CN205701291U - A kind of three axle rectangular coordinate point gum machines - Google Patents

Abstract

The utility model discloses a three-axis rectangular coordinate dispensing machine, which comprises a dispensing machine frame, a rectangular coordinate control system, and a stepping glue pushing mechanism; the frame includes an outer frame, a base plate, an electric control unit, a side door panel, and a roller support The base plate is horizontally fixed on the table frame, and an electrical control unit is arranged inside the outer frame. The electrical control unit includes an X-axis servo driver, a Y-axis servo driver, a Z-axis servo driver, and a stepping motor driver. The side door panels are arranged around the outer frame. The four corners below the outer frame are provided with roller support feet for adjusting the level; the Cartesian coordinate control system includes X-axis, Y-axis, and Z-axis, and a step-by-step glue pushing mechanism is fixed on the Z-axis; the three-axis Cartesian coordinate point provided by the utility model The glue machine has a reasonable structural design, more accurate glue pushing, higher efficiency and more stable, especially fundamentally solved the problem of fast dispensing of mixed glue.

Description

A three-axis Cartesian coordinate dispensing machine

technical field

The utility model belongs to the field of automation, and in particular relates to a three-axis rectangular coordinate dispensing machine.

Background technique

In the field of industrial production, various glues are used to bond parts, seal and so on. Traditionally, the dispensing operation is done manually by a pneumatic dispenser. The working principle is to use the air pressure to push the push rod to generate an instant thrust to squeeze the rubber hose, complete the extrusion, and then point to the specified position. The efficiency of this kind of operation process is slow, due to The air pressure is not constant, the amount of glue dispensing is uneven, and it is difficult to ensure the stability of product quality. If at least two kinds of glue are required to be mixed and dispensed, manual work cannot be done. With the improvement of automation level, some enterprises will use automatic dispensing equipment to complete dispensing operations, but due to the difficulty of achieving constant air pressure, the problem of uneven dispensing volume still exists. For the mixing and dispensing of glue in a short time, due to the instability of the dispensing amount, the mixing ratio cannot be guaranteed at all, and it is still impossible.

Therefore, how to provide a new type of dispensing machine with more accurate glue pushing, higher efficiency and more stability to solve the dispensing operation of mixed glue has become a problem that needs to be solved at present.

Utility model content

In order to solve the above technical problems, the utility model provides a three-axis Cartesian coordinate dispensing machine, which has a reasonable structural design, more accurate glue pushing, higher efficiency and more stable, especially fundamentally solves the problem of rapid dispensing of mixed glue. problem, thereby overcoming the deficiencies in all prior art.

In order to achieve the above object, the technical solution of the utility model is as follows: a three-axis Cartesian coordinate dispensing machine, including a dispensing machine frame, a Cartesian coordinate control system, and a stepping glue pushing mechanism;

The frame includes an outer frame, a base plate, an electrical control unit, a side door panel, and roller support feet, the base plate is horizontally fixed on the frame, an electrical control unit is arranged inside the outer frame, and the electrical control unit It includes an X-axis servo driver, a Y-axis servo driver, a Z-axis servo driver, and a stepping motor driver. The side door panels are arranged around the outer frame, and four corners of the outer frame are provided with roller support feet for level adjustment;

The Cartesian coordinate control system includes an X axis, a Y axis, and a Z axis. A test substrate is arranged on the axis of the substrate, the Y axis is fixed on the test substrate, and a mounting device is fixed on the Y-axis slide table. plate, the X-axis is set above the horizontal and vertical direction of the Y-axis, the X-axis is fixed on the X-axis support frame, and the X-axis support frame is fixed on the side of the substrate, perpendicular to the Y-axis , a fixed frame is fixed on the X-axis slide table, the other end of the fixed frame is fixed with the Z-axis, the Z-axis is perpendicular to the X-axis and the Y-axis, and on the side of the X-axis A support plate is fixed, and a drag chain is arranged on the support plate. One end of the drag chain is fixed to the support plate, and the other end is connected to the fixing frame. A Z-axis connecting plate is fixed on the Z-axis. An X-axis front limit sensor, an X-axis origin return sensor, and an X-axis rear limit sensor are arranged on the side of the X-axis, and a Y-axis front limit sensor, a Y-axis The origin return sensor, the Y-axis rear limit sensor, and the Z-axis front limit sensor, the Z-axis origin return sensor, and the Z-axis rear limit sensor are arranged on the side of the Z-axis;

