Floor standing five-axis linkage dispensing machine

Abstract

The utility model discloses a floor type five -axis linkage point gum machine, including the box, be equipped with by the point gum establishment and visual positioning and height detection system of XZ axle drive module drive along X axle and Z axle movement of the box, be equipped with Y axle movement module in the below of XZ axle drive module and drive work piece along Y axle movement, and Y axle movement module is equipped with rotation tilt module, and rotation tilt module opposite side is equipped with electronic weighing module, and needle head wiping mechanism is equipped in rotation tilt module other side, and XZ axle drive module rear side is equipped with for the glue mechanism, needle head wiping mechanism includes the cloth pull module and the elastic clamping module, and the glue mechanism includes the storage box and the glue solution flow direction system and the floating pointer and the scale, and the floating pointer points to the scale. Through setting needle head wiping mechanism, can automatically wipe the needle head of point gum establishment, need not manual wiping point gum head or regular replacement, has reduced cost and labor intensity.

Description

Technical Field

[0001] This utility model relates to the field of dispensing technology, and in particular to a floor-standing five-axis linkage dispensing machine that can be used for dispensing red glue in SMT, underfill, component packaging, semiconductor packaging, hot melt glue, LED display screen, wafer fixing, mobile phone mid-frame side and TP side, laptop / tablet mid-frame plastic / battery cover, AVAR smart glasses, etc. Background Technology

[0002] A dispensing machine, also known as a glue applicator or glue applicator, is an automated machine that controls the application of adhesive to the surface or interior of a product. Electronic products, due to their special external usage requirements, require dispensing machines for sealing to meet needs such as waterproofing and oxidation resistance.

[0003] For example, a five-axis linkage dispensing machine is disclosed in patent number 2024213555303. This five-axis linkage dispensing machine includes a clamping base, a rotation system, a dispensing system, and a translation system. The clamping base is used to fix the workpiece; the rotation system includes a Y-axis rotation module and an X-axis rotation module, the Y-axis rotation module driving the clamping base to rotate around the Y-axis; the dispensing system includes a glue cylinder, a screw valve, and a needle, the needle being used to apply glue to the workpiece, the glue cylinder storing glue, and a glue quantity detection device used to detect the glue quantity in the glue cylinder and issue an alarm; the translation system includes an X-axis translation module, a Y-axis translation module, and a Z-axis translation module, the Z-axis translation module driving the glue cylinder to move along the Z-axis; the X-axis translation module driving the Z-axis translation module to move along the X-axis; and the Y-axis translation module driving the X-axis rotation module to move along the Y-axis. This five-axis linkage dispensing machine can achieve high-precision glue quantity control and avoid glue overflow, thereby greatly improving the dispensing quality.

[0004] Another example is a five-axis linkage dispensing machine disclosed in patent number 2020203380380. This five-axis linkage dispensing machine includes a lower frame assembly, a dispensing machine body and an industrial control computer mounted on the lower frame assembly, a motion control module, a camera calibration module and a dispensing valve module mounted on the dispensing machine body, and an electronic weighing module mounted on the work platform. The industrial control computer includes a dispensing information interaction module, which can interact with other modules and calculate the total length of the target trajectory line, the number of target dispensing points, and the distance between two adjacent dispensing points in the product coordinate system, without involving CA axis calculations. The motion control module is used to control the five-axis linkage and send dispensing pulses in real time. The electronic weighing module is used to weigh the weight of a single dispensing point, and the dispensing valve module is used to dispense glue according to the dispensing pulses until dispensing is complete. This five-axis linkage dispensing machine has low difficulty in adjusting the dispensing volume, can be precisely controlled, and can automatically adjust during operation.

