CN112403820A - Magnetic control multi-head self-adaptive dispensing robot - Google Patents
Magnetic control multi-head self-adaptive dispensing robot Download PDFInfo
- Publication number
- CN112403820A CN112403820A CN202011226620.9A CN202011226620A CN112403820A CN 112403820 A CN112403820 A CN 112403820A CN 202011226620 A CN202011226620 A CN 202011226620A CN 112403820 A CN112403820 A CN 112403820A
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- Prior art keywords
- glue
- dispensing
- cavity
- magnetic control
- glue dispensing
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05C—APPARATUS FOR APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05C5/00—Apparatus in which liquid or other fluent material is projected, poured or allowed to flow on to the surface of the work
- B05C5/02—Apparatus in which liquid or other fluent material is projected, poured or allowed to flow on to the surface of the work the liquid or other fluent material being discharged through an outlet orifice by pressure, e.g. from an outlet device in contact or almost in contact, with the work
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05C—APPARATUS FOR APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05C11/00—Component parts, details or accessories not specifically provided for in groups B05C1/00 - B05C9/00
- B05C11/10—Storage, supply or control of liquid or other fluent material; Recovery of excess liquid or other fluent material
- B05C11/1002—Means for controlling supply, i.e. flow or pressure, of liquid or other fluent material to the applying apparatus, e.g. valves
- B05C11/1015—Means for controlling supply, i.e. flow or pressure, of liquid or other fluent material to the applying apparatus, e.g. valves responsive to a conditions of ambient medium or target, e.g. humidity, temperature ; responsive to position or movement of the coating head relative to the target
Abstract
The invention discloses a magnetic control multi-head self-adaptive dispensing robot, which comprises a dispensing bracket, a position detection fixing device and a dispensing device, wherein the dispensing bracket is fixed on the position detection fixing device; the glue dispensing device comprises a glue dispensing base and a plurality of magnetic control valve units distributed in an array manner, the glue dispensing base is provided with a glue bin, a glue dispensing cavity and glue dispensing ports, the glue dispensing cavity corresponds to the magnetic control valve units one by one, the magnetic control valve units respectively comprise a glue sealing needle, a permanent magnet and an air compression piston, the permanent magnet and the air compression piston are sleeved on the glue sealing needle, the upper end of the glue sealing needle extends into the glue bin, and the lower end of the glue sealing needle is provided with a through hole; the position detection fixing device comprises a detection base and a plurality of electromagnetic detection fixing units distributed in an array manner, the plurality of electromagnetic detection fixing units and the plurality of magnetic control valve units are arranged in a one-to-one correspondence manner from top to bottom, and each electromagnetic detection fixing unit comprises an electromagnet, a position sensor and an electrostatic adsorption ring; the invention forms multi-head combined point-like dispensing operation, greatly improves the dispensing efficiency and simultaneously ensures that the glue solution has good dispersibility.
Description
Technical Field
The invention relates to a magnetic control multi-head type self-adaptive dispensing robot.
Background
At present, in the packaging operation procedure of the chip card, glue dispensing equipment is often used for glue injection so that the chip and the card base are bonded and packaged together. However, the existing dispensing equipment is basically of a single-head structure, when dispensing is performed on a chip with a large area, a track moving mode is required for dispensing, the efficiency is low, and the glue solution dispersing effect is not ideal.
Disclosure of Invention
The invention aims to overcome the defects and provide a magnetic control multi-head type self-adaptive dispensing robot.
