CN110369219B

CN110369219B - Dispensing equipment

Info

Publication number: CN110369219B
Application number: CN201910484116.XA
Authority: CN
Inventors: 许英南; 张典涛
Original assignee: Suzhou Heroic Automation Technology Co Ltd
Current assignee: Suzhou Heroic Automation Technology Co Ltd
Priority date: 2019-06-05
Filing date: 2019-06-05
Publication date: 2021-05-04
Anticipated expiration: 2039-06-05
Also published as: CN110369219A

Abstract

The invention discloses a dispensing device, which comprises an XYZ triaxial transmission system and a dispensing device, wherein the dispensing device is arranged on the XYZ triaxial transmission system, and the dispensing device is positioned above a production line; be equipped with product stop device and product climbing mechanism on the assembly line, the product location that needs the point to glue is on the frock board, and the frock board is located the assembly line. And a laser displacement sensor and an industrial camera are arranged near the dispensing device, and the laser displacement sensor and the industrial camera synchronously move along with the dispensing device under the driving of an XYZ triaxial transmission system. The laser displacement sensor feeds back and adjusts the height of the dispensing device, and meanwhile, the industrial camera shoots the position of a characteristic point calibrated on a product to be dispensed so as to correct the overall offset of the product to be dispensed. In the whole dispensing process, a visual horizontal correction function and a laser displacement sensor vertical correction function can be added at any position, so that each coated area is not affected by the integral tolerance of a product.

Description

Dispensing equipment

Technical Field

The invention relates to assembly of electronic and electrical equipment, in particular to dispensing.

Background

Dispensing, coating, encapsulating and dripping glue, oil or other liquid on the product to ensure that the product is adhered, encapsulated, insulated, fixed and smooth in surface.

Disclosure of Invention

The technical problems solved by the invention are as follows: and the automation of dispensing is realized.

In order to solve the technical problems, the invention provides the following technical scheme: a dispensing device comprises an XYZ triaxial transmission system and a dispensing device, wherein the dispensing device is arranged on the XYZ triaxial transmission system, and the dispensing device is positioned above a production line; be equipped with product stop device and product climbing mechanism on the assembly line, the product location that needs the point to glue is on the frock board, and the frock board is located the assembly line.

The product needing glue dispensing is positioned below the glue dispensing device, the XYZ triaxial transmission system drives the glue dispensing device to move along the X axial direction, the Y axial direction and the Z axial direction, wherein the glue dispensing device moves along the Z axial direction, so that a glue outlet at the bottom of the glue dispensing device falls above the part needing glue dispensing of the product, and the glue discharged from the glue outlet can be dispensed on the part needing glue dispensing; and then, the glue dispensing device translates along the X axis and the Y axis to dispense glue on the part of the product needing glue dispensing. Therefore, the XYZ triaxial transmission system can enable the glue dispensing device to automatically reach the position, needing glue dispensing, on the product.

The dispensing equipment is positioned above the production line; be equipped with product stop device and product climbing mechanism on the assembly line, the product location that needs the point to glue is on the frock board, and the frock board is located the assembly line. The product blocking device, the product jacking mechanism, the assembly line and the tooling plate form a component of the dispensing equipment.

The product moves on the assembly line along with the tooling plate, the product comes to the below of adhesive deposite device, and product stop device prevents the tooling plate to move ahead, and product climbing mechanism jacks up the tooling plate from the assembly line, realizes the location of product.

The automation of the operation of the dispensing path and the automation of the product conveying and positioning realize the automation of product dispensing, save labor and be beneficial to the improvement of production efficiency.

As an improvement of the invention, a laser displacement sensor and an industrial camera are arranged near the glue dispensing device, and the laser displacement sensor and the industrial camera synchronously move along with the glue dispensing device under the drive of an XYZ triaxial transmission system.

The laser displacement sensor feeds back and adjusts the height of the glue dispensing device. Meanwhile, the industrial camera shoots the position of the characteristic point calibrated on the product to be subjected to glue dispensing so as to correct the integral deviation of the product to be subjected to glue dispensing. And then, the glue dispensing device performs glue dispensing on the product to be subjected to glue dispensing. In the whole dispensing process, a visual horizontal correction function (realized by an industrial camera) and a vertical correction function of a laser displacement sensor can be added at any position, so that each coated area is not influenced by the integral tolerance of a product.

