Full-automatic dispensing flexible system

Abstract

The utility model provides a full-automatic flexible dispensing system, which relates to the technical field of karst detection and comprises a working cavity arranged on a rack, an electrical control subsystem, a vacuum subsystem arranged on the side surface of the working cavity and a control system connected with the electrical control subsystem, a transmission mechanism, a positioning subsystem, a dispensing manipulator and a glue supply subsystem are arranged in the working cavity, the positioning subsystem, the dispensing manipulator and the glue supply subsystem are respectively connected with the electrical control subsystem, and the dispensing manipulator carries a dispensing valve; the electrical control subsystem controls the vacuum subsystem to vacuumize or not vacuumize the working cavity, controls the glue supply subsystem to supply glue to the glue dispensing valve, controls the transmission mechanism to drive the product tray loaded with the product to be dispensed to move, and controls the positioning subsystem to position the product tray. And according to the positioning, the dispensing manipulator is controlled to drive the dispensing valve to carry out dispensing operation on the to-be-dispensed product on the product tray. According to the utility model, the automatic dispensing operation under the atmospheric environment and the vacuum environment is realized in one system, the flexibility is extremely high, and the system is suitable for various application scenes.

Description

Technical Field

[0001] The utility model relates to the technical field of sensor production, in particular to a full-automatic glue dispensing flexible system. Background Art

[0002] In industries such as sensor production, different dispensing processes are often used to achieve various purposes such as waterproofing, salt spray resistance, oxidation resistance, aging resistance, shock resistance, and insulation. Different glues are often used for different sensor products to achieve the different purposes described above. For some high-end sensor manufacturers, it is often difficult to realize the automated production of dispensing processes due to factors such as rich product variety but low single product output.

[0003] How to provide a device that is suitable for different types of products, different types of glue, can work in atmospheric environment or vacuum environment, can be used as a stand-alone device or connected in a fully automatic manner, and is suitable for the application scenarios described above has become an urgent problem to be solved. Utility Model Content

[0004] In response to the above problems, the utility model provides a fully automatic flexible dispensing system to solve the problem that different sensor products require different glues for dispensing operations, and can realize automated dispensing operations in both atmospheric and vacuum environments, and is suitable for a variety of different application scenarios.

[0005] To achieve the above purpose, the technical solution of the utility model is implemented as follows:

[0006] A fully automatic flexible dispensing system comprises: a working chamber provided on a frame, and an electrical control subsystem; a vacuum subsystem is installed on the side of the working chamber; a transmission mechanism, a positioning subsystem, a dispensing robot, and a glue supply subsystem are provided in the working chamber; the vacuum subsystem, the transmission mechanism, the positioning subsystem, the dispensing robot, and the glue supply subsystem are respectively connected to the electrical control subsystem; the dispensing robot is equipped with a dispensing valve;

[0007] The electrical control subsystem controls the vacuum subsystem to evacuate or not the working chamber, controls the glue supply subsystem to supply glue to the dispensing valve, controls the transmission mechanism to move the product tray containing the product to be dispensed, controls the positioning subsystem to position the product tray, and controls the dispensing robot to drive the dispensing valve to dispense the product to be dispensed on the product tray according to the positioning.

[0008] As a further improvement of the present invention, the two end faces of the working chamber corresponding to the moving direction of the transmission mechanism are provided with automatic opening and closing doors, the front face is provided with a maintenance door, and the top is provided with a top monitor, an automatic re-pressure valve and a vacuum gauge. The automatic opening and closing door, the top monitor and the automatic re-pressure valve are all connected to the electrical control subsystem;

[0009] The electrical control subsystem controls the automatic opening and closing door to open, connects the working chamber to upstream and downstream equipment, controls the top monitor to monitor the dispensing operation, and controls the automatic pressure-recovery valve to restore the working chamber to atmospheric pressure;

[0010] The vacuum gauge detects the vacuum degree in the working chamber, and the maintenance door is used for maintaining equipment in the working chamber, replacing the dispensing valve, and replacing the glue barrel for the glue supply subsystem.

[0011] As a further improvement of the present invention, a plurality of different groups of automatic pressure-recovering valves are provided on the top of the working chamber, and each group of automatic pressure-recovering valves is provided with a different pressure-recovering rate curve.

