CN114051432A

CN114051432A - Fluid dispenser with four degrees of freedom

Info

Publication number: CN114051432A
Application number: CN202080048720.9A
Authority: CN
Inventors: 邱中全; 崔健
Original assignee: Nordson Corp
Current assignee: Nordson Corp
Priority date: 2019-07-03
Filing date: 2020-07-01
Publication date: 2022-02-15
Also published as: KR20220031006A; WO2021003239A1

Abstract

A fluid dispenser with four degrees of freedom is disclosed. Fluid dispensing systems and related methods are used to dispense viscous fluids onto a workpiece. The fluid dispensing system has a work plate configured to support a workpiece. The fluid dispensing system also includes a dispenser disposed above the workpiece that dispenses fluid on the workpiece, and a gantry positioning system that supports the dispenser. The gantry positioning system provides x, y, and z movement to move the dispenser, and C-axis movement to rotate the dispenser. The fluid dispensing system also includes a controller to control the dispenser and the gantry positioning system.

Description

Fluid dispenser with four degrees of freedom

Cross Reference to Related Applications

This application claims priority from U.S. provisional patent application No.62/870,164, filed on 3.7.2019, the entire contents of which are incorporated herein by reference in their entirety.

Technical Field

The present disclosure relates generally to fluid dispensing systems and methods for applying material to a workpiece, and more particularly to fluid dispensers having four degrees of freedom.

Background

In the field of garment manufacturing, fluid dispensing systems are commonly used to apply materials such as Polyurethane (PUR) adhesives to fabrics or cloths to bond pieces of the fabric or cloth together. When bonding multiple pieces of fabric together, fluid dispensing systems need to be able to spray small amounts of material with high accuracy and precision. For example, the width of the desired strip of material to be coated onto the fabric can have requirements of less than 8mm width and less than 0.2mm height. Current fluid dispensing systems do not adequately dispense certain dispensing patterns, such as curved dispensing patterns, common in the garment manufacturing art.

Another problem with current fluid dispensing systems is material jetting. The ejected material is ejected with a low level of accuracy and low precision, which can result in excessive material being ejected. In addition, in many conventional fluid dispensing systems, due to the influence of gravity, material will continue to flow from the applicator system for a period of time after the spraying operation has been completed. Because the operator needs to repeatedly start and stop the applicator system during the conventional fabric bonding process, material will constantly flow out of the applicator system, resulting in large tips, stringing, and other defects.

Accordingly, there is a need for a fluid dispensing system that adequately dispenses the dispensing patterns common in the garment manufacturing art, such as curved dispensing patterns. Further, there is a need for a fluid dispensing system that accurately ejects material and minimizes the continued flow of material out of the applicator system during non-operational states due to gravity.

Disclosure of Invention

One embodiment of the invention includes a method of dispensing a fluid on a workpiece using a fluid dispensing system. The method includes positioning a workpiece on a work plate of a fluid distribution system. The method also includes aligning a dispenser of the fluid dispensing system in an XY plane positioned at a dispense height above a first dispense location of a dispense region of the workpiece. The XY plane is defined by an X axis and a Y axis orthogonal to the X axis. Aligning the dispenser includes providing X, Y, and Z movement via a gantry positioning system of the fluid dispensing system to move the dispenser from a pre-dispense position to a first dispense position, the X movement being movement of the dispenser parallel to an X-axis, the Y movement being movement of the dispenser parallel to a Y-axis, and the Z movement being movement of the dispenser parallel to a Z-axis, the Z-axis being orthogonal to each of the X-axis and the Y-axis. The method also includes dispensing fluid from the dispenser at a first dispensing location and forming a dispensing pattern on a dispensing region of the workpiece. Forming the dispensing pattern includes providing x, y, and C-axis movement via the gantry positioning system to move the dispenser from the first dispensing position to each of the plurality of dispensing positions of the dispensing zone and to dispense fluid from the dispenser at each of the plurality of dispensing positions, the C-axis movement being rotational movement of the dispenser about a central axis of the dispenser.

Another embodiment of the invention includes a fluid dispensing system configured to dispense a fluid onto a workpiece. The fluid dispensing system comprises: a work plate configured to support a workpiece; and a dispenser disposed above the workpiece and configured to dispense a fluid on the workpiece. The fluid dispensing system also includes a rack positioning system that supports the dispenser. The gantry positioning system is configured to provide: x, Y and Z movements to move the dispenser, X movement being movement of the dispenser parallel to an X axis, Y movement being movement of the dispenser parallel to a Y axis orthogonal to the X axis and Z movement being movement of the dispenser parallel to a Z axis, the Z axis being orthogonal to each of the X and Y axes, and C axis movement being rotational movement of the dispenser about a central axis of the dispenser to rotate the dispenser. The fluid dispensing system also includes a controller configured to control the dispenser and the gantry positioning system.

Various additional features and advantages of the invention will become more readily apparent to those of ordinary skill in the art from the following detailed description of the illustrative embodiments, which is to be read in connection with the accompanying drawings.

Drawings

The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and, together with a general description of the invention given above, and the detailed description of the embodiments given below, serve to explain the principles of the invention.

Fig. 1 illustrates a perspective view of a fluid dispensing system according to aspects of the present invention.

Fig. 2 illustrates a perspective view of a gantry positioning system of a fluid distribution system, according to an aspect of the present invention.

Fig. 3 shows a top view of the gantry positioning system depicted in fig. 2.

Fig. 4 is a perspective view of an embodiment of a dispenser according to aspects of the present invention.

Fig. 5 is a cross-sectional view of the dispenser shown in fig. 4, taken along line 3-3 in fig. 4.

Fig. 6 is a cross-sectional view of the dispenser shown in fig. 4, taken along line 4-4 in fig. 4.

Fig. 7 is an isometric view of another dispenser according to aspects of the invention.

Fig. 8 is a cross-sectional view of a portion of the dispenser of fig. 7 according to an aspect of the invention.

Fig. 9 is a perspective view of yet another dispenser according to aspects of the present invention.

Fig. 10 is a cross-sectional view of the dispenser of fig. 9, taken along line 2-2 of fig. 9.

FIG. 11 illustrates an exemplary method of dispensing at a dispensing region of a workpiece in accordance with aspects of the invention.

Fig. 12 illustrates an exemplary workpiece having a curved dispensing region.

Detailed Description

Fig. 1-3 show views of an embodiment of a fluid dispensing system 1 according to aspects of the present invention. Fig. 1 shows a perspective view of a fluid dispensing system 1 for dispensing viscous fluids at multiple dispensing regions. Fig. 2 shows a perspective view of the gantry positioning system 9 of the fluid distribution system 1, and fig. 3 shows a top view of the gantry positioning system 9. The fluid dispensing system 1 may be particularly suitable for dispensing fluid at a dispensing area on a workpiece, which may be a fabric or cloth that is part of a fabric or cloth component of a garment or piece of clothing. For example, the workpiece may be a relatively flexible and stretchable polyester, nylon, and/or cotton-based composite textile. The fluid may be a viscous fluid. In some embodiments, the fluid may be an adhesive, such as a Polyurethane (PUR) adhesive (i.e., a hot melt adhesive), although other materials are also contemplated. The fluid dispensing system 1 may be adapted to dispense on any desired number of workpieces arranged in any desired configuration. Alternatively, the multiple dispensing regions may be different regions of the workpiece, as described in detail herein.

