CN216779268U

CN216779268U - Dispensing machine

Info

Publication number: CN216779268U
Application number: CN202122481399.8U
Authority: CN
Inventors: 邓亚军; 李宝生; 陈戴通; 顾誉
Original assignee: Zhuhai Haifeng Robot System Co ltd
Current assignee: Zhuhai Haifeng Robot System Co ltd
Priority date: 2021-10-14
Filing date: 2021-10-14
Publication date: 2022-06-21
Anticipated expiration: 2031-10-14

Abstract

The utility model discloses a dispenser which comprises a rack, a first belt, a second belt, a CCD positioning device and a mechanical arm. The first belt and the second belt are arranged on a mounting frame of the rack, the second belt and the first belt are parallel to each other and are positioned at the same height, a gap is formed between the second belt and the first belt, the second belt and the first belt can support two ends of a workpiece, the gap can be used for a protruding part of the workpiece to extend into, and the second belt and the first belt synchronously rotate; the CCD positioning device is connected with the rack and is positioned above the position between the front end of the first belt and the front end of the second belt; the mechanical arm is connected with the rack, the dispensing head is arranged at the tail end of the mechanical arm, and the dispensing head can be driven by the mechanical arm to move to the position above the position between the rear end of the first belt and the rear end of the second belt. The existence of the gap is beneficial to distinguishing the workpiece by the CCD positioning device, so that accurate position information of the workpiece is obtained, and the precision and the speed of the dispenser are improved.

Description

Dispensing machine

Technical Field

The utility model relates to the field of dispensing equipment, in particular to a dispensing machine.

Background

The glue dispenser is equipment for dispensing or gluing workpieces, is wide in application range, can effectively reduce workload of workers, and is high in glue dispensing speed, so that the market demand is large. The precision of the dispensing position required when the workpiece is dispensed is high, and the control of the glue amount is also accurate, so that the conditions of deviation of the dispensing position, glue overflow or glue shortage are avoided. Because the speed of point is glued fast, and point glue position and gluey volume require accurately, so bring higher requirement for the conveyor who carries the work piece. At the present stage, when a conveying device of the dispensing machine conveys a workpiece, the bottom surface of the workpiece is often not flat, that is, a protruding part exists on the bottom surface of the workpiece, so that the workpiece can deviate when conveyed on the conveying device, which is not favorable for the dispensing machine to distinguish the workpiece and obtain position information, and further causes the problem of inaccurate dispensing position.

SUMMERY OF THE UTILITY MODEL

The present invention is directed to solving at least one of the problems of the prior art. Therefore, the utility model provides a glue dispenser which can rapidly and accurately dispense glue to a workpiece.

The dispenser comprises a rack, a first belt, a second belt, a CCD positioning device and a mechanical arm. The rack is provided with a mounting rack; the first belt is arranged on the mounting rack along the front-back direction; the second belt is arranged on the mounting frame, the second belt and the first belt are parallel to each other and are positioned at the same height, a gap is formed between the second belt and the first belt, the second belt and the first belt can support two ends of a workpiece, the gap can be used for a protruding part of the workpiece to extend into, and the second belt and the first belt synchronously rotate; the CCD positioning device is connected with the rack and is positioned above the position between the front end of the first belt and the front end of the second belt; the mechanical arm is connected with the rack, a dispensing head is arranged at the tail end of the mechanical arm, and the mechanical arm can drive the dispensing head to move to the position above the position between the rear end of the first belt and the rear end of the second belt.

