rotating cylinder and a 3D camera, the rotating cylinder is connected to the dispensing head assembly and can rotate horizontally; the 3D camera is arranged on the output end of the rotating cylinder, which is used to detect the dispensing quality.

[0006] The dispensing equipment of the present application has at least the following beneficial effects:

[0007] The dispensing equipment of the present application includes a first slide rail, a fixture, a three-axis robot, a dispensing head assembly and a 3D camera assembly; the fixture of the present application can slide to the dispensing position along the length direction of the first slide rail, and then the three-axis robot drives the dispensing head assembly to dispense glue on the workpiece. In the existing scheme, the X, Y and Z axes are often used to drive the dispensing head assembly in a three-axis linkage. Compared with the working efficiency of the three-axis robot, the three-axis linkage method has higher requirements for the installation space. On the other hand, the present application adopts the cooperation of the rotary cylinder and the three-axis robot, which can adjust the posture of the 3D camera to the optimal position after the dispensing is completed, so as to improve the 3D camera to accurately detect the workpiece after dispensing to determine whether the dispensed glue meets the standards. BRIEF DESCRIPTION OF THE DRAWINGS

[0008] Various other advantages and benefits will become apparent to those of ordinary skill in the art by reading the detailed description of the preferred embodiments below. The accompanying drawings are only for the purpose of illustrating the preferred embodiments and are not to be considered as limiting the present application. Also, the same reference symbols are used throughout the accompanying drawings to represent the same components. In the accompanying drawings:

[0009] Figure 1 is a schematic structural diagram of a dispensing device according to an embodiment of the present application;

[0010] Figure 2 yes Figure 1 A schematic diagram from another angle;

[0011] Figure 3 yes Figure 1 A schematic diagram of the structure of the first slide rail and the clamp;

[0012] Figure 4 yes Figure 1 A bottom view of the first slide rail and the clamp;

[0013] Figure 5 yes Figure 3 The enlarged view of point A in the middle;

[0014] Figure 6 is a top view of the fixture;

[0015] Figure 7 yes Figure 1 Schematic diagram of the structure of the three-axis robot, dispensing head assembly and 3D camera assembly;

[0016] Figure 8 yes Figure 7 Schematic diagram from another angle;

[0017] Fig. 9 yes Figure 1 Schematic diagram of the structure of the mid-point glue preparation unit;

[0018] Fig.10 yes Fig. 9 A schematic diagram of the structure of the cleaning component;

[0019] Description of the reference numerals is as follows:

[0020] 10. First slide rail;

[0021] 20. Clamp; 21. Sliding frame; 22. Flip frame; 221. Mounting slot; 222. Conical guide pin; 223. Magnetic connection component; 23. Cover plate; 231. Glue dispensing window; 232. Guide hole; 24. Rotary drive member;

[0022] 30. Three-axis robot;

[0023] 40. Glue dispensing head assembly; 41. Connecting frame; 42. Second slide rail; 43. Glue dispensing head; 44. 2D camera;

[0024] 50. 3D camera assembly; 51. rotating cylinder; 52. 3D camera;

[0025] 60. Glue dispensing preparation unit; 61. Support table; 62. Cleaning assembly; 621. Cylinder finger; 622. Clamp; 623. Cleaning piece; 63. Glue scraping assembly; 631. Glue scraping rope; 632. First collecting cup; 633. Support rod; 64. Weighing assembly; 641. Weighing and measuring control mechanism; 642. Second collecting cup; 70. Main workbench. DETAILED DESCRIPTION

[0026] The features and exemplary embodiments of various aspects of the present application will be described in detail below. In order to make the purpose, technical solutions and advantages of the present application clearer, the present application will be further described in detail below in conjunction with the accompanying drawings and specific embodiments. It should be understood that the specific embodiments described herein are only intended to explain the present application, rather than to limit the present application. For those skilled in the art, the present application can be implemented without the need for some of these specific details. The following description of the embodiments is only to provide a better understanding of the present application by illustrating the examples of the present application.