Referring to fig. 1, a fluid dispensing system 1 may include a frame 7, a work plate 8, a rack positioning system 9, and a dispenser 10. The frame 7 may support any one of the work plate 8, the workpiece, the gantry positioning system 9, and the dispenser 10. The term "support" as used herein may include direct or indirect support unless expressly stated to the contrary. The frame 7 may be a support table.

The work plate 8 may support any one of the workpiece, the gantry positioning system 9, and the dispenser 10. For example, the work plate 8 may directly support each of the workpiece and the gantry positioning system 9, and may indirectly support the dispenser 10. The work plate 8 may be a flat surface, and the flat surface may include a surface finish. The work plate 8 may include a securing device 11 (e.g., one or more clamps) to secure the work piece to the work plate 8 for a dispensing operation. The fixture 11 may be adjustable to accommodate workpieces of different sizes and/or shapes. In accordance with one or more of the foregoing aspects of the work plate 8, the work plate 8 may support a flexible workpiece, such as a fabric or cloth, during a dispensing operation. The work plate 8 may include one or more

fixed positions

12A, 12B, 12C, 12D. As described below, the fixed

positions

12A, 12B, 12C, 12D may be used to properly orient the workpieces to ensure accurate dispensing. The work plate 8 may be stationary. Alternatively, the work plate 8 may be integrated into a carrier system (not shown) that may convey the work plate 8 and the workpiece through the fluid distribution system 1.

The gantry positioning system 9 defines a global origin O and three mutually orthogonal global axes X, Y and Z. The gantry positioning system 9 may be a cartesian robotic platform with 4-axis workstations. The gantry positioning system 9 is configured to move the dispenser 10 in directions parallel to global X, Y and Z axes, generally indicated by x, y, and Z and corresponding directional arrows, respectively. "X-movement", i.e. movement in the X-direction, may include any movement parallel to the X-axis. "Y-movement", i.e. movement in the Y-direction, may include any movement parallel to the Y-axis. "Z-movement", i.e. movement in the Z-direction, may comprise any movement parallel to the Z-axis.

The gantry positioning system 9 is further configured to rotate the dispenser 10 about a central axis C of the dispenser 10, which is parallel to the global Z-axis, as depicted by the arcuate directional arrows in fig. 2 and 3. That is, the gantry positioning system 9 is configured to provide "C-axis movement" to rotate the dispenser 10; the C-axis movement is a rotational movement of the dispenser 10 about a central axis C of the dispenser 10. The dispenser 10 may be rotated a full 360 degrees about the central axis C. The dispenser 10 may be rotated in either of a clockwise and clockwise direction.

Thus, the gantry positioning system 9 may movably support the dispenser 10 such that the dispenser 10 has four degrees of freedom. That is, the gantry positioning system 9 can move the dispenser 10 in any one of the x, y, and z directions, and can also rotate the dispenser 10 about the central axis C. Further, the dispenser 10 may dispense fluid while moving in any of the x, y, and z directions, and/or while rotating about the central axis C. Because of the four degrees of freedom of movement of the dispenser 10 provided by the gantry positioning system 9, the fluid dispensing system 1 can more accurately, reliably, and efficiently dispense multiple sets of dispensing patterns, including, for example, curved dispensing patterns. The fluid dispensing system 1 may also dispense a straight line pattern.

The gantry positioning system 9 comprises a first x-support 13A and a second x-support 13B. The first and second X-supports 13A, 13B are each aligned parallel to the X-axis and are shown generally as longitudinal beams. The first and second x-supports 13A, 13B may each be mounted to the work plate 8. Alternatively, the first and second x-supports 13A, 13B may each be mounted to the frame 7 with the work plate 8 arranged between the first and second x-supports 13A, 13B and the frame 7. The first and second X-supports 13A, 13B are provided with first and

second X-bearings

14A, 14B, respectively, the first and

second X-bearings

14A, 14B being shown as linear bearings for enabling X-linear movement of the dispenser 10 parallel to the X-axis. The first and

second X-bearings

14A, 14B are aligned parallel to the X-axis.

The gantry positioning system 9 also includes a transversely oriented Y-support 15, the Y-support 15 being aligned parallel to the Y-axis and shown generally as a transverse beam or beam. The Y-support 15 is provided with Y-bearings 16, the Y-bearings 16 being shown as linear bearings for effecting Y-linear movement of the dispenser 10 parallel to the Y-axis. The Y-bearing 16 is aligned parallel to the Y-axis. The y-support 15 is movably connected to the first and second x-supports 13A, 13B so as to engage and slide along each of the first and second x-bearings 14A, 14B for x-movement. That is, the y-support 15 is slidably arranged on the first and second x-bearings 14A, 14B. For example, the y support 15 may include a headclamp that movably couples the y support 15 to the first and second x supports 13A, 13B.

The gantry positioning system 9 further comprises a y-carriage 17 having a first YZ-side (i.e. the side extending in the YZ-plane), the first YZ-side of the y-carriage 17 engaging the y-bearing 16 and being slidable along the y-bearing 16 for y-movement. The y-carriage 17 has a second YZ side, attached to the y-carriage 17 by a vertically oriented Z-bearing 18, the Z-bearing 18 being shown as a linear bearing for enabling Z-linear movement of the dispenser 10 in a direction parallel to the Z-axis. The Z-bearing 18 is arranged parallel to the Z-axis.

The gantry positioning system 9 further comprises a z-carriage 19 having a first YZ-side, the first YZ-side of the z-carriage 19 engaging the z-bearing 18 and being slidable along the z-bearing 18 for z-movement. That is, the z carriage 19 is slidably disposed on the z bearing 18. The z-carriage 19 has a second YZ-side, on which the horizontally oriented rotatable bearing 20 may be provided or attached to the z-carriage 19. The dispenser 10 may be rotatably supported above the work plate 8 by a rotatable bearing 20.

The fluid dispensing system 1 may further comprise a camera 21, the camera 21 being adapted to identify a reference fiducial 22A, 22B, 22C, 22D, 22E of the workpiece. The fluid dispensing system 1 can identify the position and orientation of each workpiece in the XY plane relative to the global origin O based on the position of the

reference fiducials

22A, 22B, 22C, 22D, 22E. For example, with reference to a workpiece W (discussed below) shown in fig. 12, the

reference datums

22A, 22B, 22C, 22D, 22E may be disposed at predetermined positions around the workpiece. Although the fiducial is shown herein as an "x" surrounded by a circle, the fiducial may be any identifiable indicia, such as a letter, number, point, or pattern. After the allocation is complete, the benchmark may be removable. In this manner, the fluid dispensing system 1 can determine whether each workpiece is rotated and/or translated in the XY plane relative to a corresponding reference position defined relative to the origin O.