In order to achieve the purpose, the invention adopts the following specific scheme:
a magnetic control multi-head self-adaptive dispensing robot comprises a dispensing bracket, a position detection fixing device and a dispensing device; the position detection fixing device is arranged on the dispensing bracket; the position detection fixing device is used for detecting the size of the chip to be subjected to glue dispensing, positioning and fixing the chip to be subjected to glue dispensing and controlling the opening and closing of the glue dispensing operation of the glue dispensing device; the dispensing device is arranged on the dispensing support and positioned above the position detection fixing device, and the dispensing device is used for dispensing glue solution on a chip to be dispensed fixed on the position detection fixing device;
the glue dispensing device comprises a glue dispensing base and a plurality of magnetic control valve units distributed on the glue dispensing base in an array manner, wherein a glue bin and a plurality of glue dispensing cavities are formed in the glue dispensing base, the glue dispensing cavities correspond to the magnetic control valve units one by one, each glue dispensing cavity is further provided with a glue dispensing port communicated with the glue dispensing cavity one by one, each magnetic control valve unit is correspondingly arranged in the glue dispensing cavity one by one and divides the glue dispensing cavity into an upper cavity and a lower cavity, the upper cavity of the glue dispensing cavity is communicated with the external atmosphere, each magnetic control valve unit comprises a hollow glue sealing needle with a closed lower end, a permanent magnet and an air pressing piston, the permanent magnet and the air pressing piston are sleeved on the glue sealing needle, the air pressing piston is arranged close to the lower end of the glue sealing needle, the upper end of the glue sealing needle extends into the glue bin, and the lower end of the glue sealing needle is provided with a through hole used for injecting glue into the lower cavity of the glue dispensing cavity, the lower end of the glue sealing needle extends into the glue dispensing opening, when the glue dispensing device is in a sealing state, the glue sealing needle seals the communication between the lower cavity of the glue dispensing cavity and the glue dispensing opening, and when the glue dispensing device is in a glue dispensing state, the glue sealing needle enables the lower cavity of the glue dispensing cavity to be communicated with the glue bin and the lower cavity of the glue dispensing cavity to be communicated with the glue dispensing opening;
the position detection fixing device comprises a detection base and a plurality of electromagnetic detection fixing units which are distributed in an array mode and arranged on the detection base, the electromagnetic detection fixing units and the magnetic control valve units are arranged in a one-to-one correspondence mode from top to bottom, the electromagnetic detection fixing units comprise electromagnets, position sensors and electrostatic adsorption rings, the electromagnets are embedded in the containing cavities, the position sensors are arranged at the tops of the electromagnets, and the electrostatic adsorption rings are sleeved on the position sensors.
The plurality of magnetic control valve units are arranged on the dispensing base in a matrix array, and the plurality of electromagnetic detection fixing units are arranged on the detection base in a matrix array.
The glue dispensing base comprises an inner partition plate and a glue inlet cover plate, the glue dispensing base is provided with a containing groove, a glue dispensing cavity is arranged at the bottom of the containing groove, the inner partition plate is fixed at the bottom of the containing groove, the glue inlet cover plate is arranged at the opening end of the containing groove, a glue bin is formed among the containing groove, the inner partition plate and the glue inlet cover plate, and the upper end of the glue sealing needle is communicated with the glue bin after penetrating through the inner partition plate.
The magnetic control valve unit further comprises a sealing rubber spring, the sealing rubber spring is sleeved at the upper end of the sealing rubber needle, and two ends of the sealing rubber spring are respectively abutted to the inner partition plate and the permanent magnet.
Wherein, the position sensor is an ultrasonic sensor.
The glue dispensing device comprises a glue dispensing support and a glue dispensing device, and is characterized by further comprising a distance adjusting air bag, wherein the distance adjusting air bag is arranged between the glue inlet plate and the glue dispensing support and is used for adjusting the distance between the glue dispensing device and the position detection fixing device.
The dispensing device comprises a dispensing base, a dispensing opening and a connecting channel, wherein the dispensing base is further provided with the connecting channel, the connecting channel is arranged on the side edge of the dispensing opening, and the connecting channel is used for communicating a lower cavity of the dispensing cavity with the dispensing opening when the dispensing device is in a dispensing state.
The invention has the beneficial effects that: the invention uses a plurality of electromagnetic detection fixing units distributed in an array to correspond to a plurality of magnetic control valve units distributed in an array one by one, and uses the electromagnetic detection fixing units to control the magnetic control valve units to act, thereby realizing the opening and closing of the dispensing operation, forming the multi-head combined type point dispensing operation, greatly improving the dispensing efficiency and simultaneously ensuring good glue solution dispersibility.
