Simple yaw adjustment device for dispensing machine

Abstract

This utility model relates to a simple yaw adjustment device for a dispensing machine, comprising a base, a connecting displacement adjustment device mounted on the base, a yaw device mounted on the connecting displacement adjustment device, a steering device mounted on the yaw device, and a rotating platform connected to the steering device; a lifting device is also mounted on the base, a viewing displacement adjustment device is mounted on the lifting device, and a vision device is mounted on the viewing displacement adjustment device; a control device is mounted on the base. Thus, through the cooperation of the connecting displacement adjustment device, the yaw device, and the steering device, high-precision positioning and attitude adjustment of the workpiece in multiple axes are achieved. This allows the workpiece to be processed to flexibly adapt to complex curved surface dispensing or inspection needs, ensuring that the processing point is accurately located below the dispensing head.

Description

Technical Field

[0001] This utility model relates to a yaw adjustment device, and more particularly to a simple yaw adjustment device for a dispensing machine. Background Technology

[0002] In the field of workpiece dispensing, to achieve precise dispensing on different curved surfaces, a multi-axis position adjustment mechanism is needed to adjust the relative posture of the workpiece and the dispensing head. Existing technologies generally employ a combination structure of independently driven position adjustment modules. For example, Chinese patent CN217475946U discloses an industrial robot based on a slide table, which uses a slide table, gripping arm, and servo motor to achieve lateral displacement of the workpiece, supplemented by a bidirectional lead screw to control the gripping distance. While this structure can achieve basic positioning, its multi-axis motion coupling is poor, and the workpiece is prone to shifting due to inertia during adjustment. Furthermore, its vision monitoring components are usually fixedly installed, making it difficult to dynamically avoid obstruction by the robotic arm, thus affecting real-time feedback on dispensing quality.

[0003] Meanwhile, Chinese patent CN108465603A discloses a dispensing mechanism that uses rack and pinion transmission to drive the dispensing assembly to move along a support frame and employs rollers to protect the dispensing head. While this solution optimizes the spacing adjustment accuracy, workpiece posture adjustment still relies on a single planar motion, lacking yaw and rotational degrees of freedom, making it difficult to adapt to the multi-angle dispensing requirements of complex curved workpieces. Furthermore, its vision component lacks a displacement compensation mechanism, making the dispensing process susceptible to interference from robotic arm movement, creating blind spots in monitoring.

[0004] In view of the above-mentioned shortcomings, the designer actively researched and innovated in order to create a simple yaw adjustment device for dispensing machines, making it more valuable for industrial use. Utility Model Content

[0005] To solve the above-mentioned technical problems, the purpose of this utility model is to provide a simple yaw adjustment device for a dispensing machine.

[0006] This utility model discloses a simple yaw adjustment device for a dispensing machine, comprising a device base, wherein: a connecting displacement adjustment device is installed on the device base, a yaw device is installed on the connecting displacement adjustment device, a steering device is installed on the yaw device, and a rotating platform is connected to the steering device; a lifting device is also installed on the device base, a viewing displacement adjustment device is installed on the lifting device, and a vision device is installed on the viewing displacement adjustment device; a storage space is distributed within the device base, and a control device is installed within the storage space; the control device is electrically connected to the connecting displacement adjustment device, the yaw device, the steering device, the viewing displacement adjustment device, and the vision device; an interactive device is installed at the front end of the device base, and the interactive device is electrically connected to the control device.

[0007] Furthermore, in the aforementioned simple sway adjustment device for the dispensing machine, the connecting displacement adjustment device includes a longitudinal guide rail mounted on the equipment base, a longitudinal slider movably mounted on the longitudinal guide rail, a support plate connected to the longitudinal slider, and the sway device connected to the support plate.

[0008] Furthermore, the aforementioned dispensing machine uses a simple yaw adjustment device, wherein the yaw device includes a mounting base connected to a connecting displacement adjustment device, a yaw shaft motor is mounted on one side of the mounting base, the yaw shaft motor is connected to a steering device through a harmonic reducer, and a yaw shaft groove-type photoelectric device is mounted below the mounting base facing the harmonic reducer.

[0009] Furthermore, the aforementioned dispensing machine uses a simple yaw adjustment device, wherein the steering device includes a positioning base connected to the yaw device, a rotary shaft motor is mounted on the positioning base, and a rotary platform is connected to the working end face of the rotary shaft motor.

[0010] Furthermore, the aforementioned dispensing machine uses a simple oscillation adjustment device, wherein the positioning base has an L-shaped structure, a limit groove is provided at the front end of the positioning base, and the rotating shaft motor is connected to the limit groove.