[0012] As a further improvement of the present utility model, the dispensing robot includes a Y-direction robot, a Y-direction support rail, an X-direction robot and a Z-direction robot installed in the working chamber and located above the transmission mechanism. The Y-direction robot and the Y-direction support rail are respectively horizontally installed on the inner walls of the two end surfaces of the working chamber corresponding to the transmission direction of the transmission mechanism. The two ends of the X-direction robot are respectively vertically connected to the Y-direction robot and the Y-direction support rail. The Z-direction robot is located in the vertical direction and is slidably connected to the side of the X-direction robot. The Z-direction robot is equipped with a dispensing valve;

[0013] The electrical control subsystem controls the X-axis manipulator and the Y-axis manipulator to move above the product according to the position of the product on the product tray obtained by the positioning subsystem, and controls the Z-axis manipulator to move downward, so that the dispensing valve performs dispensing operations on the product.

[0014] As a further improvement of the present invention, the Z-axis manipulator includes a Z-axis linear module connected to the side of the X-axis manipulator, a servo motor is provided on the top of the Z-axis linear module, and a dispensing valve assembly, a vision system and a laser displacement sensor are installed on the side of the Z-axis linear module. The laser displacement sensor measures the distance from the product area to be dispensed to the dispensing valve assembly, and the vision system guides the dispensing valve assembly to complete the dispensing operation of the product area to be dispensed.

[0015] As a further improvement of the present invention, the dispensing valve assembly includes a dispensing valve carrier plate, and the dispensing valve assembly is connected to the side of the Z-direction linear module through the dispensing valve carrier plate;

[0016] A vertically arranged dispensing valve is installed on one side of the dispensing valve carrier plate, and a positioning pin is provided on the other side opposite to the dispensing valve. The dispensing valve assembly on the side of the Z-direction linear module can be quickly replaced through the positioning pin to replace different types of dispensing valves.

[0017] As a further improvement of the present invention, the glue supply subsystem includes an inverted L-shaped glue supply mounting assembly, the horizontal section of which is used to connect and fix the upper glue dispensing barrel and the lower glue supply cylinder, and the vertical section is laterally mounted on the inner wall of the working chamber;

[0018] A connecting hole seat is provided on the top of the dispensing barrel, and the connecting hole seat is connected to the dispensing valve through a hose.

[0019] As a further improvement of the present invention, the transmission mechanism includes a transmission mechanism frame fixedly connected to the bottom of the working chamber, two support wheel assemblies arranged along the transmission direction are installed on the transmission mechanism frame, a driving wheel assembly and a driven wheel assembly are respectively installed at both ends of the side of each support wheel assembly, and a transmission belt is commonly connected to the driving wheel assembly and the driven wheel assembly, a reduction motor is installed on the inner side of the two transmission mechanism frames where the two driving wheel assemblies are located, and a side guard strip is provided on the outer side of the two transmission mechanism frames, and the side guard strip is located on the outer side of the transmission belt;

[0020] The reduction motor is connected to the electrical control subsystem to drive the two transmission belts to operate, thereby driving the product trays on the transmission belts to move.

[0021] As a further improvement of the present invention, the positioning subsystem is located in the middle section of the transmission mechanism, including a mounting plate fixedly connected to the bottom of the working chamber, an adjustment pillar is installed on the upper side of the mounting plate, a lifting device is installed on the upper side of the adjustment pillar, a platform is installed on the upper side of the lifting device, a plurality of positioning supports are provided on both sides of the upper end surface of the platform along the transmission direction of the product tray, and a blocking block is provided at the front end along the transmission direction of the product tray;

[0022] The lifting device drives the platform and the upper structure to rise or fall in the height direction, the blocking block blocks the product pallet on the transmission mechanism, and the multiple positioning support members position the product pallet and lift and support the two side edges of the product pallet.

[0023] As a further improvement of the present invention, the rack includes a rack body, a plurality of casters and a plurality of feet are evenly provided on the bottom of the rack body, an electric control cabinet is provided in the rack body, and the electrical control subsystem is installed in the electric control cabinet.

[0024] As a further improvement of the present invention, the vacuum subsystem includes a vacuum pump and an auxiliary pipeline, and the vacuum pump is connected to the working chamber via the auxiliary pipeline.

[0025] Compared with the prior art, the beneficial effects of the present invention are:

[0026] In view of the different performances required by different existing sensors and the different dispensing environments required for the dispensing process, the utility model sets a working chamber and a vacuum subsystem, so that the system can work in both atmospheric and vacuum environments, with high flexibility and suitable for different application scenarios.

[0027] The utility model provides an X-direction manipulator, a Y-direction manipulator and a Z-direction manipulator of a dispensing manipulator, so that the dispensing manipulator can accurately dispense glue at the position where the product is to be dispensed, thereby improving the dispensing accuracy.

[0028] The utility model provides automatic opening and closing doors on both sides of the working chamber, so that the fully automatic dispensing flexible system of the utility model can be connected to upstream and downstream equipment and used online as a unit in an automatic production line. At the same time, by providing a maintenance door, product trays and products can also be placed and removed through the maintenance door, so that the system can realize dispensing operations independently.

