Double-sided dispensing equipment

Abstract

The utility model relates to the technical field of high -speed point gumming equipment especially, it is a kind of front and back point gumming equipment, its technical scheme main points include: frame, with platform, is equipped with the platform and is avoided window;Feeding and discharging mechanism, setting in frame, for material transfer in and out two sides of frame;Turnover device, setting in frame, and with feeding and discharging mechanism opposite interface, for receiving and drive material overturn in avoided window;Three -dimensional mechanism, setting in frame;Turning device, setting in three -dimensional mechanism, three -dimensional mechanism is used to drive turning device displacement in three -dimensional space;And point gumming mechanism, with turning device connection, and located the turnover device top, turning device is used to adjust the horizontal angle and inclination angle of point gumming mechanism, to make the point gumming mechanism continuously towards the point gumming track of material, the application provides a kind of point gumming equipment that can simultaneously in material front, reverse two sides respectively realize efficient, high-precision point gumming operation.

Description

Technical Field

[0001] This utility model relates to the technical field of high-speed dispensing equipment, and in particular to a front and back dispensing equipment. Background Technology

[0002] High-speed dispensing equipment is commonly used in fields such as electronics manufacturing, medical devices, and semiconductor packaging. With technological advancements, it is gradually evolving from traditional manual operation to high-precision, high-speed automation, and still has considerable room for development in the future.

[0003] Conventional dispensing equipment mainly consists of a motion device and a dispensing device. The dispensing device is mounted on the motion device and is moved by the motion device. The dispensing device is used to perform high-speed dispensing by placing the material on the machine platform to achieve automated dispensing.

[0004] However, for some materials that require double-sided dispensing, due to the structural limitations of the equipment, it is necessary to repeatedly pick up, place, and flip the material. This leads to repeated positioning of the material, increasing the transportation and transfer time. In addition, some materials may have complex dispensing profiles. Current dispensing equipment generally suffers from insufficient structural flexibility, and repeated positioning may make it difficult for the dispensing device to achieve consistent dispensing operation on both sides, further increasing the difficulty of double-sided dispensing.

[0005] There is still a lack of dispensing equipment in the current technology that can simultaneously achieve efficient and high-precision dispensing operations on both the front and back sides of the material, so improvements are needed.

[0006] The above information is provided as background information only to aid in understanding this disclosure and does not constitute an assertion or admission that any of the above content can be used as prior art relative to this disclosure. Utility Model Content

[0007] This invention provides a front and back dispensing device to solve the problem in the prior art that it is difficult to achieve efficient and high-precision dispensing operations on both sides of a material at the same time.

[0008] To achieve the above objectives, this utility model provides the following technical solution:

[0009] A front and back dispensing device, comprising:

[0010] The rack has a platform with clearance windows on the platform;

[0011] The loading and unloading mechanism is located on the frame and is used to transfer materials inside and outside the frame.

[0012] A flipping device is installed on the frame and connected to the loading and unloading mechanism, used to receive and drive the material to flip within the clearance window;

[0013] A three-dimensional mechanism is mounted on the frame;

[0014] A steering device is disposed on the three-dimensional mechanism, which is used to drive the steering device to move in three-dimensional space;

[0015] The dispensing mechanism is connected to the steering device and located above the flipping device. The steering device is used to adjust the horizontal and tilt angles of the dispensing mechanism so that the dispensing mechanism continuously faces the dispensing trajectory of the material.

[0016] Preferably, the flipping device includes:

[0017] The flipping mechanism consists of two sets arranged opposite to each other. The flipping mechanism is located on the platform, and the clearance window is located between the two sets of flipping mechanisms. The flipping mechanism is adjacent to the loading and unloading mechanism.

[0018] A transfer mechanism is provided within the flipping mechanism and located in the area of ​​the clearance window. The flipping mechanism is used to drive the transfer mechanism to flip within the clearance window. The transfer mechanism is used to receive materials from the loading and unloading mechanism and to re-transfer the materials to the loading and unloading mechanism.

[0019] Preferably, the reprinting organization includes:

[0020] A first synchronous belt module is disposed in the flipping mechanism.

[0021] The second synchronous belt module is disposed on the flipping mechanism and is parallel to the first synchronous belt module. There is a clamping gap between the first synchronous belt module and the second synchronous belt module for placing materials.

[0022] A first power component is provided on the flipping mechanism and is connected to the first synchronous belt module and the second synchronous belt module respectively, for driving the first synchronous belt module and the second synchronous belt module to start and stop.

[0023] Preferably, the transfer mechanism further includes a clamping assembly for driving the first synchronous belt module and the second synchronous belt module closer to or further apart from each other. The clamping assembly includes:

[0024] The first clamping block is fixedly disposed on the flipping mechanism and configured on the first synchronous belt module;

[0025] The second clamping block is slidably disposed on the flipping mechanism and configured on the second synchronous belt module;

[0026] A clamping cylinder is disposed in the flipping mechanism and connected to the second clamping block. The clamping cylinder is used to drive the second clamping block closer to or further away from the first clamping block.

[0027] Preferably, there are two loading and unloading mechanisms, which are located on opposite sides of the flipping mechanism.

[0028] The loading and unloading mechanism includes two displacement modules mounted on the frame. The displacement modules are arranged in parallel to each other, and each displacement module is connected to one of the two flipping mechanisms.

[0029] Preferably, it further includes a spacing adjustment module, which is disposed on the frame. At least one set of interlocking displacement modules and a flipping mechanism are connected to the spacing adjustment module. The spacing adjustment module is used to adjust the spacing between the two sets of flipping mechanisms and to adjust the spacing between the two sets of displacement modules.

[0030] Preferably, the flipping device further includes a magnetic positioning mechanism, the magnetic positioning mechanism comprising:

[0031] An electromagnet module is mounted on the frame;

[0032] The electromagnet module and the positioning block are magnetically attracted to each other. When the electromagnet module and the positioning block are in a magnetically attracted state, the transfer mechanism is horizontally positioned.

[0033] Preferably, the steering device includes:

[0034] A vertical rotation mechanism is provided on the three-dimensional mechanism, which is used to drive the vertical rotation mechanism to move in three-dimensional space;

[0035] And a tilt adjustment mechanism, which is disposed in the vertical rotation mechanism, the vertical rotation mechanism being used to drive the tilt adjustment mechanism to rotate horizontally.

[0036] Preferably, the vertical rotation mechanism includes:

[0037] The first connecting frame is fixedly mounted on the three-dimensional mechanism;

[0038] A vertical servo motor is mounted on the first connecting frame, and the output shaft of the vertical servo motor is vertically oriented.