[0011] Furthermore, the aforementioned dispensing machine uses a simple yaw adjustment device, wherein a dot sheet metal is installed on the outer side of the rotating platform, and the dot sheet metal is connected to the drive turntable of the rotating shaft motor; an auxiliary slotted photoelectric device is installed on the outer side of the drive turntable.

[0012] Furthermore, the aforementioned dispensing machine uses a simple yaw adjustment device, wherein the rotating platform is provided with several auxiliary positioning holes.

[0013] Furthermore, the aforementioned dispensing machine uses a simple yaw adjustment device, wherein the inspection displacement adjustment device includes a lead screw motor mounted on a lifting device, a transverse slider interconnected to the lead screw motor, a guide rod connected to the transverse slider, the vision device connected to the guide rod, and a clearance groove provided on the lifting device along the travel path of the guide rod; the guide rod is covered with a dust cover.

[0014] Furthermore, the aforementioned dispensing machine uses a simple yaw adjustment device, wherein the vision device includes a mounting bracket connected to the inspection displacement adjustment device, the mounting bracket is distributed with limit seats, and a CCD device is connected to the limit seats.

[0015] Furthermore, the aforementioned dispensing machine uses a simple yaw adjustment device, wherein the interactive device includes several button components and knob components.

[0016] By means of the above solution, this utility model has at least the following advantages:

[0017] 1. By coordinating the displacement adjustment device, the yaw device, and the steering device, high-precision positioning and attitude adjustment of the workpiece in multiple axes are achieved. This allows the workpiece to be processed to flexibly adapt to complex curved surface dispensing or inspection requirements, ensuring that the processing point is accurately located below the dispensing head.

[0018] 2. The independent lifting device and the inspection displacement adjustment device work together to enable flexible adjustment of the height and horizontal position of the vision equipment. Combined with the workpiece's own posture changes, it can actively and in real time adjust the dispensing station to the optimal imaging angle, effectively avoiding obstruction and ensuring clear, blind-spot-free real-time images are obtained during processing.

[0019] 3. The yaw mechanism uses a harmonic reducer for transmission, and the steering mechanism employs an L-shaped positioning base and a limit groove combined with a precision displacement guide rail, which enhances the rigidity of the motion platform. Simultaneously, real-time monitoring and closed-loop control of displacement and angle are achieved using yaw shaft groove-type photoelectric sensors and auxiliary groove-type photoelectric sensors, minimizing the risks of vibration, sag, or position drift during multi-axis motion and ensuring the smoothness and positioning accuracy of the machining process.

[0020] 4. The equipment integrates a control unit within the base storage space, unifying and coordinating various motion modules (displacement adjustment, yaw, steering, and visual tracking) and sensor feedback (slot-type photoelectric sensor). Combined with front-end interactive devices (buttons and knobs), it forms an intelligent control system. This not only facilitates user intervention and parameter setting, enabling automated coordination of processing and inspection processes, but also allows for the expansion of functional modules through software (such as loading visual inspection algorithms), improving the overall performance and adaptability of the equipment.

[0021] 5. The overall structure is simple and can meet the needs of yaw adjustment during dispensing.

[0022] The above description is only an overview of the technical solution of this utility model. In order to better understand the technical means of this utility model and to implement it in accordance with the contents of the specification, the preferred embodiments of this utility model are described in detail below with reference to the accompanying drawings. Attached Figure Description

[0023] Figure 1 This is a schematic diagram of the overall structure of a simple oscillation adjustment device for a dispensing machine.

[0024] Figure 2 This is a schematic diagram of the installation of the yaw shaft motor.

[0025] The meanings of the labels in the figures are as follows.

[0026] 1 Equipment base 2 Rotating platform

[0027] 3 Lifting device 4 Interactive device

[0028] 5. Longitudinal guide rail; 6. Bearing plate

[0029] 7 Mounting base 8 Oscillating shaft motor

[0030] 9 Harmonic reducer 10 Oscillating shaft groove type photoelectric reducer

[0031] 11 Positioning base 12 Rotary shaft motor

[0032] 13 Auxiliary slotted photoelectric sensor 14 Auxiliary positioning hole

[0033] 15. Clearance slot; 16. Dust cover

[0034] 17 Mounting bracket 18 CCD device Detailed Implementation

[0035] The specific embodiments of this utility model will be described in further detail below with reference to the accompanying drawings and examples. The following examples are used to illustrate this utility model, but are not intended to limit its scope.