[0029] The utility model can accurately measure the distance between the product to be glued and the glued component by setting the laser position sensor and vision system of the Z-direction glue dispensing robot, and accurately guide the glue dispensing process to improve the glue dispensing accuracy.

[0030] The utility model provides a positioning pin on the dispensing valve carrier plate in the dispensing valve assembly, which makes the replacement of the dispensing valve assembly faster and more convenient, provides a basis for realizing the rapid and accurate replacement of different types of dispensing valves, and provides a basis for being applicable to different types of products and different types of glue, thereby improving efficiency and being suitable for flexible production of multiple types and small batches.

[0031] The utility model can set different re-pressure rate curves by arranging the automatic re-pressure valve, and can reduce the influence of rapid re-pressure on the dispensing product.

[0032] The utility model monitors the current working status of the automatic dispensing flexible system by installing a top monitor on the top of the working chamber, and displays it on the display, which is convenient for personnel to view in real time. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] Figure 1 This is a schematic diagram of the overall structure of a fully automatic dispensing flexible system disclosed in one embodiment of the utility model;

[0034] Figure 2 This is a schematic diagram of the working chamber structure disclosed in one embodiment of the utility model;

[0035] Figure 3 This is a schematic diagram of the structure of a dispensing robot disclosed in one embodiment of the utility model;

[0036] Figure 4This is a schematic diagram of the Z-direction manipulator structure disclosed in one embodiment of the present utility model;

[0037] Figure 5 This is a structural diagram of a dispensing valve assembly disclosed in one embodiment of the utility model;

[0038] Figure 6 This is a schematic diagram of the structure of the glue supply subsystem disclosed in one embodiment of the present utility model;

[0039] Figure 7 This is a schematic diagram of a transmission mechanism structure disclosed in one embodiment of the present utility model;

[0040] Figure 8 This is a schematic diagram of a positioning subsystem structure disclosed in an embodiment of the present utility model;

[0041] Figure 9 It is a schematic diagram of a rack structure disclosed in an embodiment of the present utility model.

[0042] Description of reference numerals:

[0043] 1. Working chamber; 2. Dispensing robot; 3. Glue supply subsystem; 4. Transmission mechanism; 5. Positioning subsystem; 6. Rack; 7. Vacuum subsystem; 1.1. Chamber body; 1.2. Automatic opening and closing door; 1.3. Maintenance door; 1.4. Top monitor; 1.5. Automatic re-pressure valve; 1.6. Vacuum gauge; 2.1. Y-axis robot; 2.2. X-axis robot; 2.3. Z-axis robot; 2.4. Y-axis support rail; 2.3.1. Z-axis linear module; 2.3.2. Servo motor; 2.3.3. Dispensing valve assembly; 2.3.4. Vision system; 2.3.5. Laser displacement sensor; 2.3.3.1. Dispensing valve; 2.3 .3.2, dispensing valve carrier plate; 2.3.3.3, positioning pin; 3.1, dispensing barrel; 3.1.1, connecting hole seat; 3.2, glue supply mounting assembly; 3.3, glue supply cylinder; 4.1, transmission mechanism frame; 4.2, adjusting bolt; 4.3, driven wheel assembly; 4.4, supporting wheel assembly; 4.5, transmission belt; 4.6, side guard; 4.7, driving wheel assembly; 4.8, reduction motor; 5.1, adjusting bolt; 5.2, mounting plate; 5.3, adjusting support; 5.4, lifting device; 5.5, blocking block; 5.6, positioning support; 6.1, frame body; 6.2, casters; 6.3, anchors; 6.4, electrical control cabinet. DETAILED DESCRIPTION

[0044] It should be noted that, in the absence of conflict, the embodiments of the present invention and the features therein can be combined with each other.

[0045] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention. In addition, the terms "first", "second", etc. are only used for descriptive purposes and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, features defined as "first", "second", etc. may explicitly or implicitly include one or more of the features. In the description of the present invention, unless otherwise specified, "multiple" means two or more.

[0046] In the description of this utility model, it should be noted that, unless otherwise expressly specified or limited, the terms "installed," "connected," and "connected" should be understood in a broad sense. For example, they can refer to fixed connections, detachable connections, or integral connections; mechanical connections, electrical connections; direct connections, indirect connections through an intermediate medium, and internal communication between two components. Those skilled in the art will understand the specific meanings of the above terms in this utility model based on specific circumstances.