[0039] The system includes a first reducer located between the vertical servo motor and the tilt adjustment mechanism. The vertical servo motor is connected to the first reducer, and the first reducer is connected to the tilt adjustment mechanism.

[0040] Preferably, the tilt adjustment mechanism includes:

[0041] The second connecting frame is connected to the vertical rotation mechanism;

[0042] A tilt servo motor is mounted on the second connecting frame, and the output shaft of the tilt servo motor is horizontally positioned.

[0043] And a second reducer, which is located between the tilt servo motor and the dispensing mechanism, the tilt servo motor being connected to the second reducer, and the second reducer being connected to the dispensing mechanism.

[0044] Compared with the prior art, the present invention has the following beneficial effects:

[0045] The front and back dispensing equipment provided by this utility model has an automatic loading and unloading mechanism that can guide materials into the machine frame and automatically send materials from inside the machine frame to the outside, realizing automated loading and unloading and optimizing transfer efficiency. At this time, the flipping device can carry the materials and, with the avoidance effect of the avoidance window, achieve in-situ flipping without the need for repeated positioning of the materials, thus optimizing and improving the positional accuracy of the materials and the dispensing accuracy of the dispensing mechanism. On this basis, the three-dimensional mechanism can drive the dispensing mechanism to move in three-dimensional space through the steering device. The steering device provides the dispensing mechanism with horizontal and tilt angles. On the one hand, adjusting the horizontal angle ensures that the dispensing part of the dispensing mechanism always faces the dispensing trajectory. On the other hand, adjusting the tilt angle allows the dispensing mechanism to avoid structural interference of the materials in the height direction on the dispensing trajectory, thus improving the flexibility of the dispensing mechanism. It can perform continuous dispensing in one go for complex dispensing trajectories, and the dispensing efficiency is optimized and improved simultaneously. Finally, a dispensing equipment that can simultaneously achieve efficient and high-precision dispensing operations on both the front and back sides of the material is obtained.

[0046] This invention has other features and advantages that will be apparent from or will be set forth in detail in the accompanying drawings and the following detailed description, which together serve to explain the particular principles of this invention. Attached Figure Description

[0047] To more clearly illustrate the technical solutions in the embodiments of this utility model or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0048] Figure 1 This is a schematic diagram of the front and back dispensing equipment provided in this embodiment of the utility model;

[0049] Figure 2 This is a schematic diagram of the structure of the flipping device provided in this embodiment of the utility model;

[0050] Figure 3 This is a schematic diagram of the flipping mechanism and the transfer mechanism provided in this embodiment of the utility model;

[0051] Figure 4 This is a structural schematic diagram of the flipping mechanism and the transfer mechanism provided in this embodiment of the utility model from another perspective;

[0052] Figure 5 yes Figure 2 Enlarged view of section A;

[0053] Figure 6 This is a structural schematic diagram of the steering device and dispensing mechanism provided in this embodiment of the utility model.

[0054] Figure label:

[0055] 1. Rack; 11. Clearance window;

[0056] 2. Loading and unloading mechanism; 21. Chain conveyor module; 211. First sprocket; 212. Second sprocket; 213. Connecting seat; 214. Chain; 22. Second power unit;

[0057] 3. Tilting mechanism; 31. Third power unit; 32. Mounting base;

[0058] 4. Transfer mechanism; 41. First synchronous belt module; 42. Second synchronous belt module; 43. First power assembly; 431. Drive motor; 432. First gear; 433. Second gear; 44. Clamping assembly; 441. First clamping block; 442. Second clamping block; 443. Clamping cylinder; 45. Drive wheel; 46. Driven wheel; 47. Belt; 48. Tensioner;

[0059] 5. Spacing adjustment module;

[0060] 6. Magnetic positioning mechanism; 61. Electromagnet module; 62. Positioning block;

[0061] 7. Three-dimensional mechanism; 71. First horizontal module; 711. Guide rail component; 712. Lead screw drive component; 72. Second horizontal module; 73. Lifting and displacement module;

[0062] 8. Vertical rotation mechanism; 81. First connecting frame; 82. Vertical servo motor; 83. First reducer;

[0063] 9. Tilt adjustment mechanism; 91. Second connecting frame; 92. Tilt servo motor; 93. Second reducer;

[0064] 10. Dispensing mechanism. Detailed Implementation

[0065] To make the objectives, features, and advantages of this utility model more apparent and understandable, the technical solutions of the embodiments of this utility model will be clearly and completely described below with reference to the accompanying drawings. Obviously, the embodiments described below are only some embodiments of this utility model, and not all embodiments. Based on the embodiments of this utility model, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this utility model.

[0066] In the description of this utility model, it should be understood that when a component is considered to be "connected" to another component, it can be directly connected to the other component or there may be a component that is centrally positioned therein. When a component is considered to be "set" on another component, it can be directly set on the other component or there may be a component that is centrally positioned therein.

[0067] Furthermore, terms such as "long," "short," "inner," and "outer" indicate orientation or positional relationships based on the orientation or positional relationships shown in the accompanying drawings. They are used only for the convenience of describing this utility model and do not indicate or imply that the device or component referred to must have this specific orientation or operate in a specific orientational configuration. Therefore, they should not be construed as limitations of this utility model.

[0068] The following is in conjunction with the appendix Figure 1-6 The technical solution of this utility model will be further illustrated through specific implementation methods.

[0069] Please refer to Figure 1 This utility model provides a front and back dispensing device for dispensing adhesive onto sheet materials. The sheet materials may contain electronic components and therefore have a certain height. Since dispensing requires dispensing from multiple directions around the sheet and from both the front and back sides, it presents a significant dispensing challenge.

[0070] Based on this, the front and back dispensing equipment in this application embodiment includes a frame 1, a loading and unloading mechanism 2, a flipping device, a three-dimensional mechanism 7, a steering device, and a dispensing mechanism 10.

[0071] The frame 1 is used to provide installation positions for various mechanisms and devices. The frame 1 has a horizontally set platform with a clearance window 11. In this embodiment, the clearance window 11 is located in the middle area of ​​the platform.

[0072] In addition, the loading and unloading mechanism 2 is set on the platform and is adjacent to the clearance window 11. It is used to feed materials from the outside of the frame 1 into the inside of the frame 1 and to feed materials from the inside of the frame 1 to the outside of the frame 1. It is equivalent to transferring materials on both the inside and outside of the frame 1, realizing the automated loading and unloading of materials.