The glue dispenser provided by the embodiment of the utility model at least has the following beneficial effects: the frame plays the effect of supporting mounting bracket, CCD positioner and robotic arm, and the mounting bracket supports first belt and second belt. When the both ends of work piece were supported respectively on first belt and second belt, the bellying of work piece stretched into in the clearance, and because first belt and the synchronous rotation of second belt, so first belt and second belt are carried the work piece steadily by going to the back. The workpiece, the gap, the first belt and the second belt are clear in outline, and the workpiece takes the gap, the first belt and the second belt as backgrounds, so that the CCD positioning device can distinguish the workpiece, and accurate position information of the workpiece can be obtained; then the mechanical arm drives the dispensing head to accurately move to the workpiece, and the dispensing head dispenses glue on the workpiece to finish the dispensing work of the workpiece. The workpiece is conveyed on the first belt and the second belt, when the workpiece passes below the CCD positioning device, the CCD positioning device can immediately obtain the position information of the workpiece without stopping the first belt and the second belt, then the workpiece is continuously conveyed on the first belt and the second belt, and when the workpiece is close to the mechanical arm, the mechanical arm immediately drives the dispensing head to dispense glue for the workpiece, so that the dispensing speed of the dispenser is higher.

According to some embodiments of the utility model, a hood is arranged on the rack, an inlet and an outlet are respectively arranged on front and rear side walls of the hood, front ends of the mounting frame, the first belt and the second belt pass through the inlet and extend to the front of the rack, and rear ends of the mounting frame, the first belt and the second belt pass through the outlet and extend to the rear of the rack.

According to some embodiments of the utility model, the CCD positioning device is provided on the front side wall of the hood, the CCD positioning device is above and between the first belt or the second belt, and the CCD positioning device faces between the first belt and the second belt.

According to some embodiments of the utility model, the mounting frame is provided with a positioning plate, and a side surface of the positioning plate extends to the upper part of the second belt or the first belt.

According to some embodiments of the utility model, the driving device further comprises a first rotary driving assembly, the mounting frame is connected with a first driven roller, a second driven roller and a driving roller in transmission connection with an output end of the first rotary driving assembly, the driving roller comprises a first driving end and a second driving end which are connected, the first belt is wound on the first driving end and the first driven roller, and the second belt is wound on the second driving end and the second driven roller.

According to some embodiments of the utility model, two first adjusting parts and two first sliding blocks capable of sliding are further arranged on the mounting frame, the first driven roller straddles the two first sliding blocks, and the two first adjusting parts are respectively connected with the two first sliding blocks to drive the first driven roller to be far away from or close to the driving roller.

According to some embodiments of the utility model, the first adjusting member is a first bolt, the first adjusting member is in threaded connection with the mounting bracket, and one end of the first adjusting member is rotatably connected with the first sliding block.

According to some embodiments of the utility model the first and second driver ends are provided with gear teeth on their outer circumferential surfaces.

According to some embodiments of the utility model, the mounting frame is provided with inclined blanking guides in regions corresponding to the second belt output end and to the first belt output end.

According to some embodiments of the utility model, the mounting frame is provided with a support plate in a region corresponding to the gap.

Additional aspects and advantages of the utility model will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the utility model.

Drawings

The above and/or additional aspects and advantages of the present invention will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:

fig. 1 is a schematic structural diagram of a dispenser according to an embodiment of the present invention;

FIG. 2 is an enlarged view of a portion of FIG. 1 at A;

FIG. 3 is a schematic structural view of the dispenser shown in FIG. 1 after a hood is hidden;

FIG. 4 is an enlarged view of a portion of FIG. 3 at B;

fig. 5 is a schematic structural diagram of a mounting frame, a first rotary driving assembly, a first belt and a second belt in the dispenser shown in fig. 1.

Reference numerals:

the automatic feeding device comprises a rack 100, a mounting frame 110, a first adjusting part 120, a blanking guide plate 130, a supporting plate 140, a hood 150, a positioning plate 160, a connecting rail 170, a supporting frame 171, a light source 172, a vertical plate 180, a connecting block 190, a first belt 200, a second belt 300, a first rotary driving assembly 400, a first driven roller 500, a second driven roller 600, a CCD positioning device 800, a mechanical arm 900, a dispensing head 910 and a rotating head 920.

Detailed Description

Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the accompanying drawings are illustrative only for the purpose of explaining the present invention, and are not to be construed as limiting the present invention.

In the description of the present invention, it should be understood that the orientation or positional relationship referred to in the description of the orientation, such as upper, lower, front, rear, left, right, etc., may be the orientation or positional relationship shown on the basis of the drawings, only for convenience of description and simplification of the description, but not for indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus should not be construed as limiting the present invention.