The camera 21 may be mounted to the gantry positioning system 9 at any suitable location, for example on the second YZ side of the z-carriage 19, as shown in fig. 2 and 3. For fiducial recognition, the gantry positioning system 9 can be controlled to move the camera 21 along a preprogrammed path based on the expected position of the fiducial in the XY plane. In one mode, the gantry positioning system 9 can be controlled to pause sequentially at the expected position of each fiducial, so that the camera 21 can capture a visual image of the fiducial during each pause. In another mode, the gantry positioning system 9 can be controlled to move continuously, and the camera 21 can capture a visual image of the fiducial during the movement. Based on the images of the fiducials captured by the camera 21, a controller 23 (described below) can determine the actual position of the workpiece in the XY plane.

Movement of the dispenser 10 may be effected by a series of controllable powered mechanisms or drives of the gantry positioning system 9. More specifically, each direction of movement x, y, z and rotation about the central axis C may be powered by at least one corresponding powered drive mechanism. As shown, the first and second

x-drive mechanisms

24A, 24B or drives may operate in parallel to power x-movement along the first and second x-bearings 14A, 14B, respectively, and the first and second

x-drive mechanisms

24A, 24B or drives may be disposed within or near the first and second x-bearings 14A, 14B, respectively. Alternatively, the x-movement may be powered by a single drive mechanism (not shown). For example, first and second x-drives 24A, 24B may drive y-support 15 along first and second x-bearings 14A, 14B to provide x-movement for y-support 15 and other structures attached to y-support 15. As shown, a y-drive mechanism 25 or driver may power y-movement along the y-bearing 16, and the y-drive mechanism 25 or driver may be disposed within or near the y-bearing 16. For example, y-driver 25 may drive y-carriage 17 along y-bearing 16 to provide y-movement of y-carriage 17 and other structures attached to y-carriage 17. As shown, a z-drive mechanism 26 or drive may power z-movement along the z-bearing 18, and the z-drive mechanism 26 or drive may be disposed proximate the z-bearing 18. For example, z drive 26 can drive z carriage 19 along z bearing 18 to provide z movement of z carriage 19 and structures attached to z carriage 19. The C-drive mechanism 27 or drive may power rotational movement about a central C-axis, and the C-drive mechanism 27 or drive may be disposed within or near the rotatable bearing 20. The C-drive 27 may drive the dispenser 10 to provide C-axis movement. That is, the C driver 27 may be supported by the rotatable bearing 20 so as to move in any of the x, y, and z directions together with the rotatable bearing 20.

In one embodiment, the drive mechanism may comprise a stepper motor. Alternatively, the drive mechanism may comprise any other suitable electric, pneumatic or hydraulic drive adapted to move with high accuracy, repeatability and stability. The drive mechanism may include any additional mechanical drive elements suitable for moving the dispenser 10. For example, the C-drive 27 may include a motor 28, the motor 28 driving a pulley system 29 (including, for example, one or more pulleys and a belt), the pulley system 29 being attached to the dispenser 10. In one embodiment (not shown), the x, y,

z drive mechanisms

24A, 24B, 25, 26 may include stepper motors, each having an output shaft connected with a flexible drive coupled to a lead screw. The lead screws may rotate with the motors and engage threaded or toothed elements mounted on the respective supports for actuating movement along the respective linear bearings. The drive mechanism may be mounted at any suitable location within fluid dispensing system 1 other than that shown and described herein. The first and

second strands

30A, 30B may power one or more of the dispenser 10 and a drive mechanism, for example, to control the operation thereof.

The fluid dispensing system 1 may further include a height sensor for performing a height sensing operation that includes measuring a position of the workpiece along the Z-axis relative to the XY plane. The height sensor may be a non-contact laser sensor or alternatively may be a contact mechanical sensor. The height sensor may for example be integrated into the unit housing the camera 21. In operation, the gantry positioning system 9 can be controlled to move the height sensor along a preprogrammed path to measure the position of the workpiece along the Z-axis. These measurements, referred to herein as Z height measurements, enable the controller 23 to determine the appropriate height along the Z axis, referred to as the dispense height, to which the dispenser 10 should be lowered to dispense fluid onto a workpiece. In this manner, the fluid dispensing system 1 can ensure a proper dispensing gap between the dispenser 10 and the corresponding workpiece when dispensing.

The gantry positioning system 9, the dispenser 10, the camera 21, etc. can be controlled with at least one controller 23 (e.g., a computer). Preferably, the controller 23 is configured to instruct the x, y, z movements and rotations about the central axis C of the dispenser 10 by controlling the drive mechanism of the gantry positioning system 9. In this way, the gantry positioning system 9 is controllable so that the dispenser 10 can be appropriately positioned relative to and dispense at the dispensing zone of the workpiece.

The dispenser 10 may be any dispenser suitable for dispensing a fluid onto a workpiece. For example, as shown in fig. 4-6, the fluid dispensing system 1 may be provided with a first slotted nozzle type dispenser 1010. The dispenser 1010 may include a material supply 1012, a pump 1016, and a slotted nozzle assembly 1100a, the slotted nozzle assembly 1100a being used to apply fluid to a workpiece. In the following description, certain terminology may be used to describe the dispenser embodiments (i.e., dispensers 1010, 2010, 3010) for convenience only and not for limitation. The words "right", "left", "lower" and "upper" designate directions in the drawings to which reference is made. The words "inner" and "outer" refer to directions toward and away from, respectively, the geometric center of the respective dispenser embodiments. The words "forward" and "rearward" refer to a direction along longitudinal direction 2 and a direction along dispenser 1010 and associated portions thereof opposite longitudinal direction 2. The terminology includes the words listed above, derivatives thereof and words of similar import.

Unless otherwise specified herein, the terms "longitudinal," "lateral," and "vertical" are used to describe orthogonal directional components of the various components of the dispenser 1010, as specified by a longitudinal direction 2 (corresponding to the y-direction), a lateral direction 4 (corresponding to the x-direction), and a vertical direction 6 (corresponding to the z-direction). It should be understood that although the longitudinal and

transverse directions

2, 4 are shown as extending along a horizontal plane and the vertical direction 6 is shown as extending along a vertical plane, the planes containing the respective directions may be different during use.