Drawings

The invention is further described below with reference to the accompanying drawings:

FIG. 1 is a schematic view of a dispensing apparatus;

FIG. 2 is a front view of FIG. 1;

FIG. 3 is a schematic view of a combination structure of the product stopping device, the product jacking mechanism, the tooling plate and the product;

FIG. 4 is an enlarged view taken at A in FIG. 3;

fig. 5 is a front view of fig. 3.

The symbols in the drawings illustrate that:

10. a product stopping device; 11. a blocking cylinder; 12. a blocking block; 13. a barrier cylinder mounting plate;

20. a product jacking mechanism; 21. jacking a cylinder; 22. a jacking plate; 23. a linear bearing; 25. a guide bar; 26. positioning pins;

30. a dispensing device; 34. mounting a plate;

40. assembling a plate; 41. a positioning column; 42. a tension spring; 43. positioning blocks;

50. producing a product; 51. a fixing leg; 52. mounting hole sites; 53. a fixing plate; 531. a longitudinal strip-shaped gap; 532. a transverse strip-shaped groove;

60. a laser displacement sensor;

70. an industrial camera;

81. an X-axis manipulator;

82. a Y-axis manipulator; 821. a Y-direction movable block;

83. a Z-axis manipulator;

84. a fixing plate; 840. and (5) an auxiliary movable block.

Detailed Description

Referring to fig. 1, a dispensing apparatus comprises an XYZ triaxial drive system, a dispensing device 30 mounted on the XYZ triaxial drive system.

The XYZ triaxial transmission system comprises an X axial manipulator 81, a Y axial manipulator 82 and a Z axial manipulator 83, the Y axial manipulator is mounted on the frame, the X axial manipulator is mounted on a Y-direction movable block 821 of the Y axial manipulator, the Z axial manipulator is mounted on an X-direction movable block of the X axial manipulator, and the glue dispensing device 30 is mounted on a Z-direction movable block of the Z axial manipulator. The Y-axis manipulator is provided with an auxiliary guide mechanism, the auxiliary guide mechanism comprises a fixed plate 84 and an auxiliary movable block 840, the auxiliary movable block is in sliding fit with the fixed plate, the fixed plate is installed on the rack and is parallel to the Y-axis manipulator 82, the left end of the X-axis manipulator is installed on the auxiliary movable block 840, and the right end of the X-axis manipulator is installed on the Y-axis movable block 821. Preferably, the X-axis manipulator 81, the Y-axis manipulator 82, and the Z-axis manipulator 83 are screw mechanisms driven by motors, for example, the motors are mounted on a frame of the X-axis manipulator, the motors drive X-axis screws connected to the motors to rotate, the X-axis screws drive X-axis lead screws nuts engaged with the X-axis lead screws to move in the X-axis direction, and the X-axis lead screws drive X-axis moving blocks connected to the X-axis lead screws to move in the X-axis direction. Wherein the rack is mounted on a conveying rack of the assembly line.

As shown in fig. 1, the dispensing device 30 is mounted on the XYZ triaxial transmission system through a mounting plate 34; specifically, the mounting plate is mounted on a Z-directional movable block of the Z-axial robot 83. Preferably, the dispensing device is a dispensing valve, and the bottom of the dispensing device is provided with a glue outlet.

