Visual guidance four-axis linkage glue dispenser

Abstract

The utility model relates to the technical field of dispensing machines, and particularly discloses a visual guidance four-axis linkage dispensing machine which comprises a rack, a conveying mechanism, a dispensing mechanism and a moving mechanism. The conveying mechanism is installed on the rack, and the conveying mechanism is horizontally arranged and provided with a feeding port and a discharging port. The dispensing mechanism is arranged over the conveying mechanism, and the moving mechanism comprises a Z-axis moving part, an X-axis moving part, a Y-axis moving part and an R-axis rotating part. The Z-axis moving part is fixedly connected with one side of the dispensing mechanism and drives the dispensing mechanism to move along the Z axis, the X-axis moving part is fixedly connected with one side of the Z-axis moving part and drives the Z-axis moving part to move along the X axis, the Y-axis moving part is fixedly connected with the X-axis moving part and drives the X-axis moving part to move along the Y axis, and the R-axis rotating part is connected with the dispensing mechanism. And the R-axis rotating piece drives a glue outlet of the glue dispensing mechanism to rotate. The method has the effect of reducing the probability of incomplete dispensing.

Description

Technical Field

[0001] This application relates to the technical field of dispensing machines, and in particular to a vision-guided four-axis linkage dispensing machine. Background Art

[0002] During the production process of power amplifiers (PA) in new energy vehicles, dispensing operations are required to fix electronic components in the power amplifier, and dispensing can also provide electrical isolation to reduce the probability of accidental contact between different conductive parts.

[0003] During the working process of a common dispensing machine, dispensing is carried out by driving a dispensing head through an X-axis, Y-axis, and Z-axis three-axis moving device, and then controlling the glue output of the dispensing head through a program to perform dispensing on the positions that need to be dispensed on the PA.

[0004] During the dispensing process, the glue is dispensed on one side of the gap between the electronic component to be dispensed and the PA circuit board. Due to the fluidity of the glue itself, the glue seeps into the gap between the electronic component and the PA circuit board, thus completing the dispensing of the electronic component on the PA. However, when the PA is not placed flat or the distance between the electronic component and the PA circuit board is too small, incomplete dispensing is likely to occur. Utility Model Content

[0005] In order to reduce the probability of incomplete dispensing, this application provides a vision-guided four-axis linkage dispensing machine.

[0006] The vision-guided four-axis linkage dispensing machine provided by this application adopts the following technical solutions:

[0007] A vision-guided four-axis linkage dispensing machine includes:

[0008] A frame;

[0009] A transportation mechanism, including a feeding port and a discharging port, and the transportation mechanism is used to transport the PA to be dispensed;

[0010] A dispensing mechanism, which is used to store glue and perform dispensing;

[0011] A moving mechanism, arranged close to the transportation mechanism, the moving mechanism is connected to the dispensing mechanism, the moving mechanism includes a Z-axis moving member, an X-axis moving member, a Y-axis moving member, and an R-axis rotating member. The Z-axis moving member is fixedly connected to one side of the dispensing mechanism, the X-axis moving member is fixedly connected to one side of the X-axis moving member, the Y-axis moving member is fixedly connected to one end of the X-axis moving member, and the R-axis rotating member is connected to one end of the dispensing mechanism facing the transportation mechanism. The R-axis rotating member is used to drive the glue outlet of the dispensing mechanism to rotate.

[0012] Optionally, the transport mechanism includes a transport part and a clamping part, the transport part includes two limit plates arranged in parallel and spaced apart, the two limit plates are connected to a transport belt on opposite sides, the upper end surface of the transport belt is located below the upper end surface of the limit plate, the clamping part is arranged in the middle part of the limit plate, and the clamping part is used to clamp the front dispensing amplifier.

[0013] Optionally, the clamping component includes a clamping frame, a clamping cylinder and a clamping block, the clamping frame is fixedly connected to the side of the limit plate facing away from the conveyor belt, the upper end face of the clamping frame is arranged parallel to the upper end face of the conveyor belt, the fixed end of the clamping cylinder is fixedly connected to the upper end face of the clamping frame, the movable end of the clamping cylinder is arranged toward the limit plate, the limit plate is provided with a clamping groove at a position opposite to the clamping cylinder, the clamping block is slidably connected to the groove wall of the clamping groove, and one side of the clamping block is fixedly connected to the telescopic end of the clamping cylinder.

[0014] Optionally, the clamping block is provided with a detection hole, and a detection camera is arranged inside the detection hole to detect that the detection phase is electrically connected to the clamping cylinder.

