Four-axis dispensing equipment

Abstract

The utility model discloses four-axis glue dispensing equipment which comprises a mounting seat, a mechanical arm is mounted at the upper end of the mounting seat, a mounting head is mounted on the mechanical arm, a connector is arranged in the mounting head, one end of the connector is connected with a glue conveying pipe, a nozzle is arranged at one end of the connector, a fixing box is fixed at the lower end of the connector, and the lower end of the fixing box is connected with a glue conveying pipe. A sliding groove is formed in the fixing box, a protection box is installed in the sliding groove, a forward and reverse screw rod is rotationally connected in the protection box in a sleeved mode, a rotating mechanism is installed on the forward and reverse screw rod, a sliding block is installed in the sliding groove, and a moving rod is fixed to one end of the sliding block. Compared with the prior art, the glue dispensing valve has the advantages that an accurate position triggering mode is realized, the problem of glue dispensing position deviation is solved, the triggering frequency of the glue dispensing valve is increased, the direct change of different frequencies at multiple positions is realized, meanwhile, the spray head can be quickly and stably mounted and fixed, the labor cost is reduced, and the practicability and the convenience are enhanced.

Description

Technical Field

[0001] The utility model relates to the technical field of glue dispensing equipment, in particular to a four-axis glue dispensing equipment. Background Art

[0002] Currently, the dispensing control trigger is mostly IO point output control. When the motion system is in place, position comparison is performed for point trigger control, or encoder feedback is used to reach the target position and then point output control is performed. There is a deviation between the actual position and the dispensing path position. If it is used in high-speed or high-precision dispensing process, the dispensing position cannot meet the requirements, and the maximum frequency of the IO point output method is only 1KHz. In addition, the nozzle is usually installed on the dispensing equipment. The current method is to fix it with screws, which is not only inconvenient to disassemble, but also increases labor costs. For this reason, we proposed a four-axis dispensing equipment to solve the above problems. Utility Model Content

[0003] The purpose of the utility model is to solve the shortcomings of the prior art and to propose a four-axis dispensing device.

[0004] In order to achieve the above purpose, the present invention adopts the following technical solutions:

[0005] The top end of the sliding sleeve is fixed with a toothed plate, and the bottom end of the sliding sleeve is fixed with a toothed plate, and the toothed plate is fixed with a toothed plate at a bottom end.

[0006] Preferably, the four corners of the fixing box are provided with insertion holes, the four corners of the cover are provided with insertion rods, an insertion rod on the same side is inserted into a insertion hole on the same side, and the insertion rod is fixed by screws.

[0007] Preferably, an operating port is provided on the cover, and the operating port corresponds to the rotating mechanism.

[0008] Preferably, the rotating mechanism includes a rotating rod rotatably sleeved on the upper end of the protection box, the rotating rod and the forward and reverse screws are fixedly sleeved with bevel gears, and the two bevel gears are meshed with each other, and a rotating wheel is fixed to one end of the rotating rod.

[0009] Preferably, two plug-in interfaces are provided on both sides of the mounting head, and the two plug-in blocks on the same side are plugged into the two plug-in interfaces on the same side.

[0010] Preferably, the plug block is covered with a rubber layer.

[0011] In this utility model, a motion control card controls the robot's motion by sending commands. The control card internally interprets the commands and converts them into drive signals, which are then output to the robot's various moving parts, causing the robot to move to a specified position. The control card not only controls the robot's position and speed, but also its acceleration and deceleration, achieving precise control. The A-axis coordinated pulse within the motion controller's four-axis interpolation function can be used for dispensing control and frequency conversion. This signal, combined with a pulse converter, is sent to the dispensing control valve. When the dispensing position is reached, the A-axis pulse output of the four-axis interpolation function is synchronously switched and freely switched with the set speed. The pulse signal frequency also switches with the set speed, achieving real-time synchronization. Upon receiving the pulse signal, the pulse converter converts the low-voltage pulse input into a signal output that controls the dispensing valve to trigger glue dispensing. The pulse frequency changes are directly converted to the valve trigger frequency, adjusting the glue volume and position. To install or remove the nozzle, rotating the wheel drives the bevel gear, which in turn drives the forward and reverse screws. The movement of the slider and movable rod drives the movable plate, which in turn drives the insert into the corresponding socket for removal and fixation.