The stepping rubber pushing mechanism is fixed on the Z-axis connecting plate, and the stepping rubber pushing mechanism includes a rubber pushing base and a ball screw, and a linear slide rail is arranged on the axis of the rubber pushing base. A linear slider matching the linear slide rail is installed on the slide rail, a slide table is fixed on the linear slide block, a screw nut is embedded inside the slide table, and a push rod is fixed on the slide table to fix The push rod fixing seat can move linearly along the direction of the linear slide rail, at least the first push rod and the second push rod are fixed on the push rod fixing seat, and a The stepper motor is characterized in that: it also includes a bearing support seat, the bearing support seat is fixed on the rubber push base, a stepper motor is fixed at one end of the bearing support seat, and the stepper motor and the ball wire The rods are connected by a coupling, and the coupling is arranged in the inner cavity of the bearing support seat, and a screw support seat is arranged opposite to the bearing support seat, and the ball screw is supported by the screw rod. The seat and the bearing support seat are mated and connected, and at least two holes for the push rod to pass through are provided on the screw support seat, and a mold for fixing the rubber hose is provided at the other end of the screw support seat. cavity, the cavity is equipped with a double-hole rubber hose matched with the first push rod and the second push rod, and the double-hole rubber hose can be squeezed when the first push rod and the second push rod move , the front section of the double-hole rubber hose is fixed with a mixing needle.

In a preferred embodiment of the present invention, the step-by-step rubber pushing mechanism also includes an anti-leakage mechanism, and the anti-leakage mechanism is fixed on the end of the rubber pushing base corresponding to the rubber hose, and the anti-leakage mechanism It includes a fixed plate and a cylinder seat, the fixed plate is fixedly connected with the push rubber base, the fixed plate is fixedly connected with the cylinder seat, the leak-proof cylinder and the stability seat are fixed on the cylinder seat, and the leak-proof A coupling block is fixed on the piston rod of the cylinder, and a rubber head holder is fixed at the other end of the fixed plate. A rubber head is arranged on the rubber head holder, and a An anti-leak valve matched with the rubber head, the anti-leak valve is fixed in the groove of the stable seat, the mixing needle goes deep into the inlet of the anti-leak valve, the anti-leak valve stem is connected with the The connection block is fixedly connected.

In a preferred embodiment of the present invention, a buckle is also included, and the buckle is matched with the cavity.

In a preferred embodiment of the present invention, it also includes a button box, and there are at least two button boxes, which are respectively arranged on both sides of the Y axis and close to the sides.

Compared with the prior art, the beneficial effects of the utility model are:

1. Because the stepping glue pushing mechanism is fixed on the three-axis Cartesian coordinate robot to quickly move to the designated position to dispense glue, the efficiency is high and stable.

2. Due to the simultaneous glue pushing of multiple glue rods, for the glue pushing of mixed glue, it is only necessary to ensure that the glue ratio is compatible with the cross-sectional area ratio of the hose to achieve uniform glue pushing.

3. The use of mixing needles can make the mixed glue mix evenly in a short time, meet the mixing requirements, and greatly improve the glue pushing efficiency.

4. Due to the stepping motor propulsion method, the rubber pushing process is simple and controllable, which eliminates the defect that the rubber hose bursts due to continuous force during the rubber pushing process using the servo motor, and can realize the extrusion operation of large rubber hoses and reduce the frequency of replacing rubber hoses , thereby improving work efficiency.

Description of drawings

In order to more clearly illustrate the technical solutions in the embodiment technology of the present invention, the accompanying drawings that need to be used in the technical description of the embodiment will be briefly introduced below. Obviously, the accompanying drawings in the following description are only the embodiment of the present invention. For some embodiments, those of ordinary skill in the art can also obtain other drawings based on these drawings without any creative effort.

Fig. 1 is the structural representation of the utility model

Figure 2 is a schematic diagram of the stepping rubber mechanism

Figure 3 is a schematic diagram of the partial explosion of the stepping glue pushing mechanism