[0005] However, after the two types of five-axis linkage dispensing machines disclosed above finish dispensing, adhesive residue remains on the surface of the dispensing head. When changing to other adhesives, it is easy to contaminate the dispensing effect of the next time. Moreover, if the residue remains on the dispensing head for a long time, it will corrode the dispensing head and needs to be replaced regularly, or it needs to be wiped manually after each use, which increases the cost and labor intensity. In addition, the above equipment does not have an independent adhesive storage mechanism, and adhesive storage tanks need to be placed outside the equipment, which increases the footprint. Utility Model Content

[0006] The purpose of this utility model embodiment is to solve the technical problems of existing five-axis linkage dispensing machines that require manual wiping of the dispensing head or regular replacement, which increases costs and labor intensity, and that lack an independent glue storage mechanism, requiring the addition of a glue storage tank outside the equipment, which increases the footprint.

[0007] To solve the above-mentioned technical problems, this utility model provides a floor-standing five-axis linkage dispensing machine, which adopts the following technical solution: The floor-standing five-axis linkage dispensing machine includes: a chassis, on which a dispensing mechanism driven by an XZ axis drive module to move along the X and Z axes and a vision positioning and height detection system are provided; a Y-axis moving module is provided below the XZ axis drive module and drives the workpiece to move along the Y axis; the Y-axis moving module is provided with a rotation tilting module that drives the workpiece to rotate along the C axis and tilt along the A axis; an electronic weighing module for weighing the weight of a single dispensing is provided on one side opposite to the rotation tilting module; a needle wiping mechanism for wiping the dispensing needles on the dispensing mechanism is provided on the other side of the rotation tilting module; and a glue supply mechanism for supplying glue to the dispensing mechanism is provided behind the XZ axis drive module. The needle wiping mechanism includes a wiping cloth actuating module and an elastic clamping module that clamps the needle and wiping cloth of the dispensing mechanism so that the wiping cloth actuating module wipes the needle when it pulls the wiping cloth. The glue supply mechanism includes a storage tank, a glue flow system for filling the storage tank with glue and drawing glue from the storage tank to the dispensing mechanism, a floating pointer for detecting the amount of glue in the storage tank, and a scale located on the side wall of the storage tank, with the floating pointer pointing to the scale.

[0008] In some embodiments, the adhesive flow system includes a transition tank located at the top of the storage tank, a pump located on the side of the transition tank, and a three-way connector connected to the transition tank and the pump. The three-way connector is connected to the dispensing mechanism and an external adhesive storage device via pipelines. The bottom of the transition tank is provided with an adhesive inlet communicating with the storage tank. The transition tank draws or fills adhesive through the adhesive inlet via a flexible hose. The storage tank is provided with a control switch for controlling the conduction of the corresponding interface of the three-way connector and a delivery volume control switch.

[0009] In some embodiments, the wiping pull module includes a motor, a damper, a reel, and a feed reel. The output shaft of the motor is provided with a pull shaft connected to the reel. The outer periphery of the top of the pull shaft is provided with an annular protrusion that matches the locking hole of the reel. The axis of the annular protrusion is provided with a first threaded hole. When the locking hole of the reel is engaged with the annular protrusion, the reel is locked to the pull shaft by connecting the handwheel screw to the first threaded hole. The damper's rotating shaft is equipped with a feeding shaft that connects to the feeding tray. The outer periphery of the top of the feeding shaft is equipped with an annular locking platform that matches the locking hole of the feeding tray. The axis of the annular locking platform has a second threaded hole. When the feeding tray is locked into the annular locking platform, the feeding tray is locked to the feeding shaft by connecting the handwheel screw to the second threaded hole.

[0010] In some embodiments, the elastic gripping module includes a pneumatic gripper, gripping blocks, and an elastic column. Two gripping blocks are provided, each located on the top of one of the two grippers of the pneumatic gripper. The two gripping blocks are provided with receiving cavities for accommodating the rotation of the elastic column, and the elastic column is partially exposed outside the receiving cavity and in contact with the wiping cloth.