Meanwhile, the size of the chip is detected by the electromagnetic detection fixing units distributed in the array, and the corresponding magnetic control valve units are driven to open and close dispensing according to the size of the chip, so that the specification, the position and the direction of the chip can be automatically adapted, the chip does not need to be accurately positioned, and the position deviation fault-tolerant rate of the chip is higher.
Drawings
FIG. 1 is a perspective view of the present invention;
FIG. 2 is a cross-sectional view of the present invention;
FIG. 3 is an enlarged view of a portion of the structure at I in FIG. 2;
FIG. 4 is a cross-sectional view from another perspective of the present invention;
FIG. 5 is a schematic cross-sectional view of a dispensing base according to the present invention;
description of reference numerals: dispensing the support-1; a position detection fixture-2; a detection base-21; an electromagnetic detection fixing unit-22; an electromagnet-221; a position sensor-222; electrostatic adsorption ring-223; a glue dispensing device-3; a dispensing base-31; a glue bin-311; dispensing cavity-312; glue dispensing port-313; an inner baffle-314; a glue inlet cover plate-315; connecting channel-316; a magnetic control valve unit-32; a glue sealing needle-321; through hole-3211; a permanent magnet-322; a displacer-323; a molding spring-324; and a spacing adjusting air bag-4.
Detailed Description
The invention will be described in further detail with reference to the following figures and specific examples, without limiting the scope of the invention.
As shown in fig. 1 to 5, the magnetic control multi-head adaptive dispensing robot of the present embodiment includes a dispensing bracket 1, a position detection fixing device 2, and a dispensing device 3; the position detection fixing device 2 is arranged on the dispensing bracket 1; the position detection fixing device 2 is used for detecting the size of a chip to be subjected to glue dispensing, positioning and fixing the chip to be subjected to glue dispensing and controlling the opening and closing of the glue dispensing operation of the glue dispensing device 3; the glue dispensing device 3 is arranged on the glue dispensing support 1 and is positioned above the position detection fixing device 2, and the glue dispensing device 3 is used for dispensing glue on a chip to be subjected to glue dispensing and fixed on the position detection fixing device 2;
the glue dispensing device 3 comprises a glue dispensing base 31 and a plurality of magnetic control valve units 32 distributed in an array on the glue dispensing base 31, wherein a glue bin 311 and a plurality of glue dispensing cavities 312 are formed in the glue dispensing base 31, the plurality of glue dispensing cavities 312 correspond to the plurality of magnetic control valve units 32 one by one, each glue dispensing cavity 312 is further provided with a glue dispensing port 313 communicated with the glue dispensing cavity 312 one by one, each magnetic control valve unit 32 is correspondingly arranged in the glue dispensing cavity 312 one by one and divides the glue dispensing cavity 312 into an upper cavity and a lower cavity, the upper cavity of the glue dispensing cavity 312 is communicated with the outside atmosphere, each magnetic control valve unit 32 comprises a hollow glue sealing needle 321 with a closed lower end, a permanent magnet 322 and an air compression piston 323, the permanent magnet 322 and the air compression piston 323 are sleeved on the glue sealing needle 321, and the air compression piston 323 is arranged close to the lower end of the glue sealing needle 321, the upper end of the glue sealing needle 321 extends into the glue bin 311, the lower end of the glue sealing needle 321 is provided with a through hole 3211 for injecting a glue solution into the lower cavity of the glue dispensing cavity 312, the lower end of the glue sealing needle 321 extends into the glue dispensing port 313, when the glue dispensing device 3 is in a sealing state, the glue sealing needle 321 seals and blocks the communication between the lower cavity of the glue dispensing cavity 312 and the glue dispensing port 313, and when the glue dispensing device 3 is in a glue dispensing state, the glue sealing needle 321 enables the lower cavity of the glue dispensing cavity 312 to be communicated with the glue bin 311 and enables the lower cavity of the glue dispensing cavity 312 to be communicated with the glue dispensing port 313;
the position detection fixing device 2 comprises a detection base 21 and a plurality of electromagnetic detection fixing units 22 which are distributed in an array mode and arranged on the detection base 21, the electromagnetic detection fixing units 22 and a plurality of magnetic control valve units 32 are arranged in a one-to-one mode, the electromagnetic detection fixing units 22 comprise electromagnets 221, position sensors 222 and electrostatic adsorption rings 223, the electromagnets 221 are embedded in the accommodating cavities, the position sensors 222 are arranged at the tops of the electromagnets 221, and the electrostatic adsorption rings 223 are sleeved on the position sensors 222.