Referring to fig. 4-6, the dispenser 1010 includes a material supply 1012 for storing a supply of fluid. In the depicted embodiment, the material supply 1012 defines a cavity 1015 for receiving a prepackaged syringe 1017 containing a supply of fluid. However, other embodiments for supplying fluid to the material supply 1012 are contemplated, such as filling the material supply 1012 directly with a volume of fluid or pumping fluid to the material supply 1012 from an external supply (not shown) separate from the dispenser 10. The material supply 1012 can be configured to melt the fluid and/or maintain the fluid at an elevated temperature while the fluid is maintained within the material supply 1012. In some embodiments, the material supply 1012 can be designed to hold up to 300 milliliters (ml) of fluid, but the material supply 1012 can be larger or smaller as desired. For example, the material supply 1012 can also be designed to hold 30ml of fluid. The material supply 1012 can include a heating element (not shown) to provide heat to the fluid within the material supply 1012 or, alternatively, to maintain a desired temperature within the material supply 1012. This prevents the fluid from cooling as it is dispensed, thus maintaining the desired flow properties. In some embodiments, the dispenser 1010 may include a second heating element (not shown) configured to maintain the fluid at a different temperature than the heating elements described above. Further, the material supply 1012 can include a cap 1013 for securing the syringe 1017 within the cavity 1015, wherein the cap 1013 defines a passageway 1014 extending through the cap 1013. The passageway 1014 can be connected to an external pressurized air source (not shown) configured to apply pressure to the fluid within the cavity 1015 for pumping the fluid out of the material supply 1012.

The material supply 1012 further comprises a fluid channel 1021 extending from the cavity 1015 to a fluid outlet 1022. The fluid outlet 1022 is configured to provide fluid to an inlet 1026a of the pump 1016, as will be described below. A check valve 1023 can be arranged in the fluid channel 1021 between the cavity 1015 and the fluid outlet 1022 to prevent fluid that has passed through the check valve 1023 from returning to the cavity 1015. This prevents contamination of the new fluid disposed in the cavity 1015 after the old fluid supply has been replaced. Although the check valve 1023 is shown as a ball check valve, other conventional types of check valves can alternatively be included.

The dispenser 1010 also includes a pump 1016, the pump 1016 being releasably connectable to the material supply 1012 and fluidly connected to the material supply 1012. The pump 1016 can include a pump body assembly 1032, the pump body assembly 1032 including: the pump body 1032 b; a cap 1032a, the cap 1032a being attached to an upper end of the pump body 1032 b; and a nozzle body 1032c, the nozzle body 1032c being attached to a lower end of the pump body 1032 b. It should be understood that the pump 1016 can alternatively define a unitary body or have any other number of components. The pump body 1032b can define a portion of the pump body assembly 1032 that is directly connected to the material supply 1012, although other arrangements are contemplated.

The pump body assembly 1032 can define several hollow portions. For example, the pump body 1032b and the nozzle body 1032c of the pump body assembly 1032 can collectively define a fluid passage 1026 extending from an inlet 1026a to an outlet 1026 b. The fluid channel 1026 is configured to receive fluid from the material supply 1012 via an inlet 1026a and provide fluid to the nozzle assembly 1100a via an outlet 1026b, as will be described further below. In addition, the pump body 1032b and the nozzle body 1032c can collectively define an upper chamber 1036 and a lower chamber 1038. Upper and lower seal groups 1040a, 1040b are positioned within pump body assembly 1032 to separate upper and lower chambers 1036, 1038.

The pump 1016 also includes a valve member 1048 positioned within the pump body assembly 1032. The valve member 1048 defines an upper end 1048a and a stem 1048b extending in the vertical direction 6 from the upper end 1048 a. The upper end 1048a is positioned within the upper chamber 1036, and the valve stem 1048b extends from the upper end 1048a through the upper chamber 1036, through the upper and lower seal sets 1040a, 1040b, and into the lower chamber 1038, which lower chamber 1038 can define a portion of the fluid passageway 1026. The valve members 1048 are configured to be movably disposed within the upper and lower chambers 1036, 1038, and thus within the fluid passages 1026. The upper and lower seal groups 1040a, 1040b are configured to prevent migration of fluid from the lower chamber 1038 to the upper chamber 1036 and to prevent migration of pressurized air from the upper chamber 1036 to the lower chamber 1038. A valve seat (not shown) is disposed at a lower end of the lower chamber 1038 and is defined by the nozzle body 1032 c. In operation, the valve member 1048 is configured to reciprocate within the pump body assembly 1032 between a first retracted position and a second extended position. In the retracted position, the valve stem 1048b is generally spaced from the valve seat 1054, allowing fluid to flow through the valve stem 1048b and the valve seat 1054 and to the outlet 1026b of the fluid passageway 1026. In the extended position, the valve stem 1048b contacts the valve seat 1054 and prevents fluid flow to the outlet 1026b of the fluid passageway 1026. As such, the valve member 1048 is configured to selectively block fluid flow through the fluid passage 1026.

The translation of the valve member 1048 can be caused by pressurized air flowing into the upper chamber 1036 through the first and second air paths 1052a, 1052b of the connector 1024. Each of the first and second air paths 1052a, 1052b may receive pressurized air from a valve 1020, the valve 1020 being connected to the pump 1016 by a connector 1024. The valve 1020 can be a pneumatic valve, an electronic valve, or any other type of valve as desired. Valve 1020 is connectable to pressurized air source 1025 and receives pressurized air from pressurized air source 1025 such that the valve is used to control the flow of air from pressurized air source 1025 to pump 1016. An upper end 1048a of the valve member 1048 divides the upper chamber 1036 into first and second portions 1036a, 1036b, wherein the first portion 1036a can receive pressurized air from the first air path 1052a and the second portion 1036b can receive pressurized air from the second air path 1052 b. In particular, the first portion 1036a can be defined between the cap 1032a and the upper end 1048a of the valve member 1048, while the second portion 1036b can be defined between the upper end 1048a of the valve member 1048 and the pump body 1032 b. As pressurized air flows through the first air path 1052a and into the first portion 1036a of the upper chamber 1036, the valve member 1048 is driven downward in the vertical direction 6 into an extended position. Conversely, when pressurized air flows through the second air path 1052b and into the second portion 1036b of the upper chamber 1036, the valve member 1048 is driven upward in the vertical direction 6 into a retracted position.

When the valve member 1048 transitions from the retracted position to the extended position along the vertical direction 6, the valve member 1048 travels a distance, which can be referred to as a stroke length. The required stroke length can vary in the dispensing operation, the type of material being dispensed, the wear of the internal components over time, and the like. In one embodiment of the pump 1016, the stroke length can be adjusted using a stop bar (not shown) that extends through the cap 1032a of the pump body assembly 1032 and into the first portion 1036a of the upper chamber 1036. When the valve member 1048 is in the retracted position, the upper end 1048a can contact the lower end of the check rod so that the check rod controls how far up the valve member 1048 moves in the retracted position. The stop rod can threadably engage the cap 1032a such that rotation of the stop rod relative to the cap 1032a moves the stop rod further into or out of the upper chamber 1036, thus changing the maximum upward position of the valve member 1048 in the retracted position, as well as the stroke length. However, other methods for adjusting the stroke length are also contemplated.