[0047] The present invention is described in further detail below with reference to the accompanying drawings:

[0048] like Figure 1-9 As shown, a fully automatic flexible dispensing system includes: a working chamber 1 and an electrical control subsystem arranged on a frame 6. A vacuum subsystem 7 is installed on the side of the working chamber 1. A transmission mechanism 4, a positioning subsystem 5, a dispensing robot 2, and a glue supply subsystem 3 are arranged in the working chamber 1. The vacuum subsystem 7, the transmission mechanism 4, the positioning subsystem 5, the dispensing robot 2, and the glue supply subsystem 3 are respectively connected to the electrical control subsystem. The dispensing robot 2 is equipped with dispensing valves 2, 3, 3, 1.

[0049] The electrical control subsystem controls the vacuum subsystem 7 to evacuate or not evacuate the working chamber 1, controls the glue supply subsystem 3 to supply glue to the dispensing valve 2.3.3.1, controls the transmission mechanism 4 to move the product tray containing the product to be dispensed, controls the positioning subsystem to position the product tray, and controls the dispensing robot 2 to drive the dispensing valve 2.3.3.1 to dispense the product to be dispensed on the product tray according to the positioning.

[0050] Specifically,

[0051] like Figure 2As shown, the working chamber 1 is provided with automatic opening and closing doors 1.2 at both end faces corresponding to the movement direction of the transmission mechanism 4, a maintenance door 1.3 at the front face, and a top monitor 1.4, an automatic re-pressure valve 1.5, and a vacuum gauge 1.6 at the top. The automatic opening and closing doors 1.2, the top monitor 1.4, and the automatic re-pressure valve 1.5 are all connected to the electrical control subsystem.

[0052] The electrical control subsystem controls the automatic opening and closing door 1.2 to open, allowing the working chamber 1 to connect to upstream and downstream equipment, controls the top monitor to monitor the dispensing operation, and controls the automatic pressure-resetting valve 1.5 to restore the working chamber 1 to atmospheric pressure;

[0053] The vacuum gauge 1.6 detects the vacuum level in the working chamber 1. The maintenance door 1.3 is used for equipment maintenance in the working chamber 1, replacing the dispensing valve 2.3.3.1, and replacing the glue barrel for the glue supply subsystem 3;

[0054] A plurality of different groups of automatic pressure-replenishing valves 1.5 are provided on the top of the working chamber 1. Each group of automatic pressure-replenishing valves 1.5 is provided with a different pressure-replenishing rate curve, which can reduce the influence of rapid pressure-replenishing on the dispensing product.

[0055] like Figure 3 As shown, the dispensing robot 2 includes a Y-direction robot 2.1, a Y-direction support rail 2.4, an X-direction robot 2.2, and a Z-direction robot 2.3 installed in the working chamber 1 and above the transmission mechanism 4. The Y-direction robot 2.1 and the Y-direction support rail 2.4 are horizontally installed on the inner walls of the two end surfaces of the working chamber 1 corresponding to the transmission direction of the transmission mechanism 4, respectively. The two ends of the X-direction robot 2.2 are vertically connected to the Y-direction robot 2.1 and the Y-direction support rail 2.4 respectively. The Z-direction robot 2.3 is located in the vertical direction and is slidably connected to the side of the X-direction robot 2.2. The Z-direction robot 2.3 is equipped with a dispensing valve 2.3.3.1.

[0056] The electrical control subsystem controls the X-axis manipulator 2.2 and the Y-axis manipulator 2.1 to move above the product based on the product position on the product tray obtained by the positioning subsystem, and controls the Z-axis manipulator 2.3 to move downward, so that the dispensing valve 2.3.3.1 can dispense glue to the product.

[0057] like Figure 4 As shown, the Z-axis manipulator 2.3 includes a Z-axis linear module 2.3.1 connected to the side of the X-axis manipulator 2.2, a servo motor 2.3.2 is provided on the top of the Z-axis linear module 2.3.1, and a dispensing valve 2.3.3.1 component 2.3.3, a vision system 2.3.4 and a laser displacement sensor 2.3.5 are installed on the side of the Z-axis linear module 2.3.1. The laser displacement sensor 2.3.5 measures the distance from the product area to be dispensed to the dispensing valve 2.3.3.1 component 2.3.3, and the vision system 2.3.4 guides the dispensing valve 2.3.3.1 component 2.3.3 to complete the dispensing operation of the product area to be dispensed.

[0058] like Figure 5 As shown, the dispensing valve 2.3.3.1 assembly 2.3.3 includes a dispensing valve 2.3.3.1 carrier plate, and the dispensing valve 2.3.3.1 assembly 2.3.3 is connected to the side of the Z-direction linear module 2.3.1 through the dispensing valve 2.3.3.1 carrier plate;

[0059] A vertically mounted dispensing valve 2.3.3.1 is installed on one side of a carrier plate for the dispensing valve 2.3.3.1. A locating pin 2.3.3.3 is provided on the other side opposite to the dispensing valve 2.3.3.1. The locating pin 2.3.3.3 allows quick replacement of the dispensing valve 2.3.3.1 assembly 2.3.3 on the side of the Z-axis linear module 2.3.1 to allow replacement of different types of dispensing valves 2.3.3.1.