[0015] Optionally, the dispensing mechanism includes a dispensing head, a dispensing valve and a glue storage tube, the dispensing head is arranged toward the transportation mechanism, the dispensing valve is connected to one end of the dispensing head away from the transportation mechanism, and the glue storage tube is connected to the dispensing valve.

[0016] Optionally, a glue detector is provided inside the glue storage tube, and the glue detector is used to detect the glue in the glue storage tube and can issue an alarm.

[0017] Optionally, the Z-axis moving part is fixedly connected with a detection camera, and the detection camera is arranged toward the transportation mechanism, and the detection camera is used to detect the dispensing position of the power amplifier to be dispensed.

[0018] Optionally, the frame is fixedly connected with a curing light, and the curing light is used to cure the glue.

[0019] In summary, the present application includes at least one of the following beneficial technical effects:

[0020] 1. During the operation of the dispensing machine, the dispensing amplifier to be dispensed is transported from the feed port of the transport mechanism, and then the mobile mechanism transports the dispensing mechanism to the position to be dispensed through the X-axis moving part, the Y-axis moving part and the Z-axis moving part. When dispensing, the R-axis rotating part is added to control the dispensing mechanism so that the dispensing position of the dispensing mechanism is always tangent to the position to be dispensed, thereby dispensing all around the position to be dispensed, reducing the probability of incomplete dispensing;

[0021] 2. After the dispensing power amplifier enters through the feeding port of the transportation mechanism, the clamping part can judge the position of the power amplifier through the detection camera in the detection hole, and then clamp the power amplifier at the required position through the clamping block, so as to facilitate the moving mechanism to drive the dispensing mechanism to perform the dispensing action;

[0022] 3. During dispensing, the dispensing valve controls the glue output of the dispensing head, so as to realize the cost control of power amplifier dispensing. At the same time, through the glue detector in the glue storage tube, the glue stock in the glue outlet tube can be detected, so as to send an alarm when the glue in the glue outlet tube is insufficient, reminding the staff to add glue in time, and reducing the probability of incomplete dispensing due to insufficient glue during power amplifier dispensing. Description of the Drawings

[0023] Figure 1 It is a schematic diagram of the overall structure of the embodiment of the present application.

[0024] Figure 2 It is a schematic diagram of the installation of the dispensing mechanism in the embodiment of the present application.

[0025] Figure 3 It is a schematic diagram of the structure of the clamping part in the embodiment of the present application.

[0026] In the figure: 1, frame; 2, transportation mechanism; 21, feeding port; 22, discharging port; 23, transportation part; 231, limiting plate; 2311, clamping groove; 232, conveyor belt; 24, clamping part; 241, clamping frame; 242, clamping cylinder; 243, clamping block; 2431, detection hole; 3, dispensing mechanism; 31, dispensing head; 32, dispensing valve; 33, glue storage tube; 4, moving mechanism; 41, Z-axis moving part; 42, X-axis moving part; 43, Y-axis moving part; 44, R-axis rotating part; 5, detection camera; 6, curing lamp. Detailed Embodiment

[0027] The following is a further detailed description of the present application in conjunction with the attached Figures 1-3 to further illustrate the present application.

[0028] The embodiment of the present application discloses a vision-guided four-axis linkage dispensing machine. Refer to Figure 1 and Figure 2 , a vision-guided four-axis linkage dispensing machine includes a frame 1, a transportation mechanism 2, a dispensing mechanism 3 and a moving mechanism 4.

[0029] The transport mechanism 2 is installed on the frame 1. The transport mechanism 2 is horizontally arranged and is provided with a feeding port 21 and a discharging port 22. The dispensing mechanism 3 is arranged directly above the transport mechanism 2. The moving mechanism 4 includes a Z-axis moving member 41, an X-axis moving member 42, a Y-axis moving member 43, and an R-axis rotating member 44. The Z-axis moving member 41 is fixedly connected to one side of the dispensing mechanism 3 and drives the dispensing mechanism 3 to move along the Z-axis. The X-axis moving member 42 is fixedly connected to one side of the Z-axis moving member 41 and drives the Z-axis moving member 41 to move along the X-axis. The Y-axis moving member 43 is fixedly connected to the X-axis moving member 42 and drives the X-axis moving member 42 to move along the Y-axis. The R-axis rotating member 44 is connected to the dispensing mechanism 3, and the R-axis rotating member 44 drives the glue outlet of the dispensing mechanism 3 to rotate.

