Moving mechanism and high-precision robot for dispensing industry

Abstract

The utility model discloses a moving mechanism and a high-precision robot for the dispensing industry, and belongs to the technical field of robots, H-shaped grooves are formed in two opposite end faces of one group of a sliding block main body, two brake blocks are arranged in the H-shaped grooves in a mirror image mode, springs for clamping guide rods are arranged between the brake blocks and the H-shaped grooves, and the guide rods are connected with the H-shaped grooves through bolts. An air channel is arranged on the sliding block body, a plurality of outlets of the air channel are formed in the H-shaped groove, a plurality of driving grooves are formed in the brake blocks, brake push blocks are arranged in the outlets of the air channel, and the brake push blocks are matched with the driving grooves to achieve separation of the two brake blocks. The electromagnetic driving mode is adopted for transmission, no contact exists during operation, the problems of abrasion and the like do not exist, the response speed is high, and the operation speed is increased. The sliding block is provided with a normally-closed brake structure, so that the robot is accurately positioned. A Z-direction moving mechanism and a glue head can be added according to requirements, so that the dispensing efficiency is improved. And the constant-force magnetic spring is used, so that Z-axis positioning precision can be guaranteed, the dispensing mechanism is prevented from falling, and use safety is guaranteed.

Description

Technical Field

[0001] This utility model belongs to the field of robot technology, and in particular to a mobile mechanism and a high-precision robot for the dispensing industry. Background Technology

[0002] Dispensing technology is widely used in numerous manufacturing sectors, including electronics, automotive, medical, and aerospace. In recent years, with the continuous development of various industries, the dispensing industry market has steadily grown. Particularly driven by strong demand for consumer electronics and the intelligent and electric transformation of the automotive industry, the demand for dispensing services and equipment continues to rise. Traditional dispensing robots often use indirect transmission methods such as belts, chains, or lead screws. These transmission structures have certain gaps, elastic deformation, and wear issues, causing positional deviations during robot movement and making it difficult to meet high-precision dispensing requirements. Indirect transmission methods also suffer from significant inertia, resulting in slow robot response speeds during start-up, stopping, and rapid reversals. This limits the improvement of dispensing speed and cannot meet the high-efficiency dispensing requirements of high-speed production lines. Utility Model Content

[0003] Purpose of the utility model: To provide a mobile mechanism and a high-precision robot for the dispensing industry, so as to solve the above-mentioned problems existing in the prior art.

[0004] Technical solution: A moving mechanism, comprising: a guide rod, both ends of which are mounted on a main body via side covers; a slider slidably mounted on the guide rod; the slider comprising: a slider body; an H-shaped groove provided on each of two opposite end faces of one set of the slider body; two brake blocks mirror-arranged within the H-shaped groove; a spring for clamping the guide rod between the brake blocks and the H-shaped groove; an air passage provided on the slider body; multiple outlets of the air passage located within the H-shaped groove; multiple drive slots provided on the brake blocks; a brake push block provided within the air passage outlet; the brake push block cooperating with the drive slots to separate the two brake blocks; and a slider end cover provided on the slider body for covering the brake blocks.

[0005] Furthermore, the slider end cap is provided with a dust cover to prevent foreign objects from entering the slider body.

[0006] Furthermore, a ball channel and a ball slide are provided on two opposite end faces of one set of the slider body, and a ball retainer is installed on the slider end cover. The position of the ball retainer corresponds to the position of the ball slide, and balls are provided in the ball channel and the ball slide.

[0007] Furthermore, a permanent magnet is provided on the main body, and an electromagnetic coil is provided on the slider body. The electromagnetic coil cooperates with the permanent magnet to realize the movement of the slider body.

[0008] Furthermore, a first anti-collision block is provided on the inner wall of the side cover.

[0009] Furthermore, quick-connect fittings are provided on the air inlet and outlet of the air passage.