In this embodiment, preferably, the plurality of magnetic control valve units 32 are arranged on the dispensing base 31 in a matrix array, and the plurality of electromagnetic detection fixing units 22 are arranged on the detection base 21 in a matrix array. So set up, efficiency is higher for the point, and chip position deviation fault-tolerant rate is bigger.
When the device works, a chip to be dispensed is placed on the detection base 21, the electrostatic adsorption ring 223 of each electromagnetic detection fixing unit 22 which is in contact with the chip adsorbs and fixes the chip, the position sensor 222 of the electromagnetic detection fixing unit 22 detects the position information of the chip and feeds the position information back to an external control system, then the external control system detects the size of the chip according to the position information of the chip, and then the electromagnet 221 of the corresponding electromagnetic detection fixing unit 22 is controlled to be electrified, namely the electromagnet 221 in the electromagnetic detection fixing unit 22 which is in contact with the chip works, and the electromagnet 221 in the electromagnetic detection fixing unit 22 which is not in contact with the chip is not electrified, so that the electrified electromagnet 221 generates a magnetic field with the same polarity as the permanent magnet 322 in the magnetic control valve unit 32, and each electrified and working electromagnetic detection fixing unit 22 respectively generates repulsion action on the magnetic control valve units 32 which are in one-to-one correspondence with the upper part and the lower part of the electromagnetic detection fixing unit, that is, the electromagnet 221 generates a repulsive force to the permanent magnet 322, so that the permanent magnet 322 in each magnetic control valve unit 32 drives the glue sealing needle 321 and the air compressing piston 323 to move upwards until the through hole 3211 on the glue sealing needle 321 is communicated with the lower cavity of the glue dispensing cavity 312, the lower cavity of the glue dispensing cavity 312 is communicated with the glue dispensing port 313, the glue solution in the glue bin 311 enters the glue dispensing cavity 312 through the through hole 3211 from the glue sealing needle 321, then enters the glue dispensing port 313 from the glue dispensing cavity 312, and then falls onto the chip from the glue dispensing port 313, so as to perform a glue dispensing process, forming a multi-head synchronous glue dispensing operation, after the glue dispensing is completed, the electromagnet 221 is energized reversely, so that the electromagnet 221 generates a magnetic field with a polarity opposite to that of the permanent magnet 322, thereby generating a magnetic attraction force to the permanent magnet 322, the permanent magnet 322 drives the glue sealing needle 321 to move downwards, so that the through hole 3211 on the glue sealing needle 321 is not communicated, thereby blocking the flow of the glue from the dispensing opening 313.
In the embodiment, the plurality of electromagnetic detection fixing units 22 distributed in an array are in one-to-one correspondence with the plurality of magnetic control valve units 32 distributed in an array up and down, and the electromagnetic detection fixing units 22 are used for controlling the magnetic control valve units 32 to act, so that the opening and closing of the dispensing operation are controlled, the multi-head combined type point-like dispensing operation is formed, the dispensing efficiency is greatly improved, and the glue solution dispersibility is good.
Meanwhile, in the embodiment, the electromagnetic detection fixing units 22 distributed in a plurality of arrays are used for detecting the size of the chip, and the corresponding magnetic control valve units 32 are driven to open and close for dispensing according to the size of the chip, so that the specification, the position and the direction of the chip can be automatically adapted, the chip does not need to be accurately positioned, and the fault tolerance rate of the position deviation of the chip is higher.