[0027] It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the statement "include..." do not exclude the existence of other identical elements in the process, method, article or device including the elements.

[0028] This embodiment discloses a glue dispensing device, which is used for dispensing glue on a workpiece to facilitate the assembly of the workpiece on other products.

[0029] like Figure 1 and Figure 2 As shown, the glue dispensing equipment includes a first slide rail 10, a fixture 20, a three-axis robot 30, a glue dispensing head assembly 40, a 3D camera assembly 50 (labeled as 50) and a glue dispensing preparation unit 60. The first slide rail 10, the fixture 20, the three-axis robot 30, the glue dispensing head assembly 40, the 3D camera assembly 50 and the glue dispensing preparation unit 60 are all arranged on a main workbench 70.

[0030] like Figure 3 and Figure 4 As shown, the length direction of the first slide rail 10 is configured as a horizontal direction, and the clamp 20 can slide along the length direction thereof under the drive of the first slide rail 10 .

[0031] like Figure 5 and Figure 6 As shown, the fixture 20 is used to install the workpiece to be glued (such as a ceramic sheet, etc.). The fixture 20 includes a sliding frame 21, a flip frame 22, a cover plate 23 and a rotating drive member 24; the sliding frame 21 is slidably arranged on the first slide rail 10, and the sliding frame 21 can slide along the length direction of the first slide rail 10 to the glue dispensing position, and the flip frame 22 is rotatably arranged on the sliding frame 21, and the flip frame 22 can flip around the horizontal line within a range of 360 degrees; a vertically penetrating installation groove 221 is provided on the flip frame 22, and the installation groove 221 is designed to be vertically penetrating in order to expose the workpiece on the flip frame 22. The workpiece is exposed to facilitate the glue dispensing head assembly 40 to dispense glue on the workpiece, wherein the inner peripheral contour of the mounting groove 221 is consistent with the outer peripheral contour of the workpiece, so that the workpiece can be fitted and installed in the mounting groove 221, and a positioning step is provided on the inner peripheral wall of the mounting groove 221, and the edge surface of the workpiece fits on the positioning step, and then the workpiece is pressed against the positioning step of the flip frame 22 through the cover plate 23; in order to expose the workpiece, the cover plate 23 is provided with a glue dispensing window 231 corresponding to the mounting groove 221.

[0032] like Figure 6 As shown, in some preferred embodiments, one end of the cover plate 23 is hinged on the flip frame 22 through a hinge, and the cover plate 23 can be rotated and overlapped on the flip frame 22 through the hinge, so as to press the workpiece. The flip frame 22 is provided with a conical guide pin 222, and the cover plate 23 is provided with a guide hole 232 corresponding to the conical guide pin 222. When the cover plate 23 is rotated to overlap on the flip frame 22, the guide pin is inserted into the guide hole 232. The conical guide pin 222 can also limit the cover plate 23 by designing. On the other hand, in order to ensure that the cover plate 23 can be connected to the flip frame 22 after rotation and overlap, a magnetic connection component 223 (such as a magnet, etc.) is provided on the flip frame 22 in this embodiment. The magnet can be attracted to the metal part of the cover plate 23, so that the cover plate 23 can be stably overlapped on the flip frame 22, wherein the magnetic connection method makes the operation of the cover plate 23 more convenient and quick. The rotary drive member 24 (such as a rotary cylinder, a motor, etc.) is disposed on the sliding frame 21 , and an output end of the rotary drive member 24 is connected to the flip frame 22 . The rotary drive member 24 can drive the flip frame 22 to flip.

[0033] like Figure 7As shown, the three-axis robot 30 is arranged on the horizontal side of the first slide rail 10, and the action end (i.e., the execution end) of the three-axis robot 30 is connected to the glue dispensing head assembly 40, and the three-axis robot 30 can drive the glue dispensing head assembly 40 to dispense glue on the workpiece. In this embodiment, the three-axis robot 30 can refer to the existing structure.

