Dispensing rotary assembly machine

Abstract

The application provides a dispensing and rotating assembly machine, which comprises a placing rack for placing a first part and a second part, a dispensing table for positioning the first part, a clamping mechanism for clamping the first part and the second part, a dispensing mechanism for dispensing the first part on the dispensing table, a material moving mechanism for driving the clamping mechanism to transfer the first part from the placing rack to the dispensing table for dispensing, and then transferring the first part back to the placing rack after the dispensing is completed, and driving the clamping mechanism to clamp the second part and move the second part to the corresponding position of the first part on the placing rack, a rotating mechanism for driving the clamping mechanism to rotate, so as to drive the second part to rotate and rotate and connect with the first part, and a torsion sensor connected with the rotating mechanism, for detecting the output torsion of the rotating mechanism in the rotating process. The dispensing and rotating assembly machine provided by the application solves the technical problem of insufficient rotation or excessive rotation in the connecting process of the rotating assembly machine.

Description

Technical Field

[0001] This application belongs to the field of dispensing machine technology, and more specifically, relates to a dispensing rotary assembly machine. Background Technology

[0002] A dispensing machine is an automated device used to precisely control the application of fluids (such as adhesives), capable of applying fluids to the surface or interior of a product in the form of drops, sprays, or coatings.

[0003] In some automated assembly processes, rotary assembly machines are used to assemble two parts. First, a dispensing machine applies an appropriate amount of adhesive to the surface of the parts to be assembled. Then, the two parts are aligned and assembled by rotation. Generally, one part acts as the active part and rotates to insert into the other receiving part to achieve a tight fit and fixation.

[0004] However, during the docking process described above, due to the dimensional tolerances of the parts themselves, the two parts to be assembled may not be able to be accurately positioned during the rotation docking process. If the rotation angle is not properly controlled, over-rotation may also occur, which may cause the rotating boss on the active part to wear or deform due to forced extrusion, thus reducing the product yield. Utility Model Content

[0005] The purpose of this application is to provide a dispensing rotary assembly machine to solve the technical problems of insufficient or excessive rotation that easily occur during the docking process in existing rotary assembly machines.

[0006] To achieve the above objectives, the technical solution adopted in this application is as follows: A dispensing rotary assembly machine is provided, comprising: a placement rack, including a first station for placing a first part and a second station for placing a second part; a dispensing table for positioning the first part; a clamping mechanism for clamping the first part and the second part; a dispensing mechanism for dispensing adhesive onto the first part on the dispensing table; a transfer mechanism for driving the clamping mechanism to transfer the first part from the placement rack to the dispensing table for dispensing, and after dispensing, transferring it back to the placement rack, and driving the clamping mechanism to clamp the second part and move it to the position on the placement rack corresponding to the first part; a rotating mechanism, mounted on the transfer mechanism, for driving the clamping mechanism to rotate, thereby causing the second part to rotate and rotate to engage with the first part; and a torque sensor connected to the rotating mechanism for detecting the output torque of the rotating mechanism during rotation, so as to achieve the rotational engagement of the first part and the second part into place.

[0007] In one optional embodiment, the clamping mechanism includes an opening and closing drive assembly and two main grippers. The opening and closing drive assembly is mounted on the material transfer mechanism, and the drive end of the opening and closing drive assembly is connected to the two main grippers to drive the two main grippers to move closer or further apart.

[0008] In one optional embodiment, the opening and closing drive assembly includes a first drive motor, a rotary gear, a first rack, and a second rack. The first drive motor is mounted on the material transfer mechanism, the rotary gear is connected to the output end of the first drive motor, the first rack is connected to a main gripper, and the second rack is connected to another main gripper. The first rack and the second rack are arranged opposite to each other and mesh with the rotary gear respectively.

[0009] In an optional embodiment, the clamping mechanism further includes a second drive motor, a transmission component, and two auxiliary grippers. The second drive motor is mounted on the transfer mechanism and is connected to the two auxiliary grippers via the transmission component. The second drive motor is used to drive the two auxiliary grippers to move closer to or further away from each other. The transfer mechanism is used to drive the auxiliary grippers to transfer the un-glued first part in the placement rack to the dispensing stage to replace the first part that has been glued and held by the main gripper.

[0010] In one alternative embodiment, the gripping surface of the main gripper is curved.

[0011] In one alternative embodiment, the dispensing rotary assembly machine further includes a machine base, on which a placement rack, a dispensing table, a dispensing mechanism, and a material transfer mechanism are all disposed.

[0012] In one optional embodiment, the dispensing rotary assembly machine further includes a gantry frame, a first guide rail, and a second guide rail. The gantry frame is mounted on the machine base, and the first and second guide rails are mounted on the machine base and located below the gantry frame. A material transfer mechanism is slidably mounted on one side of the gantry frame, and a dispensing mechanism is slidably mounted on the other side of the gantry frame. The placement rack and the dispensing table are slidably connected to the first and second guide rails, respectively.

[0013] In an optional embodiment, the dispensing rotary assembly machine further includes a flipping motor and a detection camera, with the dispensing stage connected to the drive end of the flipping motor; the detection camera is used to capture the state of the adhesive on the surface of the first part after flipping.

