Automatic gluing machine and automatic gluing system

Abstract

The utility model relates to the technical field of gluing machines, and discloses an automatic gluing machine and an automatic gluing system, and the automatic gluing machine comprises a rack, a three-axis moving mechanism, a gluing mechanism and a 3D visual identification mechanism. When the automatic gluing machine with the structure works, the third moving mechanism obliquely moves according to the height difference, fed back by the 3D camera vision controller, of the front area and the rear area of the to-be-glued piece so as to adjust the vertical height of the gluing head of the gluing mechanism, so that the height difference of the to-be-glued piece is compensated, the consistency of the glue dispensing height is effectively guaranteed, and the production efficiency is improved. The gluing uniformity can be guaranteed, the to-be-glued part is installed in the battery pack, the bonding effect and the heat conduction effect can be guaranteed, reworking and repairing are reduced, and the qualified rate of products is increased. The 3D visual identification mechanism is arranged on the gluing mechanism, and the three-axis moving mechanism synchronously drives the 3D visual identification mechanism to move in the moving process, so that a 3D camera takes pictures conveniently; and meanwhile, coordinate information obtained by photographing of the 3D camera can be quickly and timely fed back to the third moving mechanism.

Description

Technical Field

[0001] The utility model relates to the technical field of glue coating machines, in particular to an automatic glue coating machine and an automatic glue coating system. Background Art

[0002] During battery pack production, the liquid cooling plate must first be installed in the box. The box with the liquid cooling plate is then transferred to the gluing station, where an automatic gluing machine applies glue to the liquid cooling plate. Due to its long and thin shape, the liquid cooling plate is prone to deformation such as bending and warping during transportation or handling.

[0003] Existing automatic glue coating machines can only apply glue at a set height. However, due to the bending or warping of the incoming liquid cooling plate material, it is difficult to maintain consistency between the liquid cooling plate and the box, resulting in inconsistent glue dispensing height. Existing glue coating machines will form an uneven wavy glue pattern after dispensing glue, and there will be a wavy gap between the glue and the liquid cooling plate, which will cause air to remain in the wavy gap. The back-end process bonds the battery module to the liquid cooling plate. After testing, it was found that the glue pressing area did not meet the standards, the glue had air bubbles, the glue could not completely cover the bottom surface of the battery module, the glue had poor thermal conductivity, and the battery pack needed to be reworked and repaired, resulting in a low product production yield. Utility Model Content

[0004] In view of this, the utility model provides an automatic gluing machine and an automatic gluing system to solve the problem that the automatic gluing machine in the prior art can only apply glue at a set height, resulting in the need for rework and repair of the product after gluing and low production yield.

[0005] In a first aspect, the utility model provides an automatic glue coating machine, comprising:

[0006] frame;

[0007] The three-axis moving mechanism includes a first moving mechanism, a second moving mechanism, and a third moving mechanism; wherein the first moving mechanism is arranged on the frame, and the driving end of the first moving mechanism is adapted to move horizontally along a first horizontal direction; the second moving mechanism is arranged on the driving end of the first moving mechanism, and the driving end of the second moving mechanism is adapted to move along a second horizontal direction; the third moving mechanism is arranged on the driving end of the second moving mechanism, and the driving end of the third moving mechanism is adapted to move vertically;

[0008] a gluing mechanism, arranged on the driving end of the third moving mechanism;

[0009] A 3D visual recognition mechanism is arranged on the driving end of the third moving mechanism; the 3D visual recognition mechanism includes a 3D camera and a 3D camera visual controller, the 3D camera is used to take photos, and the 3D camera visual controller is used to receive the photos and generate instructions; the 3D camera visual controller is communicatively connected with the three-axis moving mechanism, the gluing mechanism and the 3D camera.

