Automatic dispensing machine
By designing an automatic dispenser, using the vehicle moving mechanism, hoisting mechanism, gantry mechanism, height detection mechanism and camera, the precise detection mechanism of workpiece height and position is achieved, the problem of dispensing position deviation is solved, and the dispensing accuracy and automation level of industrial production are improved.
Patent Information
- Application Number
- CN202421346370.6
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2024-06-13
- Publication Date
- 2025-06-06
- Estimated Expiration
- 2034-06-13
AI Technical Summary
In industrial production, due to errors in the initial position and height during the processing process, the dispensing position deviation will be caused, which will affect the dispensing effect and limit the large-scale promotion and industrial production of automation equipment.
An automatic dispensing machine is designed, including a vehicle moving mechanism, a hoisting mechanism, a gantry mechanism, a height detection mechanism, a camera and a dispensing mechanism. Through height detection and position correction, the dispensing path is accurately determined to ensure the dispensing accuracy.
Through precise detection and correction of the height and position of the workpiece, the automatic dispenser achieves a high-precision dispensing effect, solves the problem of dispensing position deviation, and improves the automation level of industrial production.
Smart Images
Figure CN222943793U_ABST
Abstract
Description
Technical Field
[0001] The utility model relates to automation equipment, in particular to an automatic glue dispensing machine. Background Art
[0002] With the development of the times, industrial production technology is also developing rapidly, and automation equipment has been increasingly used in industrial production. Workpieces need to be glued during the processing process, but there are certain errors in the initial position and height of the workpiece, which will cause deviations in the glue dispensing position, thereby affecting the glue dispensing effect, which is not conducive to large-scale promotion and industrial production. Utility Model Content
[0003] In order to overcome the above defects, the utility model provides an automatic glue dispensing machine, which has the advantage of high glue dispensing accuracy.
[0004] The utility model adopts the following technical solution to solve the technical problem: an automatic glue dispensing machine, comprising: a base, a carrier moving mechanism, a lifting mechanism, a gantry mechanism, a height detection mechanism, a camera, a glue dispensing mechanism and a control structure; the carrier moving mechanism is fixed to the base, the lifting mechanism is fixed to the moving end of the carrier moving mechanism, the gantry mechanism is fixed to the top surface of the base, the height detection mechanism, the camera and the glue dispensing mechanism are fixed to the moving end of the gantry mechanism, the two ends of the carrier moving mechanism are respectively a feeding end and a discharging end, the middle part of the carrier moving mechanism is a glue dispensing position, the feeding streamline is connected to the feeding end of the carrier moving mechanism, the discharging streamline is connected to the discharging end of the carrier moving mechanism, the material tray carrying the workpiece can be moved to the feeding end of the carrier moving mechanism under the drive of the feeding streamline, the lifting mechanism can be moved to the bottom of the material tray under the drive of the carrier moving mechanism, and the lifting mechanism can lift the material tray from the feeding streamline. The material tray can be moved to the dispensing position of the carrier moving mechanism under the drive of the carrier moving mechanism. The height detection mechanism, the camera and the dispensing mechanism can be moved above the material tray at the dispensing position under the drive of the gantry mechanism. The height detection mechanism can detect the height of the workpiece and input the height information of the workpiece into the control mechanism. The camera can detect the position of the workpiece on the material tray and input the position information of the workpiece into the control mechanism. The control mechanism can correct the dispensing path according to the height information and the position information of the workpiece. The gantry mechanism can drive the dispensing mechanism to move according to the corrected dispensing path. The dispensing mechanism can dispense glue to the workpiece. The material tray can be moved to the discharging end of the carrier moving mechanism under the drive of the carrier moving mechanism. The lifting mechanism can drive the material tray to descend and place the material tray on the discharging streamline. The carrier moving mechanism, the lifting mechanism, the gantry mechanism, the height detection mechanism, the camera and the dispensing mechanism are electrically connected to the control mechanism.
[0005] Optionally, the carrier moving mechanism includes a first electric screw and a connecting plate, the first electric screw is fixed to the base, the connecting plate is fixed to the moving end of the first electric screw, and the lifting mechanism is fixed to the connecting plate. The connecting plate and the lifting mechanism can move back and forth along the X-axis under the drive of the first electric screw.