[0010] A high-precision robot for the dispensing industry includes the aforementioned moving mechanism. The slider body is provided with multiple Z-axis moving mechanisms, and the moving end of the Z-axis moving mechanism is equipped with a dispensing mechanism.

[0011] Furthermore, the Z-axis moving mechanism is a ball screw mechanism, a threaded screw mechanism, or a cylinder.

[0012] Furthermore, the Z-axis movement mechanism includes: a fixed plate, which is mounted on the slider body; a rod-shaped linear motor stator mounted on the fixed plate via a motor mounting base; a linear guide pair mounted on the fixed plate; a dispensing mechanism fixed plate mounted on the rod-shaped linear motor mover and the linear guide pair; a constant force magnetic spring stator mounted on the fixed plate via a constant force magnetic spring mounting base; a constant force magnetic spring mover fitted onto the constant force magnetic spring stator; and the constant force magnetic spring mover fixed to the dispensing mechanism fixed plate via a first constant force magnetic spring fixing block and a second constant force magnetic spring fixing block.

[0013] Furthermore, a second anti-collision block is provided on the inner wall of the motor mounting base. Beneficial effects

[0014] 1. It adopts electromagnetic drive for transmission, which is contactless during operation, eliminates wear and tear, and has a fast response speed, thus improving operating speed.

[0015] 2. The slider is designed with a normally closed brake structure to ensure accurate robot positioning.

[0016] 3. A Z-axis moving mechanism and a dispensing head can be added as needed to improve dispensing efficiency.

[0017] 4. Using a constant force magnetic spring can ensure the Z-axis positioning accuracy while preventing the dispensing mechanism from falling, thus ensuring safe use. Attached Figure Description

[0018] Figure 1 This is a schematic diagram of the structure of this utility model;

[0019] Figure 2 This is a schematic diagram of the structure of the moving mechanism of this utility model;

[0020] Figure 3 This is a schematic diagram of the slider of this utility model;

[0021] Figure 4 This is a schematic diagram of the Z-axis moving mechanism of this utility model;

[0022] Figure 5 This is a cross-sectional view of the slider of this utility model. Detailed Implementation

[0023] In the following description, numerous specific details are set forth in order to provide a more thorough understanding of the present invention. However, it will be apparent to those skilled in the art that the present invention can be practiced without one or more of these details. In other instances, certain technical features well-known in the art have not been described in order to avoid confusion with the present invention.

[0024] Example: Figure 1 - Figure 5 As shown, a moving mechanism includes: a guide rod 13, both ends of which are mounted on a main body 11 via side covers 15; a slider 12 is slidably mounted on the guide rod 13; the slider 12 includes: a slider body 1201; H-shaped grooves 1211 are provided on two opposite end faces of one set of the slider body 1201; two brake blocks 1203 are mirror-image disposed within the H-shaped grooves 1211; and the brake blocks 1203 and the H-shaped grooves 1211 are configured to clamp the guide rod 13. The spring 1204 is provided. An air passage 1212 is provided on the slider body 1201, with multiple outlets of the air passage 1212 located within the H-shaped groove 1211. A brake block 1203 is provided with multiple drive grooves 1213. A brake push block 1202 is provided within the outlet of the air passage 1212. The brake push block 1202 cooperates with the drive grooves 1213 to separate two brake blocks 1203. A slider end cap 1208 is provided on the slider body 1201 to cover the brake blocks 1203. A dust cover 1210 is provided on the slider end cap 1208 to prevent foreign objects from entering the slider body 1201. The slider body 1201 has ball bearing channels 1214 and ball bearing slides 1215 on two opposite end faces. A ball bearing retainer 1207 is mounted on the slider end cap 1208, with the position of the retainer 1207 corresponding to the position of the ball bearing slide 1215. Ball bearings 1206 are disposed within the ball bearing channels 1214 and ball bearing slides 1215. A permanent magnet 1205 is disposed on the body 11, and an electromagnetic coil 1216 is disposed on the slider body 1201. The electromagnetic coil 1216 cooperates with the permanent magnet 1205 to achieve movement of the slider body 1201. A first anti-collision block 14 is disposed on the inner wall of the side cover 15. Quick-connect connectors 1209 are disposed on the air inlet and outlet of the air passage 1212.