[0060] like Figure 6 As shown, the glue supply subsystem 3 includes an inverted L-shaped glue supply mounting assembly 3.2. The horizontal section of the glue supply mounting assembly 3.2 is used to connect and fix the upper glue dispensing barrel 3.1 and the lower glue supply cylinder 3.3. The vertical section is laterally mounted on the inner wall of the working chamber 1.

[0061] A connecting hole seat 3.1.1 is provided on the top of the dispensing barrel 3.1, and the connecting hole seat 3.1.1 is connected to the dispensing valve 2.3.3.1 through a hose.

[0062] like Figure 7 As shown, the transmission mechanism 4 includes a transmission mechanism 4 frame fixedly connected to the bottom of the working chamber 1, and two support wheel assemblies 4.4 arranged along the transmission direction are installed on the transmission mechanism 4 frame. A driving wheel assembly 4.7 and a driven wheel assembly 4.3 are respectively installed at both ends of the side of each support wheel assembly 4.4, and a transmission belt 4.5 is commonly connected to the driving wheel assembly 4.7 and the driven wheel assembly 4.3. A reduction motor 4.8 is installed on the inner side of the two transmission mechanism 4 frames where the two driving wheel assemblies 4.7 are located, and a side guard strip 4.6 is provided on the outer side of the two transmission mechanism 4 frames. The side guard strip 4.6 is located on the outer side of the transmission belt 4.5;

[0063] The reduction motor 4.8 is connected to the electrical control subsystem to drive the two transmission belts 4.5 to operate, thereby moving the product trays on the transmission belts 4.5.

[0064] like Figure 8 As shown, the positioning subsystem 5 is located in the middle section of the conveying mechanism 4 and includes a mounting plate 5.2 fixedly connected to the bottom of the working chamber 1. An adjustment support 5.3 is mounted on the upper side of the mounting plate 5.2. A lifting device 5.4 is mounted on the upper side of the adjustment support 5.3. A platform is mounted on the upper side of the lifting device 5.4. A plurality of positioning supports 5.6 are provided on both sides of the upper end surface of the platform along the conveying direction of the product tray, and a blocking block 5.5 is provided at the front end along the conveying direction of the product tray.

[0065] The lifting device 5.4 drives the platform and the upper structure to rise or fall in the height direction, the blocking block 5.5 blocks the product tray on the transmission mechanism 4, and the multiple positioning supports 5.6 position the product tray and support the two side edges of the product tray.

[0066] like Figure 9 As shown, the rack 6 includes a rack body 6 , a plurality of casters 6.2 and a plurality of feet 6.3 are evenly arranged at the bottom of the rack body 6 , an electric control cabinet 6.4 is arranged inside the rack body 6 , and an electric control subsystem is installed in the electric control cabinet 6.4 .

[0067] The vacuum subsystem 7 includes a vacuum pump and auxiliary pipelines, and the vacuum pump is connected to the working chamber 1 via the auxiliary pipelines.

[0068] Example:

[0069] like Figures 1 to 9 As shown in FIG, a detailed structural diagram of a front automatic dispensing flexible system of this embodiment is shown in FIG. Figure 1 As shown, the system includes a working chamber 1, a dispensing robot 2, a glue supply subsystem 3, a transmission mechanism 4, a positioning subsystem 5, a frame 6, and a vacuum subsystem 7; the working chamber 1 is a chamber for dispensing operations, which has the function of a vacuum chamber and can cooperate with the vacuum subsystem 7 to achieve a vacuum environment for vacuum dispensing; the dispensing robot 2 is installed inside the working chamber 1 and is used to carry different dispensing valves for dispensing operations; the glue supply subsystem 3 is installed inside the working chamber 1 and is used to supply glue to the dispensing valves; the transmission mechanism 4 is used to move the dispensed product or product tray during dispensing; the positioning subsystem 5 is used to position the dispensed product or product tray; the frame 6 is used to install the working chamber 1 and the electrical control part, that is, the electrical control subsystem; the vacuum subsystem 7 is used to evacuate the working chamber 1 to form a vacuum environment inside it to achieve vacuum dispensing.