[0014] In one optional embodiment, the dispensing rotary assembly machine further includes an upper camera, which is located above the placement frame and is used to photograph and position the first part; and / or, the dispensing rotary assembly machine further includes a lower camera, which is located below the clamping mechanism and is used to photograph and position the clamped second part.

[0015] In an optional embodiment, the dispensing rotary assembly machine further includes a cap-removing mechanism, and the placement rack further includes a pressure-holding cap detachably disposed on the first station and the second station. The pressure-holding cap is used to press the first part and the second part to cure the adhesive, and the cap-removing mechanism is used to grasp the pressure-holding cap; and / or, the dispensing rotary assembly machine further includes a cleaning mechanism disposed close to the dispensing mechanism for cleaning the dispensing head of the dispensing mechanism.

[0016] The beneficial effects of the dispensing rotary assembly machine provided in this application are as follows: Compared with the prior art, the dispensing rotary assembly machine of this application embodiment can detect the output torque in real time during the rotation docking process by setting a torque sensor on the rotating mechanism. The assembly status is judged according to the torque change. When the rotating mechanism drives the clamping mechanism to rotate, so as to drive the first part and the second part to rotate and dock, when the torque value detected by the torque sensor reaches the preset threshold, the rotating mechanism stops rotating, so as to realize the assembly in place. This effectively overcomes the problem of incomplete assembly or excessive rotation caused by part size tolerance, avoids part wear caused by excessive rotation, and improves product yield. Attached Figure Description

[0017] To more clearly illustrate the technical solutions in the embodiments of this application, 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 application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0018] Figure 1 A schematic diagram of the dispensing rotary assembly machine provided in the embodiments of this application. Figure 1 ;

[0019] Figure 2 A schematic diagram of the dispensing rotary assembly machine provided in the embodiments of this application. Figure 2 ;

[0020] Figure 3 This is a schematic diagram of the material transfer mechanism and clamping mechanism provided in the embodiments of this application;

[0021] Figure 4 A schematic diagram illustrating the cooperation between a portion of the material transfer mechanism and the clamping mechanism provided in an embodiment of this application;

[0022] Figure 5 This is a partial structural schematic diagram of the clamping mechanism provided in the embodiments of this application;

[0023] Figure 6 for Figure 5 An enlarged schematic diagram along point A in the diagram;

[0024] Figure 7 This is a partially exploded view of the clamping mechanism provided in the embodiments of this application;

[0025] Figure 8 This is an exploded structural diagram of the placement rack provided in an embodiment of this application;

[0026] Figure 9 This is a schematic diagram of the cap-removing mechanism provided in an embodiment of this application;

[0027] Figure 10 This is a schematic diagram of the structure of the flip motor and dispensing table provided in the embodiments of this application;

[0028] Figure 11 This is a schematic diagram of the dispensing mechanism provided in an embodiment of this application.

[0029] The following are the labeling elements in the figure:

[0030] 100-Dispensing rotary assembly machine; 10-Placement rack; 11-First station; 12-Second station; 13-Pressure holding cap; 21-Dispensing table; 22-Dispensing mechanism; 221-Dispensing head; 30-Clamping mechanism; 31-Opening and closing drive assembly; 311-First drive motor; 312-Rotating gear; 313-First rack; 314-Second rack; 32-Main gripper; 321-Clamping surface; 33-Second drive motor; 34-Transmission component; 35-Secondary gripper; 41-Material transfer mechanism; 42-Rotating mechanism; 51-Machine base; 52-Gantry frame; 53-First guide rail; 54-Second guide rail; 61-Tilting motor; 62-Detection camera; 71-Upper camera; 72-Lower camera; 80-Cap removal mechanism; 81-Clamping arm; 82-Drive component; 90-Cleaning mechanism. Detailed Implementation

[0031] To make the technical problems, technical solutions, and beneficial effects to be solved by this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and are not intended to limit the scope of this application.

[0032] It should be noted that when a component is referred to as being "fixed to" or "set on" another component, it can be directly on or indirectly on that other component. When a component is referred to as being "connected to" another component, it can be directly connected to or indirectly connected to that other component.

[0033] It should be understood that the terms "length", "width", "upper", "lower", "front", "rear", "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.

[0034] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this application, "multiple" means two or more, unless otherwise explicitly specified.

[0035] A dispensing machine is an automated device used to precisely control the application of fluids (such as adhesives), capable of applying fluids to the surface or interior of a product in the form of drops, sprays, or coatings.

[0036] In some automated assembly processes, rotary assembly machines are used to assemble two parts. First, a dispensing machine applies an appropriate amount of adhesive to the surface of the parts to be assembled. Then, the two parts are aligned and assembled by rotation. Generally, one part acts as the active part and rotates to insert into the other receiving part to achieve a tight fit and fixation.

[0037] However, during the docking process described above, due to the dimensional tolerances of the parts themselves, the two parts to be assembled may not be accurately positioned during the rotation docking process. If the rotation angle is not properly controlled, over-rotation may occur, which may cause the rotating boss on the active part to wear or deform due to forced compression. In addition, the receiving part may also rotate under the action of rotational force, causing relative sliding between its outer wall and the placement position (such as a jig, tray, or positioning seat) that supports the part, resulting in scratches and abrasions on the outer surface of the receiving part. This not only reduces the product yield but also increases the rework cost.