[0011] In some embodiments, the adhesive flow system further includes a fixing frame for fixing the transition tank and the pump body; the fixing frame includes a fixing plate with a bottom slot that matches the transition tank and the pump body, the fixing plate is fixed to the top of the storage tank, and uprights fixed to the fixing plate are symmetrically arranged on both sides of the bottom slot. A clamping plate is provided in the middle section of the uprights, and the clamping plate has an upper slot that matches the bottom slot. A rotating plate is provided at the port of the upper slot, one end of which is pivotally connected to the clamping plate, and the other end is locked to the clamping plate by a handwheel bolt. A fixing position matching the side wall of the transition tank is provided on the inner side of the rotating plate. A guide plate is provided at the top of the uprights, and a guide groove matching the transition tank and the pump body is provided on the bottom surface of the guide plate.

[0012] In some embodiments, the rotating tilt module rotates 90 degrees along the C-axis each time, and the rotating tilt module tilts 0-45 degrees along the A-axis.

[0013] In some embodiments, the C-axis rotation drive of the rotating tilt module is a DD motor.

[0014] Compared with the prior art, the floor-standing five-axis linkage dispensing machine provided in this embodiment of the invention has the following advantages: By incorporating a needle wiping mechanism, the dispensing needles are automatically wiped after each dispensing cycle, preventing residual adhesive from contaminating the next dispensing cycle when changing to different adhesives, and avoiding long-term corrosion of the dispensing needles. This eliminates the need for manual wiping or periodic replacement, reducing costs and labor intensity. Simultaneously, an independent adhesive supply mechanism integrates the storage tank into the equipment, eliminating the need for external adhesive storage containers and reducing space requirements. Furthermore, the adhesive flow system within the supply mechanism is rationally designed, facilitating easy filling and extraction of adhesive from the storage tank to the dispensing mechanism via a transition tank, pump, and three-way connector. A floating pointer and scale allow for intuitive monitoring of the adhesive level in the storage tank. Additionally, the rotating and tilting module allows for flexible adjustment of the workpiece in multiple directions, meeting dispensing needs for different shapes and angles, improving dispensing flexibility and accuracy. The rotating and tilting module rotates 90 degrees along the C-axis and tilts 0 degrees along the A-axis each time. The 45-degree angle is a reasonable setting that can meet the needs of most dispensing scenarios. The C-axis rotation drive of the rotating tilt module uses a DD motor. DD motors have advantages such as high precision, repeatability of up to 0.01S, and high response speed, which can further improve the rotational accuracy and stability of the rotating tilt module, thereby improving the dispensing quality. Attached Figure Description

[0015] Figure 1 This is a schematic diagram of the structure of this utility model; Figure 2 This is a schematic diagram of the needle wiping mechanism in this utility model; Figure 3 for Figure 2 A sectional view; Figure 4 This is a schematic diagram of the adhesive supply mechanism from one angle in this utility model; Figure 5 This is a schematic diagram of the glue supply mechanism in this utility model from another angle. Detailed Implementation

[0016] To make the above-mentioned objects, features, and advantages of this utility model more apparent and understandable, the specific embodiments of this utility model will be described in detail below with reference to the accompanying drawings. Many specific details are set forth in the following description to provide a full understanding of this utility model. However, this utility model can be implemented in many other ways different from those described herein, and those skilled in the art can make similar modifications without departing from the spirit of this utility model. Therefore, this utility model is not limited to the specific embodiments disclosed below.

[0017] like Figure 1As shown, this embodiment provides a floor-standing five-axis linkage dispensing machine. The machine includes a chassis 1, which adopts a rigid frame structure and integrates control circuitry and pneumatic components. An XZ-axis drive module 2 is mounted on the chassis 1. This module is driven by a servo motor and ball screw, moving the dispensing mechanism 3 and the vision positioning and height detection system 4 along the X-axis (horizontal direction) and Z-axis (vertical direction). Below the XZ-axis drive module 2 is a Y-axis movement module 5, driven by a linear guide and servo motor, moving the workpiece along the Y-axis (forward and backward direction). A rotation and tilt module 6 is mounted on the Y-axis movement module 5, used to drive the workpiece along the C-axis and A-axis, achieving five-axis linkage. An electronic weighing module 7 is located on one side of the rotation and tilt module 6, used to weigh the glue before each dispensing operation, and then correct the glue weight based on the data from the electronic scale during product dispensing. A needle wiping mechanism 8 is located on the other side of the rotation and tilt module 6, used for automatically cleaning the dispensing needle. A glue supply mechanism 9 is provided on the rear side of the XZ axis drive module 2, which is used to supply glue to the glue dispensing mechanism 3.