[0030] After the power amplifier to be dispensed enters the transport mechanism 2 through the feeding port 21 of the transport mechanism 2, the power amplifier to be dispensed stays at the dispensing position. The moving mechanism 4 drives the dispensing mechanism 3 to move. Through the combined action of the X-axis moving member 42, the Y-axis moving member 43, and the Z-axis moving member 41, the glue outlet of the dispensing mechanism 3 is moved to the dispensing position. At this time, the Z-axis moving member 41, the X-axis moving member 42, the Y-axis moving member 43, and the R-axis rotating member 44 jointly drive the dispensing mechanism 3, so that the glue outlet of the dispensing mechanism 3 is always tangent to the dispensing position, thereby dispensing glue around the dispensing position, thus reducing the probability of incomplete dispensing.

[0031] A detection camera 5 is fixedly connected to the side of the Z-axis moving member 41. The detection camera 5 is arranged in front of the dispensing mechanism 3 along the transport direction of the power amplifier. When the power amplifier is transported to the dispensing position, the detection camera 5 can detect the power amplifier, thereby determining the dispensing position of the power amplifier to be dispensed, which facilitates the dispensing of the power amplifier to be dispensed.

[0032] Refer to Figures 1-3 , the transport mechanism 2 includes a transport member 23 and a clamping member 24. The transport member 23 includes two vertically arranged limiting plates 231. The sides of the two limiting plates 231 are parallel to each other. A transport belt 232 is connected to the opposite sides of the limiting plates 231. The transport belt 232 is used to transport the power amplifier. The clamping member 24 is located in the middle of the limiting plate 231. The clamping member 24 includes a clamping frame 241, a clamping cylinder 242, and a clamping block 243. The clamping frame 241 is L-shaped. The clamping frame 241 is fixedly connected to one side of the limiting plate 231. The clamping cylinder 242 is fixedly connected to the end of the clamping frame 241. The telescopic end of the clamping cylinder 242 is arranged towards the direction of the limiting plate 231. The clamping block 243 is fixedly connected to the telescopic end of the clamping cylinder 242. A clamping groove 2311 is opened at the position where the limiting plate 231 is connected to the clamping block 243. The clamping block 243 is slidably connected in the clamping groove 2311. The clamping block 243 can move towards the direction of the limiting plate 231 under the drive of the clamping cylinder 242, and one end of the clamping block 243 can abut against one side of the power amplifier to be dispensed, realizing the positioning of the power amplifier to be dispensed in the transport mechanism 2.

[0033] A detection hole 2431 is provided in the clamping block 243, and the detection hole 2431 is arranged in the direction of the limit plate 231. A detection camera is arranged in the detection hole 2431, and the detection camera can detect the power amplifier to be glued, and the detection camera is electrically connected to the clamping cylinder 242. When the power amplifier to be glued is transported to the clamping position, the detection camera detects the power amplifier to be glued, thereby controlling the clamping cylinder 242 to work, and the clamping cylinder 242 drives the clamping block 243 to abut against the power amplifier to be glued, so as to realize the positioning of the power amplifier to be glued.

[0034] The rack 1 is fixedly connected with a curing lamp 6, which is arranged toward the transport mechanism 2. After the power amplifier is glued, the curing lamp 6 is directed toward the glued power amplifier, thereby curing the glue on the power amplifier, reducing the probability that the glue on the power amplifier is not fully cured and thus affects the subsequent transportation of the power amplifier.

[0035] The dispensing mechanism 3 includes a dispensing head 31, a dispensing valve 32 and a glue storage tube 33. The dispensing head 31 is arranged toward the transport mechanism 2. One end of the dispensing head 31 away from the transport mechanism 2 is connected to the R-axis rotating member 44. One end of the R-axis rotating member 44 away from the dispensing head 31 is connected to the dispensing valve 32. One end of the dispensing valve 32 away from the R-axis connecting member is connected to the glue storage tube 33. When dispensing, the R-axis rotating member 44 controls the rotation of the dispensing head 31.

[0036] A glue detector is provided in the glue storage tube 33, and the glue detector can detect the content of glue in the glue storage tube 33. When the content of glue in the glue storage tube 33 is low, the glue detector can detect it and send out an alarm, thereby reminding the staff to add glue in time.