[0038] Please refer to the following: Figures 1 to 11 The dispensing rotary assembly machine 100 provided in this application embodiment will now be described. The dispensing rotary assembly machine 100 includes: a placement rack 10, including a first station 11 for placing a first part and a second station 12 for placing a second part; a dispensing table 21 for positioning the first part; a clamping mechanism 30 for clamping the first part and the second part; a dispensing mechanism 22 for dispensing glue to the first part on the dispensing table 21; a transfer mechanism 41 for driving the clamping mechanism 30 to transfer the first part from the placement rack 10 to the dispensing table 21 for dispensing, and after dispensing, transferring it back to the placement rack 10, and driving the clamping mechanism 30 to clamp the second part and move it to the position on the placement rack 10 corresponding to the first part; a rotation mechanism 42, mounted on the transfer mechanism 41, for driving the clamping mechanism 30 to rotate, thereby causing the second part to rotate and rotate to engage with the first part; and a torque sensor (not shown), the torque sensor being connected to the rotation mechanism 42 for detecting the output torque of the rotation mechanism 42 during the rotation process, so as to realize the rotational engagement of the first part and the second part.

[0039] The placement rack 10 has a first station 11 and a second station 12. The first station 11 is used to place the first part to be glued, and the second station 12 is used to place the second part to be assembled. The placement rack 10 can adopt a frame structure or a placement platform structure, and multiple independent stations can be set on it. In some real-world embodiments, such as... Figure 8 There are multiple first workstations 11 and multiple corresponding second workstations 12.

[0040] Furthermore, the first station 11 and the second station 12 can limit and fix the first part and the second part, such as... Figure 8 At the first station 11, a clamping device is used to clamp the first part. When it is necessary to remove the first part, the clamping device is released. At the second station 12, a limiting groove is provided to limit the second part.

[0041] The dispensing table 21 is used to support and position the first part, ensuring that the first part remains stable during the dispensing process. The dispensing table 21 can be configured as a table structure with positioning grooves or clamping fixtures.

[0042] The dispensing mechanism 22 is used to precisely apply adhesive to the first part, and the specific location can be set according to actual needs. In some embodiments, the inner surface of the first part is provided with a groove, which mates with the boss on the outer surface of the second part, thereby allowing the dispensing mechanism 22 to accurately apply adhesive into the groove. The dispensing mechanism 22 can be equipped with a dispensing head 221 or a nozzle, etc., to achieve precise application of adhesive.

[0043] The clamping mechanism 30 is used to grip and fix parts, realizing the gripping and release of the first part and the second part. The clamping mechanism 30 can be a pneumatic gripper or an electric gripper, etc., in conjunction with a drive structure to achieve clamping.

[0044] The material transfer mechanism 41 refers to the device that drives the clamping mechanism 30 to move. Specifically, it can be implemented by a linear module (such as a horizontal moving mechanism and a vertical moving mechanism), a robotic arm, or a slide structure to complete the transfer of the first part between the placement rack 10 and the dispensing table 21.

[0045] The rotating mechanism 42 refers to the power device that drives the clamping mechanism 30 to rotate. Specifically, it can be implemented by using a servo motor in conjunction with a transmission mechanism to drive the second part to rotate so as to dock with the first part.

[0046] A torque sensor is a measuring device that detects the output torque of the rotating mechanism 42. By monitoring torque changes in real time, it determines the assembly status. When the torque reaches a preset threshold, it controls the rotating mechanism 42 to stop, avoiding over- or under-assembly due to dimensional tolerances. The torque sensor can be a shaft-type torque sensor, installed on the output shaft of the rotating mechanism 42, which can rotate continuously and is suitable for dynamic torque measurement; or an integrated torque sensor can be used, directly integrated inside the rotating mechanism 42.

[0047] The specific working process is as follows: First, the first part and the second part are placed on the first station 11 and the second station 12 of the placement rack 10, respectively. The transfer mechanism 41 drives the clamping mechanism 30 to transfer the first part from the placement rack 10 to the dispensing table 21. The dispensing mechanism 22 dispenses glue to the first part on the dispensing table 21. After the dispensing is completed, the transfer mechanism 41 drives the clamping mechanism 30 to transfer the glued first part back to the first station 11 of the placement rack 10. Then, the transfer mechanism 41 drives the clamping mechanism 30 to clamp the second part and move it to the position corresponding to the first part on the placement rack 10. The rotation mechanism 42 drives the clamping mechanism 30 to rotate, causing the second part to rotate and rotate to dock with the first part. During the rotation docking process, the torque sensor detects the output torque of the rotation mechanism 42 in real time. When the detected torque value reaches the preset threshold, the rotation mechanism 42 stops rotating, realizing the rotation docking of the first part and the second part.

[0048] By using a torque sensor to detect the output torque during the rotation and docking process in real time, and controlling the rotation mechanism 42 to stop according to a preset threshold, the assembly status of the first and second parts can be accurately determined. This solves the problem of incomplete assembly or excessive rotation caused by part size tolerances, reduces part wear, and improves product yield.