[0025] The main body 11 serves as the basic frame of the moving mechanism, with a permanent magnet 1205 mounted at the bottom to provide a magnetic field environment for the electromagnetic drive of the slider 12. Ball bearing grooves are machined on both sides to cooperate with the balls 1206 of the slider 12, enabling smooth sliding and ensuring stability and accuracy. The slider body 1201 includes a ball bearing channel 1214 and a ball bearing slide 1215 for mounting the balls 1206, achieving rolling friction with the main body 11 and reducing moving resistance. An H-shaped groove 1211 is used to mount components related to the brake block 1203, enabling braking. An air passage 1212 controls the movement of the brake pusher 1202, thereby controlling the opening and closing of the brake block 1203. The brake pusher 1202 is installed within the air passage 1212, and its extension and retraction are controlled by the air passage. When extended, the brake block 1203 is pushed apart, allowing the slider to move on the guide rod 13; when retracted, the brake block 1203, under the action of the spring 1204, returns to its original position and grips the guide rod 13, achieving braking positioning and ensuring the positioning accuracy of the robot on the guide rod 13. Brake block 1203: Grips the guide rod 13 under the action of the spring 1204, achieving a normally closed braking function. In conjunction with the brake push block 1202, it achieves the opening and closing of the brake under pneumatic control. Spring 1204: Keeps the brake block 1203 in a normally closed state, continuously providing the brake block 1203 with a force gripping the guide rod 13 when no external force is applied, ensuring that the slider body 1201 will not move when stationary, thus ensuring positioning stability. Ball bearing retainer 1207: Fixes the position of the ball bearing 1206 within the ball bearing slide 1215, preventing the ball bearing from shifting or falling off during movement, ensuring the stability of the ball bearing transmission, and thus ensuring the smoothness and accuracy of the slider movement. The slider end cap 1208 protects and fixes the brake block 1203. The quick-connect connector 1209 has an air inlet and an exhaust port, facilitating connection to external air circuits and enabling rapid control of the brake push block 1202. This allows for precise control of the brake's opening and closing, improving the robot's ease of operation and response speed. The dustproof sheet 1210 prevents foreign objects from entering the slider 12, avoiding damage to the balls and other components, ensuring the normal operation of the slider's internal structure, and indirectly guaranteeing the robot's positioning accuracy and service life. The first anti-collision block 14 is installed at both ends of the guide rod 13. When the slider 12 moves to its limit position, the first anti-collision block 14 acts as a buffer, preventing rigid collisions between the slider 12 and other components, reducing the risk of equipment damage, and improving the equipment's reliability and safety. The side cover 15 mounts the guide rod 13 onto the main body 11, fixing the guide rod and ensuring a stable relative position between the guide rod 13 and the main body 11. It also protects the guide rod and part of the slider's structure, preventing external objects from interfering with its normal operation.

[0026] A high-precision robot for the dispensing industry includes the aforementioned moving mechanism 1. Multiple Z-axis moving mechanisms 2 are mounted on the slider body 1201, and dispensing mechanisms 3 are installed on the moving ends of the Z-axis moving mechanisms 2. The Z-axis moving mechanisms 2 are ball screw mechanisms, threaded screw mechanisms, or cylinders. The Z-axis moving mechanism 2 includes: a fixed plate 21, which is mounted on the slider body 1201; a rod-shaped linear motor stator 23, which is mounted on the fixed plate 21 via a motor mounting base 25; a linear guide pair 22, which is mounted on the fixed plate 21; a dispensing mechanism fixed plate 212, which is mounted on the rod-shaped linear motor mover 26 and the linear guide pair 22; a constant-force magnetic spring stator 27, which is mounted on the fixed plate 21 via a constant-force magnetic spring mounting base 29; a constant-force magnetic spring mover 28, which is fitted onto the constant-force magnetic spring stator 27; and the constant-force magnetic spring mover 28, which is fixed to the dispensing mechanism fixed plate 212 via a first constant-force magnetic spring fixing block 210 and a second constant-force magnetic spring fixing block 211. A second anti-collision block 24 is provided on the inner wall of the motor mounting base 25.

