CN216910842U

CN216910842U - Dispensing machine

Info

Publication number: CN216910842U
Application number: CN202220369959.2U
Authority: CN
Inventors: 范润; 朱奎; 何琦
Original assignee: Suzhou Ximeng Intelligent Equipment Co ltd
Current assignee: Suzhou Ximeng Intelligent Equipment Co ltd
Priority date: 2022-02-23
Filing date: 2022-02-23
Publication date: 2022-07-08
Anticipated expiration: 2032-02-23

Abstract

The utility model relates to the technical field of automation equipment and discloses a dispenser. This point gum machine includes a point gum module and rotary device, the point gum module includes the point gum head, the point gum head is used for treating some glue products and carries out the point gum, rotary device includes rotary mounting seat and rotary mechanism, rotary mechanism includes rotary driving piece and connecting block, rotary driving piece sets up on rotary mounting seat, the connecting block links to each other with the point gum module, rotary driving piece can drive the connecting block and rotate around the Z axle, rotate around the Z axle in order to drive the point gum module, rotary mechanism still includes spacing subassembly, spacing subassembly is configured to the rotation angle of injecing the connecting block. The rotary driving piece is arranged to drive the connecting block to rotate so as to drive the dispensing module to rotate around the Z axis, the limiting assembly is arranged to limit the rotating angle of the connecting block, the dispensing module can rotate at a specific angle in a horizontal plane, and the dispensing module can dispense glue in a rotating state.

Description

Dispensing machine

Technical Field

The utility model relates to the technical field of automation equipment, in particular to a glue dispenser.

Background

In the production process of semiconductor products, a dispensing process is often used, and dispensing areas are various due to different product shapes. Some products have complicated dispensing routes and narrow working space, and the dispensing machine is required to dispense glue in an inclined or rotating state. The dispenser in the prior art is generally provided with a rotating motor in the horizontal direction, an output shaft of the rotating motor is horizontally arranged to drive the dispensing module to rotate to an inclined state on a vertical plane, and the dispensing module cannot rotate on a horizontal plane to be adjusted, so that the dispenser is restricted by an operation space due to the fact that the dispensing module cannot rotate on the horizontal plane during operation.

Therefore, a dispenser is needed to solve the above technical problems.

SUMMERY OF THE UTILITY MODEL

One objective of the present invention is to provide a tilting device, which solves the problem that the dispensing module of the existing dispenser cannot rotate in the horizontal plane.

In order to achieve the purpose, the utility model adopts the following technical scheme:

a dispenser, comprising:

the dispensing module comprises a dispensing head, and the dispensing head is used for dispensing a product to be dispensed;

the rotating device comprises a rotating installation seat and a rotating mechanism, the rotating mechanism comprises a rotating driving piece and a connecting block, the rotating driving piece is arranged on the rotating installation seat, the connecting block is connected with the dispensing module, the rotating driving piece can drive the connecting block to rotate around a Z axis so as to drive the dispensing module to rotate around the Z axis, and the rotating mechanism further comprises a limiting assembly which is configured to limit the rotating angle of the connecting block.

As an alternative, the dispenser further comprises:

the tilting device is connected with the connecting block and the dispensing module and can drive the dispensing module to rotate around an X axis, and the X axis is vertical to the Z axis.

As an alternative, the tilting means comprises:

the inclined mounting seat is connected with the connecting block;

the driving assembly is connected to the inclined mounting seat and can output linear motion along the Z axis;

one end of the toggle piece is connected with the output end of the driving assembly;

the tilting mechanism comprises a rotating seat and a transmission assembly, the rotating seat is rotatably connected to the tilting mounting seat around the axis in the horizontal direction, one end of the transmission assembly is connected with the rotating seat, the other end of the transmission assembly forms a obliquely arranged slide way, and the other end of the stirring piece extends into the slide way;

when the driving assembly drives the stirring piece to move up and down, the stirring piece moves along the slide way and drives the tilting mechanism to rotate around the X axis.

As an alternative scheme, the rotary driving piece is a motor, a through hole is formed in the rotary mounting seat, the through hole is penetrated by a driving shaft of the motor, the connecting block sleeve is arranged on the outer side of the driving shaft, and one end of the rotary mounting seat is far away from the connecting block and is connected with the inclined mounting seat.

Alternatively, the motor is a stepper motor.