As shown in fig. 1 and 2, the mounting plate 34 is connected with a laser displacement sensor 60 and an industrial camera 70, the laser displacement sensor is located on the left side of the glue outlet of the glue dispensing device 30, the industrial camera is located on the right side of the glue outlet, and the laser displacement sensor is used for sensing the height difference between the laser displacement sensor and the product, so as to determine the height difference between the glue outlet and the product, and serve as a basis for the Z-axis manipulator 83 to drive the glue dispensing device 30 to move downwards. The industrial camera 70 can determine whether the glue outlet is located at an accurate position by comparing the captured real-time image with the original image, wherein the image captured by the industrial camera is a plan view looking down from top to bottom, and the relative position of the object in the horizontal plane is determined, and the relative position is matched with the laser displacement sensor, so that the height of the glue outlet and the position in the horizontal plane can be accurately positioned. After the glue outlet is accurately positioned, the X-axis manipulator 81 and the Y-axis manipulator 82 drive the glue dispensing device 30 to perform X-direction and Y-direction translation in the horizontal plane, so as to dispense glue on the product. For example, the product to be glued is a box type part, the glue is a sealing glue, after the sealing glue is applied, a sealing cover is installed, the sealing glue is applied to the square edge of the box type part, the X-axis manipulator drives the glue dispensing device to translate forward in the 30X direction, then the Y-axis manipulator drives the glue dispensing device to translate forward in the Y direction, then the X-axis manipulator drives the glue dispensing device to translate backward in the X direction, and then the Y-axis manipulator drives the glue dispensing device to translate backward in the Y direction, so that the path of the glue outlet is square.

With reference to fig. 3 and 5, the dispensing device is located above the assembly line; the assembly line is provided with a product blocking device 10 and a product jacking mechanism 20, products needing glue dispensing are positioned on a tooling plate 40, and the tooling plate is positioned on the assembly line. The product blocking device 10, the product jacking mechanism 20, the assembly line and the tooling plate 40 form a component of the dispensing equipment.

The assembly line includes the transport rack, install a plurality of delivery wheels in the transport rack left and right sides, connect the left side conveyer belt of transport rack left side delivery wheel, connect the right side conveyer belt of transport rack right side delivery wheel, and a left side delivery wheel in a plurality of left side delivery wheels of transport rack is connected through a transmission shaft with a right side delivery wheel in a plurality of delivery wheels in transport rack right side, and this transmission shaft is connected with the motor. The motor acts, and the transmission shaft, the left conveyor belt and the right conveyor belt drive a plurality of left conveyor wheels of the conveyor frame to synchronously rotate and a plurality of right conveyor wheels of the conveyor frame to synchronously rotate.

The tooling plates 40 carrying the products are placed on the left and right conveyor wheels of the conveyor frame and are conveyed forward. The product is positioned on the tooling plate 40 in the manner described below, and is a high voltage distribution box. Referring to fig. 3 and 4, the high voltage distribution box is provided with a fixing foot 51, the fixing foot is provided with an installation hole site 52, the high voltage distribution box is fixed on a fixing plate 53 through a screw matched in the installation hole site, the fixing plate is provided with a longitudinal strip-shaped gap 531, the longitudinal strip-shaped gap is located at the edge of the fixing plate, the edge of the fixing plate is provided with a transverse strip-shaped groove 532, and the transverse strip-shaped groove is located at the opening of the longitudinal strip-shaped gap; the tooling plate 40 is provided with a positioning column 41, the top of the positioning column is provided with an annular flange, the positioning column is sleeved with a telescopic spring 42 and a strip-shaped positioning block 43, the top end of the telescopic spring is pressed against the annular flange, the bottom end of the telescopic spring is pressed against the strip-shaped positioning block 43, and the strip-shaped positioning block can rotate around the positioning column; initially, the bar-shaped positioning block 43 is longitudinally placed and is abutted against the tooling plate 40 under the action of the telescopic spring 42, the fixing plate 53 is placed on the tooling plate, the longitudinal bar-shaped opening 531 in the fixing plate is matched with the bar-shaped positioning block 43, then the bar-shaped positioning block 43 is pulled to ascend along the positioning column 41 and be higher than the fixing plate 53, the telescopic spring 42 contracts, the bar-shaped positioning block is rotated for 90 degrees above the fixing plate, then the bar-shaped positioning block is released and descends along the positioning column under the action of the telescopic spring and is clamped in the transverse bar-shaped groove 532, and therefore the bar-shaped positioning block presses the fixing plate downwards to be positioned on the tooling plate 40. This kind of locate mode simple structure, convenient operation, and can restrict the relative frock board translation of fixed plate, rotation or lift, the locate effect is showing.