[0006] Optionally, the lifting mechanism is a lifting cylinder, the lifting block is fixed to the cylinder rod of the lifting cylinder, and the lifting block can move back and forth along the Z axis under the drive of the lifting cylinder.
[0007] As an option, the gantry mechanism includes a second electric screw, a third electric screw, a fourth electric screw and a fixed plate, the second electric screw is fixed to the top surface of the base, the third electric screw is fixed to the moving end of the second electric screw, the fourth electric screw is fixed to the moving end of the third electric screw, the fixed plate is fixed to the moving end of the fourth electric screw, the height detection mechanism, the camera and the glue dispensing mechanism are fixed to the fixed plate, the third electric screw, the fourth electric screw, the height detection mechanism, the camera and the glue dispensing mechanism can move back and forth along the X-axis driven by the second electric screw, the fourth electric screw, the height detection mechanism, the camera and the glue dispensing mechanism can move back and forth along the Y-axis driven by the third electric screw, and the height detection mechanism, the camera and the glue dispensing mechanism can move back and forth along the Z-axis driven by the fourth electric screw.
[0008] Optionally, the height detection mechanism is a laser altimeter, which includes a transmitting end and a receiving end. The transmitting end can emit laser to the workpiece, and the receiving end can receive laser reflected from the workpiece.
[0009] Optionally, the glue dispensing mechanism is provided with a glue outlet and a glue inlet, the glue inlet is connected to the glue barrel via a hose, and a heating device is provided on the glue dispensing mechanism. The glue in the glue barrel can flow into the glue inlet of the glue dispensing mechanism through the hose, and the glue in the glue dispensing mechanism can be heated by the heating device and then flow out from the glue outlet. The glue outlet of the glue dispensing mechanism is controlled to open and close by a solenoid valve.
[0010] Optionally, it also includes a weighing module, a camera calibration module, a vacuum glue cleaning module and a glue cleaning cup, wherein the weighing module, the camera calibration module, the vacuum glue cleaning module and the glue cleaning cup are arranged next to the carrier moving mechanism, the glue dispensing mechanism can be moved to the top of the weighing module, the vacuum glue cleaning module and the glue cleaning cup under the drive of the gantry mechanism, the weighing module can measure the weight of the glue flowing out of the glue outlet of the glue dispensing mechanism, a suction port is arranged on the vacuum glue cleaning module, the suction port is connected to the vacuum generator, the glue outlet of the glue dispensing mechanism can be close to the suction port, the suction port can absorb the residual glue in the glue outlet, the glue cleaning cup can collect the glue flowing out of the glue outlet, the camera can be moved to the top of the camera calibration module under the drive of the gantry mechanism, and the camera can shoot the camera calibration module.
[0011] Optionally, a feeding sensor is provided at the feeding end of the carrier moving mechanism, and the feeding sensor can detect whether a material tray passes through the feeding end of the carrier moving mechanism.
[0012] Optionally, a fill light is also included, which is fixed to the fixing plate, and the light-emitting surface of the fill light faces the carrier moving mechanism.
[0013] The beneficial technical effect of the utility model is as follows: the automatic glue dispensing machine includes: a base, a carrier moving mechanism, a lifting mechanism, a gantry mechanism, a height detection mechanism, a camera, a glue dispensing mechanism and a control structure. When in use, the tray with the workpiece is moved to the feeding end of the carrier moving mechanism under the drive of the feeding streamline, the lifting mechanism pushes the tray away from the feeding streamline, and the tray is moved to the glue dispensing position under the drive of the carrier moving mechanism. The height detection mechanism, the camera and the glue dispensing mechanism are moved to the top of the tray under the drive of the gantry mechanism, the height detection mechanism detects the height of the workpiece, the camera detects the position of the workpiece on the tray, the control mechanism integrates the above information and corrects the glue dispensing path, and then the glue dispensing mechanism dispenses glue to the workpiece, and then the tray is moved to the discharge end of the carrier moving mechanism under the drive of the carrier moving mechanism, and then the lifting mechanism descends to place the tray on the discharge streamline. Since the height error and position error of the workpiece are corrected each time the glue is dispensed, the glue dispensing accuracy is high. It has the advantage of high glue dispensing accuracy. BRIEF DESCRIPTION OF THE DRAWINGS
[0014] Figure 1 It is a three-dimensional view of the whole machine of the utility model;
[0015] Figure 2 It is a top view of the whole machine of the utility model;
[0016] Figure 3 It is a side view of the whole machine of the utility model;
[0017] Figure 4 It is a front view of the whole machine of the utility model;
[0018] in:
[0019] 1. Base; 2. Lifting mechanism; 3. Height detection mechanism; 4. Glue dispensing mechanism; 5. First electric screw; 6. Connecting plate; 7. Second electric screw; 8. Third electric screw; 9. Fourth electric screw; 10. Fixing plate; 11. Weighing module; 12. Camera calibration module; 13. Vacuum glue cleaning module; 14. Glue cleaning cup. DETAILED DESCRIPTION
[0020] In order to more clearly understand the technical means of the utility model and implement it according to the contents of the specification, the specific implementation methods of the utility model are further described in detail below in conjunction with the drawings and embodiments. The following embodiments are used to illustrate the utility model but are not used to limit the scope of the utility model.