[0049] In some embodiments, the initial rotation angle is set to 45 degrees. Ideally, after the second part rotates 45 degrees, the boss on the second part and the groove on the first part are properly assembled. When there are manufacturing dimensional tolerances or form and position deviations in the parts, the rotation mechanism 42 controls the second part to rotate 45 degrees. When the torque reaches the preset threshold before rotating to the preset angle, the rotation will stop immediately. When the torque reaches the preset threshold before rotating to the preset angle, the rotation will continue until the torque reaches the preset threshold. This ensures that the first part and the second part are properly rotated and docked, and prevents over-rotation.

[0050] By incorporating a torque sensor, real-time monitoring and precise control of the assembly status during the rotary docking process are achieved. The torque sensor detects the output torque of the rotating mechanism 42, accurately determining the rotary docking status of the first and second parts. When the detected torque reaches a preset threshold, rotation immediately stops, preventing incomplete assembly or over-rotation due to part dimensional tolerances. This method overcomes the limitations of traditional rotary assembly machines that rely on preset rotation angles as stopping conditions, adapting to tolerance variations of different parts and effectively preventing excessive compression and wear. Simultaneously, because the torque during the rotary docking process is precisely controlled, the first part is prevented from following the rotational force of the second part, avoiding relative sliding between the first part and the first station 11, and preventing scratches or abrasions on the surface of the second part. This torque feedback-based rotary docking control method improves assembly accuracy and part structural integrity, reduces product rework rates due to poor assembly, and thus significantly improves the production efficiency and product yield of the dispensing rotary assembly machine 100.

[0051] The dispensing rotary assembly machine 100 provided in this application embodiment, compared with the prior art, can detect the output torque in real time during the rotation docking process by setting a torque sensor on the rotary mechanism 42. The assembly status is judged according to the torque change. When the rotary mechanism 42 drives the clamping mechanism 30 to rotate and dock the first part with the second part, the rotary mechanism 42 stops rotating when the torque value detected by the torque sensor reaches the preset threshold, so as to realize the assembly in place. This effectively overcomes the problem of incomplete assembly or excessive rotation caused by part size tolerance, avoids part wear caused by excessive rotation, and improves product yield.

[0052] Please refer to some embodiments of this application. Figures 4 to 7 The clamping mechanism 30 includes an opening and closing drive assembly 31 and two main grippers 32. The opening and closing drive assembly 31 is mounted on the material transfer mechanism 41. The drive end of the opening and closing drive assembly 31 is connected to the two main grippers 32 and is used to drive the two main grippers 32 to move closer or further apart from each other.

[0053] The opening / closing drive assembly 31 can be implemented by using a cylinder or a motor in conjunction with a lead screw. In some embodiments, the two main grippers 32 are symmetrically designed, each main gripper 32 including a gripping arm and a gripping head. The gripping arm is connected to the opening / closing drive assembly 31, and the gripping head is located at the front end of the gripping arm for direct contact and gripping of the part. In addition, the inner side of the gripping head may be provided with anti-slip textures or flexible material to increase friction and avoid damage to the surface of the part.

[0054] The opening and closing action of the two main grippers 32 is controlled by the opening and closing drive assembly 31, enabling flexible clamping of parts of different sizes. When the first part needs to be clamped, the opening and closing drive assembly 31 drives the two main grippers 32 to move closer together until the first part is clamped; when the first part needs to be released, the opening and closing drive assembly 31 drives the two main grippers 32 to move away from each other, releasing the first part. This achieves reliable clamping and precise positioning of parts, allowing the clamping mechanism 30 to adapt to parts of different sizes and improving the versatility of the equipment.

[0055] The design of two main grippers 32 ensures a uniform distribution of clamping force, preventing the part from tilting or deforming during clamping. When the transfer mechanism 41 drives the clamping mechanism 30 to move, the two main grippers 32 maintain the stability of the part through a uniformly distributed clamping force, preventing the part from shifting due to vibration or inertia. When the rotation mechanism 42 drives the clamping mechanism 30 to rotate, the two main grippers 32 can maintain clamping stability during the rotation process while holding the second part, preventing relative sliding between the second part and the grippers.

[0056] Please refer to some embodiments of this application. Figure 7 The opening and closing drive assembly 31 includes a first drive motor 311, a rotating gear 312, a first rack 313, and a second rack 314. The first drive motor 311 is mounted on the material transfer mechanism 41. The rotating gear 312 is connected to the output end of the first drive motor 311. The first rack 313 is connected to a main gripper 32, and the second rack 314 is connected to another main gripper 32. The first rack 313 and the second rack 314 are arranged opposite to each other and mesh with the rotating gear 312 respectively.

[0057] The first drive motor 311 outputs rotational motion as a power source, and the rotating gear 312 transmits the rotation of the motor to the rack. The first rack 313 and the second rack 314 are symmetrically distributed on both sides of the gear, forming a reverse motion structure.

[0058] After the first drive motor 311 starts, it drives the rotating gear 312 to rotate, which can drive the rotating gear 312 to rotate clockwise or counterclockwise. The first rack 313 and the second rack 314 move in opposite directions. The movement of the first rack 313 and the second rack 314 is directly transmitted to the corresponding main gripper 32, so that the two main grippers 32 move closer or further away synchronously.