Figure 4 Schematic diagram of the structure of the anti-leakage mechanism

Fig. 5 is a side view of the utility model

Among them, 1 is a stepper motor, 2 is a bearing support seat, 3 is a push rod fixing seat, 4 is a ball screw, 5 is a screw support seat, 6 is a double-hole rubber hose, 7 is an anti-leakage mechanism, and 8 is a linear slide rail , 9 is the rubber push base, 10 is the coupling, 11 is the slide table, 12 is the bearing, 13 is the bearing cover, 14 is the induction piece, 15 is the linear slider, 16 is the first rubber push rod, 17 is the second Two push rubber rods, 18 is a connecting block, 19 is an anti-leakage valve rod, 20 is a stable seat, 21 is an anti-leakage valve, 22 is a rubber head holder, 23 is a rubber head, 24 is a fixed plate, 25 is an anti-leakage cylinder, and 26 is Cylinder seat, 27 is the screw nut, 28 is the card seat, 29 is the cavity, 30 is the mixing needle, 31 is the Z axis, 32 is the X axis, 33 is the mounting plate, 34 is the button box, 35 is the Y axis, 36 Outer frame, 37 is a stepper motor driver, 38 is a stepping rubber pushing mechanism, 39 is a base plate, 40 is an X-axis support frame, 41 is a test base plate, 42 is a side door panel, 43 is a roller support leg, 44 is an X-axis servo Driver, 45 is the Y-axis servo driver, 46 is the Z-axis servo driver, 47 is the Z-axis connecting plate, 48 is the support plate, 49 is the X-axis left limit sensor, 50 is the X-axis origin return sensor, 51 is the X-axis right limit Sensor, 52 is a fixed frame, 53 is a Z-axis upper limit sensor, 54 is a Z-axis homing sensor, 55 is a Z-axis lower limit sensor, 56 is a Y-axis rear limit sensor, 57 is a Y-axis home return sensor, 58 is Y-axis front limit sensor, 59 is drag chain;

detailed description

The technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of them. example. Based on the embodiments of the present utility model, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the scope of protection of the present utility model.

Example

As shown in Figures 1-5, this embodiment discloses a three-axis Cartesian coordinate dispensing machine, including a dispensing machine frame, a Cartesian coordinate control system, and a stepping glue pushing mechanism 38;

The frame includes an outer frame 36, a base plate 39, an electrical control unit, a side door panel 42, and a roller support foot 43. The base plate 39 is horizontally fixed on the outer frame 36, and an electrical control unit is arranged inside the outer frame 36, and the electrical control unit includes an X-axis servo driver. 44. Y-axis servo driver 45, Z-axis servo driver 46, stepping motor driver 37, side door panels 42 are arranged around the outer frame 36, and four corners below the outer frame 36 are provided with roller support feet 43 for level adjustment;

The Cartesian coordinate control system includes a Z axis 32, a Y axis 35, and a Z axis 31. A test substrate 41 is arranged on the axis of the substrate 39. The Y axis 35 is fixed on the test substrate 41. A mounting plate 33 is fixed on the Y axis 35. Z The axis 32 is set above the horizontal and vertical direction of the Y-axis 35, the Z-axis 32 is fixed on the X-axis support frame 40, the X-axis support frame 40 is fixed on the side of the base plate 39, and is perpendicular to the Y-axis 35, and the X-axis support frame 40 adopts a symmetrical The structure is evenly stressed and not easy to deform. A fixed frame 52 is fixed on the Z-axis 32. The other end of the fixed frame 52 is fixed with a Z-axis 31. The Z-axis 31 is perpendicular to the Z-axis 32 and the Y-axis 35, and is on the side of the Z-axis 32. A support plate 48 is fixed, and a drag chain 59 is arranged on the support plate 48. One end of the drag chain 59 is fixed with the support plate 48, and the other end is connected with the fixed frame 52. The Z axis 31 connecting plate is fixed on the Z axis 31. On the Z-axis 32 sides, be provided with X-axis left limit sensor 49, X-axis origin return sensor 50, X-axis right limit sensor 51, on Y-axis 35 sides, be provided with Y-axis front limit sensor 56, Y Axis home point return sensor 57, Y axis rear limit sensor 58, Z axis upper limit sensor 53, Z axis home point return sensor 54, Z axis lower limit sensor 55 are arranged on the side of Z axis 31; There are two button boxes 34 near the sides of the base plate 39 on both sides of the shaft 35, and each button box 34 is provided with three buttons: start, pause, and stop. The equipment operator needs to press the same buttons on both sides at the same time. It will run to avoid accidents when operators work.