[0027] Among them, the fixed plate 21 is installed on the slider 12 and serves as the mounting base for the Z-axis moving mechanism. It connects the Y-axis moving mechanism (i.e., the moving mechanism) and other components of the Z-axis moving mechanism, ensuring the coordinated work of the Z-axis moving mechanism and the Y-axis moving mechanism, and ensuring the stability of the entire robot structure.

[0028] Linear guide pair 22: mounted on the fixed plate 21, it provides precise guidance for the up and down movement of the fixed plate 212 of the dispensing mechanism, ensuring the linear motion accuracy of the dispensing mechanism in the Z direction, making the Z-direction position control more accurate during the dispensing process, and improving the dispensing quality.

[0029] Rod-shaped linear motor 23: As the power output end, it has strong driving force, providing power for the dispensing mechanism to move in the Z direction, and can quickly drive the dispensing mechanism to rise or fall, meeting the needs of different dispensing heights and improving dispensing efficiency.

[0030] The second anti-collision block 24 is installed at both ends of the stator 23 of the rod-shaped linear motor. When the dispensing mechanism moves to the limit position in the Z direction, it plays a buffering role to prevent the dispensing mechanism from colliding and being damaged with other components. It protects the dispensing mechanism and other components of the Z-direction moving mechanism, and improves the reliability and safety of the equipment.

[0031] Motor mounting bracket 25: Fixes the position of the stator 23 of the rod-shaped linear motor on the mounting plate 21, ensuring the stability of the rod-shaped linear motor during operation, enabling it to reliably output power, and ensuring the stable movement of the dispensing mechanism in the Z direction.

[0032] The rod-shaped linear motor mover 26 works in conjunction with the rod-shaped linear motor stator 23 to drive the dispensing mechanism fixing plate 212 to move under the drive of the rod-shaped linear motor, thereby realizing the up-and-down movement of the dispensing mechanism in the Z direction. It is the key component for realizing the Z-direction movement of the dispensing mechanism.

[0033] Constant force magnetic spring stator 27: Passes through constant force magnetic spring mover 28 and is mounted on fixed plate 21 through constant force magnetic spring fixing seat 29. It interacts with constant force magnetic spring mover 28 and provides constant magnetic force within a certain displacement range based on the magnetic field interaction between permanent magnets or between permanent magnet and magnetic conductor, thus ensuring the stability of dispensing mechanism.

[0034] Constant force magnetic spring mover 28: It is fixed on the dispensing mechanism fixing plate 212 by the first constant force magnetic spring fixing block 210 and the second constant force magnetic spring fixing block 211. It cooperates with the constant force magnetic spring stator 27 to provide constant support force for the dispensing mechanism in the Z direction, ensuring the Z-axis positioning accuracy. At the same time, it prevents the dispensing mechanism from falling in the event of a power system failure, thus ensuring safe use.

[0035] Constant force magnetic spring fixing seat 29: Fixes the position of the constant force magnetic spring stator 27 on the fixing plate 21, ensures the installation stability of the constant force magnetic spring, enables it to function normally, and ensures the stable operation and safety of the dispensing mechanism in the Z direction.

[0036] First constant force magnetic spring fixing block 210 and second constant force magnetic spring fixing block 211: Fix the constant force magnetic spring mover 28 on the dispensing mechanism fixing plate 212 to ensure the relative position of the constant force magnetic spring mover 28 and the dispensing mechanism fixing plate 212 is stable, so that the constant force magnetic spring can effectively provide support and protection for the dispensing mechanism, ensuring the Z-axis positioning accuracy and the safety of the dispensing mechanism.