[0021] This specific embodiment describes in detail the automatic glue dispensing machine described in this application. Figure 1-Figure 4As shown, the automatic glue dispensing machine includes: a base 1, a carrier moving mechanism, a lifting mechanism 2, a gantry mechanism, a height detection mechanism 3, a camera, a glue dispensing mechanism 4 and a control structure. The carrier moving mechanism is fixed to the base 1, the lifting mechanism 2 is fixed to the moving end of the carrier moving mechanism, the gantry mechanism is fixed to the top surface of the base 1, the height detection mechanism 3, the camera and the glue dispensing mechanism 4 are fixed to the moving end of the gantry mechanism, the two ends of the carrier moving mechanism are respectively a feeding end and a discharging end, the middle part of the carrier moving mechanism is a glue dispensing position, the feeding streamline is connected to the feeding end of the carrier moving mechanism, the discharging streamline is connected to the discharging end of the carrier moving mechanism, the material tray carrying the workpiece can be moved to the feeding end of the carrier moving mechanism under the drive of the feeding streamline, the lifting mechanism 2 can be moved to the bottom of the material tray under the drive of the carrier moving mechanism, the lifting mechanism 2 can lift the material tray from the feeding streamline, and the material tray can be The height detection mechanism 3, the camera and the glue dispensing mechanism 4 can be driven by the gantry mechanism to move to the dispensing position of the carrier moving mechanism. The height detection mechanism 3 can detect the height of the workpiece and input the height information of the workpiece into the control mechanism. The camera can detect the position of the workpiece on the material tray and input the position information of the workpiece into the control mechanism. The control mechanism can correct the glue dispensing path according to the height information and the position information of the workpiece. The gantry mechanism can drive the glue dispensing mechanism 4 to move according to the corrected glue dispensing path. The glue dispensing mechanism 4 can dispense glue to the workpiece. The material tray can be driven by the carrier moving mechanism to move to the discharging end of the carrier moving mechanism. The lifting mechanism 2 can drive the material tray to descend and place the material tray on the discharging streamline. The carrier moving mechanism, the lifting mechanism 2, the gantry mechanism, the height detection mechanism 3, the camera and the glue dispensing mechanism 4 are electrically connected to the control mechanism. When in use, the tray with the workpiece is moved to the feeding end of the carrier moving mechanism under the drive of the feeding streamline, and the lifting mechanism 2 pushes the tray away from the feeding streamline, and then the tray is moved to the dispensing position under the drive of the carrier moving mechanism. The height detection mechanism 3, the camera and the dispensing mechanism 4 are moved to the top of the tray under the drive of the gantry mechanism, and the height detection mechanism 3 detects the height of the workpiece, and the camera detects the position of the workpiece on the tray. The control mechanism integrates the above information and corrects the dispensing path, and then the dispensing mechanism 4 dispenses the workpiece, and then the tray is moved to the discharging end of the carrier moving mechanism under the drive of the carrier moving mechanism, and then the lifting mechanism 2 descends to place the tray on the discharging streamline. Since the height error and position error of the workpiece are corrected each time the glue is dispensed, the accuracy of the dispensing is high. It has the advantage of high dispensing accuracy. The X-axis and the Y-axis in this embodiment are perpendicular to each other but parallel to the ground, and the Z-axis is perpendicular to the ground.