[0059] Through the gear and rack meshing transmission, the moving speed and displacement of the two main grippers 32 remain strictly consistent, avoiding clamping deviations caused by asynchronous grippers. The gear and rack meshing structure occupies little space while possessing high transmission rigidity and reliability, ensuring the repeatability of the clamping action. The gear and rack meshing relationship ensures that the two main grippers 32 move in opposite directions, thus precisely defining the movement trajectory of the main grippers 32 and ensuring that their displacements are identical.

[0060] This structure features a simple and compact design with high transmission efficiency, capable of handling clamping requirements for parts of different sizes. Furthermore, its rack and pinion drive provides a self-locking function, ensuring high reliability and effectively preventing accidental parts from falling off during clamping. In addition, by adjusting the speed and direction of the first drive motor 311, precise control of the opening and closing speed and force of the main gripper 32 can be achieved, meeting the clamping requirements of different parts and improving the flexibility and adaptability of the assembly process.

[0061] Please refer to some embodiments of this application. Figure 4 The clamping mechanism 30 also includes a second drive motor 33, a transmission component 34, and two auxiliary grippers 35. The second drive motor 33 is mounted on the transfer mechanism 41 and is connected to the two auxiliary grippers 35 through the transmission component 34. The second drive motor 33 is used to drive the two auxiliary grippers 35 to move closer or further apart from each other. The transfer mechanism 41 is used to drive the auxiliary grippers 35 to transfer the un-glued first part in the placement rack 10 to the gluing table 21 to replace the glued first part that has been clamped by the main gripper 32.

[0062] The second drive motor 33 is connected to the secondary gripper 35 via a transmission component 34, which can be a gear set or a linkage structure, etc. The second drive motor 33 drives the two secondary grippers 35 to move closer or further apart to complete the gripping and releasing of the first part. Furthermore, as... Figure 4 The gripping areas of the secondary gripper 35 and the primary gripper 32 are spatially offset to avoid motion interference. The transfer mechanism 41 may include a multi-axis motion module, capable of driving the primary gripper 32 and the secondary gripper 35 to move along different paths respectively. The transfer mechanism 41 may also be configured to move the primary gripper 32 and the secondary gripper 35 simultaneously.

[0063] After the main gripper 32 picks up the first part with glue already applied from the dispensing table 21, the secondary gripper 35, driven by the transfer mechanism 41, accurately places the first part without glue, held on the placement rack 10, onto the dispensing table 21, completing the replacement of the first part with glue. At this time, the main gripper 32 returns to the position of the placement rack 10 to perform the assembly operation of the second part with the first part, and the dispensing mechanism 22 can simultaneously perform a new round of dispensing operations. The action of the secondary gripper 35 picking up the first part without glue from the placement rack 10 can be alternated with the action of the main gripper 32 picking up the first part from the placement rack 10 (the transfer mechanism 41 drives the main gripper 32 and the secondary gripper 35 simultaneously) or performed simultaneously (the transfer mechanism 41 drives the main gripper 32 and the secondary gripper 35 separately).

[0064] By adding a secondary gripper 35, the parallel execution of dispensing and assembly operations for changing parts is achieved, enabling the dispensing process to be carried out continuously, reducing equipment waiting time, and significantly improving production efficiency. Dispensing requires a certain amount of time, but pre-loading can cover the dispensing waiting time, improving equipment utilization and automation continuity, while reducing wear on the main gripper 32 and the need for complex control.

[0065] Please refer to some embodiments of this application. Figure 6 The clamping surface 321 of the main gripper 32 is set in an arc shape.

[0066] The clamping surface 321 of the main gripper 32 can be designed as a concave arc surface, and the curvature of the arc surface can correspond to the outer wall curvature of the first or second part to be clamped. For example, if the first part is cylindrical, the clamping surface 321 of the main gripper 32 can be designed as a concave arc surface that matches the side wall of the cylinder. In addition, the clamping surface 321 of the main gripper 32 can be made of a flexible material to increase the contact area and friction with the surface of the part.

[0067] By designing the arc-shaped clamping surface 321, a good fit is achieved between the main gripper 32 and the part, improving clamping stability and reliability. During dispensing and rotational assembly, the part is less likely to slip or fall off, ensuring assembly accuracy and efficiency. Furthermore, the arc-shaped design increases the contact area between the clamping surface 321 and the part, dispersing the clamping force, reducing localized pressure on the part surface, and lowering the risk of surface damage.

[0068] In some embodiments, the clamping surface of the secondary gripper 35 is arc-shaped; the curvature of the arc surface may correspond to the curvature of the outer wall of the first or second part to be clamped.

[0069] In other embodiments, the bottom surface of the main gripper 32 is horizontal under normal use, ensuring horizontal clamping of the first or second part, facilitating stable positioning and precise alignment of the parts during transfer and assembly. During rotational docking, it ensures the mating surfaces of the two parts are parallel, avoiding assembly deviations caused by tilting and improving assembly accuracy.

[0070] Please refer to some embodiments of this application. Figure 1 and Figure 2 The dispensing rotary assembly machine 100 also includes a machine base 51, on which a placement rack 10, a dispensing table 21, a dispensing mechanism 22 and a material transfer mechanism 41 are all mounted.

