Dispensing machine and dispensing system

Abstract

The utility model provides a dispensing machine and a dispensing system. The dispensing machine and the dispensing system are used for carrying out high-precision glue coating on a dispensing workpiece. The dispensing machine comprises a multi-axis mechanical arm and a dispensing assembly installed at the movable end of the mechanical arm, and the dispensing assembly comprises a dispensing device and a laser range finder. The laser range finder monitors the glue coating height in real time, and it is ensured that the glue thickness is uniform. The dispensing system further comprises a machine table, a conveying frame, a camera, a controller and a monitor, through combination of the visual positioning technology and the laser ranging technology, automation and intelligentization of dispensing operation are achieved, the dispensing precision and efficiency are improved, and manual intervention is reduced.

Description

Technical Field

[0001] This application relates to the field of mechanical automation technology, specifically to a dispensing machine and dispensing system based on a robotic arm, which is particularly suitable for high-precision and high-efficiency adhesive coating work. Background Technology

[0002] In industrial production, dispensing is widely used for bonding and fixing electronic components, speakers, and other workpieces. Traditional dispensing operations rely on manual operation, requiring workers to manually pick up and place workpieces and apply adhesive, resulting in low efficiency, high labor intensity, and inconsistent adhesive application accuracy. While existing automated dispensing equipment can partially replace manual labor, it still has the following drawbacks: insufficient positioning accuracy: errors in the robotic arm's movement trajectory or the vision positioning system cause the adhesive application position to deviate; inaccurate adhesive volume control: lack of real-time height monitoring makes it difficult to maintain consistent adhesive thickness; low flexibility: it is difficult to adapt to complex workpieces or multi-specification production needs.

[0003] To address the aforementioned problems, this invention proposes a dispensing system that integrates visual inspection, laser ranging, and multi-axis robotic arm collaborative control to achieve high-precision and intelligent adhesive coating. Utility Model Content

[0004] In order to overcome the shortcomings of the prior art, this application provides a dispensing machine and dispensing system for precise dispensing of adhesive to workpieces, which solves the problems of low efficiency and insufficient precision in the prior art, and realizes precise control and efficient operation of adhesive coating.

[0005] In a first aspect, this application provides a dispensing machine for applying adhesive to the dispensing area of ​​a workpiece.

[0006] Specifically, the dispensing machine includes a multi-axis robotic arm and a dispensing assembly mounted on the movable end of the multi-axis robotic arm; wherein, the dispensing assembly includes a dispensing nozzle for dispensing adhesive and a laser rangefinder for measuring the adhesive coating height.

[0007] In one alternative implementation, the dispensing assembly further includes a dispensing base connected to a multi-axis robotic arm lifting drive; a dispensing device disposed on the dispensing base, the dispensing device forming an adhesive supply with an external adhesive storage device; and a laser rangefinder disposed on the dispensing base, adjacent to the dispensing device, with the laser rangefinder's ranging direction facing the dispensing position of the dispensing device.

[0008] In one alternative implementation, the dispensing station is equipped with a pneumatic cylinder, the lower end of which drives a push rod downwards. The pneumatic cylinder is connected to an external air source via an air pipe for pneumatic control.

[0009] In one alternative implementation, the multi-axis robotic arm includes a base, a drive base, a first swing arm, and a second swing arm. The drive base is fixed to the base, one end of the first swing arm is driven to the drive base, the other end of the first swing arm is rotatably connected to one end of the second swing arm, and the movable end of the second swing arm is connected to a dispensing base.

[0010] In one alternative implementation, the movable end of the second swing arm is vertically driven with a lifting rod, and the dispensing seat is connected to the lower end of the lifting rod.

[0011] In one alternative implementation, the first swing arm swings horizontally about the connection point with the drive seat, and the second swing arm swings horizontally about the connection point with the first swing arm.

[0012] Secondly, this application provides a dispensing system, which includes a dispensing machine that can be implemented in any of the options of the first aspect.

[0013] Specifically, the dispensing system also includes a machine base and a conveyor frame. The dispensing machine is installed on the machine base, and the conveyor frame is set on one side of the machine base. The conveyor frame movably holds the dispensing workpiece.