[0022] Optionally, in this embodiment, the carrier moving mechanism includes a first electric screw 5 and a connecting plate 6, the first electric screw 5 is fixed to the base 1, the connecting plate 6 is fixed to the moving end of the first electric screw 5, and the jacking mechanism 2 is fixed to the connecting plate 6. The connecting plate 6 and the jacking mechanism 2 can move back and forth along the X-axis under the drive of the first electric screw 5.
[0023] Optionally, in this embodiment, the lifting mechanism 2 is a lifting cylinder, the lifting block is fixed to the cylinder rod of the lifting cylinder, and the lifting block can move back and forth along the Z axis under the drive of the lifting cylinder.
[0024] Optionally, in this embodiment, the gantry mechanism includes a second electric screw 7, a third electric screw 8, a fourth electric screw 9 and a fixed plate 10, the second electric screw 7 is fixed to the top surface of the base 1, the third electric screw 8 is fixed to the moving end of the second electric screw 7, the fourth electric screw 9 is fixed to the moving end of the third electric screw 8, the fixed plate 10 is fixed to the moving end of the fourth electric screw 9, the height detection mechanism 3, the camera and the dispensing mechanism 4 are fixed to the fixed plate 10, the third electric screw 8, the fourth electric screw 9, the height detection mechanism 3, the camera and the dispensing mechanism 4 can move back and forth along the X-axis driven by the second electric screw 7, the fourth electric screw 9, the height detection mechanism 3, the camera and the dispensing mechanism 4 can move back and forth along the Y-axis driven by the third electric screw 8, and the height detection mechanism 3, the camera and the dispensing mechanism 4 can move back and forth along the Z-axis driven by the fourth electric screw 9.
[0025] In this embodiment, the height detection mechanism 3 is optionally a laser altimeter, which includes a transmitter and a receiver, wherein the transmitter can emit laser light to the workpiece, and the receiver can receive laser light reflected from the workpiece. The distance between the workpiece and the laser altimeter is calculated by recording the time difference between the laser light emitted by the transmitter and the reflected laser light received by the receiver, so as to judge the height of the workpiece. In some optional embodiments, the height detection mechanism 3 is also integrated with a barcode scanning function, and the barcode scanning device can scan the barcode on the workpiece while measuring the height.
[0026] Optionally in this embodiment, the glue dispensing mechanism 4 is provided with a glue outlet and a glue inlet, the glue inlet is connected to the glue barrel through a hose, and a heating device is provided on the glue dispensing mechanism 4. The glue in the glue barrel can flow into the glue inlet of the glue dispensing mechanism 4 through the hose, and the glue in the glue dispensing mechanism 4 can be heated by the heating device and then flow out from the glue outlet. The glue outlet of the glue dispensing mechanism 4 is controlled to open and close by a solenoid valve.