[0071] The machine base 51 serves as a support platform, with a fixed or sliding mounting bracket 10, a dispensing table 21, a dispensing mechanism 22, and a material transfer mechanism 41 on its surface. The machine base 51 can be made of aluminum alloy profiles, possessing high strength and good shock resistance. The relative positions of the various components on the machine base 51 are fixed through mechanical connections or guide rail structures, ensuring the stability of the movement trajectory. The machine base 51 enables the centralized arrangement and fixed installation of various functional components, improving the overall stability and working accuracy of the equipment. As a unified support platform, the machine base 51 provides a stable mounting foundation for each component, effectively reducing vibration and shaking during equipment operation and ensuring the accuracy of the dispensing and assembly processes.

[0072] Meanwhile, by concentrating the load on each component through the machine base 51, the impact of external vibration on the dispensing and assembly process is reduced, the part transfer path is shortened, and the assembly cycle is reduced. When the transfer mechanism 41 drives the clamping mechanism 30 to transfer parts, the structural rigidity of the machine base 51 can suppress the offset caused by motion inertia, ensuring the alignment accuracy between the clamping mechanism 30 and the dispensing table 21 and the placement rack 10, thereby improving the success rate of rotational docking.

[0073] In addition, the machine base 51 can be divided into multiple functional areas, including a placement area, a dispensing area, and a transfer area. The placement area and the dispensing area can be located on the sides of the machine base 51, respectively for mounting the placement frame 10 and the dispensing table 21. The transfer area is located in the middle of the machine base 51 for mounting the transfer mechanism 41, facilitating the transfer of the first part for dispensing. The bottom of the machine base 51 can be equipped with shock-absorbing feet to absorb vibrations generated during equipment operation and improve assembly accuracy; or rollers can be installed to facilitate equipment handling.

[0074] Please refer to some embodiments of this application. Figure 1 and Figure 2 The dispensing rotary assembly machine 100 also includes a gantry frame 52, a first guide rail 53, and a second guide rail 54. The gantry frame 52 is located on the machine base 51, and the first guide rail 53 and the second guide rail 54 are located on the machine base 51 and below the gantry frame 52. The material transfer mechanism 41 is slidably installed on one side of the gantry frame 52, and the dispensing mechanism 22 is slidably installed on the other side of the gantry frame 52. The placement rack 10 and the dispensing table 21 are slidably connected to the first guide rail 53 and the second guide rail 54, respectively.

[0075] The gantry frame 52, serving as a supporting frame, spans above the machine base 51, with independent installation spaces for the material transfer mechanism 41 and the dispensing mechanism 22 on its two sides. The first guide rail 53 and the second guide rail 54 are arranged parallel to each other in the area below the gantry frame 52, respectively matching the sliding bases of the placement frame 10 and the dispensing table 21. The material transfer mechanism 41 is connected to the track on one side of the gantry frame 52 via a slider, and the dispensing mechanism 22 is connected to the track on the other side of the gantry frame 52 via another slider. The material transfer mechanism 41 and the dispensing mechanism 22 slide independently horizontally on both sides of the gantry frame 52, avoiding overlapping movement paths and allowing both to perform material transfer and dispensing actions simultaneously, improving equipment operating efficiency.

[0076] The sliding base of the placement rack 10 is fitted onto the first guide rail 53, and the sliding base of the dispensing table 21 is fitted onto the second guide rail 54. When the placement rack 10 moves along the first guide rail 53 to below the gantry frame 52, the material transfer mechanism 41 can drive the clamping mechanism 30 to grab parts from the placement rack 10. After the dispensing table 21 moves along the second guide rail 54 to below the gantry frame 52, the dispensing mechanism 22 can perform dispensing operations on the parts on the dispensing table 21. The placement rack 10 and the dispensing table 21 switch positions via different guide rails to avoid collisions during their movement. The cooperative structure of the gantry frame 52 and the guide rails allows the functional modules to form a three-dimensional layout within a limited space, optimizing the space utilization of the equipment.

[0077] Furthermore, in some embodiments, such as Figure 1 There are two placement racks 10, and two corresponding first guide rails 53. Each placement rack 10 is slidably connected to one of the first guide rails 53. Each placement rack 10 can hold a first part and a second part. After the parts on one placement rack 10 are assembled, a pressure holding operation or a loading / unloading operation is usually performed. At this time, the parts on the other placement rack 10 can be glued and assembled to achieve continuous production and improve the production efficiency of the equipment.

[0078] Please refer to some embodiments of this application. Figure 1 and Figure 10 The dispensing rotary assembly machine 100 also includes a flip motor 61 and a detection camera 62. The dispensing table 21 is connected to the drive end of the flip motor 61. The detection camera 62 is used to photograph the state of the adhesive on the surface of the first part after flipping.

[0079] The drive end of the flip motor 61 is connected to the dispensing table 21. The drive end can be a rotating shaft or a coupling structure. The rotation angle range of the flip motor 61 can be set according to actual needs, such as 0 to 180 degrees.

[0080] In some embodiments, such as Figure 1 The flip motor 61 and the detection camera 62 are both mounted on the machine base 51.

[0081] After dispensing is completed, the flip motor 61 drives the dispensing stage 21 to rotate around the horizontal axis, causing the first part to flip from a horizontal position to a vertical or tilted position, exposing the dispensing surface to the field of view of the inspection camera 62. The inspection camera 62 triggers shooting after the flipping action is completed, acquiring image data containing the distribution state of the adhesive. After processing, the image data identifies the adhesive coverage area, continuity, and bubble defects. If the inspection result does not meet the preset standard, the system can trigger an alarm or automatically perform a re-adhesion operation. The rotation angle of the flip motor 61 is controlled by encoder feedback closed loop to ensure that the dispensing stage 21 is accurately positioned at the inspection station, avoiding image acquisition area offset due to angle deviation.