In the description of the present invention, the meaning of a plurality of means is one or more, the meaning of a plurality of means is two or more, and more than, less than, more than, etc. are understood as excluding the present number, and more than, less than, etc. are understood as including the present number. If the first and second are described for the purpose of distinguishing technical features, they are not to be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated or implicitly indicating the precedence of the technical features indicated.

In the description of the present invention, unless otherwise explicitly limited, terms such as arrangement, installation, connection and the like should be understood in a broad sense, and those skilled in the art can reasonably determine the specific meanings of the above terms in the present invention in combination with the specific contents of the technical solutions.

Referring to fig. 1 to 5, the present invention discloses a dispenser, which includes a frame 100, a first belt 200, a second belt 300, a CCD positioning device 800 and a robot arm 900. The rack 100 is provided with a mounting rack 110; the first belt 200 is arranged on the mounting frame 110 along the front-back direction; the second belt 300 is arranged on the mounting frame 110, the second belt 300 and the first belt 200 are parallel to each other and are positioned at the same height, a gap exists between the second belt 300 and the first belt 200, the second belt 300 and the first belt 200 can support two ends of a workpiece, the gap can be used for a protruding part of the workpiece to extend into, and the second belt 300 and the first belt 200 synchronously rotate; the CCD positioning device 800 is connected with the frame 100, and the CCD positioning device 800 is positioned above the position between the front end of the first belt 200 and the front end of the second belt 300; the robot arm 900 is connected to the frame 100, a dispensing head 910 is disposed at the end of the robot arm 900, and the robot arm 900 can drive the dispensing head 910 to move to the position above the position between the rear end of the first belt 200 and the rear end of the second belt 300.

The frame 100 functions to support the mounting frame 110, the CCD positioning device 800 and the robot arm 900, and the mounting frame 110 supports the first belt 200 and the second belt 300. When the two ends of the workpiece respectively abut against the first belt 200 and the second belt 300, the protruding part of the workpiece extends into the gap, and the first belt 200 and the second belt 300 rotate synchronously, so that the workpiece is conveyed by the first belt 200 and the second belt 300 smoothly. The contour of the workpiece, the clearance, the first belt 200 and the second belt 300 is clear, and the workpiece takes the clearance, the first belt 200 and the second belt 300 as the background, so that the CCD positioning device 800 can distinguish the workpiece, and the accurate position information of the workpiece can be obtained; then the robot 900 drives the dispensing head 910 to accurately move to the workpiece, and the dispensing head 910 dispenses the glue on the workpiece, thereby completing the dispensing operation of the workpiece. The workpiece is conveyed on the first belt 200 and the second belt 300, when the workpiece passes below the CCD positioning device 800, the CCD positioning device 800 can immediately obtain the position information of the workpiece without stopping the first belt 200 and the second belt 300, and then the workpiece is continuously conveyed on the first belt 200 and the second belt 300, when the workpiece approaches the robot arm 900, the robot arm 900 immediately drives the dispensing head 910 to dispense the workpiece, so that the dispensing speed of the dispensing machine is high.

In some embodiments of the present invention, the frame 100 is provided with a hood 150 for covering the robot arm 900 and the dispensing head 910, and the hood 150 covers the robot arm 900 and the dispensing head 910, so as to protect the robot arm 900 and the dispensing head 910, and simultaneously prevent people from colliding with the robot arm 900 and the dispensing head 910. The front side wall and the rear side wall of the hood 150 are respectively provided with an inlet and an outlet, the front ends of the mounting rack 110, the first belt 200 and the second belt 300 penetrate through the inlet and extend to the front of the rack 100, and the front ends of the first belt 200 and the second belt 300 extend to the front of the rack 100, so that a workpiece to be glued is placed on the first belt 200 and the second belt 300 conveniently. The rear ends of the mounting frame 110, the first belt 200 and the second belt 300 penetrate through the outlet and extend to the rear of the rack 100, and the rear ends of the first belt 200 and the second belt 300 extend to the rear of the rack 100, so that the dispensing-finished workpiece can be conveniently loaded and unloaded from the dispensing machine.

