CN103521392B - A kind of Full-automatic spot gluing machine people - Google Patents
A kind of Full-automatic spot gluing machine people Download PDFInfo
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- CN103521392B CN103521392B CN201310476361.9A CN201310476361A CN103521392B CN 103521392 B CN103521392 B CN 103521392B CN 201310476361 A CN201310476361 A CN 201310476361A CN 103521392 B CN103521392 B CN 103521392B
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Abstract
The invention discloses a kind of Full-automatic spot gluing machine people, it is characterized in that, it comprises adhesive dispensing robot main frame, point gum machine programmable device and some glue controller, adhesive dispensing robot main frame comprises the master control system of frame and upper setting thereof, be connected to the drive system of master control system output, the mechanical driving device being furnished with motor driven by drive system, is furnished with the glue bucket of a gum cover head, glue barrel grab, mechanical driving device connects glue barrel grab, glue bucket is connected with the gas-powered system that the glue ordered about in glue bucket flows out some gum cover head, gas-powered system is connected with some glue controller, and controlled by a glue controller, point gum machine programmable device is connected to the signal input part of master control system.Structure of the present invention is simple, easy to operate, has good promotional value.
Description
Technical field
The present invention relates to Electronic Packaging equipment technical field, relate to a kind of adhesive dispensing robot more specifically.
Background technology
Along with the development of electroacoustic Electronic Encapsulating Technology, dispensing technology, as the main technique in Electronic Manufacturing, becomes one of important matter of science and technology.Point glue (Dispensing) technique, be by the micro fluid of desirable amount (such as solder flux, conductive epoxy resin or adhesion agent etc.) point on the correct position of workpiece (chip, electronic devices and components etc.) to realize the room machine of components and parts or electric reliable connection.Very simply work a certain amount of colloid point glue to workpiece looks like part, but relate to the medium such as gas, liquid due to a glue process, bonding agent used is non-newtonian fluid, and its performance complicated and changeable makes the Performance and quality of invocation point glue be difficult to ensure.The requirement constantly promoted glue point not only excites manufacturer and studies new dispensing method, and triggers them carry out more deep research to dispensing technology in theory and practice, realizes the some glue of high accuracy, high stability.At present, gluing process has been electro-acoustic element industry, medical equipment manufacturing industry, and optical fiber communication equipment manufacturing industry and other microelectronics industry manufacture one of the important process in field.
One of operation as the most critical of electro-acoustic element is exactly dispensing technology, the producer of current most domestic electro-acoustic element still based on manual some glue, the uniformity of production efficiency and product that such senior general is low.
In dispensing technology, whether to contact with some glue workpiece according to Glue dripping head and can be divided into contact point glue and contactless glue.Contact point glue can be divided into again several as follows according to the type of Glue dripping head:
Time/pressure-type dispensing technology, due to time/pressure-type dispensing technology adopting the air pressure of pulsation and needle tubing to realize control to glue fluid, controlling simply to be easy to realize because using.Advantage: economic, easy to operate, applicability is good, and convenient cleaning, can be used for the various objects such as transformer, loudspeaker, chip, plastic casing.Shortcoming: adopt pulse compressed air work can heat colloid and change its viscosity and colloid size; Along with the glue amount in syringe changes, the glue amount pointed out can along with change, and response speed is slow.
Screw metering pump dispensing technology, adopts newly-designed Glue dripping head to improve a colloidality energy.Typical measuring pump is Archimedian gauge line.Point glue process adopts constant air pressure to make colloid flow into screw thread space, and driven by motor screw rod makes glue flow out from syringe needle.Advantage: control simple, the colloid be suitable for is wider; Software programming can determine the glue amount pointed out, control flexibly and accuracy than time/pressure-type is high, has higher uniformity.Meanwhile, adopt the method for portable Glue dripping head can continue ceaselessly rotary screw and just can draw circle and line easily.Shortcoming: this technology is more responsive equally to colloid viscosity, screw thread repeatedly rotates and can reduce viscosity; Point glue amount uniformity is subject to the impacts such as liquid level, air pressure, colloid viscosity, temperature.