[0014] In one alternative implementation, the dispensing system also includes a camera positioned on one side of the dispensing machine to acquire images of the dispensing area on the workpiece.

[0015] In one alternative implementation, the dispensing system further includes a controller and a monitor, wherein the controller is electrically connected to the dispensing machine camera and the monitor respectively to collect and process image data and transmit control signals and display signals; the monitor is electrically connected to the controller to acquire and display image information.

[0016] The technical solution provided by the aforementioned implementation method has at least the following beneficial effects: By setting a dispensing component at the moving end of a multi-axis robotic arm and integrating a laser rangefinder into the dispensing component, the adhesive coating height can be monitored and adjusted in real time, improving dispensing accuracy and efficiency. Simultaneously, the dispensing system, through the cooperation of a camera, controller, and monitor, achieves automated control and real-time monitoring of the dispensing process, further improving dispensing quality and production efficiency. Attached Figure Description

[0017] To more clearly illustrate the technical solutions in the embodiments of this application, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0018] Figure 1 This is a schematic diagram of the structure of a dispensing machine provided in one embodiment of this application;

[0019] Figure 2 A partial structural schematic diagram of a dispensing machine provided in one embodiment of this application;

[0020] Figure 3 This is a schematic diagram of the structure of a dispensing system provided in one embodiment of this application;

[0021] Figure 4 Another structural schematic diagram of the dispensing system provided in one embodiment of this application;

[0022] Figure 5 A side view of the overall structure of a dispensing system provided in one embodiment of this application;

[0023] Figure 6 A top view of the overall structure of the dispensing system provided in one embodiment of this application;

[0024] Explanation of reference numerals in the attached figures:

[0025] 1. Multi-axis robotic arm; 2. Dispensing assembly; 11. Base; 12. Drive base; 13. First swing arm; 14. Second swing arm; 15. Movable end; 16. Lifting rod; 21. Dispenser; 211. Dispensing needle; 22. Laser rangefinder; 23. Dispensing base; 24. Adhesive tubing; 26. Pneumatic cylinder; 27. Push rod; 28. Air hose;

[0026] 100. Dispensing machine; 200. Machine base; 300. Conveyor frame; 400. Dispensing workpiece; 500. Camera; 600. Controller; 700. Monitor. Detailed Implementation

[0027] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of this application, and not all of them. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0028] In this document, the terms "first," "second," etc., are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this application, unless otherwise stated, "multiple" means two or more.

[0029] Furthermore, in this article, directional terms such as "upper" and "lower" are defined relative to the orientation of the structure as shown in the attached drawings. It should be understood that these directional terms are relative concepts, used for relative description and clarification, and can change accordingly depending on the orientation of the structure.

[0030] Please see Figures 1 to 2 One embodiment of this application provides a dispensing machine 100 for applying adhesive to the dispensing area of ​​a dispensing workpiece 400.

[0031] Specifically, in combination Figure 1 As shown, the dispensing machine 100 includes a multi-axis robotic arm 1 and a dispensing assembly 2 mounted on the movable end 15 of the multi-axis robotic arm 1; wherein, the dispensing assembly 2 includes a dispensing device 21 for dispensing glue and a laser rangefinder 22 for measuring the glue coating height.

[0032] By combining the laser rangefinder 22 and the dispensing device 21, laser ranging technology can be used to control the glue height, thereby ensuring the quality standard of each dispensing.

[0033] The laser rangefinder 22 can be a commercially available conventional laser measuring device.

[0034] Specifically, in combination Figure 2 As shown, in this embodiment, the dispensing assembly 2 further includes a dispensing base 23, which is connected to the multi-axis robotic arm 1 for lifting and driving; a dispensing device 21 is disposed on the dispensing base 23, and the dispensing device 21 and an external glue storage device form a glue supply; a laser rangefinder 22 is disposed on the dispensing base 23, and the laser rangefinder 22 is disposed adjacent to the dispensing device 21, and the distance measuring of the laser rangefinder 22 is directed toward the dispensing position of the dispensing device 21.