[0073] The flipping device is installed on the frame 1, adjacent to and connected to the loading and unloading mechanism 2. It is used to receive materials and drive the materials to flip within the clearance window 11 to achieve the flipping effect of the materials. Before and after the materials are flipped, the dispensing mechanism 10 can dispense glue to the front and back sides of the materials respectively.

[0074] In addition, the three-dimensional mechanism 7 is set on the frame 1, and the steering device is set on the three-dimensional mechanism 7. The three-dimensional mechanism 7 is used to drive the steering device to move in three-dimensional space. At the same time, the dispensing mechanism 10 is connected to the steering device and is located above the flipping device. Under the action of the three-dimensional mechanism 7, the dispensing mechanism 10 can be driven to move in three-dimensional space through the steering device, so that the dispensing mechanism 10 can move in a straight line, arc or turn along a complex dispensing path. The dispensing mechanism 10 can flexibly switch the dispensing position. For ease of understanding, a spatial rectangular coordinate line is established here, where the x-axis and y-axis are mutually perpendicular horizontal directions, and the z-axis is the direction of lifting displacement. In this embodiment, the material is transferred along the y-axis direction.

[0075] During the process of changing the dispensing position of the dispensing mechanism 10, the steering device is used to adjust the horizontal angle and tilt angle of the dispensing mechanism 10. It can be understood that by changing the horizontal angle and tilt angle of the dispensing mechanism 10, the horizontal orientation and tilt orientation of the dispensing mechanism 10 are adjusted so that the dispensing mechanism 10 continuously faces the dispensing trajectory of the material. The dispensing mechanism 10 can perform continuous dispensing operation on complex paths without stopping for adjustment, and obtain consistent dispensing marks.

[0076] In the above technical solution, on the one hand, the loading and unloading mechanism 2 enables automated transfer of materials on both sides of the frame 1. After entering the frame 1, the materials can be flipped in place by the flipping device, eliminating the need for repeated material removal, flipping, and positioning to achieve dispensing on both sides. This ensures the positional accuracy of the materials and further optimizes and improves the dispensing accuracy of the dispensing mechanism 10. On the other hand, by setting a steering device, the dispensing mechanism 10 can be provided with further horizontal rotation and tilt adjustment actions. The overall motion freedom of the structure is optimized and improved. Under the joint drive of the three-dimensional mechanism 7, the dispensing mechanism 10 can always face the dispensing trajectory in some complex dispensing paths, such as right-angle turning paths. This enables the dispensing mechanism 10 to achieve continuous dispensing in one go, and the overall dispensing efficiency is optimized and improved simultaneously.

[0077] Furthermore, referring to Figure 2 The flipping device includes a flipping mechanism 3 and a transfer mechanism 4. The flipping mechanism 3 is set in two opposing sets, and the flipping mechanism 3 is located on the platform. The clearance window 11 is located between the two sets of flipping mechanisms 3. The flipping mechanism 3 is adjacent to the loading and unloading mechanism 2. The flipping mechanism 3 can output a horizontal 180-degree flipping action.

[0078] The transfer mechanism 4 is used to carry materials. The transfer mechanism 4 is set on the flipping mechanism 3. It can be understood that the two flipping mechanisms 3 are respectively equipped with the transfer mechanism 4, and the transfer mechanism 4 is located in the area of ​​the avoidance window 11. The transfer mechanism 4 is used to receive materials from the loading and unloading mechanism 2, and to re-transfer materials to the loading and unloading mechanism 2. The flipping mechanism 3 can drive the transfer mechanism 4 to flip horizontally within the avoidance window 11, thereby causing the materials to flip within the avoidance window 11.

[0079] Specifically, refer to Figure 2 and Figure 3 The transfer mechanism 4 includes a first synchronous belt module 41, a second synchronous belt module 42, and a first power component 43. The first synchronous belt module 41 and the second synchronous belt module 42 are both disposed on the flipping mechanism 3. The second synchronous belt module 42 is parallel to the first synchronous belt module 41 and they have the same structure; here, the first synchronous belt module 41 is taken as an example.

[0080] In this embodiment, the first synchronous belt module 41 includes a drive pulley 45, a driven pulley 46, a tension pulley 48, and a belt 47. The drive pulley 45, the driven pulley 46, and the tension pulley 48 are rotatably mounted on the flipping mechanism 3, and the belt 47 simultaneously covers the drive pulley 45, the driven pulley 46, and the tension pulley 48. Under the guidance of the three, the belt 47 has a straight section, which can support the material in a horizontal state.

[0081] Furthermore, the first power component 43 is disposed on the flipping mechanism 3 and is connected to the first synchronous belt module 41 and the second synchronous belt module 42 respectively. The first power component 43 can input power into the first synchronous belt module 41 and the second synchronous belt module 42 to drive the first synchronous belt module 41 and the second synchronous belt module 42 to start and stop. Here, power is simultaneously input to the two synchronous belt modules through a single power source, resulting in a compact structure, reduced manufacturing cost, and good synchronization accuracy between the first synchronous belt module 41 and the second synchronous belt module 42.

[0082] Specifically, the first power assembly 43 can drive the drive wheel 45 to rotate. Under the guidance of the driven wheel 46 and the tension wheel 48, the belt 47 can rotate continuously. When the material is placed on the belt 47, it can drive the belt 47 to move, thereby realizing the displacement and transfer of the material between the loading / unloading mechanism 2 and the transfer mechanism 4.

[0083] Correspondingly, the second synchronous belt module 42 also has a driving pulley 45, a driven pulley 46, a tensioning pulley 48, and a belt 47, the specific structure of which will not be described in detail here. At this time, the belt 47 section on the second synchronous belt module 42 also has a straight section. The straight sections on the first synchronous belt module 41 and the second synchronous belt module 42 are parallel to each other, thereby making the first synchronous belt module 41 and the second synchronous belt module 42 parallel to each other. At this time, a clamping gap for placing materials is formed between the first synchronous belt module 41 and the second synchronous belt module 42.

[0084] Specifically, the clamping gap is formed between the straight section on the first synchronous belt module 41 and the straight section on the second synchronous belt module 42, and the two ends of the clamping gap are open, allowing materials to enter and exit the transfer mechanism 4 through the openings.

[0085] In one embodiment, the size of the clamping gap can be set in advance to correspond to the thickness of the material. When the material enters the clamping gap, it can be clamped by both sides of the first synchronous belt module 41 and the second synchronous belt module 42. The material is not easy to loosen during the flipping process, so as to achieve a stable flipping action. The setup is simple and the structure is reliable.