Piston pump dispensing technology adopts the mechanism of similar piston-cylinder to give me a little glue.Point glue process adopts constant air pressure to make colloid flow in the cylinder of opening, then can be airtight and produce motion, until all extruded from Glue dripping head by the fluid in chamber by cylinder by motor-driven piston.Advantage: some gel quantity uniformity is better; Insensitive to colloid viscosity, temperature and pressure.Shortcoming: utilize mechanical movement to give me a little glue, speed is unhappy; The bad adjustment of some glue amount size.
What more than introduce is three kinds of contact point glue, because this some plastic pin is sharp and had a great impact a glue effect tool by the distance between a glue workpiece.
At present, the Technical comparing of external industrial full automatic point gluing equipment is ripe, main manufacturer has the Musashi (MUSASHI) of Japan, IEI(IWASHITA under rock), the generation ancestor of Korea S, huge rock (BANSOEK), the Fei Shinengdeng company of the U.S., wherein the point gum machine of Japan musashi company is at home in occupation of the larger market share, but function is not also very perfect, the operating system of human-computer interaction interface is english system, domestic operating personnel are difficult to adapt to, and external product price will exceed about 1/3 than the price of home products, be difficult to the requirement meeting domestic enterprise.Dispensing technology aspect, current foreign vendor major part all adopts contact point glue, and mainly control glue with time pressure-type, although contactless dispensing technology is more advanced, price is high, can not meet the needs in domestic general market.
Summary of the invention
A kind of structure that object of the present invention is exactly deficiency in order to solve prior art and provides is simple, low cost of manufacture, the Full-automatic spot gluing machine people of convenient operation and control.
The present invention adopts following technical solution to realize above-mentioned purpose: a kind of Full-automatic spot gluing machine people, it is characterized in that, it comprises adhesive dispensing robot main frame, point gum machine programmable device and some glue controller, adhesive dispensing robot main frame comprises the master control system of frame and upper setting thereof, be connected to the drive system of master control system output, the mechanical driving device being furnished with motor driven by drive system, is furnished with the glue bucket of a gum cover head, glue barrel grab, mechanical driving device connects glue barrel grab, glue bucket is connected with the gas-powered system that the glue ordered about in glue bucket flows out some gum cover head, gas-powered system is connected with some glue controller, and controlled by a glue controller, point gum machine programmable device is connected to the signal input part of master control system.
Further illustrating as such scheme, gas-powered system comprises the gas circuit of air compressor and upper connection thereof, and gas circuit connects glue bucket; The signal output part of some glue controller is connected with electric Proportion valve and two-bit triplet magnetic valve, electric Proportion valve is connected between glue controller and two-bit triplet magnetic valve, two-bit triplet magnetic valve is arranged in gas circuit, control the break-make of gas circuit, a wherein path of two-bit triplet magnetic valve is connected with vacuum generator, for controlling the gas resorption in glue bucket.
Described master control system is connected to form by motion control chip, bus driver, digital signal processor, and digital signal processor is provided with serial-port communication end, I/O mouth, is connected with keyboard, LED display, Flash holder and RAM.
Described drive system employing motor drive ic, the input of its pulse signal, direction signal input, segmentation input and half current control control by the motion control chip output of master control system.
Described point gum machine programmable device is made up of embedded computer system, power module, display, holder, and power module is connected to the power input of embedded computer system, and embedded computer system is connected with keyboard interface and serial communication interface.
The beneficial effect that the present invention adopts above-mentioned technical solution to reach is:
1, the present invention adopts the adhesive dispensing robot be made up of adhesive dispensing robot main frame, point gum machine programmable device and some glue controller, adopt noncontact point glue mode, with the some gum cover head plastic emitting of gas-powered system drive glue bucket, do not need the motion of Z-direction, greatly shorten a glue cycle, and do not need to consider that the spacing of needle point and pcb board is on an impact for colloid amount, uniformity also increases, realize Robotics in an application in glue field, the range of application of the robot widened further, can raise labour productivity and automated arm level.