As shown in fig. 5, the product blocking device 10 includes a blocking cylinder 11 and a blocking block 12 mounted on a piston rod of the blocking cylinder, the blocking cylinder is mounted on a blocking cylinder mounting plate 13, and the blocking cylinder mounting plate is mounted on a conveying rack of the assembly line and is located between a left conveying wheel and a right conveying wheel. The piston rod of the block cylinder 11 rises to drive the block 12 to rise, and the tool plate 40 running on the assembly line is blocked by the block 12.

As shown in fig. 5, the product jacking mechanism 20 includes a jacking cylinder 21, a jacking plate 22 and a linear bearing 23, the jacking cylinder and the linear bearing are installed on the bottom plate, the bottom plate is installed on the conveying frame of the assembly line, a guide rod 25 is fitted in the linear bearing, the jacking plate is installed on the piston rod of the jacking cylinder and installed on the guide rod, a positioning pin 26 is arranged on the jacking plate, and a positioning hole matched with the positioning pin is arranged on the tooling plate 40. The tooling plate 40 is blocked by the blocking block 12, and positioning is provided for the jacking plate 22 to jack the tooling plate 40, specifically, after the tooling plate is blocked by the blocking block, the jacking plate is driven by the jacking cylinder 21, and the positioning pin 26 on the jacking plate can be accurately inserted into the positioning hole of the tooling plate, and then jacks up the tooling plate 40.

In actual operation, a product moves along with the tooling plate 40 on the production line, the blocking block 12 of the product blocking device 10 blocks the tooling plate from advancing, and the product jacking mechanism 20 jacks up the tooling plate 40 from the production line; with the aid of the laser displacement sensor 60 and the industrial camera 70, the XYZ triaxial transmission system controls the traveling path of the dispensing device 30, and the dispensing device dispenses a product, where the specific dispensing position is a product position corresponding to the traveling path of the dispensing device 30.

Claims

1. A glue dispensing apparatus comprising an XYZ triaxial drive system, a glue dispensing device (30) mounted on said XYZ triaxial drive system, characterized in that: the dispensing equipment is positioned above the production line; the assembly line is provided with a product blocking device (10) and a product jacking mechanism (20), a product needing glue dispensing is positioned on a tooling plate (40), and the tooling plate is positioned on the assembly line;

the product is provided with fixed feet (51), mounting hole positions (52) are formed in the fixed feet, the product is fixed on a fixed plate (53) through screws matched in the mounting hole positions, a longitudinal strip-shaped opening (531) is formed in the fixed plate and located at the edge of the fixed plate, a transverse strip-shaped groove (532) is formed in the edge of the fixed plate and located at the opening of the longitudinal strip-shaped opening; install reference column (41) on frock board (40), the top of reference column is equipped with annular flange, and the cover is equipped with expanding spring (42) and bar locating piece (43) on the reference column, and expanding spring's top is supported and is pressed on annular flange, expanding spring's bottom is supported and is pressed on the bar locating piece, and the bar locating piece can rotate around the reference column.

2. The dispensing apparatus of claim 1, wherein: the dispensing device (30) is arranged on the XYZ triaxial transmission system through a mounting plate (34); the mounting plate (34) is connected with a laser displacement sensor (60) and an industrial camera (70).

3. The dispensing apparatus of claim 1, wherein: the product blocking device (10) comprises a blocking cylinder (11) and a blocking block (12) arranged on a piston rod of the blocking cylinder, wherein the blocking cylinder is arranged on a blocking cylinder mounting plate (13), and the blocking cylinder mounting plate is arranged on a production line.

4. The dispensing apparatus of claim 1, wherein: product climbing mechanism (20) are including jacking cylinder (21), jacking board (22) and linear bearing, and jacking cylinder and linear bearing install on the bottom plate, and the bottom plate is installed on the assembly line, and the cooperation has guide bar (25) among the linear bearing, and the jacking board is installed on the piston rod of jacking cylinder and is installed on the guide bar, be equipped with on the jacking board locating pin (26), be equipped with on frock board (40) with locating pin complex locating hole.