[0018] like Figure 2 and Figure 3 As shown, in this embodiment, the rotation and tilting module 6 includes a C-axis rotation drive and an A-axis tilting drive. The C-axis rotation drive uses a DD motor, which is highly accurate and has a fast response, rotating 90 degrees at a time to achieve rapid workpiece positioning. The A-axis tilting drive is equipped with a fixture, which can be tilted from 0 to 45 degrees to adapt to the dispensing requirements of different workpiece surfaces. The rotation and tilting module 6 works in conjunction with the Y-axis moving module 5 to achieve five-axis linkage, ensuring that the dispensing needle is always perpendicular to the workpiece surface and improving dispensing accuracy.

[0019] In this embodiment, the needle wiping mechanism 8 includes a wiping cloth actuating module 81 and an elastic clamping module 82, with a wiping cloth guide shaft disposed between the wiping cloth actuating module 81 and the elastic clamping module 82. The wiping cloth actuating module 81 includes a motor 811, a damper 812, a reel 813, and a feed reel 814. The output shaft of the motor 811 is provided with a feed shaft 815, and the top outer periphery of the feed shaft 815 is provided with an annular protrusion 816, with a first threaded hole 817 opened at the axis of the annular protrusion 816. After the retaining hole of the reel 813 is engaged with the annular protrusion 816, it is connected to the first threaded hole 817 through a handwheel screw 818, locking the reel 813 to the feed shaft 815. The damper 812 has a feeding shaft 819 on its rotating shaft. An annular locking platform 8110 is located on the outer periphery of the top of the feeding shaft 819. A second threaded hole 8111 is opened at the center of the annular locking platform 8110. After the feeding tray 814's locking hole engages with the annular locking platform 8110, it is connected to the second threaded hole 8111 via a handwheel screw 818, thus locking the feeding tray 814 to the feeding shaft 819. A wiping cloth (not shown) is led out from the feeding tray 814, passes through the elastic clamping module 82, and is wound onto the roll 813.

[0020] The elastic clamping module 82 includes a pneumatic gripper 821, clamping blocks 822, and elastic pillars 823. Two clamping blocks 822 are provided, fixed to the top of the two grippers of the pneumatic gripper 821. Each clamping block 822 has a receiving cavity 824, within which the elastic pillars 823 (such as silicone pillars) are partially housed and rotatable, while a portion is exposed to contact the wiping cloth. When the dispensing needle 31 of the dispensing mechanism 3 moves to the wiping position, the pneumatic gripper 821 drives the two clamping blocks 822 to close, clamping the wiping cloth and needle 31. Simultaneously, the elastic pillars 823 provide elastic pressure to ensure close contact between the wiping cloth and the needle. Subsequently, the motor 811 starts, driving the reel 813 to rotate via the pull shaft 815, pulling the wiping cloth forward. The damper 812 provides reverse resistance, keeping the wiping cloth taut, thereby wiping the surface of the needle 31 and removing residual adhesive.

[0021] like Figure 4 and Figure 5 As shown, in this embodiment, the glue supply mechanism 9 includes a storage tank 91, a glue flow system 92, a floating pointer 93, and a scale 94. The scale 94 is fixed to the side wall of the storage tank 91, and the floating pointer 93 is suspended on the surface of the glue through a float structure, moving with the liquid level and pointing to the scale 94 to display the remaining glue level.

[0022] The adhesive flow system 92 includes a transition tank 921, a pump 922, and a three-way connector 923. The transition tank 921 is located on top of the storage tank 91, and the pump 922 is located to the side of the transition tank 921. The three-way connector 923 is connected to the dispensing mechanism 3, the transition tank 921, and an external adhesive storage device via pipelines. The bottom of the transition tank 921 has an adhesive inlet that communicates with the storage tank 91. The transition tank 921 uses a flexible hose passing through the adhesive inlet to draw or fill adhesive. The storage tank 91 is equipped with a control switch 924 and a delivery volume control switch 925. The control switch 924 is used to control the interface continuity of the three-way connector 923 (such as switching between filling and drawing modes), and the delivery volume control switch 925 is used to adjust the flow rate of the pump 922.