2, the present invention adopts DSP(digital signal processor) technology and movement control technology, build a high performance motion controller, make full use of the resource of DSP and the high speed of computing, with the speed of robot end's running orbit for object function carries out rationally trapezoidal and S shape speed trajectory planning, then speeds control is carried out to robot, the end teaching track of interpolating method to robot is adopted to carry out position control, realize the position of adhesive dispensing robot and the two ore control of speed, stability and the repeatable accuracy of robot end's running orbit can be improved like this.
Accompanying drawing explanation
Fig. 1 is structural representation of the present invention;
Fig. 2 is connection control schematic diagram of the present invention;
Fig. 3 is point gum machine master control system know-why block diagram of the present invention;
Fig. 4 is point gum machine drive system know-why block diagram of the present invention;
Fig. 5 is of the present invention some glue teaching-programming pendant theory diagram;
Fig. 6 is of the present invention some glue controller control principle block diagram.
Description of reference numerals: 1, glue robot main frame 1-1, frame 1-2, master control system 1-21, motion control chip 1-22, bus driver 1-23, digital signal processor 1-231, serial-port communication end 1-232, I/O mouth 1-233, keyboard 1-234, LED display 1-235, Flash holder 1-236, RAM1-3, drive system 1-4, motor 1-5, mechanical driving device 1-6, point gum cover head 1-7, glue bucket 1-8, glue barrel grab 1-9, gas-powered system 1-91, electric Proportion valve 1-92, two-bit triplet magnetic valve 1-93, vacuum generator 2, point gum machine programmable device 2-1, embedded computer system 2-2, power module 2-3, display 2-4, holder 3, point glue controller
Detailed description of the invention
As shown in figs 1 to 6, a kind of Full-automatic spot gluing machine of the present invention people, it comprises adhesive dispensing robot main frame 1, point gum machine programmable device 2 and some glue controller 3, adhesive dispensing robot main frame 1 comprises the master control system 1-2 of frame 1-1 and upper setting thereof, be connected to the drive system 1-3 of master control system 1-2 output, the mechanical driving device 1-5 being furnished with motor 1-4 driven by drive system, is furnished with the glue bucket 1-7 of a gum cover head 1-6, glue barrel grab 1-8, mechanical driving device 1-5 connects glue barrel grab 1-8, glue bucket 1-7 is connected with the gas-powered system 1-9 that the glue ordered about in glue bucket flows out some gum cover head, gas-powered system is connected with some glue controller 3, and controlled by a glue controller 3, point gum machine programmable device is connected to the signal input part of master control system.Wherein, gas-powered system 1-9 comprises the gas circuit of air compressor and upper connection thereof, and gas circuit connects glue bucket; The signal output part of some glue controller is connected with electric Proportion valve 1-91 and two-bit triplet magnetic valve 1-92, electric Proportion valve is connected between a glue controller 3 and two-bit triplet magnetic valve 1-92, two-bit triplet magnetic valve is arranged in gas circuit, control the break-make of gas circuit, a wherein path of two-bit triplet magnetic valve is connected with vacuum generator 1-93, resets for the resorption controlling glue bucket piston.Master control system 1-2 is connected to form by motion control chip 1-21, bus driver 1-22, digital signal processor 1-23, and digital signal processor 1-23 is provided with serial-port communication end 1-231, I/O mouth 1-232, is connected with keyboard 2-233, LED display 2-234, Flash holder 1-235 and RAM1-236.
Drive system 1-3 adopts motor drive ic, and the input of its pulse signal, direction signal input, segmentation input and half current control control by the motion control chip output of master control system.
Described point gum machine programmable device 2 is made up of embedded computer system 2-1, power module 2-2, display 2-3, holder 2-4, power module is connected to the power input of embedded computer system, and embedded computer system is connected with keyboard interface and serial communication interface.
