CN208878945U - A dispensing and assembly system - Google Patents
A dispensing and assembly system Download PDFInfo
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- CN208878945U CN208878945U CN201820991393.0U CN201820991393U CN208878945U CN 208878945 U CN208878945 U CN 208878945U CN 201820991393 U CN201820991393 U CN 201820991393U CN 208878945 U CN208878945 U CN 208878945U
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- 239000003292 glue Substances 0.000 claims abstract description 49
- 238000001179 sorption measurement Methods 0.000 claims description 8
- 238000005259 measurement Methods 0.000 claims 1
- 238000000034 method Methods 0.000 abstract description 13
- 238000004519 manufacturing process Methods 0.000 abstract description 3
- 229910000831 Steel Inorganic materials 0.000 description 16
- 239000010959 steel Substances 0.000 description 16
- 239000002184 metal Substances 0.000 description 9
- 238000003754 machining Methods 0.000 description 8
- 238000006243 chemical reaction Methods 0.000 description 7
- 238000004026 adhesive bonding Methods 0.000 description 4
- 238000007689 inspection Methods 0.000 description 3
- 238000003825 pressing Methods 0.000 description 3
- 230000000007 visual effect Effects 0.000 description 3
- 210000000707 wrist Anatomy 0.000 description 3
- 238000006073 displacement reaction Methods 0.000 description 2
- 238000009434 installation Methods 0.000 description 2
- 238000009423 ventilation Methods 0.000 description 2
- 238000010521 absorption reaction Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 230000015572 biosynthetic process Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000009826 distribution Methods 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 238000005286 illumination Methods 0.000 description 1
- 230000000977 initiatory effect Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
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Abstract
The utility model discloses a dispensing and assembling system, which belongs to the field of dispensing and assembling equipment and comprises a robot, a dispensing clamp component, a distance measuring dispensing component and a first industrial camera; the first industrial camera is aligned to a clamping station on the dispensing fixture assembly, and the robot is linked with the distance measuring and dispensing assembly to measure distance and dispense glue. The utility model mainly solves the problems that the characteristics of curved surface objects or uneven objects in a plane image generated by a machine vision system are not obvious, and complex software is needed to cooperate to process, thereby affecting the processing speed and further affecting the production efficiency; the utility model provides a pair of glue is glued and equipment system, robot interlock range finding point is glued subassembly range finding and is glued, makes range finding point glue subassembly and wait to process the product surface and keep fixed distance, can realize the point of the object of curved surface object or unevenness and glue, and its strong adaptability can extensively be used for the point of different grade type product to glue, realizes the point of different grade type and glues technology.
Description
Technical field
The utility model relates to dispensings and assembling apparatus field, more particularly to a kind of dispensing and package system.
Background technique
Currently, automation equipment gradually replaces artificial dispensing and assembling to complete electronic product.
Electronic product is more accurate, needs accurate spot gluing equipment that could complete dispensing operation, traditional automation equipment is
It is not able to satisfy the needs of precise glue dispensing, therefore, NI Vision Builder for Automated Inspection and robot are widely used in accurate spot gluing equipment.
The image transmitting of product to master control, master control are extracted the product feature in image and progress by the visual sensor of NI Vision Builder for Automated Inspection
Processing, so that the movement for robot provides reference.
With the development of industry, more and more to the object progress occasion for dispensing glue of curved face object or out-of-flatness.But machine
The image that device vision system generates is plane, the plan view that the object of curved face object or out-of-flatness is generated in NI Vision Builder for Automated Inspection
Feature as in is not obvious, and needing more complex software to cooperate just can be carried out processing, affects processing speed, and then influence life
Efficiency is produced, if software is dealt with improperly, dispensing quality is even more affected and even damages Glue dripping head and product.
Utility model content
To solve the problem above-mentioned, the utility model provides a kind of dispensing and package system, can pass through laser ranging
Method provides reference for the movement of robot, to control dispensing position.
Technical solution adopted in the utility model is: a kind of dispensing and package system, including robot, dispensing fixture group
Part, ranging dispensing component and the first industrial camera；First industrial camera is directed at the clamping work on the dispensing clamp assembly
Position, the robot interlock the ranging dispensing component ranging and dispensing, make the ranging dispensing component and to dispensing product table
Face is kept fixed distance, realizes the dispensing of the object of curved face object or out-of-flatness.