The fluid dispensing system 1 according to other aspects of the present invention may include a second multi-point nozzle-type dispenser 2010. Referring to fig. 7 and 8, the dispenser 2010 includes a material supply 2012 for storing a supply of material. The material supply 2012 includes any combination of the features of the material supply 1012 discussed above. The dispenser 2010 also includes a pump 2016 fluidly connected to the material supply 2012. The pump 2016 can include a body 2031, the body 2031 including a top piece 2032a and an intermediate piece 2032b, the intermediate piece 2032b being attached to the top piece 2032a and positioned below the top piece 2032 a. It should be understood that the pump 2016 could alternatively define a unitary body or have any other number of components. The body 2031 of the pump 2016 defines a generally hollow body such that an upper chamber 2036 and a lower chamber 2038 are defined within the body 2031. A seal pack 2040 is positioned within the body 2031 and divides the interior of the body 2031 into an upper chamber 2036 and a lower chamber 2038.

The nozzle 2100 may be removably coupled to the body 2031 and positioned, for example, below the intermediate member 2032 b. The nozzle 2100 can be selected from a plurality of nozzles 2100 each configured to eject a different pattern. In an alternative embodiment, the nozzle 2100 can be part of the unitary body 2031. The lower cavity 2038 may be disposed within the nozzle 2100. The valve seat 2104 is disposed at a lower end of the lower chamber 2038 and is defined by the nozzle 2100. A plurality of outlet passages 2108 are disposed adjacent the valve seat 2104 and extend through the nozzle 2100. A plurality of outlet passages 2108 are in fluid communication with the lower chamber 2038.

The pump 2016 further includes a striker 2048 positioned within the body 2031. The striker 2048 defines an upper end 2048a and a stem 2048b extending from the upper end 2048a in the vertical direction 6. The upper end 2048a is positioned within the upper chamber 2036, and the valve stem 2048b extends from the upper end 2048a, through the upper chamber 2036, through the seal pack 2040, and into the lower chamber 2038.

In operation, the striker 2048 is configured to reciprocate within the body 2031 between a retracted position and an extended position. This reciprocating movement can be caused by pressurized air flowing into the upper chamber 2036 through the first and second air paths 2052a, 2052 b. Each of the first and second air paths 2052a, 2052b is capable of receiving pressurized air from a valve 2020, the valve 2020 being connected to the pump 2016 by a connector (not shown). The valve 2020 may be a pneumatic valve, an electronic valve, or any other type of valve as desired. An upper end 2048a of the striker 2048 divides the upper chamber 2036 into first and second portions 2036a, 2036b, wherein the first portion 2036a is configured to receive pressurized air from the first air path 2052a and the second portion 2036b is configured to receive pressurized air from the second air path 2052 b. As the pressurized air flows through the first air path 2052a and into the first portion 2036a of the upper chamber 2036, the striker 2048 is driven downward in the vertical direction 6 into the extended position. Conversely, when the pressurized air flows through the second air path 2052b and into the second portion 2036b of the upper chamber 2036, the striker 2048 is driven upward in the vertical direction 6 into the retracted position.

Continuing with fig. 7 and 8, the pump 2016 includes a circumferential chamber 2054 defined between an outer surface of the nozzle 2100 and an inner surface of the intermediate member 2032 b. The circumferential chamber 2054 is fluidly connected to the material supply 2012 such that the circumferential chamber 2054 is configured to receive material from the material supply 2012 and allow the material to flow through the circumferential chamber 2054 to a radial bore 2056 defined within the nozzle 2100. The material can then flow through the radial holes 2056 to the lower chamber 2038. In some embodiments, the radial holes 2056 include four radial holes equally circumferentially spaced around the nozzle 2100. However, it is contemplated that the radial holes 2056 can include more or fewer holes, as well as holes having non-equidistant spacing.

When the striker 2048 is in the retracted position, the valve stem 2048b is spaced from the valve seat 2104 defined by the nozzle 2100. In this position, material flows through the circumferential cavity 2054, through the radial holes 2056, and into the lower cavity 2038. Then, when the striker 2048 is shifted into the extended position, the valve stem 2048b of the striker 2048 is rapidly moved downward in the vertical direction 6 through the lower chamber 2038 toward the valve seat 2104. During this transition, the striker 2048 causes a quantity of material within the lower chamber 2038 to be expelled through the outlet passage 2108. When in the extended position, the lower end of the valve stem 2048b may contact the valve seat 2104 and thereby create a fluid seal between the lower chamber 2038 and each outlet passage 2108, or may be located slightly above the valve seat 2104.

When the striker 2048 transitions from the retracted position to the extended position along the vertical direction 6, the striker 2048 travels a distance, which can be referred to as a stroke length. The required stroke length can vary in the dispensing operation, the type of material being dispensed, the wear of the internal components over time, and the like. As a result, the stroke length can be adjusted using the stop rod 2044, which 2044 extends through the top piece 2032a of the body 2031 and into the first portion 2036a of the upper chamber 2036. When the striker 2048 is in the retracted position, the upper end 2048a can contact the lower end of the stopper rod 2044 so that the stopper rod 2044 controls how far the striker 2048 moves upward in the retracted position. The stop rod 2044 can threadably engage the top piece 2032a such that rotation of the stop rod 2044 relative to the top piece 2032a moves the stop rod 2044 further into or out of the upper chamber 2036, thus changing the maximum upward position of the striker 2048 in the retracted position, as well as the stroke length.

The nozzle 2100 may include three outlet passages 2108, but it is understood that the nozzle 2100 may include another suitable number of outlet passages 2108, for example, one, two, four, five, or six outlet passages. For example, a suitable nozzle 2100 may have a single outlet passage 2108, two outlet passages 2108, or more. Each outlet passage 2108 may be arranged at an angle between 0 ° and 90 ° to the vertical direction 6. In some embodiments, some or all of the outlet channels 2108 may be parallel to one or more other outlet channels 2108 and may be arranged along the vertical direction 6. The specific angle of each outlet channel 2108 can depend on the size and/or shape of the valve seat 2104, the size and/or shape of the valve stem 2048b, the material being dispensed, the desired distance between droplets dispensed from each outlet channel 2108, or other manufacturing requirements and/or preferences.

When the striker 2048 transitions from the retracted position to the extended position and then from the extended position back to the retracted position, this may be referred to as a stroke. With each stroke, material within the lower chamber 2038 of the nozzle 2100 moves through the outlet passage 2108. The striker 2048 is configured to impact the valve seat 2104 such that a discrete volume of material is forcibly ejected (i.e., jetted) from the nozzle toward the workpiece due to the impact momentum between the valve stem 2048b of the striker 2048 and the valve seat 2104. Jetting is in contrast to extrusion or other types of material dispensing in which liquid material is dispensed as a continuous, elongated filament (commonly referred to as a "bead" of fluid). While droplets can be formed by rapidly opening and closing a valve during extrusion of liquid material, or by using air to break off extruded beads at the time of dispensing, these processes are distinct from jetting processes in which discrete masses of liquid are rapidly ejected at high speed directly from the dispenser 2010 as the striker 2048 strikes the valve seat 2104. Liquid material (e.g., fluid) is received into the lower chamber 2038 at a low pressure and ejected from the lower chamber 2038 at a higher pressure. High pressure is generated when the valve stem 2048b is moved toward the valve seat 2104. When the valve stem 2048b impacts the valve seat 2104, a portion of the liquid material (in the form of droplets or dots) can be disengaged from the nozzle assembly 2100. Thus, in some embodiments, the ejected material can separate from the nozzle assembly 2100 before it contacts the workpiece.