[0023] The adhesive flow system 92 also includes a fixing frame 926 for fixing the transition tank 921 and the pump body 922. The fixing frame 926 includes a fixing plate 927, which is fixed to the top of the storage box 91 and has a bottom slot that matches the shape of the bottom of the transition tank 921 and the pump body 922. Symmetrical uprights 928 are provided on both sides of the bottom slot, and a locking plate 929 is provided in the middle of the uprights 928. The locking plate 929 has an upper locking slot that aligns with the bottom slot. A rotating plate 9210 is provided at the end of the upper locking slot. One end of the rotating plate 9210 is pivotally connected to the locking plate 929, and the other end is locked to the locking plate 929 by a handwheel bolt 935. The inner side of the rotating plate 9210 has a fixing position that matches the side wall of the transition tank 921. The rotating plate 9210 allows for the disassembly and replacement of the transition tank 921 and the pump body 922. The top of the upright 928 is provided with a guide plate 9211, and the bottom surface of the guide plate 9211 is provided with a guide groove. The guide groove matches the shape of the top of the transition tank 921 and the pump body 922, providing vertical guidance.

[0024] During glue filling, control switch 924 switches to glue filling mode, and pump body 922 draws glue from external glue storage device through three-way connector 923, injecting it into storage tank 91 via transition tank 921 and hose. During dispensing, control switch 924 switches to dispensing mode, and pump body 922 draws glue from storage tank 91, delivering it to dispensing mechanism 3 via three-way connector 923. Floating pointer 93 displays the liquid level in real time, and operators can monitor the glue quantity via scale 94. Automatic glue filling and dispensing supply are achieved through the glue flow system. The floating pointer and scale provide intuitive liquid level monitoring, preventing glue interruptions. The fixed frame ensures stable fixation of the transition tank and pump body, reducing vibration impact and improving glue supply reliability.

[0025] In summary, by setting up a needle wiping mechanism, the needle of the dispensing mechanism 3 can be automatically wiped after each dispensing, avoiding residual glue on the surface of the dispensing head 31, preventing contamination of the next dispensing effect when changing to other glues, and avoiding long-term corrosion of the dispensing head. This eliminates the need for manual wiping of the dispensing head 31 or periodic replacement, reducing costs and labor intensity. Simultaneously, by setting up an independent glue supply mechanism 9, the storage tank 91 is integrated into the equipment, eliminating the need to place a glue storage bucket outside the equipment, reducing space requirements. Furthermore, the glue flow system in the glue supply mechanism 9 is rationally designed. Through the cooperation of the transition tank 921, pump 922, and three-way connector 923, it is possible to easily fill the storage tank 91 with glue and extract the glue from the storage tank 91 to deliver it to the dispensing mechanism 3. Moreover, the floating pointer 93 and scale 94 allow for intuitive detection of the amount of glue in the storage tank 91. This utility model's floor-standing five-axis linkage dispensing machine adopts a five-axis linkage control system, which has a powerful motion control system and supports various standard curve interpolation, arbitrary axis linear interpolation, spatial circular arc interpolation, spatial spiral interpolation, spatial elliptical interpolation, spatial involute interpolation, spatial conical interpolation, spiral interpolation, spatial spline curve interpolation, and other dispensing processes. It is suitable for sealing and reinforcing round and irregularly shaped products.