[0012] Compared with the existing technology, the utility model realizes a precise position triggering mode, solves the problem of dispensing position deviation, speeds up the triggering frequency of the dispensing valve, realizes direct changes of different frequencies in multiple positions, and can also quickly and stably install and fix the nozzle, reducing labor costs and enhancing practicality and convenience. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] Figure 1 It is a structural diagram of the utility model;

[0014] Figure 2 It is a top view of the utility model;

[0015] Figure 3 This is a structural diagram of the connector and the fixing box of the utility model;

[0016] Figure 4 This is a diagram of the internal structure of the fixed box of the present utility model;

[0017] Figure 5This is a diagram of the cover structure of the present utility model;

[0018] Figure 6 This is a diagram of the internal structure of the protection box of the present utility model;

[0019] Figure 7 This is an operational flow chart of the present utility model.

[0020] In the figure: 1 nozzle, 2 connecting head, 3 fixing box, 4 plug block, 5 moving plate, 6 moving rod, 7 sealing cap, 8 rotating wheel, 9 rubber hose, 10 mounting head, 11 mechanical arm, 12 mounting base, 13 rotating rod, 14 protection box, 15 bevel gear, 16 forward and reverse screw, 17 slider, 18 plug rod. DETAILED DESCRIPTION

[0021] The technical solutions in the embodiments of the present invention will be described clearly and completely below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all the embodiments.

[0022] Reference Figure 1-7 A four-axis dispensing device includes a mounting base 12, a robotic arm 11 is installed on the upper end of the mounting base 12, a mounting head 10 is installed on the robotic arm 11, a connecting head 2 is provided in the mounting head 10, one end of the connecting head 2 is connected to a glue delivery pipe 9, and one end of the connecting head 2 is provided with a nozzle 1 to realize the transportation and ejection of the colloid.

[0023] A fixed box 3 is fixed to the lower end of the connecting head 2, and a slide groove is provided in the fixed box 3, and a protective box 14 is installed in the slide groove. Forward and reverse screws 16 are rotatably sleeved in the protective box 14, and a rotating mechanism is installed on the forward and reverse screws 16. The rotating mechanism includes a rotating rod 13 rotatably sleeved on the upper end of the protective box 14, and the rotating rod 13 and the forward and reverse screws 16 are fixedly sleeved with bevel gears 15, and the two bevel gears 15 are engaged with each other. A rotating wheel 8 is fixed to one end of the rotating rod 13, and the rotation of the rotating wheel 8 drives the rotating rod 13 to rotate, and then the bevel gear 15 is rotated, thereby realizing the rotation of the forward and reverse screws 16. An operating port is provided on the cover 7, and the operating port corresponds to the rotating mechanism, and the operating port and the rotating wheel 8 are correspondingly arranged, which is convenient for operation.

[0024] A slider 17 is installed in the slide groove, and a moving rod 6 is fixed to one end of the slider 17. Both ends of the forward and reverse screws 16 are threadedly sleeved on the slider 17 and the moving rod 6. A moving rod 6 on the same side passes through a fixed box 3 on the same side and extends to one side of the fixed box 3. A moving plate 5 is fixed to one end of the moving rod 6, and two plug-in blocks 4 are fixed to one side of the moving plate 5. The two plug-in blocks 4 on the same side are plugged into one side of the mounting head 10. Two plug-in interfaces are provided on both sides of the mounting head 10. The two plug-in blocks 4 on the same side are plugged into the two plug-in interfaces on the same side. Firm fixation is achieved through the close combination of the plug-in blocks 4 and the plug-in interfaces. The plug-in blocks 4 are covered with a rubber layer to ensure the plug-in fixation effect.

[0025] A cover 7 is installed on one side of the fixing box 3. Sockets are provided at the four corners of the fixing box 3. Insertion rods 18 are provided at the four corners of the cover 7. An insertion rod 18 on the same side is inserted into a socket on the same side. The insertion rod 18 is fixed by screws, which is convenient for opening for maintenance operations.