Based on the above embodiment, further, the dispensing base 31 includes an inner partition 314 and a glue inlet cover plate 315, the dispensing base 31 is provided with an accommodating groove, the dispensing cavity 312 is disposed at the bottom of the accommodating groove, the inner partition 314 is fixed at the bottom of the accommodating groove, the glue inlet cover plate 315 is disposed at an opening end of the accommodating groove, a glue bin 311 is formed among the accommodating groove, the inner partition 314, and the glue inlet cover plate 315, and an upper end of the glue sealing needle 321 passes through the inner partition 314 and then is communicated with the glue bin 311. Specifically, the glue solution is stored in the glue bin 311, so that the glue solution can be simultaneously improved for each magnetic control valve unit 32, and the glue solution does not need to be separately controlled to separately enter each magnetic control valve unit 32; preferably, a glue inlet is formed on the glue inlet plate, so that the glue solution can be conveniently injected into the glue bin 311 for storage.
Based on the above embodiment, the magnetic control valve unit 32 further includes a sealing rubber spring 324, the sealing rubber spring 324 is sleeved on the upper end of the sealing rubber needle 321, and two ends of the sealing rubber spring 324 are respectively abutted to the inner partition 314 and the permanent magnet 322.
In practical use, when the permanent magnet 322 drives the glue sealing needle 321 to move upwards, the permanent magnet 322 compresses the glue sealing spring 324, the volume of the lower cavity of the dispensing cavity 312 is increased, when the through hole 3211 of the glue sealing needle 321 is communicated with the lower cavity of the dispensing cavity 312, glue enters the lower cavity of the dispensing cavity 312, dispensing operation is performed through the glue dispensing opening 313, after the dispensing operation is completed, the permanent magnet 322 drives the glue sealing needle 321 to rapidly move downwards under the magnetic adsorption force of the electromagnet 221 and the elastic force of the glue sealing spring 324, so that the lower end of the glue sealing needle 321 rapidly seals the glue dispensing opening 313 to discharge glue, and excessive overflow of the glue is avoided.
Based on the above embodiment, further, the position sensor 222 is an ultrasonic sensor. The precision of the chip position information is improved by utilizing the characteristics that the ultrasonic sensor has good directivity and can become a ray to be directionally propagated.
Based on the above embodiment, further, the device further comprises a distance adjusting air bag 4, wherein the distance adjusting air bag 4 is arranged between the glue feeding plate and the glue dispensing support 1 and is used for adjusting the distance between the glue dispensing device 3 and the position detection fixing device 2. So set up, the operation of getting of the chip of being convenient for.
Based on the above embodiment, further, the dispensing base 31 is further provided with a connecting channel 316, the connecting channel 316 is disposed at a side of the dispensing opening 313, the connecting channel 316 is used for communicating a lower cavity of the dispensing cavity 312 with the dispensing opening 313 when the dispensing device 3 is in a dispensing state, and other structures are the same as those of the above embodiment.
In practical use, during the moving up of the sealing needle 321, the sealing needle 321 firstly opens the communication between the connection channel 316 and the dispensing port 313, and further passes through the lower cavity of the dispensing cavity 312 and the dispensing port 313 through the connection channel 316, at this time, the lower cavity of the dispensing cavity 312 is sucked through the dispensing port 313 and the connection channel 316, that is, air enters the lower cavity of the dispensing cavity 312, along with the moving up of the sealing needle 321, the through hole 3211 of the sealing needle 321 is communicated with the lower cavity of the dispensing cavity 312, the glue solution in the glue cabin 311 enters the lower cavity of the dispensing cavity 312 through the through hole 3211 from the sealing needle 321, since the density of the glue solution is greater than that of air, the entering air is located above the glue solution, then the sealing needle 321 moves down under the driving of the permanent magnet 322, since the glue solution in the dispensing cavity 312 is not filled with glue solution, a certain amount of air exists above the glue solution, and then under the pressurization of, the air in the lower cavity of the dispensing cavity 312 is compressed, the air piston 323 indirectly pushes the glue solution to enter the dispensing port 313 through the connecting channel 316 and spray the glue solution to the surface of the chip through the compressed air, and the compressed air isolates and washes the dispensing port 313 after the glue solution is completely sprayed, so that the dispensing port 313 is not in contact with the glue solution on the chip after the dispensing is finished, the condition of wire drawing formation is damaged, the wire drawing phenomenon is effectively avoided, and the problem that the wire drawing phenomenon easily occurs when the dispensing port 313 moves upwards after the dispensing is finished is solved.