In above-mentioned technical proposal, the ranging dispensing component includes range unit and point glue equipment；The range unit and
The point glue equipment is relatively fixed, and the range unit detects it at a distance to dispensing product and is sent to the robot,
To provide reference for the movement of the robot, make the ranging dispensing component with to dispensing product surface be kept fixed away from
From.
In above-mentioned technical proposal, the robot is connected with the ranging dispensing component by fast replacing device, can be quick
Replace tooling.
In above-mentioned technical proposal, the dispensing clamp assembly is equipped with the first vacuum chuck, to adsorb the dispensing fixture
In the clamping station of component to dispensing product, can effectively fix to dispensing product.
In above-mentioned technical proposal, the clamping station has first light source；The first light source is directed at the clamping work
Position, to provide illumination when obtaining image for first industrial camera.
In above-mentioned technical proposal, the dispensing clamp assembly further includes curved surface scaling board；The curved surface scaling board is located at institute
It states in clamping station, when this kind of dispensing and package system are debugged, the curved surface scaling board simulates curved face object, facilitates tune
Examination.
It further include clamp for machining component in above-mentioned technical proposal；The clamp for machining component includes handle and grip block；Institute
It states handle and interlocks the grip block clamping to dispensing product.
It further include assembling assembly in above-mentioned technical proposal；The assembling assembly is detachably connected with the robot, described
Ranging dispensing component is also detachably connected with the robot；The robot interlocks the assembling assembly and takes and assemble production
Product.
In above-mentioned technical proposal, the assembling assembly includes vacuum tank and adsorption head；The robot and the vacuum tank
It is connected by fast replacing device, the vacuum tank is connected to the adsorption head, can be inhaled with quick-replaceable tooling, the adsorption head
Attached firmly workpiece to be assembled.
It further include assembling jig component in above-mentioned technical proposal；It is formed on the assembling jig component and is filled for fixation
Placing groove with product.
It further include the second industrial camera in above-mentioned technical proposal；Second industrial camera is directed at the assembling jig group
Part, to obtain the assembling jig component and be assembled the image of product.
It further include third industrial camera in above-mentioned technical proposal；The third industrial camera shooting is by the assembling assembly
The product taken.
The beneficial effects of the utility model are:
1, a kind of dispensing provided by the utility model and package system, robot interlock the ranging of ranging dispensing component and point
Glue makes ranging dispensing component and processed product surface be kept fixed distance, the object of curved face object or out-of-flatness may be implemented
Dispensing, it is adaptable, the dispensing of different type product can be widely used in, realize different types of gluing process；
2, a kind of dispensing provided by the utility model and package system, robot and ranging dispensing component and assembling assembly
By fast replacing device, the time can be saved with quick-replaceable tooling；
3, a kind of dispensing provided by the utility model and package system, including ranging dispensing component and assembling assembly, can be real
The dispensing of existing product and assembly operation improve robot utilization rate, adaptable, can effectively save cost, it is not necessary to which repetition is purchased
Robot；
4, a kind of dispensing provided by the utility model and package system, including assembling jig component, adapt to more dispensings
Technique improves robot utilization rate, adaptable, can effectively save cost.