[0035] By placing the laser rangefinder 22 and the dispensing device 21 adjacently on the same dispensing base 23, the stability of their relative positions can be ensured, and the accuracy of dispensing height detection can be improved in repeated dispensing operations.

[0036] Combination Figure 2 As shown, in this embodiment, the dispensing device 21 is connected to an external glue storage device via a glue tube 24. Separating the glue storage device from the dispensing machine 100 reduces the weight of the dispensing assembly 2.

[0037] In this embodiment, the dispensing device 21 is connected to an external air source through an air pipe 28, and the dispensing and extrusion of adhesive liquid is achieved by controlling the air intake.

[0038] Combination Figure 2 As shown, the lower output section of the dispensing device 21 is equipped with a dispensing needle 211, which can control the dispensing of adhesive.

[0039] Combination Figure 2As shown, in this embodiment, the dispensing base 23 is equipped with a pneumatic cylinder 26. The lower end of the pneumatic cylinder 26 drives a push rod 27 downward. The pneumatic cylinder 26 is connected to an external air source through an air pipe 28 to form pneumatic control.

[0040] The pneumatic cylinder 26 and the push rod 27 constitute a rapid movement and positioning mechanism for the dispensing workpiece 400. The push rod 27 can be used to push the workpiece to be dispensed to the dispensing position. The pneumatic cylinder 26 and the dispensing device 21 are set on the same dispensing base 23. The multi-axis robotic arm 1 can realize the rapid positioning of the dispensing workpiece 400, which facilitates the positioning and dispensing operation of the dispensing device 21.

[0041] Specifically, in this embodiment, the pneumatic cylinder 26 is equipped with a piston (not shown in the figure), which is connected to the push rod 27. Both ends of the pneumatic cylinder 26 are equipped with air pipes 28. The inlet and outlet of air through the air pipes 28 at both ends drives the piston, thereby achieving the extension and retraction of the push rod 27.

[0042] Combination Figure 1 and Figure 2 As shown, in this embodiment, the multi-axis robotic arm 1 includes a base 11, a drive base 12, a first swing arm 13, and a second swing arm 14. The drive base 12 is fixed to the base 11. One end of the first swing arm 13 is driven to the drive base 12. The other end of the first swing arm 13 is rotatably connected to one end of the second swing arm 14. The movable end 15 of the second swing arm 14 is connected to the dispensing base 23.

[0043] Moreover, in order to improve the accuracy and efficiency of mobile positioning, in this embodiment, the first swing arm 13 swings horizontally around the connection point with the drive seat 12, and the second swing arm 14 swings horizontally around the connection point with the first swing arm 13.

[0044] Combination Figure 2 As shown, in this embodiment, the movable end 15 of the second swing arm 14 is vertically driven to be equipped with a lifting rod 16, and the glue dispensing seat 23 is connected to the lower end of the lifting rod 16.

[0045] Combination Figures 3 to 6 As shown, one embodiment of this application also provides a dispensing system, which includes the dispensing machine 100 provided in this application.

[0046] Combination Figure 5 As shown, the dispensing system also includes a machine base 200 and a conveyor frame 300. The dispensing machine 100 is installed on the machine base 200, and the conveyor frame 300 is located on one side of the machine base 200. The conveyor frame 300 movably holds the dispensing workpiece 400.

[0047] Combination Figure 5 and Figure 6As shown, in this application, the dispensing system also includes a camera 500, which is positioned on one side of the dispensing machine 100 to acquire images of the dispensing area of ​​the workpiece 400. Combined with... Figure 4 and Figure 5 As shown, in this embodiment, the dispensing system also includes a controller 600 and a monitor 700. The controller 600 is electrically connected to the camera 500 of the dispensing machine 100 and the monitor 700 respectively to collect and process image data and transmit control signals and display signals. The monitor 700 is electrically connected to the controller 600 to acquire and display image information.

[0048] The controller 600 may be equipped with storage devices, a processing unit, and other devices; the monitor 700 may be a conventional display.

[0049] The camera 500 works in conjunction with the laser rangefinder 22, combining a vision system with laser height measurement technology, to achieve precise control over the application of adhesive.