Present invention applicant, in the process of research gluing process operation, finds three problems: the first, very little by painting workpiece, easily falls into point gum machine enclosure interior, causes device damage or safety problem; The second, the housing of most of glue to point gum machine has corrosiveness, easy damage equipment or cause outward appearance damaged; 3rd, because spot gluing equipment is placed on a production line, current spot gluing equipment volume is all larger, and production line is not placed, and operating table surface is higher, and operator's operating time length easily causes fatigue.For above-mentioned Railway Project, design is optimized to the overall structure of point gum machine, at the work top design hermetically-sealed construction of adhesive dispensing robot main frame, prevent workpiece from falling in equipment, the housing of adhesive dispensing robot main frame adopts stainless steel material and stainless metal keyboard, solve the problem that glue corrodes housing, with adhesive dispensing robot main frame volume for function, long, wide, high be optimized design for variable, devise the point gum machine that the trip volume is minimum in the world, based on Human Engineering Principle, reduce the work top height of point gum machine, be only 80mm, greatly reduce the sense of fatigue of operator.
The present invention adopts the precision according to the driving of point gum machine, control, actuated element and process and assemble, the method of omnidistance error calibration is proposed, reduce error, that commonly uses with the mechanical manufacturing and positioning errors of existing minimizing improves some glue precision by high-precision driving, control, actuated element, and cause cost to increase a lot of technology to compare, the positioning precision of point gum machine and repetitive positioning accuracy can be improved 1 times by the technology of the present invention, solve the problem of point gum machine positioning precision difference, and can not cost be increased considerably.
The present invention will set up workpiece coordinate system when the teach programming of point gum machine programmable device, and the motion of dispensing needle head is carried out in workpiece coordinate system; And when point gum machine is coated with workpiece, dispensing needle head moves in robot coordinate system.Connected by two coordinate systems, dispensing needle head is moved by the movement locus of workpiece coordinate system, its method is realized by adjustment basic point exactly, and namely determine the original position of dispensing needle head point in workpiece coordinate system, this position is just called basic point.Needle position can be caused when changing syringe needle in operating process to offset, now utilizing the method for the relative base position adjustment of syringe needle, keeping the relative position of syringe needle and workpiece constant, improving the some efficiency of glue and the uniformity of workpiece.
Above-described is only the preferred embodiment of the present invention, it should be pointed out that for the person of ordinary skill of the art, and without departing from the concept of the premise of the invention, can also make some distortion and improvement, these all belong to protection scope of the present invention.
Claims (5)
1. a Full-automatic spot gluing machine people, it is characterized in that, it comprises adhesive dispensing robot main frame, point gum machine programmable device and some glue controller, adhesive dispensing robot main frame comprises the master control system of frame and upper setting thereof, be connected to the drive system of master control system output, the mechanical driving device being furnished with motor driven by drive system, is furnished with the glue bucket of a gum cover head, glue barrel grab, mechanical driving device connects glue barrel grab, glue bucket is connected with the gas-powered system that the glue ordered about in glue bucket flows out some gum cover head, gas-powered system is connected with some glue controller, and controlled by a glue controller, point gum machine programmable device is connected to the signal input part of master control system,
In a glue control procedure, utilize the resource of DSP and the high speed of computing, with the speed of robot end's running orbit for object function carries out rationally trapezoidal and S shape speed trajectory planning, then speeds control is carried out to robot, adopt the end teaching track of interpolating method to robot to carry out position control, realize the position of adhesive dispensing robot and the two ore control of speed.
2. a kind of Full-automatic spot gluing machine people according to claim 1, it is characterized in that, gas-powered system comprises the gas circuit of air compressor and upper connection thereof, and gas circuit connects glue bucket; The signal output part of some glue controller is connected with electric Proportion valve and two-bit triplet magnetic valve, electric Proportion valve is connected between glue controller and two-bit triplet magnetic valve, two-bit triplet magnetic valve is arranged in gas circuit, control the break-make of gas circuit, a wherein path of two-bit triplet magnetic valve is connected with vacuum generator.
3. a kind of Full-automatic spot gluing machine people according to claim 1, it is characterized in that, described master control system is connected to form by motion control chip, bus driver, digital signal processor, and digital signal processor is provided with serial-port communication end, I/O mouth, is connected with keyboard, LED display, Flash holder and RAM.