In some embodiments of the present invention, the CCD positioning device 800 is disposed on the front side wall of the hood 150, the CCD positioning device 800 is connected to the frame 100 through the hood 150, and the hood 150 functions to support the CCD positioning device 800. The CCD positioning device 800 is located above the space between the first belt 200 or the second belt 300, and the CCD positioning device 800 faces the space between the first belt 200 and the second belt 300, so that the CCD positioning device 800 can directly shoot the workpiece.

It can be understood that the hood 150 is provided with a horizontal connecting rail 170, the connecting rail 170 is provided with a track, and the connecting rail 170 is perpendicular to the first belt 200 and the second belt 300, that is, the length direction of the connecting rail 170 extends along the left-right direction. The connecting rail 170 is connected with a vertical plate 180 through a first connecting piece, and the CCD positioning device 800 is connected with the vertical plate 180 through a connecting piece 190. Since the connecting rail 170 is provided with a rail, the position of the vertical plate 180 can be adjusted in the left-right direction so that the CCD positioning device 800 faces the gap area between the first belt 200 and the second belt 300. The connecting rail 170 is a section bar provided with a groove, the first connecting piece can be a first bolt and a first nut which are matched with each other, a first connecting hole is formed in the vertical plate 180, the end head of the first bolt penetrates through the first connecting hole and then is in threaded connection with the first nut, and the nut or the first nut of the first bolt is clamped into the groove.

The connecting block 190 is connected to the riser 180 by a second connector. More specifically, be equipped with a plurality of second connecting holes on riser 180, the second connecting hole distributes along upper and lower direction, and the second connecting piece includes second bolt and second nut, is equipped with the third connecting hole on connecting block 190, and the second bolt passes behind third connecting hole and arbitrary second connecting hole with second nut threaded connection, just can link together riser 180 and connecting block 190, passes the second connecting hole of co-altitude through the second bolt, realizes connecting block 190 and CCD positioner 800's altitude mixture control.

The connecting rail 170 is further provided with a support frame 171, the support frame 171 is connected with a light source 172, the light source 172 is located below the CCD positioning device 800, the light source 172 is provided with an avoiding hole in an area corresponding to the CCD positioning device 800, light emitted by the light source 172 is irradiated on the workpiece, the first belt 200 and the second belt 300, and part of light is reflected by the workpiece, the first belt 200 and the second belt 300, so that emission is formed, and the emitted light passes through the avoiding hole and reaches the CCD positioning device 800.

Further, the end of the robot arm 900 is connected to the dispensing head 910 through a rotating head 920. The rotating head 920 includes a fixing block connected to the end of the robot arm 900 and a second rotation driving assembly disposed on the fixing block, the output end of the second rotation driving assembly is connected to the dispensing head 910, and the output end of the second rotation driving assembly is in a horizontal state, so that the second rotation driving assembly can drive the dispensing head 910 to swing. The second rotary drive assembly may be a pneumatic cylinder. The dispensing head 910 is communicated with a glue tank through a conduit, the conduit is provided with a proportional valve, the glue tank is communicated with a gas tank, and high pressure in the gas tank is used for extruding glue in the glue tank into the conduit.

In some embodiments of the present invention, the positioning plate 160 is disposed on the mounting frame 110, and a side surface of the positioning plate 160 extends above the second belt 300 or the first belt 200. One end face of the workpiece is abutted against the positioning plate 160, and then the workpiece falls onto the second belt 300 or the first belt 200, so that the initial positions of all the workpieces are the same, the CCD positioning device 800 is ensured to be capable of shooting all the workpieces and obtaining the position information of all the workpieces, and the problem that the position information of the workpiece cannot be obtained finally because the workpiece cannot be shot due to the fact that an individual workpiece deviates too far from the CCD positioning device 800 is avoided.