As an alternative, the connecting block is a hollow cylinder, an opening is formed in the connecting block along the Z-axis direction, bolt holes are formed in two ends of the opening, and bolts penetrate through the bolt holes to lock the connecting block to the driving shaft.

As an alternative, one end of the inclined mounting seat connected with the connecting block extends to the upper side of the dispensing module, and the connecting block and the dispensing head are coaxially arranged.

As an alternative, the limiting assembly comprises a limiting groove and a limiting column, the connecting block is close to one end of the rotary mounting seat and is arranged on the periphery of the connecting block, the limiting groove is formed in the inner wall of the through hole of the rotary mounting seat, the limiting column is arranged in the limiting groove in a limiting mode, and the limiting column is arranged on the inner wall of the through hole in a limiting mode.

As an alternative, a first sensor is arranged on one of the rotary mounting seat and the inclined mounting seat, a first sensing piece is correspondingly arranged on the other of the rotary mounting seat and the inclined mounting seat, and the position of the first sensor sensing the first sensing piece is the rotation starting position of the connecting block.

Alternatively, the first sensor is a photosensor.

The utility model has the beneficial effects that:

according to the tilting device, the rotary driving piece is arranged to drive the connecting block to rotate so as to drive the glue dispensing module to rotate around the Z axis, and the limiting assembly is arranged to limit the rotating angle of the connecting block, so that the glue dispensing module can rotate by a specific angle in a horizontal plane, and the glue dispensing module can dispense glue in a rotating state.

Drawings

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

FIG. 2 is a schematic structural view of a rotary device provided in an embodiment of the present invention with a rotary mounting base removed;

FIG. 3 is a schematic view of a tilting device according to an embodiment of the present invention from a first perspective;

FIG. 4 is an exploded view of a tilting device according to an embodiment of the present invention;

FIG. 5 is a schematic view of a tilting device according to an embodiment of the present invention from a second perspective;

FIG. 6 is a schematic diagram of the relationship between the linear motion of the toggle member and the rotational motion of the rotary base according to the embodiment of the present invention;

FIG. 7 is a schematic view of a stressed state of a pressing member according to an embodiment of the present invention;

fig. 8 is a schematic view of an angle formed by the toggle member and the center of the rotary base when the toggle member is at different positions according to the embodiment of the present invention.

In the figure:

100-a dispensing module; 200-a connector; 300-a tilting device; 400-a rotation device;

11-inclined mounting seats; 12-a mounting plate;

2-a drive assembly; 21-a screw motor; 22-a motion block;

3-a toggle piece;

4-a tilting mechanism; 41-a rotating seat; 411-plate body; 412-a connecting portion; 4111-avoiding the gap; 42-a transmission assembly; 421-a slideway; 422-straight rod; 423-pressing piece; 4231-a mating end; 42311-carrier bar; 4232-abutting surface; 4233-a mounting end; 4234-mounting groove; 424-spring plunger;

51-a pin shaft; 52-a locking member;

61-a second sensor; 62-a second sensing piece; 63-a stop;

71-a guide shaft; 72-linear bearings;

81-bolt; 82-a bearing; 83-locking nut;

91-rotating the mounting seat; 92-a rotation mechanism; 921 — rotating the driving member; 922-connecting blocks; 9221-limiting groove; 923-a limit column; 924-a first sensor; 925-first induction piece.

Detailed Description

The present invention will be described in further detail with reference to the accompanying drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the utility model and are not limiting of the utility model. It should be further noted that, for the convenience of description, only some of the structures related to the present invention are shown in the drawings, not all of the structures.

In the description of the present invention, unless expressly stated or limited otherwise, the terms "connected," "connected," and "fixed" are to be construed broadly, e.g., as meaning permanently connected, removably connected, or integral to one another; can be mechanically or electrically connected; either directly or indirectly through intervening media, either internally or in any other relationship. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.

In the present invention, unless otherwise expressly stated or limited, "above" or "below" a first feature means that the first and second features are in direct contact, or that the first and second features are not in direct contact but are in contact with each other via another feature therebetween. Also, the first feature being "on," "above" and "over" the second feature includes the first feature being directly on and obliquely above the second feature, or merely indicating that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature includes the first feature being directly under and obliquely below the second feature, or simply meaning that the first feature is at a lesser elevation than the second feature.

In the description of the present embodiment, the terms "upper", "lower", "right", etc. are used in an orientation or positional relationship based on that shown in the drawings only for convenience of description and simplicity of operation, and do not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first" and "second" are used only for descriptive purposes and are not intended to have a special meaning.