[0037] The implementation principle of a visually guided four-axis linkage dispensing machine in an embodiment of the present application is as follows: when the power amplifier is dispensing, the dispensing head 31 of the dispensing mechanism 3 is moved to the dispensing position through the Z-axis moving part 41, the X-axis moving part 42, and the Y-axis moving part 43, and then under the joint action of the Z-axis moving part 41, the X-axis moving part 42, the Y-axis moving part 43 and the R-axis rotating part 44, the dispensing head 31 of the dispensing mechanism 3 can always remain tangent to the position to be dispensed, so that dispensing is performed around the position to be dispensed, reducing the probability of incomplete dispensing.

[0038] The above are all preferred embodiments of the present application, and the protection scope of the present application is not limited thereto. Therefore, any equivalent changes made according to the structure, shape, and principle of the present application should be included in the protection scope of the present application.

Claims

1. A vision-guided four-axis linkage dispensing machine, characterized in that: include: Rack (1); A transport mechanism (2), comprising an inlet (21) and an outlet (22), the transport mechanism (2) being used to transport the power amplifier to be dispensed; A glue dispensing mechanism (3), used for storing glue and dispensing glue; A moving mechanism (4) is arranged close to the transport mechanism (2), the moving mechanism (4) is connected to the glue dispensing mechanism (3), the moving mechanism (4) comprises a Z-axis moving part (41), an X-axis moving part (42), a Y-axis moving part (43) and an R-axis rotating part (44), the Z-axis moving part (41) is fixedly connected to one side of the glue dispensing mechanism (3), the X-axis moving part (42) is fixedly connected to one side of the X-axis moving part (42), the Y-axis moving part (43) is fixedly connected to one end of the X-axis moving part (42), the R-axis rotating part (44) is connected to one end of the glue dispensing mechanism (3) facing the transport mechanism (2), and the R-axis rotating part (44) is used to drive the glue outlet of the glue dispensing mechanism (3) to rotate.

2. According to claim 1, a vision-guided four-axis linkage glue dispensing machine is characterized in that: The transport mechanism (2) comprises a transport member (23) and a clamping member (24); the transport member (23) comprises two parallel and spaced limiting plates (231); opposite sides of the two limiting plates (231) are connected to a transport belt (232); the upper end surface of the transport belt (232) is located below the upper end surface of the limiting plate (231); the clamping member (24) is arranged in the middle of the limiting plate (231); and the clamping member (24) is used to clamp the front dispensing amplifier.

3. A vision-guided four-axis linkage glue dispensing machine according to claim 2, characterized in that: The clamping member (24) comprises a clamping frame (241), a clamping cylinder (242) and a clamping block (243); the clamping frame (241) is fixedly connected to the side of the limiting plate (231) away from the conveyor belt (232); the upper end surface of the clamping frame (241) is arranged parallel to the upper end surface of the conveyor belt (232); the fixed end of the clamping cylinder (242) is fixedly connected to the upper end surface of the clamping frame (241); the movable end of the clamping cylinder (242) is arranged toward the limiting plate (231); a clamping groove (2311) is provided at a position of the limiting plate (231) facing the clamping cylinder (242); the clamping block (243) is slidably connected to the groove wall of the clamping groove (2311); and one side of the clamping block (243) is fixedly connected to the telescopic end of the clamping cylinder (242).

4. The visually guided four-axis linkage glue dispensing machine according to claim 3, characterized in that: The clamping block (243) is provided with a detection hole (2431), and a detection camera is arranged inside the detection hole (2431), and the detection phase is electrically connected to the clamping cylinder (242).

5. The vision-guided four-axis linkage glue dispensing machine according to claim 3, characterized in that: The glue dispensing mechanism (3) comprises a glue dispensing head (31), a glue dispensing valve (32) and a glue storage tube (33); the glue dispensing head (31) is arranged toward the transport mechanism (2); the glue dispensing valve (32) is connected to an end of the glue dispensing head (31) facing away from the transport mechanism (2); and the glue storage tube (33) is connected to the glue dispensing valve (32) via a pipeline.

6. The vision-guided four-axis linkage glue dispensing machine according to claim 5, characterized in that: The glue storage tube (33) is provided with a glue detector, which is used to detect the glue in the glue storage tube (33) and can issue an alarm.

7. The vision-guided four-axis linkage glue dispensing machine according to claim 1, characterized in that: The Z-axis moving part (41) is fixedly connected with a detection camera (5), the detection camera (5) is arranged toward the transportation mechanism (2), and the detection camera (5) is used to detect the dispensing position of the power amplifier to be dispensed.

8. The vision-guided four-axis linkage glue dispensing machine according to claim 1, characterized in that: The frame (1) is fixedly connected with a curing lamp (6), and the curing lamp (6) is used for curing glue.

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