In this embodiment, the first belt 200 is disposed at the right side of the frame 100, the positioning plate 160 includes an inclined portion, a vertical portion and a horizontal portion connected in sequence, the horizontal portion is connected to the mounting frame 110, and the horizontal portion is parallel to the first belt 200 and above the first belt 200; the vertical part is positioned above the first belt 200, and the vertical part is vertical to the first belt 200 and the horizontal part; the rake is the top that the tilt state is in first belt 200, and the horizontal part plays the effect of supporting vertical portion and rake, and when the work piece was arranged in on first belt 200, the subsides of work piece were on the rake, then the work piece is pasting the rake and is removed and paste to vertical portion on, the work piece falls on first belt 200 after that, the rake plays the effect that the terminal surface of guide work piece pasted on vertical portion, and vertical portion plays the effect of spacing work piece.

In some embodiments of the present invention, the dispenser further includes a first rotary driving assembly 400, the mounting frame 110 is connected to a first driven roller 500, a second driven roller 600 and a driving roller 700 in transmission connection with an output end of the first rotary driving assembly 400, the driving roller 700 includes a first driving end and a second driving end connected, the first belt 200 is wound around the first driving end and the first driven roller 500, and the second belt 300 is wound around the second driving end and the second driven roller 600. The first rotary driving assembly 400 drives the driving roller 700 to rotate, because the first driving end is connected with the second driving end, that is, the first driving end and the second driving end are coaxial, the first rotary driving assembly 400 drives one driving roller 700, so that the first belt 200 and the second belt 300 can be synchronously driven to rotate, the conveying of workpieces is realized, fewer parts are needed by the dispenser, and the structure is simpler.

The first rotary drive assembly 400 is a motor. The output end of the first rotary driving assembly 400 is in transmission connection with the driving roller 700 through a reducer. The first driven roller 500, the second driven roller 600, and the driving roller 700 may be coupled to the mounting frame 110 through bearings.

In some embodiments of the present invention, two first adjusting members 120 and two first sliding blocks capable of sliding are further disposed on the mounting frame 110, the first driven roller 500 is disposed across the two first sliding blocks, and the two first adjusting members 120 are respectively connected to the two first sliding blocks to drive the first driven roller 500 to move away from or close to the driving roller 700. The first adjusting member 120 may increase the distance between the first driven roller 500 and the drive roller 700, and the increase of the distance between the first driven roller 500 and the drive roller 700 may tension the first belt 200, ensuring that the first belt 200 may smoothly convey the workpiece.

In some embodiments of the present invention, the first adjusting member 120 is a third bolt, and the first adjusting member 120 is threadedly coupled to the mounting bracket 110, so that turning the first adjusting member 120 can change the position of the first adjusting member 120 on the mounting bracket 110; one end of the first adjusting member 120 is rotatably connected to the first slider, and the first slider and the first driven roller 500 can be moved by the first adjusting member 120 by changing the position of the first adjusting member 120.

Similarly, the mounting bracket 110 is further provided with two second adjusting parts and two second sliding blocks capable of sliding, the second driven roller 600 is spanned on the two second sliding blocks, and the two second adjusting parts are respectively connected with the two second sliding blocks to drive the second driven roller 600 to be far away from or close to the driving roller 700. The second adjusting piece is a fourth bolt, the second adjusting piece is in threaded connection with the mounting frame 110, and one end of the second adjusting piece is rotatably connected with the second sliding block. Tensioning of the second belt 300 can also be effected by the second adjustment member.

In some embodiments of the present invention, the outer diameters of the first driving end and the second driving end are equal, and the outer circular surfaces of the first driving end and the second driving end are both provided with gear teeth, so that the risk of slipping of the first belt 200 on the first driving end and the risk of slipping of the second belt 300 on the second driving end are reduced, and the stability of conveying workpieces by the first belt 200 and the second belt 300 is improved.

In some embodiments of the present invention, the mounting frame 110 is provided with an inclined discharging guide 130 at a region corresponding to the output end of the second belt 300 and the output end of the first belt 200. When the workpieces are conveyed on the first belt 200 and the second belt 300, after the dispensing machine finishes dispensing the workpieces, the workpieces are separated from the output ends of the first belt 200 and the second belt 300, and then the blanking guide plate 130 can guide the workpieces to other areas.