Detailed description of the invention
Fig. 1 is the three-dimensional view of a kind of dispensing and package system of the utility model embodiment one；
Fig. 2 is a kind of three-dimensional view of the dispensing and package system of the utility model embodiment one under other direction；
Fig. 3 is the three-dimensional view of a kind of dispensing and package system of the utility model embodiment one removed after outline border；
Fig. 4 be after a kind of dispensing of the utility model embodiment one and the removal outline border of package system under other direction
Three-dimensional view；
Fig. 5 is the A partial enlarged view in Fig. 4；
Fig. 6 is the three-dimensional view of a kind of dispensing of the utility model embodiment one and the ranging dispensing component of package system；
Fig. 7 is a kind of dispensing of the utility model embodiment one and the fast replacing device of package system and first change the outfit, and seat separates
When structure chart；
Fig. 8 is the B partial enlarged view in Fig. 7；
In conjunction with Fig. 9 is a kind of dispensing of the utility model embodiment one and the fast replacing device of package system and first change the outfit seat
When structure chart；
Figure 10 is the three-dimensional view of a kind of dispensing of the utility model embodiment one and the dispensing clamp assembly of package system；
Figure 11 is the three-dimensional view of a kind of dispensing of the utility model embodiment one and the assembling assembly of package system；
Figure 12 be the utility model embodiment one a kind of dispensing and package system assembling assembly under other direction
Three-dimensional view；
Figure 13 is that a kind of dispensing of the utility model embodiment one and the fast replacing device of package system and second change the outfit seat knot
Structure chart when conjunction；
Figure 14 is the three-dimensional view of a kind of dispensing of the utility model embodiment one and the machine frame of package system；
Figure 15 is the ranging dispensing component and assembly group of a kind of dispensing and package system of the utility model embodiment one
Three-dimensional view of the part on machine frame；
Figure 16 is the three-dimensional view of a kind of dispensing of the utility model embodiment one and the workpiece plate component of package system；
Figure 17 is the three-dimensional view of a kind of dispensing of the utility model embodiment one and the assembling jig component of package system；
Figure 18 is the third industrial camera and third light source of a kind of dispensing and package system of the utility model embodiment one
Three-dimensional view；
Figure 19 is the schematic diagram in dispensing of a kind of dispensing and package system of the utility model embodiment one；
Figure 20 is the C partial enlarged view in Figure 19；
Figure 21 is the dispensing clamp assembly placement curved surface mark of a kind of dispensing and package system of the utility model embodiment one
Three-dimensional view after fixed board；
Figure 22 is the system of a kind of dispensing of the utility model embodiment one and the robot of package system and range unit
Figure；
Figure 23 is the three-dimensional view of a kind of dispensing and package system of the utility model embodiment two；
Figure 24 is a kind of dispensing of the utility model embodiment two and the clamp for machining component of package system when loosening
Three-dimensional view；
Figure 25 is a kind of dispensing of the utility model embodiment two and the clamp for machining component of package system when clamping
Three-dimensional view.
Specific embodiment
The utility model is described in further detail with reference to the accompanying drawing.
Embodiment one:
As shown in Figs 1-4, a kind of dispensing and package system, including rack components 1, robot 2, ranging dispensing component 3, point
Glue clamp assembly 4, clamp for machining component 5, assembling assembly 6, workpiece plate component 7, assembling jig component 8, visual component, master control and
A/D converts board.
Rack components 1 includes outline border 11, workbench 12 and furred ceiling frame 13；Outline border 11 provides a metal support for complete machine
Frame, workbench 12 are horizontally fixed on 11 middle part of outline border, and furred ceiling frame 13 is horizontally fixed on 11 top of outline border.
Robot 2 is six-joint robot, model Epson N2-A450S.Robot 2 include six joint motors and
Six mechanical arms, joint motor and mechanical arm are spaced and be sequentially connected, and form robot 2, and all motors can independently drive
Dynamic, the front end of robot 2 forms wrist, which is equipped with flange, with connecting tooling.Robot 2 further includes robot control
Device, model Epson RC700-A of robot controller, robot 2 and robot controller are electrically connected by M/C cable
And signal connects.
A/D converts board and is based on microcomputer, and the conversion of analog signal and digital signal may be implemented in A/D conversion board, i.e., from
After analog signal channel inputs analog signal, A/D conversion board converts the analog signal into digital signal, and from digital signal
Channel output；After digital signal channel input digital signal, A/D converts board and the digital signal is converted to analog signal,
And it is exported from analog signal channel.The digital signal channel that A/D converts board digital signal can be local area network interface, can also
Think RS-232 interface, in the present embodiment, A/D converts the digital signal channel of board as RS-232 interface, and the digital signal is logical
The interface that road is connect as A/D conversion board with host computer.
As seen in figures 3-6, robot 2 is mounted on furred ceiling frame 13 in a manner of installation of ceiling, i.e., 1 axis of robot 2 vertically to
Lower setting.The wrist of robot 2 connects a pressure sensor 22, and the one side of pressure sensor 22 connects with the wrist of robot 2
It connects, another side then connects a fast replacing device 21, and fast replacing device 21 is used for quick-replaceable ranging dispensing component 3 and assembling assembly 6.
Ranging dispensing component 3 is the component that changes the outfit of robot 2, and ranging dispensing component 3 includes range unit 31, dispensing
Device 32, mounting rack 33 and first change the outfit seat 34.
