Plasma dispensing integrated device mechanism and dispensing robot

Abstract

The utility model provides a kind of plasma dispensing integrated device mechanism and dispensing robot, a kind of plasma dispensing integrated device mechanism, including the mounting plate of six-axis robot movable end, mounting plate is peripherally equipped with lifting drive structure, and the lifting end of lifting drive structure is equipped with respectively the plasma processing module of workpiece surface plasma cleaning or activation treatment, the dispensing module of workpiece glue coating, and the control structure of the electric connection between plasma processing module and dispensing module has coordinated work order and parameter;Plasma processing module includes plasma torch, dispensing module includes dispensing head, and dispensing head can move along plasma torch moving track;Lifting drive structure is equipped with detection structure.The application has integrated plasma cleaning / activation function and dispensing function, can complete workpiece surface plasma processing and accurate dispensing operation in the same station, improve product bonding strength and yield, reduce process circulation time, improve the effect of production efficiency.

Description

Technical Field

[0001] This utility model belongs to the field of mechanical manufacturing and automation control technology, specifically, it relates to a plasma dispensing integrated device mechanism and a dispensing robot. Background Technology

[0002] In modern manufacturing, especially in industries such as electronic packaging, medical devices, and automotive parts, plasma treatment is often required to enhance the surface activity of the surfaces to be bonded, thereby improving the dispensing bonding effect. Currently, most companies still use separate equipment for plasma treatment and dispensing operations, which suffers from problems such as complex processes, low efficiency, susceptibility to contamination, and large positioning errors, affecting product quality consistency. Therefore, there is a need to design a device that can integrate plasma treatment and dispensing operations to simplify the process, improve processing accuracy, and increase production efficiency.

[0003] Patent document CN203935980U discloses an automatic dispensing machine for robots, including an electrical cabinet, a support frame, and a six-axis robot. The support frame has a worktable, and the six-axis robot is equipped with a dispensing head. The worktable has a dispensing area and a unloading area. Both the dispensing area and the unloading area include a product placement plate, a conveyor motor, a conveyor belt, a pulley mounting plate, and pulleys. The worktable is equipped with a translational slide rail. Two pulley mounting plates are vertically mounted on the worktable, and one of the pulley mounting plates is slidably mounted on the translational slide rail. The pulley is rotatably mounted on the side of the pulley mounting plate and is driven by the conveyor motor. The conveyor belt is looped on the pulley, and the two product placement plates are respectively located on the conveyor belts of the dispensing area and the unloading area.

[0004] However, the six-axis robot in patent document CN203935980U cannot perform surface treatment on the workpiece. Adding a surface treatment step would inevitably require increasing the process flow, the number of conveyor belts, and the number of dispensing robots, resulting in increased costs and lower efficiency.

[0005] To achieve continuous workpiece processing and dispensing operations, effectively improving bonding quality and production efficiency, this invention designs an integrated plasma dispensing device and dispensing robot, solving the aforementioned problems. Utility Model Content

[0006] To address the shortcomings of existing technologies, the purpose of this utility model is to provide an integrated plasma dispensing device and dispensing robot.

[0007] According to this utility model, a plasma dispensing integrated device includes: a mounting plate installed on the movable end of a six-axis robot; the mounting plate extends circumferentially and is equipped with lifting drive structures corresponding to and driven by a gas supply system; the lifting ends of the lifting drive structures are respectively provided with a plasma treatment module for plasma cleaning or activation treatment of the workpiece surface, and a dispensing module for applying adhesive to the workpiece; one side of the dispensing module is connected to an adhesive supply structure; a control structure for coordinating the working sequence and parameters is electrically connected between the plasma treatment module and the dispensing module; the plasma treatment module includes a plasma spray gun, and the dispensing module includes a dispensing head; the plasma spray gun and the dispensing head are arranged parallel to each other in the same direction; the lifting drive structures respectively drive the ends of the plasma spray gun and the dispensing head to form a height difference, and the dispensing head can move along the moving trajectory of the plasma spray gun; a detection structure based on vision detection function is provided on the lifting drive structure on one side of the plasma treatment module and the dispensing module.

[0008] Preferably, a color sensor is provided on the lifting drive structure on one side of the plasma processing module and the dispensing module.