[0070] like Figure 2As shown, the working chamber 1 comprises: a chamber body 1.1, an automatic opening and closing door 1.2, a maintenance door 1.3, a top monitor 1.4, an automatic re-pressure valve 1.5, and a vacuum gauge 1.6. The chamber body 1.1 is used to support the entire system. The automatic opening and closing door 1.2 is used to connect to upstream and downstream equipment. In this case, a fully automatic dispensing flexible system can operate online as a unit in an automatic production line. The maintenance door 1.3 is used for equipment maintenance and manual replacement of different dispensing valves and glue barrels. When the fully automatic dispensing flexible system is used alone, products can also be loaded and unloaded through the maintenance door. The top monitor 1.4 is used to monitor the dispensing operation and display the information in real time on a display. The automatic re-pressure valve 1.5 is used to restore the vacuum chamber to atmospheric pressure when the system is operating automatically. Multiple automatic re-pressure valves 1.5 are set to different re-pressure rates. In conjunction with the vacuum gauge 1.6, different re-pressure rate curves can be achieved. The vacuum gauge 1.6 is used to detect the vacuum level within the working chamber 1, displaying the real-time vacuum level for the operator's reference and providing it to the control system for automatic operation of the control system.

[0071] like Figure 3 As shown, the dispensing robot 2 includes a Y-axis robot 2.1, an X-axis robot 2.2, a Z-axis robot 2.3, and a Y-axis support guide rail 2.4; the Y-axis robot 2.1 is a linear module driven by a servo motor, which is responsible for the Y-axis movement; the X-axis robot 2.2 is a linear module driven by a servo motor, which is responsible for the X-axis movement; the Z-axis robot 2.3 is a linear module driven by a servo motor, which is responsible for the Z-axis movement; the Y-axis support guide rail 2.4 is a set of linear guide rails, which is used to support the X-axis robot 2.2, reduce the load of the Y-axis robot 2.1, and improve its operation accuracy.

[0072] like Figure 4 As shown, the Z-axis manipulator 2.3 includes a Z-axis linear module 2.3.1, a servo motor 2.3.2, a dispensing valve assembly 2.3.3, a vision system 2.3.4, and a laser displacement sensor 2.3.5. The Z-axis linear module 2.3.1 is the Z-axis motion actuator, the servo motor 2.3.2 is used to drive the Z-axis motion, the dispensing valve assembly 2.3.3 is the dispensing actuator, the vision system 2.3.4 is used to accurately guide the dispensing process, and the laser displacement sensor 2.3.5 is used to accurately measure the distance from the product to be dispensed to the dispensing valve assembly 2.3.3. How can the laser displacement sensor be used to measure the distance from the product to be dispensed to the dispensing valve assembly to improve dispensing accuracy?

[0073] like Figure 5As shown, the dispensing valve assembly 2.3.3 includes: a dispensing valve 2.3.3.1, a dispensing valve carrier plate 2.3.3.2, and a locating pin 2.3.3.3; the dispensing valve 2.3.3.1 and the locating pin 2.3.3.3 are mounted on the dispensing valve carrier plate 2.3.3.2 to form a set of dispensing valve assembly 2.3.3. The equipment can be equipped with multiple sets of dispensing valve assemblies 2.3.3, each set of dispensing valve assembly 2.3.3 is equipped with a different dispensing valve 2.3.3.1. Since the locating pin 2.3.3 is installed on the dispensing valve assembly 2.3.3, different types of dispensing valves can be quickly and accurately replaced.

[0074] like Figure 6 As shown, the glue supply subsystem 3 includes a glue dispensing barrel 3.1, a glue supply mounting assembly 3.2, and a glue supply cylinder 3.3; the glue dispensing barrel 3.1 is used to carry the de-bubbled glue, the glue supply mounting assembly 3.2 is used to connect the glue supply subsystem 3 and the working chamber 1, and the glue supply cylinder 3.3 is used to drive the piston of the glue dispensing barrel 3.1 to push the glue out and supply it to the glue dispensing valve.

[0075] like Figure 7 As shown, the transmission mechanism 4 includes a transmission mechanism frame 4.1, adjusting bolts 4.2, a driven wheel assembly 4.3, a supporting wheel assembly 4.4, a transmission belt 4.5, a side rib 4.6, a driving wheel assembly 4.7, and a reduction motor 4.8; the transmission mechanism frame 4.1 is used to support and install the various components of the transmission mechanism 4, the adjusting bolts 4.2 are used to position and level the entire transmission mechanism 4, the driven wheel assembly 4.3, the transmission belt 4.5, and the driving wheel assembly 4.7 are used to transmit products or product pallets, the side rib 4.6 is used to provide guidance for transmitting products or product pallets, and the reduction motor 4.8 is used to drive the movement of the transmission mechanism 4.