[0034] like Figure 7 As shown, the dispensing head assembly 40 includes a connecting frame 41, a second slide rail 42 and a dispensing head 43 for dispensing glue. The connecting frame 41 is arranged on the action end of the three-axis robot 30, and the second slide rail 42 is arranged on the connecting frame 41, and the length direction of the second slide rail 42 is configured as a vertical direction; the dispensing head 43 is slidably arranged on the second slide rail 42 along the vertical direction. Under the drive of the second slide rail 42, the dispensing head 43 can change its position in the vertical direction. In this embodiment, the height position of the dispensing glue is changed by the second slide rail 42, which can better adapt to different working conditions. Among them, the dispensing head 43 is connected to the external glue system, and the glue can be applied to the workpiece via the dispensing head 43. The specific structure of the dispensing head 43 can refer to the prior art.

[0035] like Figure 8 As shown, in some preferred embodiments, the dispensing device further includes a 2D camera 44 (labeled 44), which is disposed on a horizontal side of the connecting frame 41, and the shooting direction of the 2D camera 44 is vertically downward, wherein the 2D camera 44 is used to detect whether there is a workpiece on the fixture 20. In other embodiments, a material sensor may also be disposed on the connecting frame 41, which may also detect whether there is a workpiece on the fixture 20.

[0036] like Figure 8 As shown, the 3D camera assembly 50 includes a rotating cylinder 51 and a 3D camera 52 (labeled 52). The rotating cylinder 51 is arranged at the lower end of the connecting frame 41, and the rotating cylinder 51 can drive the 3D camera 52 to rotate horizontally. The 3D camera 52 is arranged at the output end of the rotating cylinder 51, and the applied glue is detected by the 3D camera 52 to determine whether the glue dispensing meets the standard.

[0037] like Fig. 9As shown, the dispensing preparation unit 60 includes a support platform 61 and a cleaning component 62, the support platform 61 and the cleaning component 62 are arranged below the dispensing head 43, the cleaning component 62 includes a cylinder finger 621, a clamping plate 622 and a cleaning member 623, two cylinder fingers 621 are relatively arranged on the support platform 61, two clamping plates 622 are respectively connected to the two clamping ends of the cylinder fingers 621 in a one-to-one correspondence, and the cleaning members 623 are connected to the clamping plates 622 in a one-to-one correspondence. Among them, when the dispensing head 43 extends downward between the two cleaning members 623 under the drive of the second slide rail 42, the cylinder finger 621 drives the cleaning members 623 to approach each other and clamp the dispensing head 43, and then the dispensing head 43 moves upward, and the dispensing head 43 is cleaned by the relative movement between the cleaning member 623 and the dispensing head 43.

[0038] like Fig.10 As shown, in some preferred embodiments, the cleaning member 623 may be a sponge member or a rubber member. Using the cleaning member 623 made of sponge or rubber material can improve the cleaning efficiency while avoiding damage to the dispensing head 43.

[0039] like Fig. 9 As shown, the dispensing preparation unit 60 also includes a scraping glue assembly 63 disposed on the support platform 61, and the scraping glue assembly 63 includes a scraping glue rope 631 and a first collecting cup 632, wherein two supporting rods 633 are disposed opposite to each other on the support platform 61, and the two ends of the scraping glue rope 631 are respectively connected to the upper ends of the two supporting rods 633, and the scraping glue rope 631 is in a horizontally tightened state. When there is residual glue at the glue nozzle position of the dispensing head 43, the three-axis robot 30 drives the dispensing head 43 and the scraping glue rope 631 to move relative to each other in the horizontal direction, so that the scraping glue rope 631 passes through the lower end surface of the glue nozzle, thereby scraping off the residual glue. The first collecting cup 632 is disposed on the support platform 61, and the first collecting cup 632 is located directly below the scraping glue rope 631, and the first collecting cup 632 is used to collect the residual glue scraped from the scraping glue rope 631.