[0036] like Figures 1 to 2 This invention relates to a simple yaw adjustment device for a dispensing machine, comprising a base 1. Its unique feature is that the base 1 is equipped with a connecting displacement adjustment device for adjusting the actual position of the subsequent rotating platform 2, facilitating the docking of the product to be processed with the subsequent processing equipment and ensuring it is within the optimal viewing range of the inspection displacement adjustment device. Simultaneously, to accommodate special displacement adjustments during processing, a yaw device is installed on the connecting displacement adjustment device, which in turn is equipped with a steering device, connected to the rotating platform 2. This allows the product to be adjusted across multiple axes, meeting the processing and inspection needs of different surfaces. Furthermore, to meet the requirements for real-time image acquisition, a lifting device 3 is installed on the base 1, which in turn is equipped with an inspection displacement adjustment device and a vision device. This allows for appropriate displacement and angle adjustments, avoiding obstruction during shooting. Moreover, this invention includes a storage space within the base 1, within which a control device (not shown in the figure) is installed. During real-time operation, the control device is electrically connected to the displacement adjustment device, yaw device, steering device, inspection displacement adjustment device, and vision equipment. This ensures coordinated control. Considering the need for user intervention in control, an interactive device 4 is installed at the front end of the equipment base 1, and the interactive device 4 is electrically connected to the control device. For ease of implementation, a commercially available industrial computer can be used as the control device, adapted through selection or compilation of specific control programs; details will not be elaborated further here.

[0037] According to a preferred embodiment of this utility model, the connecting displacement adjustment device includes a longitudinal guide rail 5 mounted on the equipment base 1, a longitudinal slider movably mounted on the longitudinal guide rail 5, a bearing plate 6 connected to the longitudinal slider, and a swing device connected to the bearing plate 6. This allows the swing device to perform effective and stable displacement without significant resonance, and also satisfies the requirements for docking with the processing station of subsequent processing equipment.

[0038] Furthermore, to accommodate moderate yaw motion, the yaw device includes a mounting base 7 connected to a support plate 6 of a displacement adjustment device. A yaw shaft motor 8 is mounted on one side of the mounting base 7, and the yaw shaft motor 8 is connected to a steering device via a harmonic reducer 9. Simultaneously, a yaw shaft slotted photoelectric sensor 10 is mounted below the mounting base 7, facing the harmonic reducer 9. This allows for the detection of angular displacement, yaw angle, or extreme positions of the shaft using the sensor in the yaw shaft slotted photoelectric sensor 10, thus meeting various processing requirements.

[0039] In practical implementation, the steering device includes a positioning base 11 connected to the harmonic reducer 9 of the yaw mechanism. The positioning base 11 is connected to a rotary shaft motor 12 via positioning screws. Simultaneously, a rotary platform 2 is connected to the working end face of the rotary shaft motor 12. During subsequent processing, the workpiece is simply mounted onto the rotary platform 2 using positioning attachments. Specifically, to facilitate locking the connection via the working shaft of the harmonic reducer 9, the positioning base 11 is L-shaped, with one side of the L-shape passing through the working shaft of the harmonic reducer 9 for locking connection. Thus, under the rotation of the working shaft of the harmonic reducer 9, the yaw adjustment of the positioning base 11 can be achieved in conjunction with the yaw shaft motor 8. Furthermore, to achieve appropriate clearance and reduce the wheelbase after the positioning base 11 is installed, preventing abnormal "steering drop," a limiting groove 15 is provided at the front end of the positioning base 11. The rotary shaft motor 12 is connected to the limiting groove 15 and locked in place by corresponding bolts. This allows the bottom of the rotary shaft motor 12 to be adjusted and installed at an appropriate height.

[0040] Meanwhile, this invention features a dotted sheet metal (not shown in the figure to avoid obstruction) mounted on the outer side of the rotating platform 2, which is connected to the drive turntable of the rotating shaft motor 12. This allows for a moderate downward extension design, resolving the issue of position loss when the rotation angle is too large. Furthermore, an auxiliary slotted photoelectric sensor 13 can be mounted on the outer side of the drive turntable to acquire data on the actual angle of the rotating platform 2. Additionally, several auxiliary positioning holes 14 can be provided on the rotating platform 2. This facilitates the locking and positioning of positioning accessories by passing through the auxiliary positioning holes 14.

[0041] Looking further, the inspection displacement adjustment device includes a lead screw motor (not shown in the figure) mounted on the lifting device 3. A transverse slider is interactively connected to the lead screw motor, and a guide rod is connected to the transverse slider. The vision device is connected to the guide rod, and the lifting device 3 has a clearance groove 15 on the travel path of the guide rod. This prevents obstruction of the movement of the guide rod. The guide rod is also covered with a dust cover 16. Of course, for certain installation stability requirements, a load-bearing module can also be connected to the guide rod.