[0076] like Figure 8 As shown, the positioning subsystem 5 includes an adjustment bolt 5.1, a mounting plate 5.2, an adjustment support 5.3, a lifting device 5.4, a stop block 5.5, and a positioning / support member 5.6;

[0077] The adjusting bolt 5.1 is used for horizontal adjustment and installation positioning of the entire positioning subsystem 5; the mounting plate 5.2 is used to bear the weight of the entire device; the adjusting pillar 5.3 is used to connect with the lifting part; the lifting device 5.4 is used to drive the movement of the entire device in the height direction; the blocking block 5.5 is used to block the product or product pallet on the conveying mechanism; the positioning / support member 5.6 is used to accurately position the product or product pallet on the conveying mechanism 4 and carry the product or product pallet on the conveying mechanism 4.

[0078] like Figure 9As shown, the rack 6 includes: a rack body 6.1, casters 6.2, feet 6.3, and an electric control cabinet 6.4; the rack body 6.1 is used to support the working chamber 1 and accommodate the electric control cabinet 6.4, the casters 6.2 are used to move the equipment over short distances, the feet 6.3 are used to support the equipment and level it, and the electric control cabinet 6.4 is used to carry components of the electrical and control parts.

[0079] The vacuum subsystem 7 includes a vacuum pump and associated pipelines, etc., and is used to provide a vacuum environment inside the working chamber 1 .

[0080] Advantages of this utility model:

[0081] In view of the different performances required by different existing sensors and the different dispensing environments required for the dispensing process, the utility model sets a working chamber and a vacuum subsystem, so that the system can work in both atmospheric and vacuum environments, with high flexibility and suitable for different application scenarios.

[0082] The utility model provides an X-direction manipulator, a Y-direction manipulator and a Z-direction manipulator of a dispensing manipulator, so that the dispensing manipulator can accurately dispense glue at the position where the product is to be dispensed, thereby improving the dispensing accuracy.

[0083] The utility model provides automatic opening and closing doors on both sides of the working chamber, so that the fully automatic dispensing flexible system of the utility model can be connected to upstream and downstream equipment and used online as a unit in an automatic production line. At the same time, by providing a maintenance door, product trays and products can also be placed and removed through the maintenance door, so that the system can realize dispensing operations independently.

[0084] The utility model can accurately measure the distance between the product to be glued and the glued component by setting the laser position sensor and vision system of the Z-direction glue dispensing robot, and accurately guide the glue dispensing process to improve the glue dispensing accuracy.

[0085] The utility model provides a positioning pin on the dispensing valve carrier plate in the dispensing valve assembly, which makes the replacement of the dispensing valve assembly faster and more convenient, provides a basis for realizing the rapid and accurate replacement of different types of dispensing valves, and provides a basis for being applicable to different types of products and different types of glue, thereby improving efficiency and being suitable for flexible production of multiple types and small batches.

[0086] The utility model can set different re-pressure rate curves by arranging the automatic re-pressure valve, and can reduce the influence of rapid re-pressure on the dispensing product.

[0087] The utility model monitors the current working status of the automatic dispensing flexible system by installing a top monitor on the top of the working chamber, and displays it on the display, which is convenient for personnel to view in real time.

[0088] The above are only preferred embodiments of the present invention and do not limit the present invention. For those skilled in the art, various modifications and variations of the present invention are possible. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention shall be included in the scope of protection of the present invention.

Claims

1. A fully automatic dispensing flexible system, characterized in that: include: A working chamber and an electrical control subsystem are provided on the frame. A vacuum subsystem is installed on the side of the working chamber. A transmission mechanism, a positioning subsystem, a dispensing robot, and a glue supply subsystem are provided in the working chamber. The vacuum subsystem, the transmission mechanism, the positioning subsystem, the dispensing robot, and the glue supply subsystem are respectively connected to the electrical control subsystem. The dispensing robot is equipped with a dispensing valve. The electrical control subsystem controls the vacuum subsystem to evacuate or not the working chamber, controls the glue supply subsystem to supply glue to the dispensing valve, controls the transmission mechanism to move the product tray containing the product to be dispensed, controls the positioning subsystem to position the product tray, and controls the dispensing robot to drive the dispensing valve to dispense the product to be dispensed on the product tray according to the positioning.

2. The fully automatic dispensing flexible system according to claim 1, characterized in that: The working chamber is provided with automatic opening and closing doors on both end faces corresponding to the moving direction of the transmission mechanism, a maintenance door on the front face, and a top monitor, an automatic re-pressure valve and a vacuum gauge on the top. The automatic opening and closing doors, the top monitor and the automatic re-pressure valve are all connected to the electrical control subsystem; The electrical control subsystem controls the automatic opening and closing door to open, connects the working chamber to upstream and downstream equipment, controls the top monitor to monitor the dispensing operation, and controls the automatic pressure-recovery valve to restore the working chamber to atmospheric pressure; The vacuum gauge detects the vacuum degree in the working chamber, and the maintenance door is used for maintaining equipment in the working chamber, replacing the dispensing valve, and replacing the glue barrel for the glue supply subsystem.