[0040] like Fig. 9 As shown, the dispensing preparation unit 60 further includes a weighing assembly 64 disposed on the support platform 61, the weighing assembly 64 includes a weighing and measuring control mechanism 641 and a second collection cup 642, the weighing and measuring control mechanism 641 is disposed on the support platform 61, and the weighing and measuring control mechanism 641 is used to detect the weight of the second collection cup 642 and the glue in the second collection cup 642, the second collection cup 642 is disposed on the weighing and measuring control mechanism 641, and the second collection cup 642 is located below the dispensing head 43. Before dispensing, a certain amount of glue flows out of the dispensing head 43 to the second collection cup 642, and then the weighing and measuring control mechanism 641 is used to measure whether the weight of the outflowing glue is accurate, thereby avoiding the situation where the amount of glue is inaccurate.

[0041] One working mode of the dispensing device in this embodiment is as follows:

[0042] The staff places the incoming workpiece in the mounting groove 221 of the turning frame 22, and then rotates the cover plate 23 so that the cover plate 23 presses the workpiece in the mounting groove 221, and the cover plate 23 and the turning frame 22 are connected together by magnetic attraction, wherein the front side of the workpiece is exposed through the glue dispensing window 231 on the cover plate 23, and the vertically penetrating mounting groove 221 can expose the back side of the workpiece (so that the three-axis robot 30 can dispense glue on the back side of the workpiece after the turning frame 22 is turned 180 degrees);

[0043] After the workpiece is installed, the fixture 20 slides along the length direction of the first slide rail 10 to the glue dispensing position, and then the three-axis robot 30 drives the glue dispensing head assembly 40 to the top of the fixture 20. The 2D camera 44 first detects whether there is a workpiece in the fixture 20. If there is no workpiece, it needs to be fed back to the staff. If there is a workpiece, the three-axis robot 30 drives the glue dispensing head 43 to perform preparations before glue dispensing. Specifically, the glue dispensing head 43 first extends into the cleaning assembly 62 for cleaning, and then hangs off the excess residual glue through the glue scraping rope 631. Finally, the glue dispensing head 43 faces the second collection cup of the weighing assembly 64. 642 A certain amount of glue flows out. If the glue meets the weight requirement, the preparation work before glue dispensing is completed. Then the three-axis robot 30 drives the glue dispensing head 43 to the top of the workpiece. After the glue dispensing head 43 adjusts its height, the three-axis robot 30 drives the glue dispensing head 43 to dispense glue on the front of the workpiece along a predetermined path. After the glue dispensing on the front of the workpiece is completed, the rotating drive member 24 of the fixture 20 drives the flip frame 22 to flip 180 degrees so that the back of the workpiece faces upward. After the glue dispensing head 43 adjusts its height again, the three-axis robot 30 drives the glue dispensing head 43 to dispense glue on the back of the workpiece along a predetermined path.

[0044] After the dispensing is completed, the three-axis robot 30 drives the 3D camera 52 to the top of the workpiece, and then the rotating drive part 24 drives the 3D camera 52 to rotate a certain angle, so that the 3D camera 52 is aimed at the rubber strip coated on the back of the workpiece, and then the 3D camera 52 captures the corresponding graphic data and compares it with the pre-stored data to determine whether the coated rubber strip meets the requirements. After the back of the workpiece is inspected, the rotating drive part 24 drives the front of the workpiece upward, and then the 3D camera 52 inspects the rubber strip coated on the front of the workpiece. After the inspection is completed, the staff opens the cover 23 and takes the workpiece away.

[0045] The above is only a specific implementation of the present application. Those skilled in the art can clearly understand that for the convenience and simplicity of description, the specific working processes of the systems, modules and units described above can refer to the corresponding processes in the aforementioned method embodiments, and will not be repeated here. It should be understood that the protection scope of the present application is not limited to this. Any technician familiar with the technical field can easily think of various equivalent modifications or replacements within the technical scope disclosed in this application, and these modifications or replacements should be included in the protection scope of this application.