As shown in fig. 1 and fig. 2, the present embodiment provides a dispenser, the dispenser includes a dispensing module 100 and a rotating device 400, the dispensing module 100 includes a dispensing head, the dispensing head is used for dispensing a product to be dispensed, the rotating device 400 includes a rotary mounting seat 91 and a rotating mechanism 92, the rotating mechanism 92 includes a rotary driving member 921 and a connecting block 922, the rotary driving member 921 is disposed on the rotary mounting seat 91, the connecting block 922 is connected to the dispensing module 100, the rotary driving member 921 can drive the connecting block 922 to rotate around a Z axis, so as to drive the dispensing module 100 to rotate around the Z axis, the rotating mechanism 92 further includes a limiting component, and the limiting component is used for limiting a rotation angle of the connecting block 922. In the figure, the Z direction represents a vertical direction, the X direction and the Y direction each represent a horizontal direction, and the X direction is perpendicular to the Y direction. The rotary driving member 921 is arranged to drive the connecting block 922 to rotate so as to drive the dispensing module 100 to rotate around the Z axis, and the limiting assembly is arranged to limit the rotation angle of the connecting block 922, so that the dispensing module 100 can rotate by a specific angle in the horizontal plane, and the dispensing module 100 can dispense in a rotating state.

Preferably, the rotary driving member 921 is a motor, a through hole is provided on the rotary mounting seat 91, the through hole is penetrated through by the driving shaft of the motor, the connecting block 922 is sleeved outside the driving shaft, one end of the connecting block 922, which is far away from the rotary mounting seat 91, is connected with the inclined mounting seat 11, the dispensing module 100 is arranged at the lower end of the inclined mounting seat 11, and the connecting block 922 drives the dispensing module 100 to rotate through the inclined mounting seat 11. The motor is preferably a stepper motor.

Further, connecting block 922 is preferably hollow cylinder, and the through-hole correspondence on the rotary mounting seat 91 sets up to the circular port, and in the upper end of connecting block 922 stretched into the through-hole, connecting block 922 set up to be cylindrical be favorable to its be rotary motion in the through-hole. Connecting block 922 is provided with the opening along the Z axle direction, and the opening both ends are provided with the bolt hole, and the bolt passes the bolt hole in order to lock connecting block 922 in the drive shaft. Set up the opening on the connecting block 922, conveniently establish the connecting block 922 cover in the drive shaft of motor, rethread bolt locking prevents that connecting block 922 from sliding for the drive shaft of motor.

Further, as shown in fig. 2, spacing subassembly includes spacing groove 9221 and spacing post 923, the one end that connecting block 922 is close to swivel mount 91 sets up foretell spacing groove 9221 along the periphery of connecting block 922, be provided with spacing post 923 on the through-hole inner wall of swivel mount 91, spacing post 923 is spacing in spacing groove 9221, connecting block 922 can't continue to rotate when spacing post 923 touches the cell wall of spacing groove 9221, thereby play the limiting displacement to the rotation angle of connecting block 922.

Further, as shown in fig. 2, a first sensor 924 is disposed on one of the rotary mounting seat 91 and the tilt mounting seat 11, a first sensing piece 925 is correspondingly disposed on the other one of the rotary mounting seat and the tilt mounting seat, and when the first sensor 924 senses the first sensing piece 925, the rotary driving member 921 drives the connecting block 922 to rotate reversely. In this embodiment, the first sensor 924 is disposed at a lower side of the rotary mounting seat 91, the first sensing piece 925 is disposed at an upper side of the inclined mounting seat 11, the first sensing piece 925 rotates along with the rotation of the connecting block 922, and a position where the first sensor 924 senses the first sensing piece 925 is used as a rotation start position of the connecting block 922.

The first sensor 924 is preferably a photosensor.

Preferably, one end of the inclined mounting base 11 connected to the connection block 922 extends to the upper side of the dispensing module 100, and the connection block 922 and the dispensing head are coaxially arranged. Thus, when the rotating mechanism 92 drives the dispensing module 100 to rotate, the dispensing head remains stationary, which is beneficial to positioning the dispensing head. Meanwhile, the rotary mounting seat 91 and the inclined mounting seat 11 are arranged in a C shape, and the upper end of the rotary mounting seat extends towards the dispensing module 100, so that the space is reasonably utilized, the whole volume of the dispenser is reduced, and the dispenser can be suitable for narrow dispensing operation space.