[0086] Based on this, the first power assembly 43 needs to be configured to drive the belt 47 on the first synchronous belt module 41 and the belt 47 on the second synchronous belt module 42 to move in the same direction to meet the unidirectional displacement requirements of the material; in addition, the first power assembly 43 can adopt a motor element that can output positive and negative torque, thereby changing the rotation direction of the belt 47 on the first synchronous belt module 41 and the second synchronous belt module 42, so that the material can flexibly enter and exit the transfer mechanism 4.

[0087] However, when the size of the clamping gap is limited to a fixed value, the overall versatility of the device is restricted. For example, different materials may have different thicknesses, and a clamping gap of a fixed size is difficult to adapt to the placement requirements of materials with different thicknesses.

[0088] Based on this, refer to Figure 3 and Figure 4In the embodiment provided in this example, the transfer mechanism 4 further includes a clamping component 44 disposed on the flipping mechanism 3. The clamping component 44 is used to drive the first synchronous belt module 41 and the second synchronous belt module 42 to move closer or further away from each other to change the size of the clamping gap, thereby adapting to the clamping requirements of materials with different thicknesses and sizes, and optimizing and improving the overall versatility of the device.

[0089] Specifically, the clamping assembly 44 includes a first clamping block 441, a second clamping block 442, and a clamping cylinder 443. The first clamping block 441 has an elongated block structure and is parallel to the straight section of the belt 47. The first clamping block 441 is fixedly mounted on the flipping mechanism 3 and configured on the first synchronous belt module 41. The first clamping block 441 is located on the side of the straight section of the first synchronous belt module 41 that faces away from the second synchronous belt module 42. The first clamping block 441 can improve the support strength of the belt 47 and make the material placement more stable.

[0090] Based on this, the second clamping block 442 is slidably disposed on the flipping mechanism 3 and configured on the second synchronous belt module 42. Specifically, the structure of the second clamping block 442 is similar to that of the first clamping block 441, both being elongated block structures. The difference is that the flipping mechanism 3 is provided with a clearance groove, the extension direction of which is perpendicular to the extension direction of the straight section. In addition, a slide rail is provided on the back of the flipping mechanism 3, and a slider is slidably disposed on the slide rail. A connecting rod is fixedly disposed on the second clamping block 442 and extends to the back of the flipping mechanism 3 through the connecting rod. The connecting rod is connected to the slider. Under the guidance of the slider and the slide rail, the second clamping block 442 can move closer to or further away from the first clamping block 441.

[0091] In addition, a clamping cylinder 443 is disposed on the flipping mechanism 3. Specifically, the clamping cylinder 443 is located on the back of the flipping mechanism 3 and is connected to the second clamping block 442. The telescopic rod of the clamping cylinder 443 can be fixed to the second clamping block 442 to achieve connection. In the above arrangement, by activating the clamping cylinder 443, the second clamping block 442 can be driven to move closer to or further away from the first clamping block 441.

[0092] At this time, the second clamping block 442 is located on the side of the straight section of the second synchronous belt module 42 facing away from the first synchronous belt module 41. As the second clamping block 442 approaches the first clamping block 441, the second clamping block 442 can press down on the belt 47 on the second synchronous belt module 42, causing it to deform and thus shortening the size of the clamping gap.

[0093] By using the above method, the clamping cylinder 443 is activated, thereby flexibly controlling the clamping gap, and ultimately being able to clamp materials with different thicknesses. Compared with the fixed clamping gap setting method, the overall versatility of the device is significantly improved.

[0094] Based on the clamping component 44, the embodiment of this application further simplifies the configuration of the first power component 43, making it more efficient in transmission, less expensive, faster in action response, and better in synchronization.

[0095] For details, please refer to... Figure 3 The first power assembly 43 provided in this embodiment includes a drive motor 431, a first gear 432, a second gear 433, and a third gear (not shown in the figure).

[0096] The drive motor 431 is fixedly mounted on the flipping mechanism 3. The drive motor 431 has an output shaft, through which it outputs torque. The first gear 432 is mounted on the first synchronous belt module 41. Specifically, the first gear 432 is fixedly connected to the drive pulley 45 on the first synchronous belt module 41. Typically, a rotating shaft can be installed between the drive pulley 45 and the first gear 432, fixing the first gear 432 and the drive pulley 45 to both ends of the shaft. The shaft is then rotatably mounted on the flipping mechanism 3 to achieve a fixed connection between the two. Furthermore, the second gear 433 is mounted on the second synchronous belt module 42. Specifically, the second gear 433 is fixedly connected to the drive pulley 45 on the second synchronous belt module 42. The installation method of the second gear 433 is the same as that of the first gear 432, and will not be described in detail here.

[0097] Based on this, the third gear is connected to the output shaft of the drive motor 431, and the third gear meshes with both the first gear 432 and the second gear 433. With this configuration, starting the drive motor 431 outputs forward and reverse torque, which in turn drives the third gear to rotate. The third gear then drives the first gear 432 and the second gear 433 to rotate synchronously, thereby causing the first synchronous belt module 41 and the second synchronous belt module 42 to start and stop synchronously. This results in higher transmission efficiency, lower cost, faster response, and better synchronization performance.

[0098] It should be explained that by simultaneously meshing the third gear with both the first gear 432 and the second gear 433, the first synchronous belt module 41 and the second synchronous belt module 42 can also achieve opposite rotational directions. Based on this, during the process of dispensing material on both sides, the material first enters the clamping gap through the first synchronous belt module 41. After dispensing on one side of the material is completed, the drive motor 431 is turned off, and the clamping assembly 44 is activated to clamp and fix the material. Then, the flipping mechanism 3 rotates 180 degrees, and the material is dispensed on the other side. After dispensing is complete, the clamping mechanism releases. When the material is fed, it falls onto the second synchronous belt module 42. Since the rotation directions of the first synchronous belt module 41 and the second synchronous belt module 42 are opposite, the transport direction of the material by the second synchronous belt module 42 is consistent with the transport direction of the material by the first synchronous belt module 41 before the flip. This allows the material to maintain the same feeding and discharging direction after the flip, ensuring a straight transfer path. This facilitates connection with external production lines, enabling continuous material transfer and further optimizing and improving transfer efficiency.

[0099] Based on this, let's look back. Figure 2 To ensure that materials can be transferred along a straight path, two loading and unloading mechanisms 2 are configured. The two loading and unloading mechanisms 2 are located on opposite sides of the flipping mechanism 3. At this time, one loading and unloading mechanism 2 is mainly used to load materials and connect to the upstream production line, while the other loading and unloading mechanism 2 is used to unload materials and connect to the downstream production line, thereby connecting with the external production line and improving the material transfer efficiency.