Claims

1. A dispensing device, characterized in that: It comprises a first slide rail (10), a fixture (20), a three-axis robot (30), a dispensing head assembly (40) and a 3D camera assembly (50); The first slide rail (10) is arranged horizontally, the clamp (20) is slidably arranged on the first slide rail (10), and the workpiece to be glued is arranged on the clamp (20); The action end of the three-axis robot (30) is connected to the glue dispensing head assembly (40) and is used to drive the glue dispensing head assembly (40) to move; the glue dispensing head assembly (40) is used to dispense glue on a workpiece; The 3D camera assembly (50) comprises a rotating cylinder (51) and a 3D camera (52); the rotating cylinder (51) is connected to the glue dispensing head assembly (40) and can rotate horizontally; the 3D camera (52) is arranged on the output end of the rotating cylinder (51) and is used to detect glue dispensing quality.

2. The dispensing device according to claim 1, characterized in that: The clamp (20) comprises a sliding frame (21), a turning frame (22), a cover plate (23) and a rotating driving member (24); The sliding frame (21) is slidably arranged on the first slide rail (10); the flip frame (22) is rotatably arranged on the sliding frame (21) around a horizontal line, and a vertically penetrating mounting groove (221) is provided on the flip frame (22), a positioning step is provided in the mounting groove (221), and the workpiece is mounted on the positioning step; One end of the cover plate (23) is rotatably arranged on the turning frame (22), and the cover plate (23) is used to press the workpiece onto the positioning step; a glue dispensing window (231) for exposing the workpiece is arranged on the cover plate (23); The rotary drive member (24) is arranged on the sliding frame (21), and the output end of the rotary drive member (24) is connected to the turning frame (22).

3. The dispensing device according to claim 2, characterized in that: The cover plate (23) is provided with a guide hole (232), and the flip frame (22) is provided with a tapered guide pin (222) corresponding to the guide hole (232).

4. The dispensing device according to claim 2 or 3, characterized in that: A magnetic connection component (223) is provided between the cover plate (23) and the flip frame (22).

5. The dispensing device according to claim 1, characterized in that: The glue dispensing head assembly (40) comprises a connecting frame (41), a second slide rail (42) and a glue dispensing head (43) for dispensing glue; The connecting frame (41) is arranged at the action end of the three-axis robot (30); the second slide rail (42) is vertically arranged on the connecting frame (41); the dispensing head (43) is slidably arranged on the second slide rail (42) in the vertical direction; and the rotating cylinder (51) is arranged below the connecting frame (41).

6. The dispensing device according to claim 5, characterized in that: It also includes a 2D camera (44) arranged on one side of the connecting frame (41) and used to detect whether there is a workpiece on the fixture (20).

7. The dispensing device according to claim 1, characterized in that: It also includes a glue dispensing preparation unit (60) arranged below the glue dispensing head assembly (40); The dispensing preparation unit (60) includes a support platform (61) and a cleaning component (62) arranged on the support platform (61), and the cleaning component (62) includes a cylinder finger (621), a clamping plate (622) and a cleaning piece (623), two clamping plates (622) are respectively arranged on two clamping ends of the cylinder finger (621), and the cleaning piece (623) is arranged on the clamping plate (622) one by one for cleaning the glue nozzle of the dispensing head (43).

8. The dispensing device according to claim 7, characterized in that: The cleaning member (623) is configured as a sponge member or a rubber member.

9. The dispensing device according to claim 6, characterized in that: The glue dispensing preparation unit (60) further comprises a glue scraping assembly (63) arranged on the support platform (61); the glue scraping assembly (63) comprises a glue scraping rope (631) and a first collecting cup (632); the glue scraping rope (631) is horizontally arranged below the glue dispensing head (43); and the first collecting cup (632) is arranged below the glue scraping rope (631).

10. The dispensing device according to claim 6, characterized in that: The dispensing preparation unit (60) further comprises a weighing assembly (64) arranged on the support platform (61); the weighing assembly (64) comprises a weighing measurement and control mechanism (641) and a second collection cup (642), and the second collection cup (642) is arranged on the weighing measurement and control mechanism (641).

Images