Further, referring to fig. 1, the dispenser further includes a tilting device 300, the dispensing module 100 is connected to an output end of the tilting device 300 through a connecting member 200, and the tilting device 300 can drive the dispensing module 100 to rotate in a vertical plane, so that the dispensing module 100 can dispense in a tilted state. The fixed end of the tilting device 300 is a tilting mounting seat 11, the tilting mounting seat 11 is connected to the connection block 922, the tilting device 300 and the dispensing module 100 are driven to rotate in the horizontal plane by the rotating device 400, and the dispensing module 100 is driven to rotate in the vertical plane by the tilting device 300, so that the dispensing module 100 can perform flexible dispensing in a rotating or tilting state.

Preferably, as shown in fig. 3 and 4, the tilting device 300 includes a tilting mount 11, a driving assembly 2, a toggle member 3, and a tilting mechanism 4. The driving assembly 2 is connected to the inclined mounting base 11 and can output vertical (namely Z-direction) linear motion, and one end of the toggle piece 3 is connected with the output end of the driving assembly 2. The tilting mechanism 4 is arranged on one side of the driving assembly 2 along the Y direction, the tilting mechanism 4 comprises a rotating base 41 and a transmission assembly 42, the rotating base 41 is rotatably connected to the tilting mounting base 11 around the axis in the X direction, the dispensing module 100 is arranged on the rotating base 41, one end of the transmission assembly 42 is connected with the rotating base 41, the other end of the transmission assembly forms a slide 421 which is obliquely arranged, and the end of the toggle member 3 extends into the slide 421. When the driving assembly 2 drives the toggle member 3 to move up and down along the Z direction, the toggle member 3 simultaneously moves along the slide 421 relative to the tilting mechanism 4, so that the transmission assembly 42 generates a movement component along the Z direction, and since the transmission assembly 42 only has a degree of freedom of rotation along the X-direction axis, the rotary base 41 and the dispensing module 100 connected with the rotary base 41 can be driven to rotate together around the X-direction axis.

The tilting device 300 of this embodiment, through the cooperation of dialling piece 3 and drive assembly 42, can be with the linear motion of drive assembly 2 output convert the rotary motion output of roating seat 41 to satisfy the demand of module 100 drive to the tilt state is glued to the point, in addition, drive assembly 2 is located one side of roating seat 41, so make whole tilting device 300 along roating seat 41 axial whole size less, thereby can satisfy the demand of carrying out the operation of gluing in comparatively narrow and small space. The dispenser of the embodiment can conveniently perform inclined dispensing by arranging the inclined device 300, has a compact structure, and can perform dispensing operation in a narrow space.

Specifically, in the present embodiment, as shown in fig. 3, the tilt mount 11 is a plate-shaped member and is disposed in the Y-Z plane, and the driving unit 2 and the tilt mechanism 4 are disposed on the same side of the tilt mount 11 and are arranged in parallel in the Y direction. Preferably, as shown in fig. 1, the dispenser further includes a connecting member 200, the dispensing module 100 is connected to the rotating base 41 through the connecting member 200, and the connecting member 200 may be a machined part, and the specific shape thereof is not limited. It should be noted that the dispensing module 100 is a module mature in the prior art, and a person skilled in the art can select the dispensing module according to specific needs, which is not limited herein.

Preferably, as shown in fig. 3 and 4, in the present embodiment, the driving assembly 2 includes a lead screw motor 21 and a moving block 22, the lead screw motor 21 is connected to the inclined mounting base 11, a lead screw of the lead screw motor 21 is vertically disposed, the moving block 22 is connected to the lead screw of the lead screw motor 21, and the toggle member 3 is connected to the moving block 22. When the screw rod motor 21 rotates, the screw rod is driven to move up and down along the vertical direction, and the screw rod drives the moving block 22 and the stirring piece 3 to synchronously realize the lifting movement. The driving source selects the form of the screw motor 21, is easy to install and is not limited by the critical rotating speed of the screw, and saves space. In this embodiment, the inclined mounting base 11 is connected to a horizontally disposed mounting plate 12, and the lead screw motor 21 is fixed to the mounting plate 12 to be connected to the inclined mounting base 11.