By providing multiple outlet channels 2108, a single stroke can result in multiple droplets being dispensed from the nozzle 2100 onto a workpiece. It should be understood that the stroke length, the amount of material present in the lower chamber 2038, and the number and size of the outlet channels 2108 are parameters that can be modified to achieve a desired dispensing.

In the exemplary embodiment, three outlet passages 2108 are depicted in nozzle 2100. With each stroke of the striker 2048, three separate droplets are ejected from the nozzle 2100 onto the workpiece. This allows more material to be dispensed simultaneously, resulting in reduced manufacturing time and associated costs. The number and arrangement of outlet passages 2108 can be adjusted based on the desired use, which adds versatility to each dispensing device and nozzle 2100.

The distance between adjacent drops dispensed onto the workpiece can be controlled by the distance between the outlet passages 2108 and the angle of each outlet passage 2108 relative to the vertical 6. Alternatively or additionally, the distance between dispensed drops can be varied by moving the nozzle 2100 closer to or further away from the workpiece. In some embodiments, the first outlet channel is arranged along the vertical direction 6, the second outlet channel is arranged at an angle between 0 ° and 90 ° to the vertical direction 6 in the negative horizontal direction 4, and the third outlet channel is arranged at an angle between 0 ° and 90 ° to the vertical direction 6 in the positive horizontal direction 4 opposite to the negative horizontal direction. In the depicted embodiment, the distance between each of the three drops dispensed from the outlet channel on the workpiece will be positively correlated to the distance of the nozzle 2100 from the workpiece. The particular arrangement of the outlet passages 2108 on the nozzle 2100 can also determine the dispense pattern on the workpiece.

The fluid distribution system 1 according to other aspects of the present invention may comprise a third slotted nozzle type distributor 3010. As shown in fig. 9 and 10, the dispenser 3010 includes a material supply 3012 for storing a supply of material. The material supply 3012 may include any of the features of the material supply 1012 described above.

The dispenser 3010 may also include a pump 3016 fluidly connected to the material supply 3012. The pump 3016 may be similar to the pump 2016 described above. For example, the pump 3016 can include a body 3031, the body 3031 including a top member 3032a, a middle member 3032b attached to the top member 3032a and positioned below the top member 3032a, and a bottom member 3032c attached to the middle member 3032b and positioned below the middle member 3032 b.

The body 3031 of the pump 3016 may define a substantially hollow body such that an upper chamber 3036 and a lower chamber 3038 are defined within the body 3031. The seal set 3040 is positioned within the body 3031 and divides the interior of the body 3031 into an upper chamber 3036 and a lower chamber 3038. The pump 3016 also includes a striker 3048 positioned within the body 3031. The striker 3048 defines an upper end 3048a and a rod 3048b, the rod 3048b extending from the upper end 3048a in the vertical direction 6. The upper end 3048a is positioned within the upper chamber 3036, and the rod 3048b extends from the upper end 3048a through the upper chamber 3036, through the seal set 3040, and into the lower chamber 3038.

The pump 3016 may operate in a similar manner to the pump 2016 described above. For example, the striker 3048 is configured to reciprocate within the body 3031 between a retracted position and an extended position. This reciprocating movement may be caused by pressurized air flowing into the upper chamber 3036 through the first and

second air paths

3052a, 3052 b. Each of the first and

second air paths

3052a, 3052b can receive pressurized air from a valve 3020, the valve 3020 being connected to the pump 3016 through a connector 3024. An upper end 3048a of the striker 3048 divides the upper chamber 3036 into first and second portions 3036a, 3036b, wherein the first portion 3036a may receive pressurized air from a first air path 3052a and the second portion 3036b may receive pressurized air from a second air path 3052 b. As the pressurized air flows through the first air path 3052a and into the first portion 3036a of the upper chamber 3036, the striker 3048 is driven downward in the vertical direction 6 to an extended position. Conversely, as the pressurized air flows through second air path 3052b and into second portion 3036b of upper chamber 3036, striker 3048 is driven upward in vertical direction 6 to the retracted position.

The pump 3016 includes a circumferential chamber 3054 defined between an outer surface of the base member 3032c and an inner surface of the intermediate member 3032b of the body 3031. The circumferential chamber 3054 is fluidly connected to the material supply 3012 such that the circumferential chamber 3054 is configured to receive material from the material supply 3012 and allow the material to flow through the circumferential chamber 3054 to a radial bore 3056 defined in the base member 3032 c. The material may then flow through the radial holes 3056 to the lower chamber 3038. In one embodiment, the radial holes 3056 comprise four radial holes equally circumferentially spaced around the base member 3032 c.

When the striker 3048 is in the retracted position, the rod 3048b is spaced from a valve seat 3060 defined by a bottom member 3032c at the lower end of the lower chamber 3038. In this position, material flows through the circumferential chamber 3054, through the radial holes 3056, and into the lower chamber 3038. Then, when the striker 3048 is shifted to the extended position, the rod 3048b of the striker 3048 moves quickly downward in the vertical direction 6 through the lower chamber 3038 toward the valve seat 3060. During this transition, the striker 3048 causes a quantity of material within the lower chamber 3038 to be discharged through the outlet passage 3064, the outlet passage 3064 extending from the lower chamber 3038 at the lower end of the lower chamber 3038. The outlet passage 3064 is configured to direct the quantity of material from the lower chamber 3038 to a nozzle assembly 3028 attached to the pump 3016. When in the extended position, the lower end of the rod 3048b may contact the valve seat 3060 and thus form a fluid seal between the lower chamber 3038 and the outlet channel 3064, or may be positioned slightly above the valve seat 3060.

When the striker 3048 transitions from the retracted position to the extended position in the vertical direction 6, the striker 3048 travels a distance, which may be referred to as a stroke length. The required stroke length may vary in the dispensing operation, the type of material being dispensed, the wear of the internal components over time, and the like. As a result, the stroke length may be adjusted using the stop bar 3044, the stop bar 3044 extending through the top member 3032a of the body 3031 and into the first portion 3036a of the upper chamber 3036. When the striker 3048 is in the retracted position, the upper end 3048a may contact the lower end of the stop bar 3044 such that the stop bar 3044 controls how far the striker 3048 moves upward in the retracted position. The stop bar 3044 can be threadably engaged with the top member 3032a such that rotation of the stop bar 3044 relative to the top member 3032a causes the stop bar 3044 to move further into or out of the upper chamber 3036, thereby changing the maximum upward position of the striker 3048 in the retracted position, as well as the stroke length.