Mounting rack 33 is metal frame body, and mounting rack 33 is that range unit 31, point glue equipment 32 and first seat 34 that changes the outfit provide
Installation and fixed position；First seat 34 that changes the outfit is fixed on 33 upper end of mounting rack.Range unit 31 can be laser range sensor,
It may be laser displacement sensor, in the present embodiment, range unit 31 is laser displacement sensor, and concrete model is base grace
Scholar LK-G08, range unit 31 are fixed on 33 side of mounting rack；Point glue equipment 32 is also secured at 33 side of mounting rack, and is located at and surveys
By device 31；Point glue equipment 32 includes dispensing syringe 321, dispensing needle head 322, glue dispensing valve 323 and buckle 324；Dispensing syringe
321 are fixed on 33 side of mounting rack by buckle 324, dispensing needle head 322 be located at 321 front end of dispensing syringe and with dispensing syringe
321 connections, glue dispensing valve 232 is located at 321 upper end of dispensing syringe, and is connected to the inner cylinder of dispensing syringe 321, to control dispensing needle head
322 gel quantity.After the assembly is completed, range unit 31 and point glue equipment 32 are relatively-stationary.
The analog signal channel of range unit 31 and A/D conversion board connect, A/D change-over panel card by RS-232 interface and
Robot controller connection.
As Figure 7-9, fast replacing device 21 and first change the outfit seat 34 cooperation, realize ranging dispensing component 3 quick despatch.
Fast replacing device 21 includes gas tank 211, piston 212 and steel ball 216；211 outside of gas tank is cylindrical, and inside forms air cavity, piston
212 rear end is located in the air cavity of gas tank 211, and the air cavity of gas tank 211 is separated into two parts up and down by the rear end of piston 212, on
Part air cavity is the first air cavity 217, and lower part air cavity is the second air cavity 218；First air cavity 217 and the second air cavity 218 lead to respectively
The gentle Guan Yuyi platform air compressor connection of fast joint is crossed, to complete inflation and the row of the first air cavity 217 and the second air cavity 218
It is empty；The front end of piston 212 is pierced by gas tank 211, and the front end of piston 212 sequentially forms top and closes rib 214 and recessed portion 215；Gas tank 211
Extend to the direction of piston nose, form extension 219, is radially opened up on extension 219 multiple chimeric for accommodating steel ball 216
Slot 213；Steel ball 216 is prill, and a steel ball 216 is arranged in each embeded slot 213.
First change the outfit seat 34 main body it is cylindrical, end face is formed and 219 shape of extension of fast replacing device 21 thereon
The first jack 341 matched, the i.e. extension 219 of fast replacing device 21 are exactly fitted in the first jack 341；In first jack 341
Equipped with the first engaging slot 342, the first engaging slot 342 is matched with 216 shape of steel ball, i.e. 216 surface of steel ball can be embedded in the first engaging
In slot 342.
Fast replacing device 21 and first change the outfit seat 34 cooperation, realize ranging dispensing component 3 quick despatch, specifically, fastly
First air cavity 217 of changing device 21 is ventilated, and piston 212 is stretched out, and steel ball 216 is embedded in embeded slot 213 and recessed portion 215 at this time
In, robot 2 drives fast replacing device 21 to move, and extension 219 is inserted into the first jack 341；Extension 219 is inserted into
After one jack 341, the ventilation of the second air cavity 218 makes piston 212 bounce back, and steel ball 216 closes rib 214 by the top of piston 212 and ejects at this time
And be embedded in first change the outfit seat 34 the first engaging slot 342 in, thus complete change the outfit.When needing to put down ranging dispensing component 3, discharge
The air of second air cavity 218, and ventilate to the first air cavity 217, stretch out piston 212, steel ball 216 is embedded in embeded slot 213 at this time
In recessed portion 215, the first engaging slot 342 that steel ball 216 changes the outfit seat 34 from first is deviate from, and can make fast replacing device 21 and first
The seat 34 that changes the outfit separates and puts down ranging dispensing component 3.