Of course, in other embodiments, the driving assembly 2 may also include a common motor, a lead screw and a moving block 22, wherein the lead screw is disposed along the Z direction and rotatably disposed on the inclined mounting base 11, the moving block 22 is in threaded fit with the lead screw, and the common motor drives the lead screw to rotate, so that the moving block 22 moves along the lead screw, and further drives the toggle member 3 to move up and down. The driving assembly 2 may be any structure capable of outputting linear motion in the prior art without departing from the concept of the present invention, and is not limited herein.

Preferably, as shown in fig. 3 and 4, the tilting device 300 further includes a guide shaft 71 and a linear bearing 72, the guide shaft 71 is vertically disposed and connected to the mounting plate 12, so as to connect the guide shaft 71 to the tilting mounting base 11, the linear bearing 72 is sleeved on the guide shaft 71 and slidably engaged with the guide shaft 71, and the motion block 22 is connected to the linear bearing 72. The smoothness of the vertical lifting motion of the motion block 22 and the accuracy of the motion direction are ensured by the cooperation of the guide shaft 71 and the linear bearing 72. Of course, in other embodiments, the guide shaft 71 and the linear bearing 72 may be replaced by a structure of a rail slider, which is not limited herein.

In order to realize the rotatable connection of the rotary base 41 to the tilt mounting base 11, as shown in fig. 4, the tilt apparatus 300 further includes a bolt 81, a lock nut 83 and a bearing 82, wherein the bolt 81 is fixedly connected to the tilt mounting base 11, an axial direction of the bolt 81 extends in the X direction, an inner ring of the bearing 82 is fixedly connected to the bolt 81, and the rotary base 41 is fixedly connected to an outer ring of the bearing 82, so that the rotary base 41 can rotate relative to the tilt mounting base 11. The locking nut 83 is in threaded connection with the bolt 81 and located on one side, away from the inclined mounting seat 11, of the rotating seat 41, the locking nut 83 can axially limit the rotating seat 41, and the rotating seat 41 is prevented from moving along the axial direction of the bolt 81. Specifically, in the present embodiment, as shown in fig. 4 and 5, two bearings 82 are disposed on the bolt 81 at intervals, the rotating base 41 includes two parallel plate bodies 411 and a connecting portion 412 connected between the two plate bodies 411, and each plate body 411 is connected to one bearing 82. Ensuring the stability of the rotating seat 41 in its axial support.

Preferably, in this embodiment, the toggle member 3 is a cam bearing follower, so that when the toggle member 3 moves in the slide 421, the state of rolling fit with the transmission assembly 42 is achieved, which not only reduces the wear between the toggle member 3 and the transmission assembly 42, but also ensures the smoothness of the rotation of the transmission assembly 42 and the rotary base 41.

Preferably, as shown in fig. 3 and 4, the transmission assembly 42 includes a straight rod 422 and a pressing member 423, the straight rod 422 is connected to the rotating base 41 and extends along a radial direction of the rotating base 41, the pressing member 423 is connected to the rotating base 41 through a pin 51, the pressing member 423 includes a mating end 4231 and a mounting end 4233, the mating end 4231 and the mounting end 4233 are respectively located on two sides of the pin 51, the mating end 4231 has an abutting surface 4232 arranged parallel to the straight rod 422, and a slideway 421 is formed between the abutting surface 4232 and the straight rod 422. In this embodiment, when the driving assembly 2 drives the toggle member 3 to ascend, the toggle member 3 pushes the straight rod 422, and further pushes the rotating base 41 to rotate clockwise; when the driving assembly 2 drives the toggle member 3 to descend, the toggle member 3 pushes the abutting surface 4232, and further pushes the rotary seat 41 to rotate counterclockwise.

In this embodiment, as shown in fig. 4 and 5, the transmission assembly 42 includes two straight rods 422, the two straight rods 422 are parallel and spaced along the X direction, and each straight rod 422 is correspondingly connected to one plate 411 of the rotating base 41. The matching end 4231 of the pressing member 423 comprises a plurality of carrier rods 42311 arranged at intervals in the X direction, each carrier rod 42311 is provided with an abutting surface 4232, each abutting surface 4232 is correspondingly arranged opposite to one straight rod 422 and forms a slideway 421, and two slideways 421 are correspondingly formed between the two straight rods 422 and the two carrier rods 42311. Correspondingly, two ends of the moving block 22 along the X direction are respectively provided with one shifting member 3, each shifting member 3 correspondingly extends into one slide way 421, and the two shifting members 3 are matched with the two slide ways 421, so that the rotation of the rotating base 41 is more stable. Further, round pin axle 51 wears to establish roating seat 41, and the both ends of round pin axle 51 are spacing through retaining member 52 respectively, and specifically, retaining member 52 can be the jump ring etc..