[0082] In other embodiments, the dispensing mechanism 22 dispenses adhesive into a groove on the inner wall of the first part. After being flipped by the flipping motor 61, the groove is exposed to the field of view of the inspection camera 62 for inspection. This method achieves automated inspection of dispensing quality. By mechanically flipping the dispensing surface to the visual inspection area, combined with image analysis technology, it quickly identifies adhesive coating defects, avoiding part assembly failures caused by poor adhesive coating and effectively reducing the part rework rate due to adhesive abnormalities.

[0083] Please refer to some embodiments of this application. Figure 1 The dispensing rotary assembly machine 100 also includes an upper camera 71, which is located above the placement frame 10 and is used to photograph and position the first part.

[0084] Please refer to some embodiments of this application. Figure 1 The dispensing rotary assembly machine 100 also includes a lower camera 72, which is located below the clamping mechanism 30 and is used to take pictures and position the clamped second part.

[0085] The upper camera 71 is mounted above the placement rack 10, with its lens optical axis perpendicular to the working plane of the placement rack 10. Its imaging range covers the placement area of ​​the first part within the first station 11. When the first part is placed in the first station 11, the upper camera 71 acquires the coordinates of the contour feature points of the first part through an image acquisition system and transmits the coordinate data to the control module to correct the gripping and docking paths. For example, the upper camera 71 can acquire the overall position of the first part and the position of its internal grooves. In some embodiments, such as... Figure 1 The camera 71 is mounted on the gantry 52.

[0086] A lower camera 72 is installed below the clamping mechanism 30, with its lens facing upwards, its field of view covering the clamping end area of ​​the clamping mechanism 30. After the clamping mechanism 30 completes the clamping action of the second part, the lower camera 72 captures the end face features of the second part through an optical calibration system, generating spatial position compensation parameters to adjust the docking angle of the rotating mechanism 42. For example, the lower camera 72 can acquire the overall position of the second part and the position of the external boss. Therefore, it is possible to maintain the concentricity between the second part and the first part, and to achieve accurate assembly of the boss and the groove. In some embodiments, such as... Figure 1 The lower camera 72 is mounted on the machine base 51.

[0087] By setting up an upper camera 71 and a lower camera 72, dual visual positioning compensation for the first and second parts is achieved. Therefore, the gripping path of the material transfer mechanism 41 and the docking angle of the rotating mechanism 42 can be controlled, avoiding assembly misalignment or excessive rotation caused by part positioning deviation. This effectively prevents friction damage between the outer wall of the part and the work station, and ensures the axial coaxiality and circumferential fit accuracy of the rotation docking.

[0088] Please refer to some embodiments of this application. Figure 2 and Figure 9 The dispensing rotary assembly machine 100 also includes a cap-removing mechanism 80, and the placement rack 10 also includes a pressure-holding cap 13 detachably disposed on the first station 11 and the second station 12. The pressure-holding cap 13 is used to press the first part and the second part to cure the adhesive, and the cap-removing mechanism 80 is used to grab the pressure-holding cap 13.

[0089] The pressure cover 13 is fixed to the first station 11 and the second station 12 in a detachable manner. Its bottom surface is provided with a pressing surface that matches the outer contour of the first part and the second part. The pressing surface applies vertical pressure to limit the displacement of the part during the curing stage.

[0090] like Figure 9 The cap removal mechanism 80 includes a clamping arm 81 and a driving component 82. The gripping surface of the clamping arm 81 matches the edge shape of the pressure-holding cap 13. The driving component 82 controls the clamping arm 81 to grasp and release the pressure-holding cap 13.

[0091] After the first part and the second part have completed their rotational docking, the pressure-holding cap 13 is placed above the first station 11 and the second station 12. The pressing surface contacts the part and applies pressure to ensure that the part remains stable during the curing process of the adhesive. After curing, the clamping arm 81 closes to grab the pressure-holding cap 13 and transfers it to the designated position.

[0092] In some embodiments, such as Figure 1 and Figure 2The cap-removing mechanism 80 is slidably disposed on the other side of the gantry frame 52. It is arranged separately from the material transfer mechanism 41 and the clamping mechanism 30 to reduce movement interference. In other embodiments, such as... Figure 1 and Figure 2 There are two placement racks 10 and two corresponding lid-removing mechanisms 80.

[0093] Please refer to some embodiments of this application. Figure 2 The dispensing rotary assembly machine 100 also includes a cleaning mechanism 90, which is located near the dispensing mechanism 22 and is used to clean the dispensing head 221 of the dispensing mechanism 22.

[0094] The cleaning mechanism 90 is used to clean the dispensing head 221 of the dispensing mechanism 22. The cleaning mechanism 90 is equipped with a cleaning tank containing nozzles. The tank stores cleaning fluid, and the nozzles spray the cleaning fluid directly onto the dispensing outlet of the dispensing head 221 to dissolve residual adhesive. A drain outlet is located at the bottom of the cleaning tank to discharge waste liquid. Furthermore, in some embodiments, such as... Figure 2 The cleaning mechanism 90 is located on the machine base 51.