[0027] Optionally, this embodiment further includes a weighing module 11, a camera calibration module 12, a vacuum glue cleaning module 13 and a glue cleaning cup 14. The weighing module 11, the camera calibration module 12, the vacuum glue cleaning module 13 and the glue cleaning cup 14 are arranged next to the carrier moving mechanism. The glue dispensing mechanism 4 can be moved to the top of the weighing module 11, the vacuum glue cleaning module 13 and the glue cleaning cup 14 under the drive of the gantry mechanism. The weighing module 11 can measure the weight of the glue flowing out of the glue outlet of the glue dispensing mechanism 4. The vacuum glue cleaning module 13 is provided with a suction port, which is connected to a vacuum generator. The glue outlet of the glue dispensing mechanism 4 can be close to the suction port, and the suction port can absorb the residual glue in the glue outlet. The glue cleaning cup 14 can collect the glue flowing out of the glue outlet. The camera can be moved to the top of the camera calibration module 12 under the drive of the gantry mechanism, and the camera can shoot the camera calibration module 12. Since glue occasionally solidifies near the glue outlet and causes the glue outlet to be blocked, it is necessary to clean the residual glue regularly. When residual glue appears at the glue outlet, the glue dispensing mechanism 4 moves to the vacuum glue cleaning module 13 under the drive of the gantry mechanism. The glue outlet of the glue dispensing mechanism 4 is close to the suction port of the vacuum glue cleaning module 13, and the suction port can suck up the residual glue in the glue outlet. When the equipment needs to be shut down, it is necessary to clean the residual glue in the glue dispensing mechanism. The glue dispensing mechanism 4 moves to the glue cleaning cup 14 under the drive of the gantry mechanism, and the glue dispensing mechanism 4 discharges the internal glue into the glue cleaning cup 14 until the glue in the glue dispensing mechanism 4 is completely emptied. When the glue dispensing mechanism 4 is used, After a period of time, the glue dispensing accuracy of the glue dispensing mechanism 4 may decrease, and the glue dispensing accuracy needs to be measured regularly. The glue dispensing mechanism 4 moves to the weighing module 11 under the drive of the gantry mechanism, and the glue dispensing mechanism 4 discharges glue. The weighing module 11 weighs the discharged glue. By comparing the set glue discharge weight and the actual glue discharge weight, it is determined whether the glue discharge accuracy of the glue dispensing mechanism 4 is qualified. When the camera needs to be calibrated after being used for a period of time, the camera needs to be calibrated. At this time, the camera moves to the top of the camera calibration module 12 under the drive of the gantry mechanism, and the camera is calibrated by shooting the calibration color block on the camera calibration module 12.
[0028] In this embodiment, the feeding end of the carrier moving mechanism is optionally provided with a feeding sensor, which can detect whether a material tray passes through the feeding end of the carrier moving mechanism. When the feeding sensor detects that a material tray passes, the control mechanism starts the gantry mechanism, the height detection mechanism 3, the camera and the dispensing mechanism 4.
[0029] Optionally, in this embodiment, a fill light is further included, which is fixed to the fixing plate 10, and the light-emitting surface of the fill light faces the vehicle moving mechanism. The fill light can provide fill light for the camera.
[0030] The automatic glue dispensing machine in this embodiment has the advantage of high glue dispensing accuracy.
Claims
1. An automatic glue dispensing machine, characterized in that: include: A base (1), a carrier moving mechanism, a lifting mechanism (2), a gantry mechanism, a height detection mechanism (3), a camera, a glue dispensing mechanism (4) and a control structure. The carrier moving mechanism is fixed to the base (1), the lifting mechanism (2) is fixed to the moving end of the carrier moving mechanism, the gantry mechanism is fixed to the top surface of the base (1), the height detection mechanism (3), the camera and the glue dispensing mechanism (4) are fixed to the moving end of the gantry mechanism, the two ends of the carrier moving mechanism are respectively a feeding end and a discharging end, the middle part of the carrier moving mechanism is a glue dispensing position, the feeding streamline is connected to the feeding end of the carrier moving mechanism, the discharging streamline is connected to the discharging end of the carrier moving mechanism, the material tray carrying the workpiece can be moved to the feeding end of the carrier moving mechanism under the drive of the feeding streamline, the lifting mechanism (2) can be moved to the bottom of the material tray under the drive of the carrier moving mechanism, the lifting mechanism (2) can lift the material tray from the feeding streamline, and the material tray can be driven by the carrier moving mechanism. Move to the dispensing position of the carrier moving mechanism, the height detection mechanism (3), the camera and the dispensing mechanism (4) can be moved above the material tray located at the dispensing position under the drive of the gantry mechanism, the height detection mechanism (3) can detect the height of the workpiece and input the height information of the workpiece into the control mechanism, the camera can detect the position of the workpiece on the material tray and input the position information of the workpiece into the control mechanism, the control mechanism can correct the dispensing path according to the height information and the position information of the workpiece, the gantry mechanism can drive the dispensing mechanism (4) to move according to the corrected dispensing path, the dispensing mechanism (4) can dispense glue to the workpiece, the material tray can be moved to the discharge end of the carrier moving mechanism under the drive of the carrier moving mechanism, the lifting mechanism (2) can drive the material tray to descend and place the material tray on the discharge flow line, and the carrier moving mechanism, the lifting mechanism (2), the gantry mechanism, the height detection mechanism (3), the camera and the dispensing mechanism (4) are electrically connected to the control mechanism.