[0037] Dispensing mechanism fixing plate 212: Installed on the slider and rod-shaped linear motor mover 26 of the linear guide pair 22, connecting the dispensing mechanism and other components of the Z-axis moving mechanism, so that the dispensing mechanism can move with the movement of the Z-axis moving mechanism, ensuring accurate position control of the dispensing mechanism in the Z-axis, and providing a stable installation platform for dispensing operations.

[0038] Work Process: Preparation Stage: Based on the specific requirements of the dispensing task, select a suitable dispensing head and install it onto the dispensing mechanism 3. Properly install the robot on the dispensing worktable and connect the external air supply and power supply. The external air supply is connected to the air supply 1212 of the slider 12 via quick-connect connector 1209 to supply power to the braking system; the power supply powers components such as the electromagnetic coil 1216, putting the robot in standby mode.

[0039] Y-axis movement process: When the dispensing mechanism moves in the Y direction, the control system sends a current signal to the electromagnetic coil 1216 of the slider 12. After the electromagnetic coil 1216 is energized, it generates a magnetic field force that interacts with the permanent magnet at the bottom of the main body 11. Under the action of the magnetic field force, the slider body 1201 moves along the guide rod 13. Since the ball bearing 1206 rolls in the circulating ball track, the moving resistance is greatly reduced, ensuring that the slider 12 can move smoothly in the Y direction.

[0040] Positioning Braking: If positioning needs to be stopped during movement, the control system supplies air to the air inlet of air passage 1212. The air pushes the brake pusher 1202 out, which engages with the drive groove 1213 on the brake block 1203, pushing the two brake blocks 1203 apart. This overcomes the elastic force of the spring 1204, causing the brake blocks 1203 to release the guide rod 13, at which point the slider 12 can move freely. After the slider 12 reaches the designated position, the control system stops supplying air to air passage 1212, air passage 1212 exhausts air, the brake pusher 1202 retracts under the action of the spring 1204, and the brake blocks 1203 re-grip the guide rod 13, achieving precise positioning.

[0041] Z-axis movement process: After Y-axis positioning is completed, if the height of the dispensing mechanism needs to be adjusted, Z-axis movement is performed. The control system sends an electrical signal to the stator 23 of the rod-shaped linear motor, and the stator 23 of the rod-shaped linear motor starts. Driven by the stator 23 of the rod-shaped linear motor, the mover 26 of the rod-shaped linear motor drives the dispensing mechanism fixing plate 212 to move up and down along the linear guide pair 22. The linear guide pair 22 provides precise guidance for the movement of the dispensing mechanism fixing plate 212, ensuring the linear motion accuracy of the dispensing mechanism in the Z-axis.

[0042] Constant Force Guarantee: The constant force magnetic spring plays a crucial role during Z-axis movement. The constant force magnetic spring stator 27 and the constant force magnetic spring mover 28 provide a constant magnetic force within a certain displacement range based on the magnetic field interaction between a permanent magnet or between a permanent magnet and a magnetic conductor. When the dispensing mechanism rises, the magnetic force of the constant force magnetic spring is opposite to the direction of gravity of the dispensing mechanism, assisting in lifting and ensuring Z-axis positioning accuracy; during descent, the magnetic force acts as a buffer and stabilizer. In the event of a power system failure, the constant force magnetic spring prevents the dispensing mechanism from falling, ensuring safety.

[0043] Dispensing Process: After positioning in both the Y and Z directions, the dispensing mechanism begins the dispensing operation. The control system directs the dispensing mechanism 3 to dispense adhesive according to a preset program and parameters. Adhesive is extruded from the dispensing head and evenly applied to the designated location on the product. During the dispensing process, the robot continuously monitors and fine-tunes its position in the Y and Z directions to ensure dispensing accuracy and quality. After dispensing is completed, the robot moves to the next dispensing position and performs the dispensing operation according to program instructions until the entire dispensing task is completed.