[0095] By setting up the cleaning mechanism 90, residual adhesive inside the dispensing head 221 can be effectively removed, preventing the adhesive from solidifying and clogging and affecting the dispensing accuracy, thereby reducing the risk of part rotation and docking failure due to abnormal adhesive volume.

[0096] After completing a single dispensing operation, the dispensing mechanism 22's drive unit moves the dispensing head 221 to the cleaning tank of the cleaning mechanism 90, where the nozzle sprays cleaning fluid onto the dispensing head 221. Furthermore, the nozzle spray pressure of the cleaning mechanism 90 is adjustable to accommodate the cleaning requirements of adhesives of different viscosities, ensuring unobstructed dispensing at the outlet of the dispensing head 221.

[0097] The above description is merely a preferred embodiment of this application and is not intended to limit this application. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this application should be included within the protection scope of this application.

Claims

1. A glue dispensing rotary assembly machine, characterized in that, include: The placement rack includes a first station for placing a first part and a second station for placing a second part; The dispensing station is used to position the first part; A clamping mechanism for clamping the first part and the second part; A dispensing mechanism is used to dispense adhesive onto the first part on the dispensing table. The material transfer mechanism is used to drive the clamping mechanism to transfer the first part from the placement rack to the dispensing station for dispensing, and to transfer it back to the placement rack after dispensing is completed, and to drive the clamping mechanism to clamp the second part and move it to the placement rack at the position corresponding to the first part; A rotating mechanism, mounted on the material transfer mechanism, is used to drive the clamping mechanism to rotate, thereby causing the second part to rotate and rotate to dock with the first part; as well as A torque sensor is connected to the rotating mechanism to detect the output torque of the rotating mechanism during rotation, so as to realize the rotational docking of the first part and the second part into place.

2. The glue dispensing rotary assembly machine of claim 1, wherein, The clamping mechanism includes an opening and closing drive assembly and two main grippers. The opening and closing drive assembly is mounted on the material transfer mechanism. The drive end of the opening and closing drive assembly is connected to the two main grippers and is used to drive the two main grippers to move closer or further apart.

3. The glue dispensing rotary assembly machine of claim 2, wherein, The opening and closing drive assembly includes a first drive motor, a rotary gear, a first rack, and a second rack. The first drive motor is mounted on the material transfer mechanism. The rotary gear is connected to the output end of the first drive motor. The first rack is connected to one of the main grippers, and the second rack is connected to another main gripper. The first rack and the second rack are arranged opposite to each other and mesh with the rotary gear respectively.

4. The glue dispensing rotary assembly machine of claim 2, wherein, The clamping mechanism further includes a second drive motor, a transmission component, and two auxiliary grippers. The second drive motor is mounted on the transfer mechanism and is connected to the two auxiliary grippers through the transmission component, for driving the two auxiliary grippers to move closer or further apart from each other. The transfer mechanism is used to drive the auxiliary grippers to transfer the un-glued first part in the placement rack to the dispensing stage to replace the first part that has been glued and is held by the main gripper.

5. The adhesive dispensing rotary assembly machine of claim 2, wherein, The gripping surface of the main gripper is arc-shaped.

6. The adhesive dispensing rotary assembly machine of any one of claims 1 to 5, wherein, The dispensing rotary assembly machine also includes a machine base, on which the placement rack, the dispensing table, the dispensing mechanism, and the material transfer mechanism are all mounted.

7. The adhesive dispensing rotary assembly machine of claim 6, wherein, The dispensing rotary assembly machine also includes a gantry frame, a first guide rail, and a second guide rail. The gantry frame is mounted on the machine base, and the first and second guide rails are mounted on the machine base and located below the gantry frame. The material transfer mechanism is slidably installed on one side of the gantry frame, the dispensing mechanism is slidably installed on the other side of the gantry frame, and the placement rack and the dispensing table are slidably connected to the first guide rail and the second guide rail, respectively.

8. The adhesive dispensing rotary assembly machine of any one of claims 1-5, wherein, The dispensing rotary assembly machine also includes a flipping motor and a detection camera. The dispensing stage is connected to the drive end of the flipping motor. The detection camera is used to capture the state of the adhesive on the surface of the first part after it has been flipped.

9. The adhesive dispensing rotary assembly machine of any one of claims 1-5, wherein, The dispensing rotary assembly machine also includes an upper camera, which is positioned above the placement frame and used to photograph and position the first part; and / or, The dispensing rotary assembly machine also includes a lower camera, which is located below the clamping mechanism and is used to take pictures and position the clamped second part.

10. The adhesive dispensing rotary assembly machine of any one of claims 1-5, wherein, The dispensing rotary assembly machine further includes a cap-retrieving mechanism, and the placement rack further includes a pressure-holding cap detachably disposed on the first and second workstations. The pressure-holding cap is used to press the first and second parts together to cure the adhesive, and the cap-retrieving mechanism is used to grasp the pressure-holding cap; and / or The dispensing rotary assembly machine also includes a cleaning mechanism, which is located close to the dispensing mechanism and is used to clean the dispensing head of the dispensing mechanism.

Images