The stepping rubber pushing mechanism 38 is fixed on the Z-axis connecting plate 47. The stepping rubber pushing mechanism 38 includes a rubber pushing base 9 and a ball screw 4. On the axis of the rubber pushing base 9, a linear slide rail 8 and a linear slide rail 8 are arranged. A linear slider 15 matched with the linear slide rail 8 is installed on the top, a slide table 11 is fixed on the linear slide block 15, a screw nut 27 embedded with a screw nut 27 is fixed on the side of the slide table 11, and a pusher is fixed on the slide table 11. Rod fixing seat 3, push rod fixing seat 3 can do linear motion along linear slide rail 8 direction, on push rod fixing seat 3, be fixed with first push rod 16 and second push rod 17, be fixed on pushing rubber base 9 with Bearing support seat 2, one end of bearing support seat 2 is provided with a stepping motor 1, and a coupling 10 is provided in the inner cavity of bearing support seat 2, one end of coupling 10 is connected with stepping motor 1, and the other end is connected with a ball screw 4 connection, the other end of the push rubber base 9 is provided with a screw support seat 5, the other end of the ball screw 4 is fixed on the screw support seat 5, and the bearing support seat 2 is integrally formed and produced by precision machining. The motor seat and the ball screw 4 supporting mechanism are integrated, which can improve the coaxiality between the drive motor and the ball screw 4, reduce wear and improve running stability, and one end of the ball screw 4 is provided with a step for nesting the bearing 12 and The threads used to fix the bearing 12, the ball screw 4 is set with at least two bearings 12, the bearings 12 are fixed by nuts, the ball screw 4 and the bearing 12 are nested in the hole of the bearing support seat 2, and there are holes for fixing on the periphery of the hole. The bearing gland 13 of the bearing 12 is provided with at least two holes for the push rod to pass through on the screw support seat 5, and the first push rod 16 and the second push rod 17 pass through the holes and are fixed on the The double-hole rubber hose 6 at the other end of the screw support seat 5, the cross-sectional area of the double-hole rubber hose 6 corresponds to the mixing ratio of the glue in the rubber hose, and when the push rod holder 3 drives the push rod to squeeze the double-hole rubber hose 6, a fixed Proportional mixing, the double-hole rubber hose 6 is fixed by the cavity 29 fixed on the screw support seat 5 and the switchable buckle 28, and the double-hole rubber hose 6 can be replaced after the buckle 28 is opened, and the push rod fixing seat 3 is fixed with an induction Sheet 14 monitors the remaining glue amount of the rubber hose. If the remaining glue amount reaches the set value, the sensor sheet 14 triggers an alarm corresponding to the sensor installed on the rubber pushing base 9, and a mixing needle 30 is fixed at the front end of the double-hole rubber hose 6 .

When the stepping motor 1 is used, as long as the stepping amount is set, the stepping motor 1 can complete the extrusion. The use of the stepping motor 1 eliminates the defect of the rubber hose bursting due to the continuous force applied by the servo motor, and can realize large rubber hose extrusion operation, reduce the frequency of replacing hoses, and improve work efficiency.

The other end of the rubber push base 9 is provided with an anti-leakage mechanism 7, the anti-leakage mechanism 7 is fixed on the end of the rubber push base 9 corresponding to the rubber hose, and is inclined at a certain angle, the anti-leakage mechanism 7 includes a fixed plate 24, a cylinder seat 26, The fixed plate 24 is fixedly connected with the rubber base 9, the fixed plate 24 is fixedly connected with the cylinder base 26, the cylinder base 26 is fixed with the anti-leakage cylinder 25 and the stabilizing seat 20, and the piston rod of the anti-leakage cylinder 25 is fixed with the connecting block 18. One end of the block 18 is connected to the anti-leakage valve rod 19, and the other end is connected to the anti-leakage cylinder 25. The anti-leakage valve 21 is arranged between the stable seat 20 and the rubber head 23, and is fixed in the concave groove of the stable seat 20. The anti-leakage cylinder 25 can control the opening and closing of the anti-leakage valve 21, the mixing needle 30 goes deep into the inlet of the anti-leakage valve 21, and the other end of the fixing plate 24 is fixed with a rubber head holder 22, and the rubber head holder 22 is provided with a rubber head 23 . Since the glue in the double-hole rubber tube 6 is mixed in the mixing needle 30, it flows directly from the mixing needle 30 into the glue head 23 for dispensing, so the glue can be mixed and dispensed immediately, reducing the risk of glue variation. The glue head is set in the vertical direction, which is conducive to the movement of the three-axis Cartesian robot and improves the dispensing efficiency.

The working principle of the utility model: the three-axis Cartesian robot moves to the designated position, the stepper motor moves forward according to the set step amount, drives the push rod seat and the push rod to squeeze the double-hole rubber hose downward, and the double-hole rubber hose After the two glues are extruded, they are mixed in the mixing needle, and then flow into the anti-leak valve from the needle. At this time, the anti-leak cylinder is opened, and the mixed glue flows into the glue head along the anti-leak valve to complete the extrusion process. Then the anti-leakage cylinder is closed and waits for the next glue discharge.

The above description of the disclosed embodiments enables those skilled in the art to realize or use the utility model. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the invention. Therefore, the present invention will not be limited to these embodiments shown herein, but will conform to the widest scope consistent with the principles and novel features disclosed herein.