[0100] Reference Figure 2 and Figure 5 The loading and unloading mechanism 2 includes two displacement modules mounted on the frame 1. The displacement modules are arranged parallel to each other, and each of the two displacement modules is connected to one of the two flipping mechanisms 3. By adopting the above arrangement, the two displacement modules can provide support for the opposite sides of the material, so that the material can maintain a horizontal state. Furthermore, by connecting the two displacement modules to the two flipping mechanisms 3 one by one, the material can be accurately transferred between the two flipping mechanisms 3, and jamming is less likely to occur.

[0101] Furthermore, in addition to different thicknesses, different materials may also have different overall structural dimensions. Therefore, in order to facilitate the transfer of materials of different sizes, a spacing adjustment module 5 is also included. The spacing adjustment module 5 is mounted on the frame 1 and can output reciprocating horizontal motion. The motion output direction of the spacing adjustment module 5 is perpendicular to the transfer direction of the material.

[0102] Based on this, at least one set of interlocking displacement modules and flipping mechanism 3 are connected to the spacing adjustment module 5. The spacing adjustment module 5 is used to adjust the spacing between the two sets of flipping mechanisms 3 and to adjust the spacing between the two sets of displacement modules.

[0103] Specifically, the displacement module provided in this embodiment is a linear module. The linear module can be a linear screw guide module or a linear motor module. The specific model and structure of the linear module can be selected according to actual needs. No restrictions are placed on the specific structure of the linear module here.

[0104] The spacing adjustment module 5 is fixedly installed on the frame 1 and is horizontally positioned. The movement output direction of the spacing adjustment module 5 is perpendicular to the material transfer direction. Typically, the spacing adjustment module 5 has a slide table that can reciprocate. By setting one set of interlocking displacement modules and flipping mechanisms 3 on the slide table, and setting another set of interlocking displacement modules and flipping mechanisms 3 on the slide table and fixing it on the frame 1, the linear module is activated. This allows one set of interlocking displacement modules and flipping mechanisms 3 to reciprocate under the drive of the slide table, thereby reducing the spacing between the two displacement modules and simultaneously reducing the spacing between the two flipping mechanisms 3. This meets the transfer requirements of materials with different widths, and the versatility of the device is further optimized and improved.

[0105] Furthermore, combined Figure 5 The displacement module provided in this embodiment includes a chain conveyor module 21 and a second power assembly 22. The chain conveyor module 21 is movably mounted on the frame 1 and includes a first sprocket 211, a second sprocket 212, a connecting seat 213, and a chain 214.

[0106] The connecting seat 213 is set on the slide of the frame 1 or the spacing adjustment module 5 according to the actual situation. The first sprocket 211 and the second sprocket 212 are respectively rotatably set on the connecting seat 213. The chain 214 covers the first sprocket 211 and the second sprocket 212. A number of spaced support arms are provided on one side of the chain 214. The support arms extend horizontally to support materials.

[0107] At the same time, combined Figure 2The second power component 22 is mounted on the frame 1 and connected to the chain conveyor module 21. The second power component 22 is used to drive the chain conveyor module 21 to start and stop. Specifically, in this embodiment, the second power component 22 is a motor. The motor is fixedly mounted on the connecting seat 213 and its output shaft is fixedly connected to the first sprocket 211. Under the drive of the second power component 22, the first sprocket 211 can be driven to rotate. Under the guidance of the second sprocket 212, the chain 214 rotates, thereby driving the material transfer.

[0108] By adopting the above solution, the loading and unloading of materials can be achieved efficiently, and the 214 chain structure has the advantages of good impact resistance and long service life.

[0109] Furthermore, referring to Figure 2 To enable the material to flip, the flipping mechanism 3 provided in this embodiment includes a third power component 31 and a mounting base 32. Depending on the actual situation, the mounting base 32 is rotatably mounted on the frame 1 or the slide of the spacing adjustment module 5. In this embodiment, one set of mounting bases 32 for the flipping mechanism 3 is fixedly mounted on the frame 1, and the other set of mounting bases 32 for the flipping mechanism 3 is fixedly mounted on the slide of the spacing adjustment module 5. The transfer mechanism 4 is mounted on the mounting base 32. Correspondingly, clearance grooves, slide rails, and other components are also mounted on the mounting base 32, which will not be listed here.

[0110] In addition, the third power assembly 31 and the slide table actually set on the frame 1 or the spacing adjustment module 5 are, in this embodiment, the third power assembly 31 of one set of flipping mechanism 3 is fixedly installed on the frame 1, and the third power assembly 31 of the other set of flipping mechanism 3 is fixedly installed on the slide table of the spacing adjustment module 5.

[0111] Meanwhile, the third power component 31 is a servo motor module, which has precise angle control and is easy to set synchronously. Based on this, the mounting base 32 is connected to the third power component 31. Specifically, the output shaft of the third power component 31 is set horizontally, and the mounting base 32 is fixedly connected to the output shaft of the third power component 31. Driven by the third power component 31, the mounting base 32 can realize horizontal flipping action, which is efficient, simple and quick in response.

[0112] It is understandable that, in order to drive the two flipping mechanisms 3 to rotate synchronously, encoders can be configured on the two third power components 31 respectively, and the encoders can be connected to the controller. The encoders monitor the rotation speed in real time, and the controller (such as a PLC or microcontroller) adjusts the input voltage or current of the motor to keep the rotation speed and angle consistent, so that the material can obtain consistent rotation at the two independent flipping mechanisms 3, thus ensuring the accuracy of the flipping action.

[0113] Furthermore, continue to refer to Figure 2 It also includes a magnetic positioning mechanism 6, which is used to keep the transfer mechanism 4 in a horizontal state. The magnetic positioning mechanism 6 includes an electromagnet module 61 and a positioning block 62. The electromagnet module 61 is set on the frame 1. The electromagnet module 61 is an electromagnetic chuck, which is a component that can generate a magnetic field when current is passed through it and can control the generation of magnetic force. The number of electromagnet modules 61 is set to two, with the two located near the two ends of the mounting base 32 respectively.

[0114] Based on this, the positioning block 62 is provided on the flipping mechanism 3. Specifically, in this embodiment, the positioning block 62 is made of a metal material that can be magnetically attracted, and the positioning block 62 is fixedly set at the end position of the mounting base 32.