It should be understood that the drive roller 700 is provided at the front end of the mounting bracket 110, and the first and second driven

rollers

500 and 600 are provided at the rear end of the mounting bracket 110. The second belt 300 and the first belt 200 are distributed on the mounting frame 110.

In some embodiments of the present invention, the mounting frame 110 is provided with a supporting plate 140 in a region corresponding to the gap, the supporting plate 140 can be used to support a workpiece accidentally falling from the first belt 200 and the second belt 300, and the supporting plate 140 serves as a background for the CCD positioning device 800 to shoot and position the workpiece, which is beneficial for the CCD positioning device 800 to shoot and position the workpiece.

It can be understood that the second belt 300 and the first belt 200 are covered with different color layers respectively, and the color layers have different colors, such as black and white, so as to improve the resolution performance of the CCD positioning device 800 and ensure the positioning accuracy of the workpiece.

The embodiments of the present invention have been described in detail with reference to the drawings, but the present invention is not limited to the embodiments, and various changes can be made within the knowledge of those skilled in the art without departing from the gist of the present invention.

Claims

1. A dispenser, comprising:

the rack is provided with a mounting rack;

the first belt is arranged on the mounting rack along the front-back direction;

the second belt is arranged on the mounting frame, the second belt and the first belt are parallel to each other and are positioned at the same height, a gap is formed between the second belt and the first belt, the second belt and the first belt can support two ends of a workpiece, the gap can be used for a protruding part of the workpiece to extend into, and the second belt and the first belt synchronously rotate;

the CCD positioning device is connected with the rack and is positioned above the space between the front end of the first belt and the front end of the second belt;

and the mechanical arm is connected with the frame, a dispensing head is arranged at the tail end of the mechanical arm, and the mechanical arm can drive the dispensing head to move to the upper part between the rear end of the first belt and the rear end of the second belt.

2. The dispenser according to claim 1, characterized in that: be equipped with the aircraft bonnet in the frame, be equipped with import and export on the lateral wall respectively around the aircraft bonnet, the mounting bracket first belt with the front end of second belt all passes the import extends to the place ahead of frame, the mounting bracket first belt with the rear end of second belt all passes the export extends to the rear of frame.

3. The dispenser according to claim 2, characterized in that: CCD positioner locates on the preceding lateral wall of aircraft bonnet, CCD positioner is in first belt or top between the second belt, just CCD positioner towards first belt with between the second belt.

4. A dispenser according to any one of claims 1 to 3, wherein: be equipped with the locating plate on the mounting bracket, the side of locating plate extends the second belt or the top of first belt.

5. The dispenser according to claim 1, characterized in that: still include a rotary driving subassembly, be connected with first driven voller, second driven voller on the mounting bracket and with the drive roll that first rotary driving subassembly's output transmission is connected, the drive roll is including continuous first drive end and second drive end, first belt is around first drive end with on the first driven voller, the second belt is around the second drive end with the second driven voller.

6. The dispenser according to claim 5, characterized in that: the mounting frame is further provided with two first adjusting parts and two first sliding blocks capable of sliding, the first driven roller is arranged on the two first sliding blocks in a spanning mode, and the two first adjusting parts are respectively connected with the two first sliding blocks to drive the first driven roller to be far away from or close to the driving roller.

7. The dispenser according to claim 6, characterized in that: the first adjusting piece is a first bolt and is in threaded connection with the mounting frame, and one end of the first adjusting piece is rotatably connected with the first sliding block.

8. A dispenser according to any of claims 5 to 7, characterized in that: gear teeth are arranged on the outer circle surfaces of the first driving end and the second driving end.

9. The dispenser according to claim 1, characterized in that: and the mounting frame is provided with inclined blanking guide plates in the areas corresponding to the second belt output end and the first belt output end.

10. The dispenser according to claim 1, characterized in that: and a supporting plate is arranged on the mounting frame in the area corresponding to the gap.