[0010] Beneficial effect: When the automatic gluing machine of this structure is working, the workpiece to be glued is transported to the three-axis moving mechanism, and the workpiece to be glued is positioned. The three-axis moving mechanism drives the 3D visual recognition mechanism to move to the front and rear ends of the workpiece to be glued respectively, and the 3D camera takes pictures of the workpiece to be glued at the front and rear ends respectively, thereby obtaining the point cloud information (three-dimensional coordinates) of the workpiece to be glued, and compares the coordinates obtained by the 3D camera with the coordinate information in the 3D camera vision template, and at the same time triggers the 3D camera vision controller to calculate the height difference between the front and rear areas of the workpiece to be glued, and calculates the inclination angle of the front and rear areas of the workpiece to be glued, and the 3D camera vision control The controller feeds back the acquired height difference information to the third moving mechanism, and the first moving mechanism and the second moving mechanism drive the gluing mechanism to move from the front end of the workpiece to be glued to the rear end of the workpiece to be glued for gluing. During this process, the third moving mechanism tilts and moves according to the height difference between the front and rear areas of the workpiece to be glued fed back by the 3D camera vision controller to adjust the vertical height of the gluing head of the gluing mechanism, thereby compensating for the height difference of the workpiece to be glued, effectively ensuring the consistency of the glue dispensing height, and ensuring the uniformity of the glue coating. When the workpiece to be glued is installed in the battery pack, the bonding effect and thermal conductivity effect can be guaranteed, thereby reducing rework and repair and improving the product qualification rate.

[0011] In an optional embodiment, the glue coating mechanism includes a fourth mounting plate, a glue valve, and a glue outlet pipe; the fourth mounting plate is arranged on the driving end of the third moving mechanism; the glue valve is connected to the fourth mounting plate, and the glue valve is connected to the glue outlet pipe;

[0012] The glue valve, the glue outlet pipe and the 3D visual recognition mechanism are located on the same side of the fourth mounting plate.

[0013] Beneficial effect: The glue valve, glue outlet pipe and 3D visual recognition mechanism are arranged on the same side. After the three-axis moving mechanism drives the glue coating mechanism to move into place, glue coating can be carried out directly after the 3D camera takes pictures. There is no need to frequently adjust the mobile glue coating mechanism, thereby improving the glue coating efficiency.

[0014] In an optional embodiment, the glue valve includes a first glue valve, a second glue valve and a mixing valve, the outlet of the first glue valve and the outlet of the second glue valve are both connected to the inlet of the mixing valve, and the glue outlet pipe is provided at the outlet end of the mixing valve.

[0015] In an optional embodiment, the glue coating mechanism further includes a second positioning member, the second positioning member is connected to the fourth mounting plate, and the second positioning member is used to clamp and position the glue outlet hose.

[0016] Beneficial effect: The second positioning member is used to clamp and position the glue outlet hose, thereby ensuring the stability of the glue outlet hose during the glue coating process and ensuring the accuracy of the glue outlet position.

[0017] In an optional embodiment, the first glue valve and the second glue valve are spaced apart on the fourth mounting plate along the second horizontal direction, and the mixing valve is spaced apart from the first glue valve and the second glue valve in the first horizontal direction.

[0018] Beneficial effect: the mixing valve, the first glue valve and the second glue valve are staggered in space to avoid position interference.

[0019] In an optional embodiment, the 3D visual recognition mechanism is arranged on the fourth mounting plate and is arranged opposite to the glue outlet pipe.

[0020] In an optional embodiment, the first moving mechanism is provided with two groups, the two groups of the first moving mechanisms are arranged opposite to each other and extend along a first horizontal direction, the second moving mechanism extends along a second horizontal direction, and the third moving mechanism extends along a vertical direction.

[0021] Beneficial effect: The two groups of first moving mechanisms can stably support the second moving mechanism so that it moves smoothly along the first horizontal direction.

[0022] In an optional embodiment, it also includes a first mounting plate, a second mounting plate and a third mounting plate; the first mounting plate is arranged on the frame, the first moving mechanism is arranged on the first mounting plate, the second mounting plate is arranged on the driving end of the first moving mechanism, the second moving mechanism is arranged on the second mounting plate, the third mounting plate is arranged on the driving end of the second moving mechanism, and the third moving mechanism is arranged on the third mounting plate.

[0023] In an optional embodiment, the first moving mechanism includes a first drive motor and a first linear module connected to the first drive motor; the second moving mechanism includes a second drive motor and a second linear module connected to the second drive motor; and the third moving mechanism includes a third drive motor and a third linear module connected to the third drive motor.

[0024] In a second aspect, the present invention further provides an automatic gluing system, comprising any of the aforementioned automatic gluing machines and a glue supply mechanism, wherein the glue supply mechanism is configured to deliver glue to the gluing mechanism. The automatic gluing system includes the automatic gluing machine, which has the same technical effects as the automatic gluing machine and is not further described herein. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] In order to more clearly illustrate the specific implementation methods of the utility model or the technical solutions in the prior art, the drawings required for use in the specific implementation methods or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some implementation methods of the utility model. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0026] Figure 1 This is a schematic diagram from a first angle of an automatic glue coating machine according to an embodiment of the present utility model;

[0027] Figure 2 This is a second angle schematic diagram of an automatic glue coating machine according to an embodiment of the present utility model;

[0028] Figure 3 for Figure 1 A schematic diagram of the third moving mechanism and the gluing mechanism from a first angle;

[0029] Figure 4 for Figure 1 A second angle schematic diagram of the third moving mechanism and the gluing mechanism;

[0030] Figure 5 for Figure 1 Schematic diagram of the mid-box and liquid cold plate.