[0115] The positioning block 62 is further configured such that when the transfer mechanism 4 is set horizontally, the positioning block 62 abuts against the electromagnet module 61. It can be understood that during the forward and reverse flipping process of the transfer mechanism 4, the positioning block 62 abuts against the two electromagnet modules 61 respectively. At this time, the electromagnet module 61 can magnetically engage with the positioning block 62 when it is energized. This is equivalent to the transfer mechanism 4 being set horizontally and maintaining this horizontal state when the electromagnet module 61 and the positioning block 62 are in a magnetically attracted state. This is beneficial to the stable performance of the dispensing action and can ensure the efficient movement of materials between the transfer mechanism 4 and the loading / unloading mechanism 2.

[0116] Furthermore, referring to Figure 1 and Figure 6 To meet the dispensing action requirements of complex dispensing paths, the steering device includes a vertical rotation mechanism 8 and a tilt adjustment mechanism 9. Specifically, the vertical rotation mechanism 8 is located in the three-dimensional mechanism 7, which is mainly used to drive the vertical rotation mechanism 8 to move in three-dimensional space.

[0117] The tilt adjustment mechanism 9 is located on the vertical rotation mechanism 8. During the movement of the vertical rotation mechanism 8, the tilt adjustment mechanism 9 moves synchronously. The vertical rotation mechanism 8 is used to drive the tilt adjustment mechanism 9 to rotate horizontally. A rotation axis I is made at the rotation center of the vertical rotation mechanism 8. The rotation axis I is parallel to the z-axis direction, so that the horizontal orientation of the tilt adjustment mechanism 9 can be adjusted.

[0118] In addition, the dispensing mechanism 10 is connected to the tilt adjustment mechanism 9. The tilt adjustment mechanism 9 is used to drive the dispensing mechanism 10 to tilt and swing in a vertical plane. Here, a rotation axis O can be made along the power output direction of the tilt adjustment mechanism 9, and the vertical plane is perpendicular to the rotation axis O. By driving the dispensing mechanism 10 to swing, the tilt angle during dispensing can be changed.

[0119] It is understood that the dispensing mechanism 10 mainly includes a dispensing head and a feeding system connected to each other. The feeding system usually includes components such as a glue cartridge and a feeding pump. The feeding pump delivers the glue stored in the glue cartridge to the dispensing head, and the dispensing head realizes the dispensing function. Therefore, in this embodiment, the tilt adjustment mechanism 9 is connected to the dispensing head. By controlling the dispensing head, the dispensing position can be controlled. In addition, the dispensing head can usually be a screw pump type dispensing head, a piezoelectric dispensing head, etc. According to different glue materials, a suitable dispensing head can be selected. Here, the specific setting method of the dispensing mechanism 10 is not limited. Regardless of the type of dispensing mechanism 10 used, it should be included in the scope of interpretation of this solution.

[0120] Furthermore, the angular output value of the vertical rotation mechanism 8 ranges from 0° to 270°. This angular output value can also be understood as the horizontal swing range of the dispensing mechanism 10. The vertical rotation mechanism 8 has an initial position, where it aligns with one side of the material. When the angular output value reaches 270°, driven by the three-dimensional mechanism 7, the dispensing mechanism 10 can move around the material, achieving multi-directional dispensing operations. However, if the angular output value of the vertical rotation mechanism 8 exceeds 270°, it may cause structural interference between the dispensing mechanism 10 and the three-dimensional mechanism 7. Therefore, by limiting the angular output range of the vertical rotation mechanism 8 to within 270°, it achieves four-sided dispensing with high structural flexibility while avoiding structural interference and ensuring more reliable dispensing operations.

[0121] For example, the angle output value of the vertical rotation mechanism 8 can be 0°, 10°, 20°, 30°, 40°, 50°, 60°, 70°, 80°, 90°, 100°, 110°, 120°, 130°, 140°, 150°, 160°, 170°, 180°, 190°, 200°, 210°, 220°, 230°, 240°, 250°, 260°, 270°, etc., depending on the actual dispensing scenario. No specific limitation is made here. In another embodiment, the angle output value of the vertical rotation mechanism 8 can also be selected between any two of the above parameter values.

[0122] Furthermore, the angle output value of the tilt adjustment mechanism 9 is -30° to 30°. The tilt adjustment mechanism 9 also has an initial position, in which the dispensing head of the dispensing mechanism 10 is vertically positioned. Driven by the tilt adjustment mechanism 9, the dispensing mechanism 10 can swing back and forth to opposite sides. When dispensing operations need to be performed on opposite sides of the material, the tilt position of the dispensing mechanism 10 can be switched to achieve directional adaptation, making the operation more flexible. However, when the angle output value of the tilt adjustment mechanism 9 is less than -30° or greater than 30°, it may cause the dispensing head to tilt too much, affecting the shape of the glue drop.

[0123] Therefore, in the above solution, by setting the angle output of the tilt adjustment mechanism 9 to swing in both positive and negative directions, the dispensing action can be made more flexible and the dispensing efficiency can be improved. On the other hand, by limiting the specific value of the swing angle, a standard drop shape can be obtained and good dispensing quality can be maintained.

[0124] For example, the specific parameter value of the angle output value of the tilt adjustment mechanism 9 can be -30°, -20°, -10°, 0°, 10°, 20° or 30°. There is no limitation on the specific parameter value of the tilt adjustment mechanism 9. In another embodiment, the range of the angle output value of the tilt adjustment mechanism 9 can also be selected between any two of the above parameter values.

[0125] Furthermore, in order to drive the vertical rotation mechanism 8, the tilt adjustment mechanism 9, and the dispensing mechanism 10 to move along a complex curved dispensing path, in one embodiment, the three-dimensional mechanism 7 includes a first horizontal module 71 and a second horizontal module 72.

[0126] Both the first horizontal module 71 and the second horizontal module 72 are linear module structures used to output reciprocating linear motion. The first horizontal module 71 is mounted on the frame 1 and is horizontally positioned. The second horizontal module 72 is mounted on the first horizontal module 71, and the vertical rotation mechanism 8 is mounted on the second horizontal module 72. The displacement output directions of the first horizontal module 71 and the second horizontal module 72 are perpendicular. Specifically, the motion output direction of the first horizontal module 71 is consistent with the x-axis direction, and the motion output direction of the second horizontal module 72 is consistent with the y-axis direction.

[0127] By adopting the above scheme, the dispensing mechanism 10 can be driven to move in the horizontal plane, thereby enabling the dispensing mechanism 10 to make corner turns and meet the basic displacement function requirements in three-dimensional space.