The above description is only a preferred embodiment of the present invention, and all equivalent changes or modifications of the structure, characteristics and principles described in the present patent application are included in the protection scope of the present patent application.
Claims (7)
1. A magnetic control multi-head self-adaptive dispensing robot is characterized by comprising a dispensing support (1), a position detection fixing device (2) and a dispensing device (3); the position detection fixing device (2) is arranged on the dispensing support (1); the position detection fixing device (2) is used for detecting the size of a chip to be subjected to glue dispensing, positioning and fixing the chip to be subjected to glue dispensing and controlling the opening and closing of the glue dispensing operation of the glue dispensing device (3); the glue dispensing device (3) is arranged on the glue dispensing support (1) and is positioned above the position detection fixing device (2), and the glue dispensing device (3) is used for dispensing glue on a chip to be subjected to glue dispensing and fixed on the position detection fixing device (2);
the glue dispensing device (3) comprises a glue dispensing base (31) and a plurality of magnetic control valve units (32) which are distributed in an array manner and arranged on the glue dispensing base (31), wherein a glue bin (311) and a plurality of glue dispensing cavities (312) are formed in the glue dispensing base (31), the plurality of glue dispensing cavities (312) correspond to the plurality of magnetic control valve units (32) one by one, each glue dispensing cavity (312) is further correspondingly provided with a glue dispensing port (313) communicated with the glue dispensing cavity (312) one by one on the glue dispensing base (31), each magnetic control valve unit (32) is correspondingly arranged in the glue dispensing cavity (312) one by one and separates the glue dispensing cavity (312) into an upper cavity and a lower cavity, the upper cavity of the glue dispensing cavity (312) is communicated with the external atmosphere, and each magnetic control valve unit (32) comprises a hollow glue sealing needle (321), a permanent magnet (322) and an air compression piston (323) with a closed lower end, the permanent magnet (322) and the air compression piston (323) are sleeved on the glue sealing needle (321), the air compression piston (323) is arranged close to the lower end of the glue sealing needle (321), the upper end of the glue sealing needle (321) extends into the glue bin (311), the lower end of the glue sealing needle (321) is provided with a through hole (3211) used for injecting glue into the lower cavity of the glue dispensing cavity (312), the lower end of the glue sealing needle (321) extends into the glue dispensing port (313), when the glue dispensing device (3) is in a sealing state, the glue sealing needle (321) seals and blocks the communication between the lower cavity of the glue dispensing cavity (312) and the glue dispensing port (313), and when the glue dispensing device (3) is in a glue dispensing state, the glue sealing needle (321) enables the lower cavity of the glue dispensing cavity (312) to be communicated with the glue bin (311) and enables the lower cavity of the glue dispensing cavity (312) to be communicated with the glue dispensing port (313);
position detection fixing device (2) are electromagnetic detection fixed unit (22) that the array distributes and locate on detecting base (21) including detecting base (21) and a plurality of, and are a plurality of electromagnetic detection fixed unit (22) and a plurality of magnetic control valve unit (32) one-to-one set up from top to bottom, electromagnetic detection fixed unit (22) include electro-magnet (221), position sensor (222) and electrostatic absorption ring (223), electro-magnet (221) are inlayed and are located the holding intracavity, the top of electro-magnet (221) is located in position sensor (222), electrostatic absorption ring (223) cover is located on position sensor (222).
2. The magnetically-controlled multi-head adaptive dispensing robot according to claim 1, wherein the plurality of magnetically-controlled valve units (32) are arranged in a matrix array on the dispensing base (31), and the plurality of electromagnetic detection fixing units (22) are arranged in a matrix array on the detection base (21).