[0050] Specifically, the camera 500, as a visual inspection system, acquires images, and the controller 600 and other processing terminals perform grayscale matching and other algorithm processing to detect the width and shape of the adhesive, ensuring its accurate distribution within the target area. Meanwhile, the laser rangefinder 22 uses laser height measurement to control the height of the adhesive to achieve the expected coating thickness. The integration of these two technologies forms a comprehensive three-dimensional inspection system, which greatly improves the quality and consistency of product dispensing.

[0051] Furthermore, the camera 500 can work in conjunction with the push rod 27 of the dispensing machine 100. Through the cooperation of the multi-axis robotic arm 1 and the push rod 27, the dispensing workpiece 400 can be initially positioned. Subsequently, the vision system of the camera 500 is used to calibrate and achieve precise positioning of the dispensing equipment, thereby improving the overall efficiency and accuracy of the operation.

[0052] In addition, the conveyor 300 can also be equipped with devices such as position sensors to further improve the final accurate positioning of the dispensing workpiece 400, which greatly improves the overall production line efficiency while ensuring quality.

[0053] The dispensing machine and dispensing system provided in the embodiments of this application have been described in detail above. Specific embodiments have been used to explain the principles and implementation methods of this application. The above description is only for the purpose of helping to understand the method and its core mechanism of this application. At the same time, for those skilled in the art, there will be changes in specific embodiments and application scope based on the ideas of this application. Therefore, the content of this specification should not be construed as a limitation of this application.

Claims

1. A glue dispenser for dispensing glue to a glue area of a glue-dispensed workpiece, characterized in that: The glue dispenser comprises a multi-axis mechanical arm and a glue dispensing assembly installed on the movable end of the multi-axis mechanical arm; wherein the glue dispensing assembly comprises a glue dispenser for dispensing glue and a laser range finder for measuring the height of glue coating.

2. The machine of claim 1, wherein: The glue dispensing assembly further comprises a glue dispensing seat connected with the lifting drive of the multi-axis mechanical arm; the glue dispenser is arranged on the glue dispensing seat, and the glue dispenser forms a glue supply with an external glue storage device; the laser range finder is arranged on the glue dispensing seat, and the laser range finder is arranged adjacent to the glue dispenser, and the ranging direction of the laser range finder is towards the glue dispensing position of the glue dispenser.

3. The machine of claim 2, wherein: The glue dispenser is connected in communication with the external glue storage device through a glue liquid pipe.

4. The machine of claim 2, wherein: The glue dispensing seat is provided with a pneumatic cylinder, the lower end of the pneumatic cylinder is driven downwardly to be provided with a push rod, and the pneumatic cylinder forms pneumatic control with an external air source through an air pipe.

5. The machine of claim 2, wherein: The multi-axis mechanical arm comprises a base, a drive seat, a first swing arm and a second swing arm, the drive seat is fixed to the base, one end of the first swing arm is drivingly connected to the drive seat, the other end of the first swing arm is rotatably connected to one end of the second swing arm, and the movable end of the second swing arm is connected with the glue dispensing seat.

6. The machine of claim 5, wherein: The movable end of the second swing arm is vertically driven to be provided with a lifting rod, and the glue dispensing seat is connected with the lower end of the lifting rod.

7. The machine of claim 5, wherein: The first swing arm swings horizontally around the connection with the drive seat, and the second swing arm swings horizontally around the connection with the first swing arm.

8. A dispensing system characterized by: The glue dispensing system comprises the glue dispenser of any one of claims 1 to 7, further comprises a machine table and a conveying frame, the glue dispenser is installed on the machine table, the conveying frame is arranged on one side of the machine table, and the conveying frame movably places the glue dispensing workpiece.

9. The system of claim 8, wherein: The glue dispensing system further comprises a camera, the camera is arranged on one side of the glue dispenser to obtain the image of the glue dispensing area of the glue dispensing workpiece.

10. The system of claim 9, wherein: The glue dispensing system further comprises a controller and a monitor, wherein the controller is electrically connected with the glue dispenser, the camera and the monitor respectively to collect and process image data and transmit control signals and display signals; and the monitor is electrically connected with the controller to obtain and display image information.

Images