2. The automatic glue dispensing machine according to claim 1, characterized in that: The carrier moving mechanism comprises a first electric screw (5) and a connecting plate (6), wherein the first electric screw (5) is fixed to the base (1), the connecting plate (6) is fixed to the moving end of the first electric screw (5), and the lifting mechanism (2) is fixed to the connecting plate (6), and the connecting plate (6) and the lifting mechanism (2) can move back and forth along the X-axis under the drive of the first electric screw (5).
3. The automatic glue dispensing machine according to claim 2, characterized in that: The lifting mechanism (2) is a lifting cylinder, the lifting block is fixed to the cylinder rod of the lifting cylinder, and the lifting block can move back and forth along the Z axis under the drive of the lifting cylinder.
4. The automatic glue dispensing machine according to claim 3, characterized in that: The gantry mechanism comprises a second electric screw (7), a third electric screw (8), a fourth electric screw (9) and a fixing plate (10); the second electric screw (7) is fixed to the top surface of the base (1); the third electric screw (8) is fixed to the moving end of the second electric screw (7); the fourth electric screw (9) is fixed to the moving end of the third electric screw (8); the fixing plate (10) is fixed to the moving end of the fourth electric screw (9); the height detection mechanism (3), the camera and the dispensing mechanism (4) are fixed to the fixing plate (10); The plate (10), the third electric screw (8), the fourth electric screw (9), the height detection mechanism (3), the camera and the glue dispensing mechanism (4) can move back and forth along the X axis under the drive of the second electric screw (7), the fourth electric screw (9), the height detection mechanism (3), the camera and the glue dispensing mechanism (4) can move back and forth along the Y axis under the drive of the third electric screw (8), and the height detection mechanism (3), the camera and the glue dispensing mechanism (4) can move back and forth along the Z axis under the drive of the fourth electric screw (9).
5. The automatic glue dispensing machine according to claim 1, characterized in that: The height detection mechanism (3) is a laser altimeter, which comprises a transmitting end and a receiving end. The transmitting end can transmit laser light to the workpiece, and the receiving end can receive laser light reflected from the workpiece.
6. The automatic glue dispensing machine according to claim 1, characterized in that: The glue dispensing mechanism (4) is provided with a glue outlet and a glue inlet, the glue inlet is connected to the glue barrel via a rubber hose, the glue dispensing mechanism (4) is provided with a heating device, the glue in the glue barrel can flow into the glue inlet of the glue dispensing mechanism (4) via the rubber hose, the glue in the glue dispensing mechanism (4) can be heated by the heating device and then flow out from the glue outlet, and the glue outlet of the glue dispensing mechanism (4) is controlled to open and close by a solenoid valve.
7. The automatic glue dispensing machine according to claim 6, characterized in that: The invention also comprises a weighing module (11), a camera calibration module (12), a vacuum glue cleaning module (13) and a glue cleaning cup (14). The weighing module (11), the camera calibration module (12), the vacuum glue cleaning module (13) and the glue cleaning cup (14) are arranged beside the carrier moving mechanism. The glue dispensing mechanism (4) can be moved to the top of the weighing module (11), the vacuum glue cleaning module (13) and the glue cleaning cup (14) under the drive of the gantry mechanism. The weighing module (11) can measure the weight of the glue flowing out of the glue outlet of the glue dispensing mechanism (4). The vacuum glue cleaning module (13) is provided with a suction port connected to a vacuum generator. The glue outlet of the glue dispensing mechanism (4) can be close to the suction port. The suction port can suck the residual glue in the glue outlet. The glue cleaning cup (14) can collect the glue flowing out of the glue outlet. The camera can be moved to the top of the camera calibration module (12) under the drive of the gantry mechanism. The camera can shoot the camera calibration module (12).
8. The automatic glue dispensing machine according to claim 1, characterized in that: The feeding end of the carrier moving mechanism is provided with a feeding sensor, and the feeding sensor can detect whether a material tray passes through the feeding end of the carrier moving mechanism.
9. The automatic glue dispensing machine according to claim 1, characterized in that: It also comprises a fill light, which is fixed to the fixing plate (10), and the light-emitting surface of the fill light faces the carrier moving mechanism.