Claims (4)

1. A three-axis Cartesian coordinate dispensing machine, characterized in that: it includes a dispensing machine frame, a Cartesian coordinate control system, and a stepping glue pushing mechanism; The frame includes an outer frame, a base plate, an electrical control unit, a side door panel, and roller support feet, the base plate is horizontally fixed on the frame, an electrical control unit is arranged inside the outer frame, and the electrical control unit It includes an X-axis servo, a Y-axis servo, a Z-axis servo, and a stepping motor driver. The side door panels are arranged around the outer frame, and four corners below the outer frame are provided with roller support feet for level adjustment; The Cartesian coordinate control system includes an X axis, a Y axis, and a Z axis. A test substrate is arranged on the axis of the substrate, the Y axis is fixed on the test substrate, and a mounting device is fixed on the Y-axis slide table. plate, the X-axis is set above the horizontal and vertical direction of the Y-axis, the X-axis is fixed on the X-axis support frame, and the X-axis support frame is fixed on the side of the substrate, perpendicular to the Y-axis , a fixed frame is fixed on the X-axis slide table, the other end of the fixed frame is fixed with the Z-axis, the Z-axis is perpendicular to the X-axis and the Y-axis, and on the side of the X-axis A support plate is fixed, and a drag chain is arranged on the support plate. One end of the drag chain is fixed to the support plate, and the other end is connected to the fixing frame. A Z-axis connecting plate is fixed on the Z-axis. An X-axis front limit sensor, an X-axis origin return sensor, and an X-axis rear limit sensor are arranged on the side of the X-axis, and a Y-axis front limit sensor, a Y-axis The origin return sensor, the Y-axis rear limit sensor, and the Z-axis front limit sensor, the Z-axis origin return sensor, and the Z-axis rear limit sensor are arranged on the side of the Z-axis; The stepping rubber pushing mechanism is fixed on the Z-axis connecting plate, and the stepping rubber pushing mechanism includes a rubber pushing base and a ball screw, and a linear slide rail is arranged on the axis of the rubber pushing base. A linear slider matching the linear slide rail is installed on the slide rail, a slide table is fixed on the linear slide block, a screw nut is embedded inside the slide table, and a push rod is fixed on the slide table to fix The push rod fixing seat can move linearly along the direction of the linear slide rail, at least the first push rod and the second push rod are fixed on the push rod fixing seat, and a The stepper motor is characterized in that: it also includes a bearing support seat, the bearing support seat is fixed on the rubber push base, a stepper motor is fixed at one end of the bearing support seat, and the stepper motor and the ball wire The rods are connected by a coupling, and the coupling is arranged in the inner cavity of the bearing support seat, and a screw support seat is arranged opposite to the bearing support seat, and the ball screw is supported by the screw rod. The seat and the bearing support seat are mated and connected, and at least two holes for the push rod to pass through are provided on the screw support seat, and a mold for fixing the rubber hose is provided at the other end of the screw support seat. cavity, the cavity is equipped with a double-hole rubber hose matched with the first push rod and the second push rod, and the double-hole rubber hose can be squeezed when the first push rod and the second push rod move , the front section of the double-hole rubber hose is fixed with a mixing needle. 2. A three-axis Cartesian glue dispensing machine according to claim 1, characterized in that: the step-by-step glue pushing mechanism also includes an anti-leakage mechanism, and the anti-leakage mechanism is fixed at the end of the glue-push base Corresponding to the rubber hose, the anti-leakage mechanism includes a fixed plate and a cylinder seat, the fixed plate is fixedly connected with the rubber pushing base, the fixed plate is fixedly connected with the cylinder seat, and the cylinder seat is fixed There is an anti-leakage cylinder and a stable seat, the piston rod of the anti-leakage cylinder is fixed with a connecting block, and the other end of the fixed plate is fixed with a rubber head holder, and the rubber head holder is provided with a rubber head. An anti-leak valve matched with the rubber head is arranged between the stable seat and the rubber head, the anti-leak valve is fixed in the groove of the stable seat, and the mixing needle goes deep into the anti-leak valve In the inlet, the leak-proof valve stem is fixedly connected with the coupling block. 3. A three-axis Cartesian coordinate dispenser according to claim 1, characterized in that it further comprises a buckle, and the buckle is matched with the cavity. 4. A three-axis Cartesian coordinate dispensing machine according to claim 1, characterized in that: it also includes a button box, and there are at least two button boxes, which are respectively arranged on both sides of the Y-axis close to the side of the substrate Location.