Fig. 6 is a schematic diagram of the relationship between the linear motion of the toggle element 3 and the rotational motion of the rotary base 41, and as shown in fig. 6, point Q is the rotation center of the rotary base 41, point N is the center of the toggle element 3, point L1 is the horizontal distance between the center of the toggle element 3 and the rotation center of the rotary base 41, point L2 is the vertical distance between the center of the toggle element 3 and the rotation center of the rotary base 41, point M is a straight line where the straight rod 422 is intersected after the L2 is extended, line L4 is an auxiliary line and indicates the distance from the center of the toggle element 3 to the straight line QM, line L5 is an auxiliary line and indicates a line passing through the center of the toggle element 3 and parallel to L1, and the included angle between the straight line QM and L1 is θ.

The relationship between the lifting distance of the toggle member 3 and the rotation angle of the rotary base 41 is derived as follows:

from the cosine theorem:

then

By the sine theorem:

then

Similar from triangles we can get:

therefore, the method comprises the following steps: L1L3 ═ L5 (Lz + L3)

Therefore, the temperature of the molten metal is controlled,

according to the formula one, since L1 and L4 are fixed values, the movement distance L2 of the moving block 22 changes along with the change of the rotation angle θ of the rotating base 41, and thus the relationship is a theoretical basis, and the tilt angle of the rotating base 41 can be precisely controlled by adjusting the motor parameters, and further the tilt angle of the dispensing module 100 can be controlled.

When the shifting member 3 pushes the transmission assembly 42 to move, a gap is inevitably generated between the shifting member 3 and the straight rod 422 or the abutting surface 4232, and the gap affects the rotation precision of the rotating base 41.

Preferably, as shown in fig. 4-6, the transmission assembly 42 further includes a spring plunger 424 connected to the mounting end 4233 of the pressing member 423, the spring plunger 424 extending in a radial direction of the rotary seat 41 and elastically abutting against the rotary seat 41. In this embodiment, the mounting end 4233 is provided with a mounting groove 4234, the spring plunger 424 is fixed in the mounting groove 4234 through a screw or other fastener, and the mounting groove 4234 can play a positioning role for the spring plunger 424, so as to ensure that the extension direction of the spring plunger 424 is accurate. The spring plunger 424 has a structure in which a spring is provided in a housing and a ball is provided at an end of the spring. In this embodiment, the ball of the spring plunger 424 abuts against the connecting portion 412 of the swivel base 41.

As shown in fig. 7, when the spring plunger 424 is mounted, the spring plunger 424 generates radial pressure on the rotary seat 41, so that the rotary seat 41 generates reaction force F1 with the same magnitude and opposite direction on the spring plunger 424, and since the spring plunger 424 is fixedly connected to the mounting end 4233 of the pressing member 423, the reaction force F1 is generated on the mounting end 4233 of the pressing member 423 by the rotary seat 41. Since the pressing member 423 is fixed on the rotary base 41 through the pin 51, when the mounting end 4233 of the pressing member 423 is subjected to a reaction force F1, the pressing member 423 tends to rotate around the pin 51, so that the coupling end 4231 generates a pressing force on the toggle member 3, the pressing force can eliminate a gap between the toggle member 3 and the straight rod 422 and the abutting surface 4232, respectively, so that the surface of the toggle member 3 keeps a state of being closely attached to the surface of the straight rod 422 in the process of driving the tilting mechanism 4 to rotate the toggle member 3, thereby ensuring the certainty of the transmission process and further ensuring the rotation precision of the rotary base 41, and further, since the spring plunger 424 is fixed on the pressing member 423 and the axial direction of the straight rod 422 is parallel to the abutting surface 4232, thereby ensuring that the pressing member 423 does not rotate relative to the rotary base 41, i.e. the position of the spring plunger 424 remains unchanged, the pressure generated by the spring plunger 424 on the rotary base 41 remains unchanged, so that the moment generated by the coupling end 4231 of the pressing member 423 to the toggle member 3 is kept constant during the whole process of the movement of the toggle member 3 in the slide 421 of the transmission assembly 42.