[0009] Preferably, the detection structure includes a detection camera, a camera protective cover, and a camera light source. The detection camera is mounted on a corresponding lifting drive structure; the camera protective cover is fitted over the outside of the detection camera; and the camera light source is fixed to one side of the detection camera.

[0010] Preferably, the lifting drive structure includes a color sensor lifting cylinder and a lifting cylinder mounting plate. The lifting cylinder mounting plates are fixed to the mounting plate at circumferential intervals and are arranged in the same direction. The color sensor lifting cylinders are respectively mounted on the lifting cylinder mounting plates, and the moving ends of the color sensor lifting cylinders are oriented towards the moving ends of the corresponding six-axis robot. The moving ends of the color sensor lifting cylinders are respectively driven to lift by a gas supply system.

[0011] Preferably, the plasma processing module further includes a plasma mounting plate, which is fixed to the movable end of the plasma lifting cylinder, and the plasma spray gun is fixed to the plasma mounting plate.

[0012] Preferably, the dispensing module further includes a dispensing servo, with the dispensing head fixed to the movable end of the corresponding drive lifting cylinder; the dispensing servo is connected between the dispensing head and the glue supply structure, and drives the glue to flow toward the dispensing head outlet.

[0013] Preferably, the glue supply structure includes a glue dispensing nozzle connector and a glue dispensing valve. The glue dispensing nozzle connector is connected to the glue dispensing head. The glue dispensing valve is installed in the glue dispensing nozzle connector to connect to or cut off the liquid in the glue dispensing nozzle connector.

[0014] Preferably, a tube pressure sensor is installed on the dispensing nozzle connector.

[0015] Preferably, the control structure includes a human-machine interface with preset processing parameters, dispensing path, and alarm prompt functions.

[0016] According to the present invention, a dispensing robot is provided, which adopts the aforementioned integrated plasma dispensing device mechanism.

[0017] Compared with the prior art, the present invention has the following beneficial effects:

[0018] 1. Plasma treatment and dispensing operations can be performed on the same device, saving space, simplifying the process, eliminating the need to move and reposition workpieces between different devices, and shortening the processing cycle;

[0019] 2. Apply adhesive immediately after plasma treatment to avoid passivation and ensure maximum surface activity, thereby improving adhesion.

[0020] 3. Easy to operate: Equipped with an intelligent control system, it supports one-button start and parameter setting. The product uses a camera to take pictures and verify the glue width, glue height, and glue dispensing trajectory to prevent defective products from flowing out and improve product accuracy and pass rate. Attached Figure Description

[0021] Other features, objects, and advantages of this invention will become more apparent from the following detailed description of non-limiting embodiments with reference to the accompanying drawings:

[0022] Figure 1 This is a schematic diagram of the overall mechanism connecting the robot of this utility model.

[0023] Figure 2 This is a schematic diagram of the mounting plate structure of this utility model.

[0024] Figure 3 This is a schematic diagram of the overall structure of this utility model.

[0025] Figure 4 This is a schematic diagram of the plasma processing module of this utility model.

[0026] Figure 5 This is a schematic diagram of the dispensing module of this utility model.

[0027] Figure 6 This is a schematic diagram of the color sensor of this utility model.

[0028] Figure 7 This is a schematic diagram of the detection structure of this utility model.

[0029] The diagram shows:

[0030] Detailed Implementation

[0031] The present invention will now be described in detail with reference to specific embodiments. These embodiments will help those skilled in the art to further understand the present invention, but do not limit the present invention in any way. It should be noted that those skilled in the art can make several changes and improvements without departing from the concept of the present invention. These all fall within the protection scope of the present invention.

[0032] like Figure 1 , 2 As shown, a plasma dispensing integrated device includes a mounting plate 12, which can be installed on the movable end of a six-axis robot, thereby breaking through the limitation of movement direction and having good flexibility. Utilizing the flexibility of the six-axis robot, the device can move and work arbitrarily along the trajectory.

[0033] like Figure 1 , 2 As shown, the mounting plate 12 can be connected to the six-axis dispensing robot via positioning pins, ensuring accurate positioning and convenient interchangeability. The mounting plate 12 extends circumferentially, forming an extension rod 13 and a non-circular frame 29 for connecting auxiliary structures, ensuring the stability of the mechanism during processing.