As shown in Figure 10, dispensing clamp assembly 4 includes curved surface scaling board 41, first light source 42, the first fixed frame 43 and the
One light source shelf 44.First fixed frame 43 is metal frame body, and the center of 43 upper surface of the first fixed frame is hollow portion 432, and first is solid
Determine to be equipped with gantry 431 in the hollow portion 432 of frame 43, gantry 431 is crossed in hollow portion 432, and the master with the first fixed frame 43
Frame body is integrally formed.Gantry 431 is equipped with clamping station 45, and clamping station 45 includes placement plate 453, the first fixture block 451 and the
One vacuum chuck 452；Placement plate 453 is matched with 431 shape of gantry, and placement plate 453 is fixed on gantry 431；453 liang of placement plate
Side is formed with sliding groove, and the first fixture block 451 is located in sliding groove, is provided with long hole in the middle part of the first fixture block 451, on long hole and sliding groove
Bolt cooperation, the first fixture block 451 is fixed in the sliding groove of placement plate 453, and enable the position of the first fixture block 451 according to
The shape and size of product to be assembled are adjusted；There are two first vacuum chucks 452, is embedded in the middle part of placement plate 453, two
A first vacuum chuck 452 is connected to vacuum generator, and the suction nozzle of the first vacuum chuck 452 is arranged vertically upwards, to dispensing
Product is placed into placement plate 453, and the first fixture block 451 is abutted each other with the side to dispensing product, and the first vacuum chuck 452 is inhaled
The attached firmly bottom surface to dispensing product, realizes the fixation to dispensing product.First light source frame 44 is located under the first fixed frame 43, and first
Light source 42 is fixed on first light source frame 44, and first light source 42 is area source, and surface of light source is arranged vertically upwards, and makes first light source 42
Luminous energy pass through hollow portion 432, to be directed at clamping station 45.As shown in figure 21, curved surface scaling board 41 is metal plate, thereon table
Face is continuous curved surface, forms a calibration face 411.
As is illustrated by figs. 11 and 12, assembling assembly 6 is another component that changes the outfit of robot 2, and assembling assembly 6 includes adsorption head
61, vacuum tank 62 and second changes the outfit seat 64；Second seat 64 that changes the outfit is fixed on 62 upper end of vacuum tank, and air cavity is formed in vacuum tank 62,
Adsorption head 61 is fixed on 62 lower end of vacuum tank and is connected to air cavity；Air cavity by the gas nozzle that is arranged outside vacuum tank 62 and pipeline with
One vacuum generator connection, to manufacture vacuum in air cavity, allows adsorption head 61 to draw workpiece.
As shown in figure 13, second change the outfit seat 63 main body it is cylindrical, end face is formed and the extension of fast replacing device 21 thereon
Matched second jack 631 of 219 shape of portion, the i.e. extension 219 of fast replacing device 21 are exactly fitted in the second jack 631；The
It is equipped with the second engaging slot 632 in two jacks 631, the second engaging slot 632 is matched with 216 shape of steel ball, i.e., 216 surface of steel ball can be embedding
Enter in the second engaging slot 632.
Fast replacing device 21 and second change the outfit seat 63 cooperation, realize ranging dispensing component 3 quick despatch, specifically, fastly
First air cavity 217 of changing device 21 is ventilated, and piston 212 is stretched out, and steel ball 216 is embedded in embeded slot 213 and recessed portion 215 at this time
In, robot 2 drives fast replacing device 21 to move, and extension 219 is inserted into the second jack 631；Extension 219 is inserted into
After two jacks 631, the ventilation of the second air cavity 218 makes piston 212 bounce back, and steel ball 216 closes rib 214 by the top of piston 212 and ejects at this time
And be embedded in second change the outfit seat 63 the second engaging slot 632 in, thus complete change the outfit.When needing to put down assembling assembly 6, discharge second
The air of air cavity 218, and ventilate to the first air cavity 217, stretch out piston 212, steel ball 216 is embedded in embeded slot 213 and recessed at this time
In concave portion 215, the second engaging slot 632 that steel ball 216 changes the outfit seat 63 from second is deviate from, and fast replacing device 21 can be made to change the outfit with second
Seat 63 separates and puts down assembling assembly 6.
As shown in Figure 14 and Figure 15, workbench 12 is equipped with machine frame 14, and machine frame 14 is for putting ranging dispensing component 3
With assembling assembly 6, the first tooling slot 141 for putting ranging dispensing component 3 is formed on machine frame 14 and for placing dress
Second tooling slot 142 of distribution assembly 6 is additionally provided on first tooling slot 141 for fixing ranging dispensing component 3 and for its guiding
Fixed pin 143.
As shown in figure 16, workpiece plate component 7 includes workpiece plate 71, workpiece slot 72 and third fixed frame 73；Third fixed frame
73 fix on table 12, and workpiece plate 71 is fixed in third fixed frame 73；Workpiece slot 72, workpiece slot are formed on workpiece plate 71
72 match with workpiece shapes to be assembled.