[0031] Description of reference numerals:

[0032] 1. Frame; 201. First moving mechanism; 2011. First drive motor; 2012. First linear module; 202. Second moving mechanism; 2021. Second drive motor; 2022. Second linear module; 203. Third moving mechanism; 2031. Third drive motor; 2032. Third linear module; 3. Glue coating mechanism; 4. 3D visual recognition mechanism; 5. First mounting plate; 6. Second mounting plate; 7. Third mounting plate; 8. Fourth mounting plate; 9. Glue valve; 901. First glue valve; 902. Second glue valve; 903. Mixing valve; 10. Glue outlet hose; 11. First positioning member; 12. Second positioning member; 13. Box; 14. Liquid cooling plate. DETAILED DESCRIPTION

[0033] To make the purpose, technical solutions, and advantages of the embodiments of the present invention more clear, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the embodiments described are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without making creative efforts shall fall within the scope of protection of the present invention.

[0034] The following combination Figures 1 to 5 , describing the embodiments of the present utility model.

[0035] According to an embodiment of the present invention, on the one hand, an automatic gluing machine is provided, comprising a frame 1, a three-axis moving mechanism, a gluing mechanism 3 and a 3D visual recognition mechanism 4.

[0036] Among them, the three-axis moving mechanism includes a first moving mechanism 201, a second moving mechanism 202 and a third moving mechanism 203; wherein, the first moving mechanism 201 is arranged on the frame 1, and the driving end of the first moving mechanism 201 is suitable for horizontal movement along the first horizontal direction; the second moving mechanism 202 is arranged on the driving end of the first moving mechanism 201, and the driving end of the second moving mechanism 202 is suitable for movement along the second horizontal direction; the third moving mechanism 203 is arranged on the driving end of the second moving mechanism 202, and the driving end of the third moving mechanism 203 is suitable for movement in the vertical direction; the gluing mechanism 3 is arranged on the driving end of the third moving mechanism 203; the 3D visual recognition mechanism 4 is arranged on the driving end of the third moving mechanism 203; the 3D visual recognition mechanism 4 includes a 3D camera and a 3D camera vision controller, the 3D camera is used to take photos, and the 3D camera vision controller is used to receive photos and generate instructions; the 3D camera vision controller is communicatively connected with the three-axis moving mechanism, the gluing mechanism 3 and the 3D camera.

[0037] When the automatic gluing machine of this structure is working, the workpiece to be glued is transported to the three-axis moving mechanism, and the workpiece to be glued is positioned. The three-axis moving mechanism drives the 3D visual recognition mechanism 4 to move to the front and rear ends of the workpiece to be glued respectively, and the 3D camera takes pictures of the workpiece to be glued at the front and rear ends respectively, thereby obtaining the point cloud information (three-dimensional coordinates) of the workpiece to be glued, and compares the coordinates obtained by the 3D camera with the coordinate information in the 3D camera vision template, and at the same time triggers the 3D camera vision controller to calculate the height difference between the front and rear areas of the workpiece to be glued, and calculates the inclination angle of the front and rear areas of the workpiece to be glued, and the 3D camera vision controller will obtain the height difference The information is fed back to the third moving mechanism 203, and the first moving mechanism 201 and the second moving mechanism 202 drive the gluing mechanism 3 to move from the front end of the part to be glued to the rear end of the part to be glued for gluing. During this process, the third moving mechanism 203 is tilted and moved according to the height difference between the front and rear areas of the part to be glued fed back by the 3D camera vision controller to adjust the vertical height of the gluing head of the gluing mechanism 3, thereby compensating for the height difference of the part to be glued, effectively ensuring the consistency of the glue dot height, and ensuring the uniformity of the glue coating. When the part to be glued is installed in the battery pack, the bonding effect and thermal conductivity effect can be guaranteed, thereby reducing rework and repair and improving the product qualification rate.