3. The magnetically-controlled multi-head self-adaptive dispensing robot according to claim 1, wherein the dispensing base (31) comprises an inner partition (314) and a glue inlet cover plate (315), the dispensing base (31) is provided with a containing slot, the dispensing cavity (312) is arranged at the bottom of the containing slot, the inner partition (314) is fixed at the bottom of the containing slot, the glue inlet cover plate (315) is arranged at an opening end of the containing slot, a glue bin (311) is formed among the containing slot, the inner partition (314) and the glue inlet cover plate (315), and an upper end of the glue sealing needle (321) passes through the inner partition (314) and then is communicated with the glue bin (311).
4. The magnetic control multi-head self-adaptive dispensing robot according to claim 3, wherein the magnetic control valve unit (32) further comprises a sealing rubber spring (324), the sealing rubber spring (324) is sleeved on the upper end of the sealing rubber needle (321), and two ends of the sealing rubber spring (324) are respectively abutted against the inner partition plate (314) and the permanent magnet (322).
5. The magnetically-controlled multi-headed adaptive dispensing robot according to claim 1, wherein the position sensor (222) is an ultrasonic sensor.
6. The magnetically-controlled multi-head self-adaptive dispensing robot according to claim 1, further comprising a spacing adjustment airbag (4), wherein the spacing adjustment airbag (4) is disposed between the glue feeding plate and the dispensing bracket (1) and is configured to adjust a spacing between the dispensing device (3) and the position detection fixing device (2).
7. The magnetic control multi-head self-adaptive dispensing robot according to claims 1 to 6, wherein a connecting channel (316) is further disposed on the dispensing base (31), the connecting channel (316) is disposed at a side of the dispensing opening (313), and the connecting channel (316) is used for communicating a lower cavity of the dispensing cavity (312) with the dispensing opening (313) when the dispensing device (3) is in a dispensing state.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011226620.9A CN112403820A (en) | 2020-11-06 | 2020-11-06 | Magnetic control multi-head self-adaptive dispensing robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011226620.9A CN112403820A (en) | 2020-11-06 | 2020-11-06 | Magnetic control multi-head self-adaptive dispensing robot |
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| Publication Number | Publication Date |
|---|---|
| CN112403820A true CN112403820A (en) | 2021-02-26 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202011226620.9A Withdrawn CN112403820A (en) | 2020-11-06 | 2020-11-06 | Magnetic control multi-head self-adaptive dispensing robot |
Country Status (1)
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| CN (1) | CN112403820A (en) |
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| CN209139060U (en) * | 2018-11-12 | 2019-07-23 | 东莞市博贝自动化科技有限公司 | A kind of glue filling device of automatic gluing machine |
| CN110833969A (en) * | 2018-08-18 | 2020-02-25 | 罗天珍 | Check valve partition striker type injection dispensing valve |
| CN111426867A (en) * | 2020-03-20 | 2020-07-17 | 杭州聪曦科技有限公司 | Computer keyboard microchip detection equipment |
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2020
- 2020-11-06 CN CN202011226620.9A patent/CN112403820A/en not_active Withdrawn
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20020048633A1 (en) * | 1998-11-25 | 2002-04-25 | Rutledge Clinton W. | Fluid dispensing system and method for container closure members |
| CN103668079A (en) * | 2012-09-17 | 2014-03-26 | 三星显示有限公司 | Deposition apparatus |
| CN105149166A (en) * | 2015-08-25 | 2015-12-16 | 郑国义 | Following contact type dispensing machine |
| CN105665223A (en) * | 2016-01-20 | 2016-06-15 | 中南大学 | Electromagnetically driven dispensing valve |
| CN106733450A (en) * | 2016-12-26 | 2017-05-31 | 华侨大学 | A kind of point gum machine |
| CN206382185U (en) * | 2017-01-13 | 2017-08-08 | 合肥鑫晟光电科技有限公司 | A kind of Beverage bottle cover for spot gluing equipment |
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| CN109985771A (en) * | 2018-01-03 | 2019-07-09 | 湖北凯龙机电有限公司 | A kind of operating method of automatic dropping glue equipment |
| CN110833969A (en) * | 2018-08-18 | 2020-02-25 | 罗天珍 | Check valve partition striker type injection dispensing valve |
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Application publication date: 20210226 |