Preferably, the angle between the direction connecting the center of the pin 51 and the rotation center of the rotary base 41 and the extending direction of the spring plunger 424 is 90 °. When the acting force of the spring plunger 424 on the rotating base 41 is the same and the position of the pin shaft 51 on the rotating base 41 is fixed, the extending direction of the spring plunger 424 is perpendicular to the extending direction of the straight rod 422, so that the matching end 4231 can generate a larger pressing force on the toggle member 3, and a better gap eliminating effect is provided. The specific analysis is as follows:

as shown in fig. 7, F1 represents the reaction force of the rotary holder 41 against the spring plunger 424; when the matching end 4231 of the pressing member 423 generates pressing force on the toggle member 3, the toggle member 3 generates reaction force with the same magnitude and opposite direction on the matching end 4231, which is F2, point P represents the center of the pin 51, L6 is the arm of force F1, λ is the included angle between the arm of force L6 and the force F1, L7 is the arm of force F2, and α is the included angle between the arm of force L7 and the force F2.

For the pressing member 423, the position thereof remains unchanged, and the pressing member 423 is in a balanced state, so that the forces in the directions cancel each other, and the resultant moment is 0, which can be obtained by a moment calculation formula:

F1tL6sinλ＝F2tL7sina

as can be seen from equation two, when F1, α, L6, and L7 are fixed, the larger sin λ is, the larger F2 is, and thus F2 has the maximum value when λ is 90 ° and sin λ is 1. In this embodiment, the angle between the connection direction of the center of the pin 51 and the rotation center of the rotary base 41 and the extending direction of the spring plunger 424 is 90 °, so that F2 is at the maximum value, and the pressing member 423 provides the maximum pressing force to the toggle member 3, thereby eliminating the gap between the driving assembly 2 and the tilting mechanism 4 to the maximum extent, and ensuring the accuracy of angle adjustment of the tilting mechanism 4.

In practical use, optionally, the pressure of the spring plunger 424 on the rotary seat 41 can be adjusted by adjusting the position of the spring plunger 424 relative to the rotary seat 41, so as to adjust the magnitude of F1, and as shown by the formula two, when F1 is increased, F2 is correspondingly increased, i.e., the effect of eliminating the gap is better.

Alternatively, as can be seen from the second formula, increasing the distance between the pin 51 and the rotary seat 41, i.e. increasing the length of L6, can also increase F2 accordingly, so as to improve the effect of eliminating the gap.

Further, the rotational accuracy of the rotary base 41 can be improved by increasing the distance between the center of rotation of the rotary base 41 and the center of the dial 3. Specifically, as shown in fig. 8, point Q in the figure represents the center position of the rotary base 41; n represents the centre of the toggle 3 in position one; n 'represents the center of the toggle member 3 in the second position, and the distance from the rotary base 41(Q) of the toggle member 3 in the first position (N) is greater than the distance from the rotary base 41(Q) of the toggle member 3 in the second position (N'). As can be seen from fig. 8, when the distance between the center N (N') of the dial 3 and the rotation center Q of the rotary seat 41 increases, the dial 3 moves the same distance X, and the smaller the rotation angle of the corresponding rotary seat 41, the smaller the error is, so as to ensure the driving precision of the driving assembly 2 for the tilting mechanism 4 to be higher.

However, when the distance between the center of the dial 3 and the rotation center of the rotary base 41 increases, the distance between the center of the dial 3 and the center P of the pin 51 increases, i.e., L7 increases. As can be seen from the second formula, as L7 increases, the corresponding F2 decreases, so that the distance between the center of rotation of the rotary base 41 and the center of the dial 3 cannot be increased infinitely, and the effect of the decrease in F2 on the reduction of the clearance needs to be considered comprehensively.

Preferably, as shown in fig. 5, the tilting device 300 further includes a second sensor 61 and a second sensing piece 62, wherein the second sensor 61 is disposed on the tilting mount 11, the second sensing piece 62 is fixedly connected to the rotary base 41, and the second sensor 61 can identify the second sensing piece 62. When the second sensor 61 recognizes the second sensing piece 62, it can be used as a rotation starting position of the rotary base 41. Specifically, the second sensor 61 may be a photoelectric second sensor 61, and the second sensing piece 62 is fixed on the plate 411 of the rotary base 41 on the side close to the inclined mounting base 11.