[0034] like Figure 2 , 3 As shown, the irregular frame 29 is equipped with lifting drive structures 3, which are respectively driven by the gas supply system. The lifting end of the lifting drive structure 3 is respectively provided with a plasma treatment module for plasma cleaning or activation treatment of the workpiece surface, and a dispensing module for applying glue to the workpiece, so that the plasma treatment module and the dispensing module can be independently adjusted in the Z-axis direction to meet the needs of workpieces of different thicknesses.

[0035] like Figure 3 As shown, the lifting drive structure 3 includes a color sensor lifting cylinder 22 and a lifting cylinder mounting plate 27. The lifting cylinder mounting plates 27 are fixed to the mounting plate 12 at circumferential intervals, and the color sensor lifting cylinders 22 are arranged in the same direction. The color sensor lifting cylinders 22 are respectively mounted on the lifting cylinder mounting plates 27, and the moving ends of the color sensor lifting cylinders 22 are oriented towards the moving ends of the corresponding six-axis robot. The moving ends of the color sensor lifting cylinders 22 are driven to lift by the gas supply system.

[0036] like Figure 3 , 4 As shown, the plasma treatment module includes a plasma spray gun 4 and a plasma mounting plate 9. The plasma mounting plate 9 is fixed to the movable end of the plasma lifting cylinder 7. The plasma spray gun 4 is fixed to the plasma mounting plate 9. The plasma spray gun 4 acts on the surface of the workpiece to perform plasma cleaning or activation treatment on the surface of the workpiece, thereby improving the bonding strength of the product.

[0037] like Figure 3, 5 As shown, the dispensing module includes a dispensing head 21 and a dispensing servo 25. The dispensing head 21 is fixed to the movable end of the corresponding drive lifting cylinder 17, and the dispensing head 21 is arranged in the same direction and parallel to the plasma spray gun 4. A glue supply structure is provided on one side of the dispensing head 21 and connected to the end of the dispensing head 21. The dispensing servo 25 is connected between the dispensing head 21 and the glue supply structure, and drives the glue to flow towards the outlet of the dispensing head 21. It is suitable for dispensing tasks with various trajectories such as straight lines, curves, and arcs.

[0038] like Figure 3 , 6 As shown, the plasma processing module and the dispensing module are electrically connected by a control structure that coordinates the working sequence and parameters. The control structure includes a human-machine interface with preset processing parameters, dispensing paths, and alarm prompts. The human-machine interface of the preset control system receives user input parameters and controls the coordinated operation of the plasma spray gun 4 and the dispensing head 21 to achieve a fully automated processing flow. Through multi-path programming, it is suitable for dispensing needs of workpieces with various shapes.

[0039] like Figure 3 , 5 As shown, the glue supply structure includes a glue inlet connector 20 and a glue dispensing valve 18. The glue inlet connector 20 is connected to the glue dispensing head 21. The glue dispensing valve 18 is installed on the glue inlet connector 20 to connect or cut off the liquid in the glue inlet connector 20. A glue tube pressure sensor 24 is installed on the glue inlet connector 20 to measure the glue pressure and ensure that the glue path is smooth and unobstructed.

[0040] like Figure 3 , 6 As shown, a color sensor 1 is installed on the lifting drive structure 3 on one side of the plasma processing module and the dispensing module. Through parameter setting and status monitoring, the product status is identified to prevent secondary dispensing.

[0041] like Figure 3 , 7 As shown, the lifting drive structure 3 on one side of the plasma processing module and the dispensing module is equipped with a detection structure. The detection structure includes a detection camera 6, a camera protective cover 5, and a camera light source 28. The detection camera 6 is installed on the corresponding lifting drive structure 3; the camera protective cover 5 is sleeved on the outside of the detection camera 6; and the camera light source 28 is fixed on one side of the detection camera 6. This allows for the detection of the product status before dispensing, whether the product is placed in place and level, and whether the shape requirements of the dispensing after dispensing are met, as well as the glue width and glue height.

[0042] During use, the operator places and fixes the workpiece on the set work platform. After starting the equipment, the plasma spray gun 4 first treats the surface of the workpiece. After that, the dispensing head 21 starts to perform the dispensing task. The whole process does not require manual intervention, ensuring consistency and stability. The dispensing quality is detected by image detection, so that the production task can be completed with high quality according to the set trajectory in a fully automatic state.