[0038] In this automatic gluing machine, the gluing mechanism 3 is mounted on the third movable mechanism 203, and the 3D visual recognition mechanism 4 is also mounted on the gluing mechanism 3. The movement of the three-axis movable mechanism simultaneously drives the 3D visual recognition mechanism 4 to facilitate 3D camera photography. This arrangement of the gluing mechanism 3 and the 3D visual recognition mechanism 4 on the third movable mechanism 203 facilitates rapid and timely feedback of coordinate information acquired by the 3D camera to the third movable mechanism 203, improving response speed.

[0039] Optionally, in some embodiments, the part to be coated with glue includes a liquid cooling plate 14 , and the liquid cooling plate 14 is installed in the box 13 of the battery pack.

[0040] like Figure 3 and Figure 4 As shown, in some embodiments, the gluing mechanism 3 includes a fourth mounting plate 8, a glue valve 9, and a glue outlet pipe 10; the fourth mounting plate 8 is disposed on the driving end of the third moving mechanism 203; the glue valve 9 is connected to the fourth mounting plate 8 and is connected to the glue outlet pipe 10; the glue valve 9, glue outlet pipe 10, and the 3D visual recognition mechanism 4 are located on the same side of the fourth mounting plate 8. The glue valve 9, glue outlet pipe 10, and 3D visual recognition mechanism 4 are located on the same side. After the three-axis moving mechanism drives the gluing mechanism 3 into position, glue can be applied directly after the 3D camera completes the photo-taking process, eliminating the need for frequent adjustments to the gluing mechanism 3, thereby improving gluing efficiency.

[0041] like Figure 3As shown, in some embodiments, the glue valve 9 includes a first glue valve 901, a second glue valve 902, and a mixing valve 903. The outlets of the first glue valve 901 and the second glue valve 902 are both connected to the inlet of the mixing valve 903, and a glue outlet pipe 10 is provided at the outlet end of the mixing valve 903. Two different glue liquids flow out of the first glue valve 901 and the second glue valve 902 respectively and then flow into the mixing valve 903. The two glue liquids are fully mixed in the mixing valve 903 before flowing out of the mixing valve 903 to the glue outlet pipe 10 for dispensing. The first glue valve 901 is used to control the dispensing amount of the first glue liquid, and the second glue valve 902 is used to control the dispensing amount of the second glue liquid. The mixing valve 903 ensures that the two glue liquids are evenly mixed and the glue is discharged cleanly.

[0042] like Figure 3 and Figure 4 As shown, in some embodiments, the glue coating mechanism 3 also includes a second positioning member 12, which is connected to the fourth mounting plate 8. The second positioning member 12 is used to clamp and position the glue outlet hose 10, thereby ensuring the stability of the glue outlet hose 10 during the glue coating process and ensuring the accuracy of the glue outlet position.

[0043] Optionally, the second positioning member 12 is block-shaped, with one end recessed inward to form a clamping area, within which the rubber hose 10 is clamped. The rubber hose 10 is installed into the clamping area through an opening on one side of the second positioning member 12, or removed from the clamping area through the opening. This simple positioning structure of the rubber hose 10 also facilitates removal of the rubber hose 10.

[0044] like Figure 3 and Figure 4 As shown, in some embodiments, the glue coating mechanism 3 further includes a first positioning member 11, which is arranged above the first glue valve 901 and the second glue valve 902. The first glue valve 901 and the second glue valve 902 are respectively connected to a glue inlet pipe (not shown in the figure), and the first positioning member 11 clamps and positions the glue inlet pipe.

[0045] Optionally, the first positioning member 11 is plate-shaped and is provided with two clamping holes. The rubber inlet pipe passes through the clamping holes and extends into the first rubber valve 901 and the second rubber valve 902 below.

[0046] Optionally, the first positioning member 11 is fixed on the fourth mounting plate 8 .

[0047] like Figure 3 As shown, in some embodiments, the first glue valve 901 and the second glue valve 902 are spaced apart along the second horizontal direction on the fourth mounting plate 8, and the mixing valve 903 is spaced apart from the first glue valve 901 and the second glue valve 902 in the first horizontal direction. The mixing valve 903 is spatially staggered with the first glue valve 901 and the second glue valve 902 to avoid positional interference.

[0048] like Figure 3 As shown, in some embodiments, the 3D visual recognition mechanism 4 is disposed on the fourth mounting plate 8 and is disposed opposite the glue outlet pipe 10. Fixing the 3D visual recognition mechanism 4 and the glue outlet pipe 10 on the same side of the fourth mounting plate 8 and disposing them opposite each other can make the overall installation structure compact.