[0026] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

Claims

1. A floor-standing five-axis linkage dispensing machine, comprising: The chassis includes a dispensing mechanism and a vision positioning and height detection system that are driven by an XZ axis drive module to move along the X and Z axes. A Y-axis moving module is located below the XZ axis drive module and drives the workpiece to move along the Y axis. The Y-axis moving module includes a rotation tilting module that drives the workpiece to rotate along the C axis and tilt along the A axis. An electronic weighing module for weighing the weight of a single dispensing item is located on one side of the rotation tilting module. The chassis is characterized by having a needle wiping mechanism for wiping the dispensing needles on the dispensing mechanism on the other side of the rotation tilting module, and a glue supply mechanism for supplying glue to the dispensing mechanism is located behind the XZ axis drive module. The needle wiping mechanism includes a wiping cloth actuating module and an elastic clamping module that clamps the needle and wiping cloth of the dispensing mechanism so that the wiping cloth actuating module wipes the needle when it pulls the wiping cloth. The glue supply mechanism includes a storage tank, a glue flow system for filling the storage tank with glue and drawing glue from the storage tank to the dispensing mechanism, a floating pointer for detecting the amount of glue in the storage tank, and a scale located on the side wall of the storage tank, with the floating pointer pointing to the scale.

2. The floor-standing five-axis linkage dispensing machine according to claim 1, characterized in that, The adhesive flow system includes a transition tank located at the top of the storage tank, a pump located on the side of the transition tank, and a three-way connector connected to the transition tank and the pump. The three-way connector is connected to the dispensing mechanism and the external adhesive storage device through pipelines. The bottom of the transition tank is provided with an adhesive inlet that communicates with the storage tank. The transition tank draws or fills adhesive through the adhesive inlet via a flexible hose. The storage tank is provided with control switches for controlling the conduction of the corresponding interfaces of the three-way connector and a delivery volume control switch.

3. The floor-standing five-axis linkage dispensing machine according to claim 1, characterized in that, The wiping pull module includes a motor, a damper, a reel, and a feed tray. The output shaft of the motor is equipped with a pull shaft that is connected to the reel. The top outer periphery of the pull shaft is provided with an annular protrusion that matches the locking hole of the reel. The shaft of the annular protrusion has a first threaded hole. When the locking hole of the reel is engaged with the annular protrusion, the reel is locked to the pull shaft by connecting the handwheel screw to the first threaded hole. The damper's rotating shaft is equipped with a feeding shaft that connects to the feeding tray. The outer periphery of the top of the feeding shaft is equipped with an annular locking platform that matches the locking hole of the feeding tray. The axis of the annular locking platform has a second threaded hole. When the feeding tray is locked into the annular locking platform, the feeding tray is locked to the feeding shaft by connecting the handwheel screw to the second threaded hole.

4. The floor-standing five-axis linkage dispensing machine according to claim 1, characterized in that, The elastic gripping module includes a pneumatic gripper, gripping blocks, and an elastic column. There are two gripping blocks, which are respectively located on the top of the two grippers of the pneumatic gripper. The two gripping blocks are provided with receiving cavities for accommodating the rotation of the elastic column. The elastic column is exposed outside the receiving cavity and in contact with the wiping cloth.

5. The floor-standing five-axis linkage dispensing machine according to claim 2, characterized in that, The adhesive flow system also includes a fixing frame for fixing the transition tank and the pump body; the fixing frame includes a fixing plate with a bottom slot that matches the transition tank and the pump body, the fixing plate is fixed to the top of the storage tank, and uprights fixed to the fixing plate are symmetrically located on both sides of the bottom slot. A clamping plate is provided in the middle section of the uprights, and the clamping plate has an upper slot that matches the bottom slot. A rotating plate is provided at the port of the upper slot, with one end pivotally connected to the clamping plate and the other end locked to the clamping plate by a handwheel bolt. The inner side of the rotating plate has a fixing position that matches the side wall of the transition tank; a guide plate is provided at the top of the uprights, and a guide groove that matches the transition tank and the pump body is provided on the bottom surface of the guide plate.

6. The floor-standing five-axis linkage dispensing machine according to claim 1, characterized in that, The rotating tilt module rotates 90 degrees along the C-axis each time, and tilts 0-45 degrees along the A-axis.

7. The floor-standing five-axis linkage dispensing machine according to claim 6, characterized in that, The rotating drive of the tilting module along the C-axis uses a DD motor.

Images