[0128] In another embodiment, the three-dimensional mechanism 7 can further output lifting motion. It is understood that when the vertical rotation mechanism 8 is disposed on the second horizontal module 72, it can be connected indirectly or directly. In the previous embodiment, a direct connection was used, while in this embodiment, an indirect connection is used. The specific connection method of the vertical rotation mechanism 8 is not limited here.

[0129] Specifically, the three-dimensional mechanism 7 also includes a lifting displacement module 73, which is located between the vertical rotation mechanism 8 and the second horizontal module 72. The vertical rotation mechanism 8 is set on the lifting displacement module 73, and the lifting displacement module 73 is set on the second horizontal module 72. This means that the vertical rotation mechanism 8 is indirectly set on the second horizontal module 72 through the lifting displacement module 73. At this time, the lifting displacement module 73 is used to output the driving force for reciprocating movement along the z-axis, thereby enabling the dispensing mechanism 10 to be adjusted in height, thus optimizing and improving the flexibility of the dispensing action. This further satisfies the dispensing contours with height differences in the vertical direction and adapts to more complex dispensing paths.

[0130] In the embodiment shown in this example, the three-dimensional mechanism 7 includes a first horizontal module 71, a second horizontal module 72, and a lifting displacement module 73 as an example.

[0131] Furthermore, the first horizontal module 71 provided in this embodiment includes a guide rail element 711 and a lead screw drive element 712. The guide rail element 711 is disposed on the frame 1 and consists of two parallel rails. The two ends of the second horizontal module 72 are respectively disposed on the two guide rail elements 711.

[0132] Specifically, the guide rail element 711 mainly includes a track and a slider. The track is fixedly installed on the frame 1, horizontally set and extending along the x-axis. The slider is slidably set on the track and connected to the second horizontal module 72. Under the guidance of the slider and the track, the second horizontal module 72 can be stably displaced along the x-axis. Based on this, by setting two guide rail elements 711, a guide structure similar to a gantry can be formed. A displacement space for the dispensing mechanism 10 to move can be formed between the two guide rail elements 711, and the structure is not prone to interference.

[0133] Additionally, a lead screw drive element 712 is mounted on the frame 1 and connected to the second horizontal module 72, used to drive the second horizontal module 72 to reciprocate along the movement direction of the guide rail element 711. Specifically, the lead screw drive element 712 is mainly used to output reciprocating power. The lead screw drive element 712 mainly includes a lead screw motor, which outputs torque to drive the lead screw to rotate. The lead screw drive element 712 is fixedly mounted on the frame 1, and the extension direction of its lead screw is parallel to the x-axis direction. A threaded sleeve can be fixedly mounted on the second horizontal module 72. The lead screw on the lead screw drive element 712 meshes with the threaded sleeve. By activating the lead screw drive element 712, the threaded sleeve can be pushed to move, thereby driving the second horizontal module 72 to move.

[0134] By adopting the above scheme, a stable x-axis displacement action can be output to the second horizontal module 72, and the displacement action is efficient and fast.

[0135] In addition, the structure of the second horizontal module 72 in this embodiment is similar to that of the first horizontal module 71, except that only one set of guide rail elements 711 is provided. In other embodiments, the second horizontal module 72 may also use linear motor elements. The specific structure of the second horizontal module 72 is not limited here.

[0136] Furthermore, the lifting displacement module 73 in this embodiment is a linear module, such as a linear module or linear motor in the form of a screw motor. Linear modules typically have a slide that can move back and forth. The specific structure of the lifting displacement module 73 is not limited here.

[0137] Reference Figure 6 The vertical rotation mechanism 8 includes a first connecting frame 81 and a vertical servo motor 82. The first connecting frame 81 is fixedly mounted on the three-dimensional mechanism 7. In this embodiment, the first connecting frame 81 is fixedly installed on the slide of the lifting displacement module 73. In another embodiment, when the lifting displacement module 73 is omitted from the three-dimensional mechanism 7, the first connecting frame 81 can be mounted on the second horizontal module 72. The specific mounting method of the first connecting frame 81 is not limited here; the first connecting frame 81 mainly serves a load-bearing function.

[0138] The vertical servo motor 82 is mounted on the first connecting frame 81. Typically, the vertical servo motor 82 is fixedly mounted on the first connecting frame 81. The output shaft of the vertical servo motor 82 is vertically positioned and connected to the tilt adjustment mechanism 9. Under the driving action of the vertical servo motor 82, the tilt adjustment mechanism 9, together with the dispensing mechanism 10, can rotate horizontally. Furthermore, since the servo motor has a precise angle output effect, the dispensing accuracy can be further optimized.

[0139] Furthermore, the vertical rotation mechanism 8 also includes a first reducer 83, which is located between the vertical servo motor 82 and the tilt adjustment mechanism 9. The vertical servo motor 82 is connected to the first reducer 83, and the first reducer 83 is connected to the tilt adjustment mechanism 9.

[0140] The first reducer 83 has an input end and an output end. The first reducer 83 can be a planetary reducer, which is fixedly mounted on the first connecting frame 81. The first reducer 83 is connected to the tilt adjustment mechanism 9 through the output end and to the vertical servo motor 82 through the input end. The first reducer 83 can provide buffering and overload protection, and can also improve the accuracy and stability of horizontal rotation, and the dispensing action can be further optimized and improved.

[0141] Continue to refer to Figure 2 The tilt adjustment mechanism 9 includes a second connecting frame 91 and a tilt servo motor 92. The second connecting frame 91 is connected to the vertical rotation mechanism 8 and also serves as a load-bearing component, providing an installation position for the tilt servo motor 92. The tilt servo motor 92 is mounted on the second connecting frame 91, and its output shaft is horizontally positioned and connected to the dispensing mechanism 10.

[0142] Driven by the tilt servo motor 92, the dispensing mechanism 10 can rotate in the vertical plane, and because the servo motor has a precise angle output effect, the dispensing accuracy can be further optimized.

[0143] Furthermore, the tilt adjustment mechanism 9 also includes a second reducer 93, which is located between the tilt servo motor 92 and the dispensing mechanism 10. The tilt servo motor 92 is connected to the second reducer 93, and the second reducer 93 is connected to the dispensing mechanism 10.

[0144] The second reducer 93 can be a planetary reducer, which is fixedly installed on the second connecting frame 91. The second reducer 93 is connected to the dispensing head of the dispensing mechanism 10 through the output end and to the tilt servo motor 92 through the input end. The second reducer 93 can also provide buffering and overload protection, and can also improve the accuracy and stability of tilt adjustment, so that the dispensing action can be further optimized and improved.