4. a kind of Full-automatic spot gluing machine people according to claim 3, it is characterized in that, described drive system employing motor drive ic, the input of its pulse signal, direction signal input, segmentation input and half current control control by the motion control chip output of master control system.
5. a kind of Full-automatic spot gluing machine people according to claim 1, it is characterized in that, described point gum machine programmable device is made up of embedded computer system, power module, display, holder, power module is connected to the power input of embedded computer system, and embedded computer system is connected with keyboard interface and serial communication interface.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201310476361.9A CN103521392B (en) | 2013-10-12 | 2013-10-12 | A kind of Full-automatic spot gluing machine people |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201310476361.9A CN103521392B (en) | 2013-10-12 | 2013-10-12 | A kind of Full-automatic spot gluing machine people |
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| Publication Number | Publication Date |
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| CN103521392A CN103521392A (en) | 2014-01-22 |
| CN103521392B true CN103521392B (en) | 2016-03-23 |
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Families Citing this family (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104607357A (en) * | 2014-12-29 | 2015-05-13 | 深圳市轴心自控技术有限公司 | Full-automatic LCD gumming system |
| CN107991914A (en) * | 2016-10-27 | 2018-05-04 | 沈阳芯源微电子设备有限公司 | A kind of SCM Based switch suck back valve numerical control system and its control method |
| CN106670054A (en) * | 2016-12-30 | 2017-05-17 | 平湖市科苑技术服务有限公司 | Finger-pressed type waterproof glue spray film device |
| CN108480127A (en) * | 2018-02-08 | 2018-09-04 | 海宁双迪电子照明有限公司 | A kind of headlamp production spot gluing equipment |
| CN110394282A (en) * | 2018-04-24 | 2019-11-01 | 上海锺炜科技工程有限公司 | Pressure control straight channel coating system and its method based on robot technology |
| CN111426867A (en) * | 2020-03-20 | 2020-07-17 | 杭州聪曦科技有限公司 | Computer keyboard microchip detection equipment |
| CN113534743B (en) * | 2021-06-23 | 2023-02-07 | 广东安达智能装备股份有限公司 | Continuous motion track control and optimization method of glue dispenser by combining space curve interpolation algorithm |
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| CN101357356A (en) * | 2007-07-31 | 2009-02-04 | 上海华立电子工程有限公司 | Automatic sprayer and control method thereof |
| CN201625616U (en) * | 2010-03-01 | 2010-11-10 | 王燕 | Three-prevention paint coating machine |
| CN203565277U (en) * | 2013-10-12 | 2014-04-30 | 广东德科机器人技术与装备有限公司 | Full-automatic dispensing robot |
Family Cites Families (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20010050294A1 (en) * | 2000-05-25 | 2001-12-13 | Plattner Edward Michael | Adhesive dispensing and vision system for an automatic assembly system |
| JP2005262011A (en) * | 2004-03-16 | 2005-09-29 | Sunstar Eng Inc | Coating apparatus of high-viscosity material |
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- 2013-10-12 CN CN201310476361.9A patent/CN103521392B/en not_active Expired - Fee Related
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101357356A (en) * | 2007-07-31 | 2009-02-04 | 上海华立电子工程有限公司 | Automatic sprayer and control method thereof |
| CN201625616U (en) * | 2010-03-01 | 2010-11-10 | 王燕 | Three-prevention paint coating machine |
| CN203565277U (en) * | 2013-10-12 | 2014-04-30 | 广东德科机器人技术与装备有限公司 | Full-automatic dispensing robot |
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Effective date of registration: 20160216 Address after: Chancheng District of Guangdong city in Foshan province 528000 lotus river all the way No. 235 Applicant after: Foshan Huanan Precision Manufacture Technology Research & Development Institute Address before: Chancheng District of Guangdong city in Foshan province 528000 lotus river all the way No. 235 in the development of the first floor of the building two Applicant before: Guangdong Deke Robot Technology and Equipment Co., Ltd. Applicant before: Foshan Huanan Precision Manufacture Technology Research & Development Institute |
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