[0026] Use the four-axis interpolation function of the motion controller for precise dispensing position control, synchronize the rapid response and change of dispensing speed, and increase the trigger frequency to 1MHz at the fastest.

[0027] In the present invention, the motion control card controls the movement of the robot by sending commands. The control card will analyze the commands internally and convert them into drive signals output to the various moving parts of the robot, so that the robot moves to the specified position. The control card can not only control the position and speed of the robot, but also control the acceleration and deceleration of the robot to achieve the purpose of precise control. Then, the A-axis coordinated pulse in the four-axis interpolation function of the motion controller can use dispensing control and frequency conversion, and cooperate with the pulse converter to send the signal to the dispensing control valve. When the dispensing position is reached, the four-axis interpolation function A-axis pulse output is synchronously switched and freely switched with the set speed, so that the pulse signal frequency also switches with the set speed to achieve real-time synchronization. When the pulse converter receives the pulse signal, it converts the low-voltage pulse input into a signal output to control the dispensing valve to trigger the glue spraying. And the changing frequency of the pulse frequency is directly switched to the trigger frequency of the valve to change the amount of glue and position. When the nozzle needs to be installed or disassembled, the rotating wheel 8 drives the bevel gear 15 to rotate, and then drives the forward and reverse screws 16 to rotate. As the slider 17 and the moving rod 6 move, the moving plate 5 moves, and then drives the plug block 4 to be inserted into the corresponding socket to achieve disassembly and fixation.

[0028] The above is only a preferred specific implementation method of the present invention, but the protection scope of the present invention is not limited to this. Any technician familiar with the technical field within the technical scope disclosed by the present invention can make equivalent replacements or changes based on the technical solution and utility model concept of the present invention, which should be covered by the protection scope of the present invention.

Claims

1. A four-axis dispensing device, comprising a mounting seat (12), characterized in that: A mechanical arm (11) is installed at the upper end of the mounting seat (12), a mounting head (10) is installed on the mechanical arm (11), a connecting head (2) is provided in the mounting head (10), one end of the connecting head (2) is connected to a rubber pipe (9), one end of the connecting head (2) is provided with a nozzle (1), a fixing box (3) is fixed at the lower end of the connecting head (2), a slide groove is provided in the fixing box (3), a protection box (14) is installed in the slide groove, a forward and reverse screw (16) is rotatably sleeved in the protection box (14), and a rotating mechanism is installed on the forward and reverse screw (16). A slider (17) is installed in the slide groove, and a moving rod (6) is fixed to one end of the slider (17). Both ends of the forward and reverse screw rods (16) are threadedly sleeved on the slider (17) and the moving rod (6). A moving rod (6) on the same side passes through a fixed box (3) on the same side and extends to one side of the fixed box (3). A moving plate (5) is fixed to one end of the moving rod (6). Two plug-in blocks (4) are fixed to one side of the moving plate (5). The two plug-in blocks (4) on the same side are plugged into one side of the mounting head (10). A cover (7) is installed on one side of the fixed box (3).

2. A four-axis dispensing device according to claim 1, characterized in that The four corners of the fixing box (3) are provided with insertion holes, and the four corners of the cover (7) are provided with insertion rods (18). An insertion rod (18) on the same side is inserted into a insertion hole on the same side, and the insertion rod (18) is fixed by screws.

3. The four-axis dispensing device according to claim 1, characterized in that: The sealing cover (7) is provided with an operating port, and the operating port corresponds to the rotating mechanism.

4. The four-axis dispensing device according to claim 1, characterized in that: The rotating mechanism comprises a rotating rod (13) rotatably sleeved on the upper end of a protection box (14); a bevel gear (15) is fixedly sleeved on the rotating rod (13) and the forward and reverse screw rods (16); and the two bevel gears (15) are meshed with each other; and a rotating wheel (8) is fixed on one end of the rotating rod (13).

5. The four-axis dispensing device according to claim 1, characterized in that: Two plug-in interfaces are provided on both sides of the installation head (10), and two plug-in blocks (4) on the same side are plugged into the two plug-in interfaces on the same side.

6. The four-axis dispensing device according to claim 1, characterized in that: The insert block (4) is covered with a rubber layer.

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