3. The fully automatic dispensing flexible system according to claim 1, characterized in that: The dispensing robot includes a Y-direction robot, a Y-direction support rail, an X-direction robot, and a Z-direction robot installed in the working chamber and above the transmission mechanism. The Y-direction robot and the Y-direction support rail are respectively horizontally installed on the inner walls of the two end surfaces of the working chamber corresponding to the transmission direction of the transmission mechanism. The two ends of the X-direction robot are respectively vertically connected to the Y-direction robot and the Y-direction support rail. The Z-direction robot is located in the vertical direction and is slidably connected to the side of the X-direction robot. The Z-direction robot is equipped with a dispensing valve. The electrical control subsystem controls the X-axis manipulator and the Y-axis manipulator to move above the product according to the position of the product on the product tray obtained by the positioning subsystem, and controls the Z-axis manipulator to move downward, so that the dispensing valve performs dispensing operations on the product.

4. The fully automatic dispensing flexible system according to claim 3 is characterized in that: The Z-axis robot includes a Z-axis linear module connected to the side of the X-axis robot. A servo motor is provided on the top of the Z-axis linear module. A dispensing valve assembly, a vision system and a laser displacement sensor are installed on the side of the Z-axis linear module. The laser displacement sensor measures the distance from the product area to be dispensed to the dispensing valve assembly. The vision system guides the dispensing valve assembly to complete the dispensing operation of the product area to be dispensed.

5. The fully automatic dispensing flexible system according to claim 4, characterized in that: The dispensing valve assembly includes a dispensing valve carrier plate, and the dispensing valve assembly is connected to the side of the Z-direction linear module through the dispensing valve carrier plate; A vertically arranged dispensing valve is installed on one side of the dispensing valve carrier plate, and a positioning pin is provided on the other side opposite to the dispensing valve. The dispensing valve assembly on the side of the Z-direction linear module can be quickly replaced through the positioning pin to replace different types of dispensing valves.

6. The fully automatic dispensing flexible system according to claim 1, characterized in that: The glue supply subsystem includes an inverted L-shaped glue supply installation assembly, the horizontal section of which is used to connect and fix the upper glue dispensing barrel and the lower glue supply cylinder, and the vertical section is installed on the inner wall of the working chamber; A connecting hole seat is provided on the top of the dispensing barrel, and the connecting hole seat is connected to the dispensing valve through a hose.

7. The fully automatic dispensing flexible system according to claim 1, characterized in that: The transmission mechanism includes a transmission mechanism frame fixedly connected to the bottom of the working chamber, two support wheel assemblies arranged along the transmission direction are installed on the transmission mechanism frame, a driving wheel assembly and a driven wheel assembly are respectively installed at both ends of the side of each support wheel assembly, and a transmission belt is commonly connected to the driving wheel assembly and the driven wheel assembly, a reduction motor is installed on the inner side of the two transmission mechanism frames where the two driving wheel assemblies are located, and a side guard bar is provided on the outer side of the two transmission mechanism frames, and the side guard bar is located on the outer side of the transmission belt; The reduction motor is connected to the electrical control subsystem to drive the two transmission belts to operate, thereby driving the product trays on the transmission belts to move.

8. The fully automatic dispensing flexible system according to claim 1, characterized in that: The positioning subsystem is located in the middle section of the conveying mechanism and includes a mounting plate fixedly connected to the bottom of the working chamber, an adjustment pillar is mounted on the upper side of the mounting plate, a lifting device is mounted on the upper side of the adjustment pillar, a platform is mounted on the upper side of the lifting device, a plurality of positioning supports are provided on both sides of the upper end surface of the platform along the conveying direction of the product tray, and a blocking block is provided at the front end along the conveying direction of the product tray; The lifting device drives the platform and the upper structure to rise or fall in the height direction, the blocking block blocks the product pallet on the transmission mechanism, and the multiple positioning support members position the product pallet and lift and support the two side edges of the product pallet.

9. The fully automatic dispensing flexible system according to claim 1, characterized in that: The rack includes a rack body, a plurality of casters and a plurality of feet are evenly arranged on the bottom of the rack body, an electric control cabinet is arranged in the rack body, and the electric control subsystem is installed in the electric control cabinet.

10. The fully automatic dispensing flexible system according to claim 1, characterized in that: The vacuum subsystem includes a vacuum pump and an auxiliary pipeline, and the vacuum pump is connected to the working chamber via the auxiliary pipeline.

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