The nozzle assembly 3028 may include a nozzle body. The nozzle body 3029 may include an upper flange 3100, an arm 3104 extending from the upper flange 3100, and a nozzle head 3108 attached to the arm 3104 opposite the upper flange 3100. The upper flange 3100 may include an inlet port on an upper surface thereof, and two apertures extending through the upper flange. When the dispenser 3010 is fully assembled, the upper surface contacts the pump 3016 and the inlet port can be in fluid communication with the outlet channel 3064 of the pump 3016 such that the nozzle assembly 3028 receives material from the pump 3016 through the inlet port. These holes may be configured to receive bolts to secure the upper flange 3100 to the pump 3016. However, it should be understood that the upper flange 3100 may include more or fewer apertures. Alternatively, the nozzle assembly 3028 may be attached to the pump 3016 by alternative means, such as by snap-fit engagement, by dovetail engagement, clamping, or the like.

Fig. 11 illustrates an exemplary method 4000 of dispensing at a dispensing region of a workpiece in accordance with aspects of the invention. Fig. 12 shows an exemplary workpiece W, such as a fabric or cloth, having a curved dispensing region. For example, method 4000 may be performed using fluid dispensing system 1 or any suitable variation thereof.

At step 4002, a workpiece is positioned on a work plate 8 of the fluid distribution system 1. For example, an operator or an automated system may place a workpiece on the work plate 8. The workpiece can be fixed to the work plate 8 via a fixing device 11. Alternatively, the work piece may be laid on top of the work plate 8 without being fixed to the work plate 8.

Step 4002 may include determining a location of the dispense location (i.e., the first dispense location and each of the plurality of dispense locations described below) after or before positioning the workpiece on the work plate 8. The dispense location may be determined based on a number of factors. For example, a user may input a desired fluid dispensing pattern (i.e., a first dispensing pattern) into the controller 23 of the fluid dispensing system 1 via a human-machine interface (not shown). The desired fluid dispensing pattern may include a number of features including, for example, the size of the desired dispensing pattern, the shape of the desired dispensing pattern, the amount of fluid to be dispensed at each location of the desired dispensing pattern, and the like. The dispense location may be a location calculated to achieve a desired dispense pattern. As shown in fig. 1. As shown in fig. 12, the desired fluid distribution pattern may be a curved pattern. The desired dispensing pattern may be curved, straight or a combination thereof.

To ensure that the desired fluid dispensing pattern is accurately dispensed at the desired dispensing region of the workpiece, step 4002 may include relative alignment of the fluid dispensing system 1. In one embodiment, the relative alignment may include inputting the position of one or more

fixed positions

12A, 12B, 12C, 12D of the work plate 8 into the controller 23 (e.g., via a human-machine interface). The workpiece may then be positioned on the work plate 8 in a predetermined orientation relative to the one or more

fixed positions

12A, 12B, 12C, 12D. The predetermined orientation may also be input into the controller 23. Based on the position of one or more

fixed positions

12A, 12B, 12C, 12D of the work plate 8, the orientation of the workpiece, and the desired fluid dispensing pattern, the controller 23 may automatically calculate a dispensing protocol (discussed below) to achieve the desired fluid dispensing pattern. That is, the location of one or more

fixed locations

12A, 12B, 12C, 12D of the work plate 8 and the orientation of the workpiece may be included in the factors used to determine the location of the dispense location.

In another embodiment, ensuring that the desired fluid dispensing pattern is accurately dispensed at the desired dispensing region of the workpiece may include identifying the

reference fiducials

22A, 22B, 22C, 22D, 22E associated with the dispensing region (e.g., using the camera 21), for example, in the manner described above. For example, each allocation zone may be provided with its own set of

corresponding reference fiducials

22A, 22B, 22C, 22D, 22E. Alternatively, multiple distribution areas may be associated with a single set of

reference fiducials

22A, 22B, 22C, 22D, 22E. The fluid dispensing system 1 may then determine the position and orientation (i.e., position) of each dispensing location based on the identified

reference fiducials

22A, 22B, 22C, 22D, 22E. That is, the identified

reference

22A, 22B, 22C, 22D, 22E may be included in the factors used to determine the location of the dispense location.

At step 4004, the fluid dispensing system 1 can align a dispenser (i.e., any of the dispenser embodiments 1010, 2010, 3010) in an XY plane located at a dispensing height above a first dispensing position of a workpiece dispensing region. The fluid distribution system 1 may collect Z-height measurements of the distribution area by height sensing. Such height sensing may include collecting a plurality of height measurements of the dispensing region. The fluid dispensing system 1 may then determine the dispensing height of the dispenser based on the Z-height measurement and/or based on user input. As described above, a first dispensing location may be determined in step 4002. The XY plane may be defined by an X axis and a Y axis perpendicular to the X axis. Aligning the dispenser may include providing x, y, and z movement via gantry positioning system 9 of fluid dispensing system 1 to move the dispenser from the pre-dispense position to the first dispense position. The x, y, and z movements may be provided by the x, y, and

z drive mechanisms

24A, 24B, 25, 26 discussed above. "X-movement" is the movement of the dispenser parallel to the X-axis, or the X-direction movement shown in fig. 1 and 2. "Y-movement" is the movement of the dispenser parallel to the Y-axis, or the Y-direction movement shown in fig. 2 and 3. "Z-movement" is movement of the dispenser parallel to the Z-axis (the Z-axis being orthogonal to each of the X-axis and the Y-axis), or in the Z-direction as shown in fig. 2 and 3. 2 and 3.

In step 4006, the dispenser is controlled to begin dispensing fluid from the dispenser at a first dispensing location. The fluid may be a viscous fluid. The fluid may be an adhesive, such as a Polyurethane (PUR) adhesive, but other materials are also contemplated.

At step 4008, the gantry positioning system 9 and the dispenser are controlled to form a dispense pattern on a dispense area of the workpiece. Forming the dispensing pattern may include providing x, y, and C axis movement via the gantry positioning system 9 to move the dispenser from the first dispensing position to each of the plurality of dispensing positions of the dispensing region and dispense fluid from the dispenser at each of the plurality of dispensing positions. The C-axis movement is a rotational movement of the dispenser about a central axis of the dispenser and may be provided via a C-drive 27. The rotational movement may include a full rotation about the C-axis in any of the clockwise and counterclockwise directions. The x, y, and C axis movements may be automatically calculated based on, for example, the first dispense location and the location of each of the plurality of dispense locations. The dispenser may dispense any number of patterns. For example, the dispenser may dispense beads at each dispensing position. Alternatively, the dispenser may dispense continuously while being moved by the gantry positioning system 9 to dispense straight or curved linear patterns on the workpiece, as shown in fig. 12. Method 4000 can more accurately, reliably, and efficiently dispense a variety of dispensing patterns, including, for example, curved dispensing patterns, due to the four degrees of freedom of movement of the dispenser.

After completing the dispensing of the fluid pattern, the fluid dispensing system 1 may lift the dispenser back up in the Z-axis to a pre-dispense height, which may be the same height as when the method 4000 began. The system may evaluate whether there are additional fluid patterns to dispense, for example, at the second, third, fourth, etc. dispensing zone. If there are additional allocations to be performed, the system can return to step 4002. If all allocations are complete, the system may end the allocation operation.