[0043] This embodiment also provides a dispensing robot, which employs the aforementioned integrated dispensing device mechanism.

[0044] In the description of this application, it should be understood that the terms "upper", "lower", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this application.

[0045] The specific embodiments of this utility model have been described above. It should be understood that this utility model is not limited to the specific embodiments described above, and those skilled in the art can make various changes or modifications within the scope of the claims, which do not affect the substantive content of this utility model. Unless otherwise specified, the embodiments and features described in this application can be arbitrarily combined with each other.

Claims

1. A plasma dispensing integrated device mechanism, characterized in that, include: The mounting plate (12) is installed on the moving end of the six-axis robot. The mounting plate (12) extends circumferentially and is equipped with lifting drive structures (3) corresponding to and driven by the gas supply system. The lifting end of the lifting drive structure (3) is provided with a plasma treatment module for plasma cleaning or activation treatment of the workpiece surface and a dispensing module for applying glue to the workpiece. The dispensing module is connected to a glue supply structure on one side. The plasma treatment module and the dispensing module are electrically connected to a control structure that coordinates the working sequence and parameters. The plasma treatment module includes a plasma spray gun (4), and the dispensing module includes a dispensing head (21). The plasma spray gun (4) and the dispensing head (21) are arranged in the same direction and parallel. The lifting drive structure (3) drives the end of the plasma spray gun (4) and the end of the dispensing head (21) to form a height difference, and the dispensing head (21) can move along the moving trajectory of the plasma spray gun (4). The lifting drive structure (3) on one side of the plasma treatment module and the dispensing module is provided with a detection structure based on vision detection function.

2. The plasma dispensing integrated device mechanism according to claim 1, characterized in that, A color sensor (1) is provided on the lifting drive structure (3) on one side of the plasma processing module and the dispensing module.

3. The integrated plasma dispensing device mechanism according to claim 1, characterized in that, The detection structure includes a detection camera (6), a camera protective cover (5), and a camera light source (28). The detection camera (6) is installed on the corresponding lifting drive structure (3); the camera protective cover (5) is fitted on the outside of the detection camera (6); and the camera light source (28) is fixed on one side of the detection camera (6).

4. The plasma dispensing integrated device mechanism according to claim 1, characterized in that, The lifting drive structure (3) includes a color sensor lifting cylinder (22) and a lifting cylinder mounting plate (27). The lifting cylinder mounting plate (27) is fixed to the mounting plate (12) at circumferential intervals and is arranged in the same direction. The color sensor lifting cylinders (22) are respectively mounted on the lifting cylinder mounting plate (27), and the moving end of the color sensor lifting cylinder (22) is oriented towards the moving end of the corresponding six-axis robot. The moving end of the color sensor lifting cylinder (22) is driven to lift by the gas supply system.

5. The plasma dispensing integrated device mechanism according to claim 4, characterized in that, The plasma processing module also includes a plasma mounting plate (9), which is fixed to the movable end of the plasma lifting cylinder (7), and the plasma spray gun (4) is fixed to the plasma mounting plate (9).

6. The plasma dispensing integrated device mechanism according to claim 4, characterized in that, The dispensing module also includes a dispensing servo (25), and the dispensing head (21) is fixed to the movable end of the corresponding drive lifting cylinder (17); the dispensing servo (25) is connected between the dispensing head (21) and the glue supply structure, and drives the glue to flow toward the outlet of the dispensing head (21).

7. The plasma dispensing integrated device mechanism according to claim 1, characterized in that, The glue supply structure includes a glue inlet connector (20) and a glue dispensing valve (18). The glue inlet connector (20) is connected to the glue dispensing head (21). The glue dispensing valve (18) is installed in the glue inlet connector (20) to connect or cut off the liquid in the glue inlet connector (20).

8. The plasma dispensing integrated device mechanism according to claim 7, characterized in that, A hose pressure sensor (24) is installed on the dispensing nozzle connector (20).

9. The plasma dispensing integrated device mechanism according to claim 1, characterized in that, The control structure includes a human-machine interface with preset processing parameters, dispensing path, and alarm prompts.

10. A dispensing robot, characterized in that, The plasma dispensing integrated device mechanism according to any one of claims 1-9 is adopted.

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