[0145] The front and back dispensing device provided in the embodiments of this application has the following beneficial effects:

[0146] 1. The materials can be connected to the production line, and thus to the flexible production line, or can meet the requirements of multiple equipment parallel lines, with outstanding transfer compatibility.

[0147] 2. Under the action of the flipping mechanism 3, the material can be flipped in place inside the device without repeated positioning. The positional accuracy of the material is optimized and improved, and the dispensing accuracy and dispensing efficiency of the dispensing mechanism 10 are also further optimized and improved.

[0148] 3. With the combined action of the steering device and the three-dimensional mechanism 7, the dispensing mechanism 10 can achieve continuous dispensing in some complex dispensing paths without stopping or adjusting. The dispensing structure is flexible and can achieve dispensing from multiple directions, cope with different working conditions, meet different materials, and improve production efficiency.

[0149] 4. It can adapt to the material transfer requirements with different thicknesses and dimensions, and has outstanding versatility.

[0150] Therefore, the above embodiments are only used to illustrate the technical solutions of this utility model, and not to limit it. Although this utility model has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of this utility model.

Claims

1. A front and back dispensing device, characterized in that, include: The frame (1) has a platform on which a clearance window (11) is provided; The loading and unloading mechanism (2) is set on the frame (1) and is used to transfer materials inside and outside the frame (1); A flipping device is installed on the frame (1) and is connected to the loading and unloading mechanism (2) to receive and drive the material to flip within the clearance window (11); A three-dimensional mechanism (7) is disposed on the frame (1); A steering device is disposed on the three-dimensional mechanism (7), which is used to drive the steering device to move in three-dimensional space; And a dispensing mechanism (10), connected to the steering device and located above the flipping device, the steering device being used to adjust the horizontal angle and tilt angle of the dispensing mechanism (10) so that the dispensing mechanism (10) continuously faces the dispensing trajectory of the material.

2. The front and back dispensing equipment according to claim 1, characterized in that, The flipping device includes: The flipping mechanism (3) consists of two sets arranged opposite to each other. The flipping mechanism (3) is located on the platform. The clearance window (11) is located between the two sets of the flipping mechanism (3). The flipping mechanism (3) is adjacent to the loading and unloading mechanism (2). The transfer mechanism (4) is disposed in the flipping mechanism (3) and located in the area of ​​the avoidance window (11). The flipping mechanism (3) is used to drive the transfer mechanism (4) to flip within the avoidance window (11). The transfer mechanism (4) is used to receive materials from the loading and unloading mechanism (2) and to re-transport the materials to the loading and unloading mechanism (2).

3. The front and back dispensing equipment according to claim 2, characterized in that, The reprinting organization (4) includes: The first synchronous belt module (41) is disposed in the flipping mechanism (3). The second synchronous belt module (42) is disposed on the flipping mechanism (3) and is parallel to the first synchronous belt module (41). There is a clamping gap between the first synchronous belt module (41) and the second synchronous belt module (42) for placing materials. And a first power component (43) is provided on the flipping mechanism (3) and is connected to the first synchronous belt module (41) and the second synchronous belt module (42) respectively, for driving the first synchronous belt module (41) and the second synchronous belt module (42) to start and stop.

4. The front and back dispensing equipment according to claim 3, characterized in that, The transfer mechanism (4) further includes a clamping component (44), which is used to drive the first synchronous belt module (41) and the second synchronous belt module (42) to move closer or further apart from each other. The clamping component (44) includes: The first clamping block (441) is fixedly disposed on the flipping mechanism (3) and configured on the first synchronous belt module (41); The second clamping block (442) is slidably disposed on the flipping mechanism (3) and configured on the second synchronous belt module (42); A clamping cylinder (443) is disposed in the flipping mechanism (3) and connected to the second clamping block (442). The clamping cylinder (443) is used to drive the second clamping block (442) closer to or further away from the first clamping block (441).

5. The front and back dispensing equipment according to claim 2, characterized in that, The loading and unloading mechanism (2) is configured as two, and the two loading and unloading mechanisms (2) are respectively located on opposite sides of the flipping mechanism (3); The loading and unloading mechanism (2) includes two displacement modules set on the frame (1). The displacement modules are arranged in parallel to each other, and the two displacement modules are respectively connected to the two flipping mechanisms (3).

6. The front and back dispensing equipment according to claim 5, characterized in that, It also includes a spacing adjustment module (5), which is mounted on the frame (1). At least one set of interlocking displacement modules and flipping mechanisms (3) are connected to the spacing adjustment module (5). The spacing adjustment module (5) is used to adjust the spacing between the two sets of flipping mechanisms (3) and to adjust the spacing between the two sets of displacement modules.

7. The front and back dispensing equipment according to claim 2, characterized in that, The flipping device further includes a magnetic positioning mechanism (6), which comprises: An electromagnet module (61) is mounted on the frame (1); And a positioning block (62) is provided on the flipping mechanism (3). The electromagnet module (61) and the positioning block (62) are magnetically attracted together. When the electromagnet module (61) and the positioning block (62) are in the magnetic attraction state, the transfer mechanism (4) is set horizontally.

8. The front and back dispensing equipment according to claim 1, characterized in that, The steering device includes: A vertical rotation mechanism (8) is provided on the three-dimensional mechanism (7), and the three-dimensional mechanism (7) is used to drive the vertical rotation mechanism (8) to move in three-dimensional space; And a tilt adjustment mechanism (9) is provided on the vertical rotation mechanism (8), the vertical rotation mechanism (8) is used to drive the tilt adjustment mechanism (9) to rotate horizontally.

9. The front and back dispensing equipment according to claim 8, characterized in that, The vertical rotation mechanism (8) includes: The first connecting frame (81) is fixedly installed on the three-dimensional mechanism (7); A vertical servo motor (82) is mounted on the first connecting frame (81), and the output shaft of the vertical servo motor (82) is vertically positioned. And a first reducer (83), which is located between the vertical servo motor (82) and the tilt adjustment mechanism (9). The vertical servo motor (82) is connected to the first reducer (83), and the first reducer (83) is connected to the tilt adjustment mechanism (9).

10. The front and back dispensing equipment according to claim 8, characterized in that, The tilt adjustment mechanism (9) includes: The second connecting frame (91) is connected to the vertical rotating mechanism (8); A tilt servo motor (92) is mounted on the second connecting frame (91), and the output shaft of the tilt servo motor (92) is horizontally mounted. And a second reducer (93), which is located between the tilt servo motor (92) and the dispensing mechanism (10), the tilt servo motor (92) is connected to the second reducer (93), and the second reducer (93) is connected to the dispensing mechanism (10).

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