While the present invention has been illustrated by the description of specific embodiments thereof, and while the embodiments have been described in considerable detail, it is not the intention to restrict or in any way limit the scope of the appended claims to such detail. The various features discussed herein may be used alone or in any combination. Additional advantages and modifications will readily occur to those skilled in the art. The invention in its broader aspects is therefore not limited to the specific details, representative apparatus and method, and illustrative examples shown and described. Accordingly, departures may be made from such details without departing from the scope or spirit of the general inventive concept.

Claims

1. A method of dispensing a fluid on a workpiece using a fluid dispensing system, the method comprising:

positioning the workpiece on a work plate of the fluid dispensing system;

aligning a dispenser of the fluid dispensing system in an XY plane, the XY plane located at a dispensing height above a first dispensing location of a dispensing region of the workpiece, the XY plane defined by an X axis and a Y axis perpendicular to the X axis, aligning the dispenser comprising providing, via a gantry positioning system of the fluid dispensing system, X movement, Y movement, and Z movement to move the dispenser from a pre-dispensing location to the first dispensing location, X movement being movement of the dispenser parallel to the X axis, Y movement being movement of the dispenser parallel to the Y axis, and Z movement being movement of the dispenser parallel to a Z axis, the Z axis perpendicular to each of the X axis and the Y axis;

dispensing fluid from the dispenser in the first dispensing position; and

forming a dispensing pattern on a dispensing area of the workpiece, the forming the dispensing pattern including providing x-movement, y-movement, and C-axis movement via the gantry positioning system to move the dispenser from the first dispensing position to each of a plurality of dispensing positions of the dispensing area, and dispensing fluid from the dispenser at each of the plurality of dispensing positions, the C-axis movement being a rotational movement of the dispenser about a central axis of the dispenser.

2. The method of dispensing fluid of claim 1, further comprising:

prior to aligning the dispenser, determining a position of each of the first dispensing position and the plurality of dispensing positions relative to one or more fixed positions of the work plate.

3. The method of dispensing fluid of claim 2, wherein positioning the workpiece on the work plate comprises aligning the workpiece with the one or more fixed locations.

4. The method of dispensing fluid of claim 2, further comprising: automatically calculating the x-movement, y-movement, and C-axis movement based on the first dispense location and the location of each of the plurality of dispense locations.

5. The method of dispensing fluid of claim 1, further comprising: after positioning the workpiece on a work plate of the fluid dispensing system, a reference datum associated with the dispense region on the workpiece is identified.

6. The method of dispensing fluid of claim 5, further comprising: determining a position of each of the first dispensing location and the plurality of dispensing locations relative to the reference datum.

7. The method of dispensing fluid of claim 6, further comprising: automatically calculating the x-movement, y-movement, and C-axis movement based on the first dispense location and the location of each of the plurality of dispense locations.

8. The method of dispensing fluid of claim 1, wherein the workpiece is a fabric or cloth.

9. The method of dispensing a fluid of claim 1, wherein the fluid is an adhesive.

10. A fluid dispensing system configured to dispense a fluid onto a workpiece, the fluid dispensing system comprising:

a work plate configured to support the workpiece;

a dispenser disposed above the workpiece and configured to dispense the fluid on the workpiece; and

a gantry positioning system supporting the dispenser, the gantry positioning system configured to:

providing X-movement, Y-movement and Z-movement of the dispenser, X-movement being movement of the dispenser parallel to an X-axis, Y-movement being movement of the dispenser parallel to a Y-axis, the Y-axis being perpendicular to the X-axis, and Z-movement being movement of the dispenser parallel to a Z-axis, the Z-axis being orthogonal to each of the X-axis and the Y-axis; and is

Providing C-axis movement to rotate the dispenser, C-axis movement being rotational movement of the dispenser about a central axis of the dispenser; and

a controller configured to control the dispenser and the gantry positioning system.

11. The fluid dispensing system of claim 10, wherein the work plate comprises a fixture configured to secure the workpiece to the work plate.

12. The fluid dispensing system of claim 10, wherein the dispenser comprises:

a pump, the pump comprising:

a pump body assembly comprising: a nozzle body defining a recess extending into the nozzle body; and a fluid channel having an inlet configured to receive the fluid and an outlet, wherein the outlet opens into the recess; and

a valve movably disposed in the fluid channel and configured to selectively block the fluid from flowing to an outlet of the fluid channel; and

a slotted nozzle assembly for dispensing the fluid, wherein

The slotted nozzle assembly is received in a recess of the nozzle body.

13. The fluid dispensing system of claim 10, wherein the dispenser comprises:

a body defining a chamber therein between an inlet and an outlet, the chamber configured to receive the fluid through the inlet and allow the fluid to exit through the outlet;

a valve seat disposed proximate the outlet;

a valve stem configured to slidably move within the chamber toward and away from the valve seat and contact the valve seat; and

a plurality of outlet passages in fluid communication with an outlet of the chamber, each outlet passage of the plurality of outlet passages configured to receive the fluid from the chamber,

wherein the valve stem is configured to impact the valve seat such that a discrete volume of fluid is forcibly ejected from the plurality of outlet passages onto the workpiece due to an impact momentum between the valve stem and the valve seat.

14. The fluid dispensing system of claim 10, wherein the rack positioning system comprises:

a first X support and a second X support, each X support comprising a first X bearing and a second X bearing, respectively, the first and second X supports and the first and second X bearings being aligned parallel to the X axis;

a Y-support slidably disposed on the first and second x-bearings, the Y-support aligned parallel to the Y-axis; and

a first x-drive and a second x-drive configured to drive the y-support along the first x-bearing and second x-bearing to provide the x-movement.

15. The fluid dispensing system of claim 14, wherein the rack positioning system further comprises:

a Y-bearing disposed on the Y-support, the Y-bearing aligned parallel to the Y-axis;

a y-carriage slidably disposed on the y-bearing; and

a y-driver configured to drive the y-carriage along the y-bearing to provide the y-movement.

16. The fluid dispensing system of claim 15, wherein the rack positioning system further comprises:

a Z-bearing disposed on the y-carriage, the Z-bearing arranged parallel to the Z-axis;

a z carriage slidably disposed on the z bearing; and

a z drive configured to drive the z carriage along the z bearing to provide the z movement.

17. The fluid dispensing system of claim 16, wherein the rack positioning system further comprises:

a rotatable bearing disposed on the z carriage, the rotatable bearing rotatably supporting the dispenser above the work plate; and

a C-drive supported by a rotatable bearing for movement therewith, the C-drive configured to drive the dispenser to provide the C-axis movement.

18. The fluid dispensing system of claim 10, wherein the workpiece is a fabric or cloth.

19. The fluid dispensing system of claim 10, wherein the fluid is an adhesive.

20. The fluid dispensing system of claim 10, wherein the controller is configured to control the dispenser and the gantry positioning system to dispense a curved dispensing pattern.