As shown in figure 17, assembling jig component 8 includes clamping plate 81, second light source 82, the 4th fixed frame 83 and the second light
Source frame 84.4th fixed frame 83 is fixed on workbench 21, is clamped plate 81 and is fixed on the 4th fixed frame 83；Clamp shape on plate 81
At placing groove 813, to place another workpiece, 813 side of placing groove is fixed with the second fixture block 812, enables workpiece more securely
It is placed in placing groove 813, is long hole in the middle part of the second fixture block 812, long hole and bolt cooperate, the second fixture block 812 are fixed on and is put
813 side of slot is set, so that the position of the second fixture block 812 is adjusted according to the shape and size of product to be assembled, placing groove 813
Lower formation light hole 811.Be embedded in placing groove 813 there are three the second vacuum chuck 814, three the second vacuum chucks 814 with
Vacuum generator connection.Second light source frame 84 is located under the 4th fixed frame 83, and second light source 82 is fixed on second light source frame 84,
Second light source 82 is area source, and surface of light source is arranged vertically upwards, and the luminous energy of second light source 82 is made to pass through light hole 811.
Visual component includes the first industrial camera 91, the first camera lens 92, the second industrial camera 93, the second camera lens 94, third
Industrial camera 95, third camera lens 96 and third light source 97.
First industrial camera 91 is hung on furred ceiling frame 13, before the first camera lens 92 is located at the first industrial camera 91, the first work
The clamping station 45 of 92 alignment point glue clamp assembly 4 of industry camera 91 and the first camera lens, i.e. the first industrial camera 91 and the first camera lens
92 are arranged straight down, and the first industrial camera 91 is enable to take the clamping station 45 of dispensing clamp assembly 4.Second industrial camera
93 are also hung on furred ceiling frame 13, before the second camera lens 94 is located at the second industrial camera 93, the second industrial camera 93 and the second camera lens
The placing groove 813 of 94 alignment assembling jig components 8, i.e. the second industrial camera 93 and the second camera lens 94 is arranged straight down, makes the
Two industrial cameras 93 can take the placing groove 813 of assembling jig component 8.
As shown in figure 18, fixed by third light source shelf 98 there are four third light sources 97, specifically, four thirds
Light source 97 is the linear light source of same size, and third light source shelf 98 is square metal frame body, and middle part is hollow, and four sides is respectively four
Fixed position, four third light sources 97 are respectively provided at four fixed positions of third light source shelf 98.Third camera lens 96 is located at third
Before industrial camera 95, third industrial camera fixed frame 981 is extended in the lower part of third light source shelf 98, and third industrial camera 95 is fixed
On third industrial camera fixed frame 981；Third industrial camera 95 and third camera lens 96 are arranged vertically upwards.
Master control is industrial personal computer or computer, and host is located in rack components 1, is located under workbench 12；Master control respectively with
First industrial camera 91, the second industrial camera 93 and third industrial camera 95；Master control also passes through Ethernet with robot controller
Interface or USB interface connection.
The dispensing that this kind of dispensing and package system can be used for carrying out the product that surface is curved surface or out-of-flatness operates, such as
Mobile phone battery cover inner surface, mobile phone center inner surface and battery of mobile phone.
When this kind of dispensing and package system are assembled, include the following steps:
S1, workpiece plate component 7 workpiece slot 72 in place workpiece to be assembled, in the present embodiment, which is hand
Mainboard places on assembling jig component 8 and is assembled workpiece, and in the present embodiment, it is mobile phone center that this, which is assembled workpiece,；
S2, robot 2 install assembling assembly 6 by fast replacing device 21, and assembling assembly 6 is driven to reach workpiece plate component
7, the vacuum tank 62 of assembling assembly 6 is evacuated, and so that adsorption head 61 is generated suction, to draw the allotment of labor to be installed in workpiece slot 72
Part；
After S3, assembling assembly 6 draw workpiece to be assembled, the assembling assembly 6 that robot 2 drives absorption to need to be assembled workpiece is arrived
Up to 95 top of third industrial camera, third industrial camera 95 obtains the image of workpiece to be assembled and is transmitted to master control, at this time third
Light source 97 lights, and obtains image convenient for third industrial camera 95；
S4, the second industrial camera 93 obtain the image for being assembled workpiece and are transmitted to master control, and second light source 82 lights at this time,
Image is obtained convenient for the second industrial camera 93；
S5, master control are according to the image of workpiece to be assembled and are assembled the image of workpiece, calculate workpiece to be assembled and by
The location information of workpiece is assembled, and the location information is transmitted to robot controller；
S6, robot controller read machine people 2 current location information, and according to workpiece to be assembled and being assembled workpiece
Positional information calculation go out the preliminary assembly actuating quantity of robot 2；
S7, robot controller control robot 2 according to preliminary assembly actuating quantity, treat assembly workpiece and are assembled workpiece
Tentatively to be assembled, when tentatively assembling, robot 2 and assembling assembly 6 drive workpiece arrival to be assembled to be assembled above workpiece, and
And pressing downwards；
Pressure sensor 22 on S7, robot 2 detects the pressing pressure of workpiece to be assembled and is transmitted to robot control
Device, robot controller are further pressed according to the posture of the pressing pressure adjustment robot 2 received.