Further, as shown in fig. 5, one side of the rotating base 41 facing the inclined mounting base 11 is provided with an avoiding gap 4111, the avoiding gap 4111 is arranged along the circumferential direction of the rotating base 41, the tilting apparatus 300 further includes a limiting member 63, one end of the limiting member 63 is connected to the inclined mounting base 11, the other end of the limiting member extends into the avoiding gap 4111, when the rotating base 41 rotates to abut against the side wall of the avoiding gap 4111 and the limiting member 63, the rotating base 41 cannot continue to rotate, that is, the limiting member 63 can limit the rotating angle of the rotating base 41. In this embodiment, the avoiding notch 4111 is arched and is disposed on the plate 411 of the rotating seat 41 near the inclined mounting seat 11.

It should be understood that the above-described embodiments of the present invention are merely examples for clearly illustrating the utility model and are not to be construed as limitations of the embodiments of the present invention, but may be modified in various embodiments and applications by those skilled in the art according to the spirit of the present invention, and the content of the present description should not be construed as a limitation of the present invention. Any modification, equivalent replacement, and improvement made within the spirit and principle of the present invention should be included in the protection scope of the claims of the present invention.

Claims

1. A dispenser, comprising:

the dispensing module (100) comprises a dispensing head, and the dispensing head is used for dispensing a product to be dispensed;

rotary device (400), including rotatory mount pad (91) and rotary mechanism (92), rotary mechanism (92) include rotary driving spare (921) and connecting block (922), rotary driving spare (921) set up in on rotatory mount pad (91), connecting block (922) with module (100) is glued to the point links to each other, rotary driving spare (921) can drive connecting block (922) are rotatory around the Z axle, in order to drive module (100) is glued to the point winds the Z axle rotates, rotary mechanism (92) still includes spacing subassembly, spacing subassembly is configured to the restriction the rotation angle of connecting block (922).

2. The dispenser of claim 1, further comprising:

the tilting device (300) is connected with the connecting block (922) and the dispensing module (100), and the tilting device (300) can drive the dispensing module (100) to rotate around an X axis which is perpendicular to the Z axis.

3. The dispenser according to claim 2, characterized in that said tilting means (300) comprise:

the inclined mounting seat (11) is connected with the connecting block (922);

the driving assembly (2) is connected to the inclined mounting seat (11) and can output linear motion along the Z axis;

one end of the stirring piece (3) is connected with the output end of the driving component (2);

the tilting mechanism (4) comprises a rotating base (41) and a transmission assembly (42), the rotating base (41) is rotatably connected to the tilting mounting base (11) around the axis in the horizontal direction, one end of the transmission assembly (42) is connected with the rotating base (41), the other end of the transmission assembly (42) forms a obliquely arranged slide way (421), and the other end of the poking member (3) extends into the slide way (421);

when the driving assembly (2) drives the stirring piece (3) to move up and down, the stirring piece (3) moves along the slide way (421) and drives the tilting mechanism (4) to rotate around the X axis.

4. The dispenser according to claim 3, wherein the rotary driving member (921) is a motor, a through hole is provided on the rotary mounting seat (91), a driving shaft of the motor penetrates through the through hole, the connecting block (922) is sleeved outside the driving shaft, and one end of the connecting block (922) far away from the rotary mounting seat (91) is connected with the inclined mounting seat (11).

5. The dispenser of claim 4, wherein the motor is a stepper motor.

6. The dispenser according to claim 4, characterized in that the connecting block (922) is a hollow cylinder, the connecting block (922) is provided with an opening along the direction of the Z axis, bolt holes are provided at two ends of the opening, and bolts are passed through the bolt holes to lock the connecting block (922) to the driving shaft.

7. The dispenser according to claim 6, wherein the end of the inclined mounting seat (11) connected to the connection block (922) extends above the dispensing module (100) and the connection block (922) is arranged coaxially with the dispensing head.

8. The dispensing machine according to claim 4, characterized in that, spacing subassembly includes spacing groove (9221) and spacing post (923), connecting block (922) are close to the one end edge of rotatory mount pad (91) the periphery of connecting block (922) is provided with spacing groove (9221), rotatory mount pad (91) be provided with on the inner wall of through-hole spacing post (923), spacing post (923) spacing in spacing groove (9221).

9. The dispenser according to claim 3, wherein a first sensor (924) is disposed on one of the rotary mounting seat (91) and the inclined mounting seat (11), and a first sensing piece (925) is correspondingly disposed on the other, and a position where the first sensor (924) senses the first sensing piece (925) is a rotation starting position of the connecting block (922).

10. The dispenser of claim 9, wherein the first sensor (924) is a photosensor.