[0042] During implementation, the vision device includes a mounting bracket 17 connected to a dust cover 16 belonging to the inspection displacement adjustment device. Limit seats are distributed on the mounting bracket 17, and a CCD device 18 is connected to each limit seat. This allows for the acquisition of clear images through the CCD device 18, facilitating the viewing of the current dispensing status. Furthermore, considering user convenience, the interactive device 4 includes several button components and knob components.

[0043] During installation and commissioning, the yaw shaft groove type photoelectric sensor 10 and the auxiliary groove type photoelectric sensor 13 can be connected to the control device.

[0044] The working principle of this utility model is as follows:

[0045] The workpiece is mounted onto the rotating platform 2 using the corresponding accessories. Then, according to the actual dispensing position, the displacement adjustment device is used to move the workpiece into the work area where the dispensing head is located. Next, with the cooperation of the tilting and steering devices, the points requiring dispensing are sequentially positioned below the dispensing head for the corresponding dispensing process. During this process, the inspection displacement adjustment device can adjust the field of view of the vision device in real time to completely cover the dispensing work area and acquire images during dispensing.

[0046] During implementation, this image can be analyzed locally or processed remotely via the control device to meet appropriate visual inspection needs.

[0047] Furthermore, the directions or positional relationships described in this utility model are based on the directions or positional relationships shown in the accompanying drawings. They are only for the purpose of facilitating the description of this utility model and simplifying the description, and are not intended to indicate or imply that the device or structure referred to must have a specific orientation, or to operate in a specific orientation. Therefore, they should not be construed as limitations on this utility model.

[0048] The above description is only a preferred embodiment of the present utility model and is not intended to limit the present utility model. It should be noted that for those skilled in the art, several improvements and modifications can be made without departing from the technical principles of the present utility model, and these improvements and modifications should also be considered within the protection scope of the present utility model.

Claims

1. A simple yaw adjustment device for a dispensing machine, comprising a base, characterized in that: The equipment base is equipped with a connection displacement adjustment device, a sway device, and a steering device, which is connected to a rotating platform. The equipment base also has a lifting device, a viewing displacement adjustment device, and a vision device. The equipment base contains storage space, and a control device is installed within this space. The control device is electrically connected to the connection displacement adjustment device, the sway device, the steering device, the viewing displacement adjustment device, and the vision device. An interactive device is installed at the front end of the equipment base and is electrically connected to the control device.

2. The simple yaw adjustment device for a dispensing machine according to claim 1, characterized in that: The connection displacement adjustment device includes a longitudinal guide rail installed on the equipment base, a longitudinal slider movably installed on the longitudinal guide rail, a bearing plate connected to the longitudinal slider, and a swing device connected to the bearing plate.

3. The simple yaw adjustment device for a dispensing machine according to claim 1, characterized in that: The yaw device includes a mounting base connected to a displacement adjustment device. A yaw shaft motor is mounted on one side of the mounting base. The yaw shaft motor is connected to a steering device via a harmonic reducer. A yaw shaft slotted photoelectric sensor is mounted on the lower part of the mounting base, facing the harmonic reducer.

4. The simple yaw adjustment device for a dispensing machine according to claim 1, characterized in that: The steering device includes a positioning base connected to the yaw device, a rotary shaft motor is mounted on the positioning base, and a rotary platform is connected to the working end face of the rotary shaft motor.

5. The simple yaw adjustment device for a dispensing machine according to claim 4, characterized in that: The positioning base has an L-shaped structure, and a limiting groove is provided at the front end of the positioning base. The rotating shaft motor is connected to the limiting groove.

6. The simple yaw adjustment device for a dispensing machine according to claim 4, characterized in that: A dotted sheet metal is installed on the outer side of the rotating platform, and the dotted sheet metal is connected to the drive turntable of the rotating shaft motor; an auxiliary slotted photoelectric device is installed on the outer side of the drive turntable.

7. The simple yaw adjustment device for a dispensing machine according to claim 4, characterized in that: The rotating platform is provided with several auxiliary positioning holes.

8. The simple yaw adjustment device for a dispensing machine according to claim 1, characterized in that: The inspection displacement adjustment device includes a lead screw motor mounted on a lifting device, a transverse slider interconnected to the lead screw motor, a guide rod connected to the transverse slider, the vision device connected to the guide rod, and a clearance groove provided on the lifting device along the travel path of the guide rod; the guide rod is covered with a dust cover.

9. The simple yaw adjustment device for a dispensing machine according to claim 1, characterized in that: The vision device includes a mounting bracket connected to a viewing displacement adjustment device, wherein a limiting seat is distributed on the mounting bracket and a CCD device is connected to the limiting seat.

10. The simple yaw adjustment device for a dispensing machine according to claim 1, characterized in that: The interactive device includes several button components and knob components.

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