[0049] like Figure 1 and Figure 2 As shown, in some embodiments, two sets of first moving mechanisms 201 are provided. The two sets of first moving mechanisms 201 are arranged opposite each other and extend along a first horizontal direction. The second moving mechanisms 202 extend along a second horizontal direction. The third moving mechanisms 203 extend along a vertical direction. The two sets of first moving mechanisms 201 can stably support the second moving mechanism 202 so that it moves smoothly along the first horizontal direction.

[0050] In some embodiments, as Figure 1 and Figure 2 As shown, the automatic gluing machine further includes a first mounting plate 5, a second mounting plate 6, and a third mounting plate 7; the first mounting plate 5 is disposed on the frame 1, the first moving mechanism 201 is disposed on the first mounting plate 5, the second mounting plate 6 is disposed on the driving end of the first moving mechanism 201, the second moving mechanism 202 is disposed on the second mounting plate 6, the third mounting plate 7 is disposed on the driving end of the second moving mechanism 202, and the third moving mechanism 203 is disposed on the third mounting plate 7. The first moving mechanism 201 drives the second mounting plate 6 to move, thereby driving the second moving mechanism 202 to move along the first horizontal direction; the second moving mechanism 202 drives the third mounting plate 7 to move, thereby driving the gluing mechanism 3 to move along the second horizontal direction.

[0051] like Figure 1 As shown, the second mounting plate 6 is laterally arranged above the two first moving mechanisms 201 .

[0052] Optionally, in some embodiments, the first moving mechanism 201 includes a first drive motor 2011 and a first linear module 2012 connected to the first drive motor 2011; the second moving mechanism 202 includes a second drive motor 2021 and a second linear module 2022 connected to the second drive motor 2021; and the third moving mechanism 203 includes a third drive motor 2031 and a third linear module 2032 connected to the third drive motor 2031. The first drive motor 2011 drives the first linear module 2012 to move the second moving mechanism 202 along a first horizontal direction, the second drive motor 2021 drives the second linear module 2022 to move the gluing mechanism 3 along a second horizontal direction; and the third drive motor 2031 drives the third linear module 2032 to move the gluing mechanism 3 vertically, thereby driving the gluing mechanism 3 to move in three dimensions through the three-axis moving mechanism.

[0053] like Figure 1 and Figure 5 As shown, the liquid cooling plate 14 is installed in the box 13 of the battery pack. During operation, the box 13 is placed on a tooling plate, which is provided with a plurality of positioning blocks, and the box 13 is positioned by the positioning blocks.

[0054] According to an embodiment of the present invention, on the other hand, an automatic gluing system is provided, comprising any one of the automatic gluing machines described above and a glue supply mechanism, wherein the glue supply mechanism is used to deliver glue to the gluing mechanism 3 .

[0055] When the automatic gluing system is in operation, the glue supply mechanism delivers glue to the gluing mechanism 3. The tooling plate carries the box 13. The tooling plate and box 13 are transported to the gluing station. The lifting mechanism lifts and positions the box 13 upward, and the three-axis movement mechanism drives the gluing mechanism 3 to begin the gluing operation. The liquid cooling plate 14 has a long side and a wide side. Upon reaching the gluing station, its long side extends along the first horizontal direction. The action of the three-axis moving mechanism drives the 3D vision recognition mechanism 4 to move to the front end and the rear end of the length direction of each liquid cooling plate 14 respectively. The 3D camera takes pictures to obtain the point cloud information (three-dimensional coordinates) of the front end and the rear end area of ​​the liquid cooling plate 14, and compares the coordinates obtained by the 3D camera with the coordinate information in the 3D camera vision template. At the same time, the 3D camera vision controller is triggered to calculate the height difference between the front and rear areas of the part to be coated with glue, and the inclination angle of the front and rear areas of the part to be coated with glue is calculated. The 3D camera vision controller feeds back the obtained height difference information to the third moving mechanism 203. The third moving mechanism 203 moves up and down according to the height difference fed back by the 3D camera vision controller to adjust the vertical height of the gluing head of the gluing mechanism 3.

[0056] After the gluing is completed, the three-axis moving mechanism moves the 3D camera again, uses the 3D camera to detect the glue path status and take pictures, and saves the quality inspection pictures after gluing in the industrial computer. If the inspection result is qualified, the product will be processed in the subsequent process; if the inspection result is unqualified, the three-axis moving mechanism will give an alarm signal and the defective products will be eliminated.

[0057] Although the embodiments of the present invention have been described with reference to the accompanying drawings, those skilled in the art may make various modifications and variations without departing from the spirit and scope of the present invention, and such modifications and variations shall fall within the scope defined by the appended claims.