A kind of dispensing method, applies above-mentioned dispensing and package system, this kind of dispensing method includes:
S1, it is loaded at the clamping station 45 of dispensing clamp assembly 4 to dispensing product, such as mobile phone center or mobile phone electricity
Pond is clamped with the first fixture block 451 to dispensing product, and the first vacuum chuck 452 is adsorbed to dispensing product；
S2, robot 2 install ranging dispensing component 3 by fast replacing device 21；
S3, the first industrial camera 91 obtain dispensing clamp assembly 4 and the image to dispensing product, and the image are transmitted to
Master control；
S4, master control according to the dispensing clamp assembly 4 in step S3 and to the image of dispensing product, calculate dispensing starting point and
The position of dispensing terminal, so that it is determined that the dispensing track of ranging dispensing component 3, and it is sent to robot controller；
S5, robot controller are acted according to from master control received dispensing starting point control robot 2, drive ranging dispensing group
The point glue equipment 32 of part 3 reaches near dispensing starting point, and specifically, the gum outlet of the dispensing needle head 322 of point glue equipment 32 reaches
Near dispensing starting point；
S6, range unit 31 detect its datum mark at a distance to dispensing product, as first distance information, and by first
Range information is transmitted to A/D conversion board in the form of analog signal；
S7, A/D convert board and the first distance information that range unit 31 is fed back are converted into digital signal, the digital signal
Robot controller is transmitted to as second distance information, and by second distance information；
S8, robot controller adjust the movement of robot 2, to adjust according to the second distance information received in real time
The height of whole ranging dispensing component 3 specifically adjusts the height of the point glue equipment 32 of ranging dispensing component 3；
S9, point glue equipment 32 height be adjusted and accurately reach dispensing starting point after, glue dispensing valve 323 start, robot 2 opens
Initiating is made, and ranging dispensing component 3 is driven to move along dispensing track；
S10, step 6-8 is repeated, the height of ranging dispensing component 3 is enable to adjust in real time.
Step S8 is specifically included:
S81, robot controller receive the second distance information of A/D conversion board transmission；
The location information of ranging dispensing component 3 on S82, robot controller read machine people 2 is specifically read
The location information of 322 gum outlet of dispensing needle head；
S83, by second distance information compared with the location information of 322 gum outlet of dispensing needle head, to obtain comparison information；
S84, the movement for adjusting robot 2, keep comparison information equal with preset value；
S85, step S81-S84 is repeated, keeps comparison information equal with preset value.
In the above process, the movement of dispensing needle head 322 is the vector sum of following two movements:
1, in step S8 robot 2 adjust 3 height of ranging dispensing component produced movement；
2, movement when ranging dispensing component 3 is run along dispensing track.
Using the above method, the dispensing operation for the product that surface is curved surface or out-of-flatness, such as mobile phone battery cover can be completed
Inner surface, mobile phone center inner surface and battery of mobile phone.
When debugging, curved surface scaling board 41 simulates a curved face object, is debugged with this, and robot 2 drives ranging dispensing group
Part 3 is run along calibration face 411, thus the movement of observer robot 2 and the line position of ranging dispensing component 3.
Embodiment two:
A kind of dispensing and package system are present embodiments provided, and dispensing provided by embodiment one and package system, no
It is with putting:
As shown in Figure 22-Figure 24, dispensing clamp assembly 4 is substituted for clamp for machining component 5, to adapt to more dispensing works
Skill.