[0044] The preferred embodiments of the present invention have been described in detail above with reference to the accompanying drawings. However, the present invention is not limited to the specific details of the above embodiments. Within the scope of the technical concept of the present invention, various equivalent transformations can be made to the technical solutions of the present invention, and all such equivalent transformations fall within the protection scope of the present invention.

Claims

1. A moving mechanism, comprising: A guide rod (13) is mounted on the main body (11) at both ends via side covers (15). A slider (12) is slidably mounted on the guide rod (13). The slider (12) comprises: a slider body (1201), on which H-shaped grooves (1211) are provided on two opposite end faces of one set of the slider body (1201). Two brake blocks (1203) are mirror-imagely arranged in the H-shaped grooves (1211). A spring is provided between the brake blocks (1203) and the H-shaped grooves (1211) to clamp the guide rod (13). 1204), the slider body (1201) is provided with an air passage (1212), the multiple outlets of the air passage (1212) are placed in the H-shaped groove (1211), the brake block (1203) is provided with multiple drive grooves (1213), the outlet of the air passage (1212) is provided with a brake push block (1202), the brake push block (1202) cooperates with the drive groove (1213) to separate the two brake blocks (1203), and the slider body (1201) is provided with a slider end cap (1208) for covering the brake block (1203).

2. The moving mechanism according to claim 1, characterized in that, The slider end cap (1208) is provided with a dust cover (1210) to prevent foreign objects from entering the slider body (1201).

3. A moving mechanism according to claim 2, characterized in that, The slider body (1201) has a ball channel (1214) and a ball slide (1215) on two opposite end faces. A ball retainer (1207) is installed on the slider end cover (1208). The position of the ball retainer (1207) corresponds to the position of the ball slide (1215). Balls (1206) are arranged in the ball channel (1214) and the ball slide (1215).

4. A moving mechanism according to claim 1, characterized in that, The main body (11) is provided with a permanent magnet (1205), and the slider body (1201) is provided with an electromagnetic coil (1216). The electromagnetic coil (1216) cooperates with the permanent magnet (1205) to realize the movement of the slider body (1201).

5. A moving mechanism according to claim 1, characterized in that, A first anti-collision block (14) is provided on the inner wall of the side cover (15).

6. A moving mechanism according to claim 1, characterized in that, The air inlet and outlet of the air passage (1212) are provided with quick-connect fittings (1209).

7. A high-precision robot for the dispensing industry, comprising the moving mechanism (1) as described in any one of claims 1-6, characterized in that, The slider body (1201) is provided with a plurality of Z-axis moving mechanisms (2), and a dotting mechanism (3) is installed on the moving end of the Z-axis moving mechanism (2).

8. A high-precision robot for the dispensing industry according to claim 7, characterized in that, The Z-axis moving mechanism (2) is a ball screw mechanism, a threaded screw mechanism, or a cylinder.

9. A high-precision robot for the dispensing industry according to claim 7, characterized in that, The Z-axis moving mechanism (2) includes: a fixed plate (21), which is mounted on the slider body (1201), a rod-shaped linear motor stator (23) mounted on the fixed plate (21) via a motor mounting base (25), a linear guide pair (22) mounted on the fixed plate (21), a dispensing mechanism fixed plate (212) mounted on the rod-shaped linear motor mover (26) and the linear guide pair (22), a constant force magnetic spring stator (27) mounted on the fixed plate (21) via a constant force magnetic spring mounting base (29), a constant force magnetic spring mover (28) fitted on the constant force magnetic spring stator (27), and the constant force magnetic spring mover (28) fixed on the dispensing mechanism fixed plate (212) via a first constant force magnetic spring fixing block (210) and a second constant force magnetic spring fixing block (211).

10. A high-precision robot for the dispensing industry according to claim 9, characterized in that, A second anti-collision block (24) is provided on the inner wall of the motor mounting base (25).

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