Claims

1. An automatic glue coating machine, characterized in that: include: Rack (1); The three-axis moving mechanism comprises a first moving mechanism (201), a second moving mechanism (202) and a third moving mechanism (203); wherein the first moving mechanism (201) is arranged on the frame (1), and the driving end of the first moving mechanism (201) is suitable for horizontal movement along a first horizontal direction; the second moving mechanism (202) is arranged on the driving end of the first moving mechanism (201), and the driving end of the second moving mechanism (202) is suitable for movement along a second horizontal direction; the third moving mechanism (203) is arranged on the driving end of the second moving mechanism (202), and the driving end of the third moving mechanism (203) is suitable for movement along a vertical direction; A gluing mechanism (3) is provided on the driving end of the third moving mechanism (203); A 3D visual recognition mechanism (4) is arranged on the driving end of the third moving mechanism (203); the 3D visual recognition mechanism (4) includes a 3D camera and a 3D camera visual controller, the 3D camera is used to take photos, and the 3D camera visual controller is used to receive the photos and generate instructions; the 3D camera visual controller is communicatively connected with the three-axis moving mechanism, the gluing mechanism (3) and the 3D camera.

2. The automatic glue coating machine according to claim 1, characterized in that: The glue coating mechanism (3) comprises a fourth mounting plate (8), a glue valve (9) and a glue outlet pipe (10); the fourth mounting plate (8) is arranged on the driving end of the third moving mechanism (203); the glue valve (9) is connected to the fourth mounting plate (8), and the glue valve (9) is connected to the glue outlet pipe (10); The glue valve (9), the glue outlet pipe (10) and the 3D visual recognition mechanism (4) are located on the same side of the fourth mounting plate (8).

3. The automatic glue coating machine according to claim 2, characterized in that: The glue valve (9) comprises a first glue valve (901), a second glue valve (902) and a mixing valve (903). The outlet of the first glue valve (901) and the outlet of the second glue valve (902) are both connected to the inlet of the mixing valve (903). The glue outlet pipe (10) is provided at the outlet end of the mixing valve (903).

4. The automatic glue coating machine according to claim 3, characterized in that: The glue coating mechanism (3) further comprises a second positioning member (12), the second positioning member (12) being connected to the fourth mounting plate (8), and the second positioning member (12) being used for clamping and positioning the glue outlet pipe (10).

5. The automatic glue coating machine according to claim 3, characterized in that: The first glue valve (901) and the second glue valve (902) are arranged on the fourth mounting plate (8) at intervals along the second horizontal direction, and the mixing valve (903) is arranged at intervals from the first glue valve (901) and the second glue valve (902) in the first horizontal direction.

6. The automatic glue coating machine according to claim 5, characterized in that: The 3D visual recognition mechanism (4) is arranged on the fourth mounting plate (8) and is arranged opposite to the glue outlet pipe (10).

7. The automatic glue coating machine according to any one of claims 1 to 6, characterized in that: The first moving mechanism (201) is provided with two groups, the two groups of the first moving mechanism (201) are arranged opposite to each other and extend along a first horizontal direction, the second moving mechanism (202) extends along a second horizontal direction, and the third moving mechanism (203) extends along a vertical direction.

8. The automatic glue coating machine according to claim 7, characterized in that: The invention also includes a first mounting plate (5), a second mounting plate (6) and a third mounting plate (7); the first mounting plate (5) is arranged on the frame (1), the first moving mechanism (201) is arranged on the first mounting plate (5), the second mounting plate (6) is arranged on the driving end of the first moving mechanism (201), the second moving mechanism (202) is arranged on the second mounting plate (6), the third mounting plate (7) is arranged on the driving end of the second moving mechanism (202), and the third moving mechanism (203) is arranged on the third mounting plate (7).

9. The automatic glue coating machine according to claim 7, characterized in that: The first moving mechanism (201) comprises a first drive motor (2011) and a first linear module (2012) connected to the first drive motor (2011); the second moving mechanism (202) comprises a second drive motor (2021) and a second linear module (2022) connected to the second drive motor (2021); and the third moving mechanism (203) comprises a third drive motor (2031) and a third linear module (2032) connected to the third drive motor (2031).

10. An automatic gluing system, characterized in that: It comprises the automatic glue coating machine and a glue supply mechanism according to any one of claims 1 to 9, wherein the glue supply mechanism is used to transport glue liquid to the glue coating mechanism (3).

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