Clamp for machining component 5 is used to clamp to dispensing product, it can be achieved that quickly clamping and blanking to dispensing product, processes
Clamp assembly 5 include fixed clamp plate 51, movable grip block 52, guide pin 53, guide holder 54, the second fixed frame 55, handle 56,
Linkage pin 57, handle base 58, articulation piece 59 and bottom plate 50.Bottom plate 50 is metal plate, and bottom plate 50 is horizontally fixed on work by bolt
Make on platform 12, the second fixed frame 55 is metal frame body, is fixed on bottom plate 50；Bottom plate 50 and the second fixed frame 55 are processed clip
Have component 5 and fixing support rack body is provided.Fixed clamp plate 51 is metal plate, is fixed on bottom plate 50 vertically, i.e. fixed clamp
Plate 51 is mutually perpendicular to bottom plate 50；There are two guide holders 54, is separately fixed at left and right sides of the second fixed frame 55, on guide holder 54
Form guide pin hole；Guide pin 53 has two, is threaded through in the guide pin hole of two guide holders 54 respectively, two 53 phases of guide pin
Mutually parallel and direction fixed clamp plate 51；Movable grip block 52 is metal plate, and movable grip block 52 is fixed on two guide pins 53
It is directed toward one end of fixed clamp plate 51；Movable grip block 52 is opposite with 51 two sides of fixed clamp plate, thus in movable grip block 52
Grasping part is formed between fixed clamp plate 51.Handle base 58 is fixed on the second fixed frame 55, and handle base 58 is close to fixed
One end of grip block 51 forms pin hole, and the other end then forms hinge seat, and linkage pin 57 is threaded through in the pin hole of handle base 58, handle
56 ends are hinged on the hinge seat of handle base 58, and articulation piece 59 connects handle 56 and linkage pin 57, specifically, articulation piece 59
One end is hinged on 56 middle part of handle, and the other end is hinged on 57 end of linkage pin；57 end of linkage pin and the fixed company of movable grip block 52
It connects.
The downward pulling handle 56 of user, handle 56 drive linkage pin 57 by articulation piece 59, put down linkage pin 57 backward
It is dynamic, thus make movable grip block 52 to the direction translational far from fixed clamp plate 51, it at this time can be with loading and unloading.User pulls upwards
Dynamic handle 56, handle 56 drive linkage pin 57 by articulation piece 59, so that linkage pin 57 is translatable forward, to make movable grip block 52
To the direction translational close to fixed clamp plate 51, can be clamped at this time to dispensing product.
Plate-shaped products are clamped using clamp for machining component 5, dispensing can be carried out to the side of plate-shaped products, adapted to more
Gluing process.
A kind of dispensing provided in this embodiment and package system, and dispensing provided by embodiment one and package system,
Remaining component part is consistent, detailed in Example one.
Above embodiment only indicates that rather than limits the utility model, therefore all according to the utility model patent application
The equivalent change or modification that method described in range is done, is included in the scope of the utility model patent application.
Claims (12)
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820991393.0U CN208878945U (en) | 2018-06-26 | 2018-06-26 | A dispensing and assembly system |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820991393.0U CN208878945U (en) | 2018-06-26 | 2018-06-26 | A dispensing and assembly system |
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| CN208878945U true CN208878945U (en) | 2019-05-21 |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108543674A (en) * | 2018-06-26 | 2018-09-18 | 东莞市欧特自动化技术有限公司 | A kind of dispensing and package system and its dispensing method |
| CN110328666A (en) * | 2019-07-16 | 2019-10-15 | 汕头大学 | Identifying system and material mechanism for picking |
| CN110376208A (en) * | 2019-07-18 | 2019-10-25 | 深圳市鹰眼在线电子科技有限公司 | Dispensing device and its dispensing size detection method and dispensing equipment |
-
2018
- 2018-06-26 CN CN201820991393.0U patent/CN208878945U/en active Active
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108543674A (en) * | 2018-06-26 | 2018-09-18 | 东莞市欧特自动化技术有限公司 | A kind of dispensing and package system and its dispensing method |
| CN108543674B (en) * | 2018-06-26 | 2024-02-27 | 东莞市欧特自动化技术有限公司 | Dispensing and assembling system and dispensing method thereof |
| CN110328666A (en) * | 2019-07-16 | 2019-10-15 | 汕头大学 | Identifying system and material mechanism for picking |
| CN110376208A (en) * | 2019-07-18 | 2019-10-25 | 深圳市鹰眼在线电子科技有限公司 | Dispensing device and its dispensing size detection method and dispensing equipment |
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