Motorized adhesive dispensing module

Abstract

A liquid compound dispensing apparatus for dispensing a controlled amount of liquid compound onto a workpiece is described. The apparatus comprises a cartridge system. The cartridge system may accept a liquid compound cartridge containing liquid compound. The apparatus also comprises a plate, having a threaded bore, positioned above the cartridge system that is movable in a first and second direction, at least one plunger attached to the plate at a first end and attached to a piston at a second end. The piston is dimensioned to move within the liquid compound cartridge to displace liquid compound when the plate is moved in the second direction. A driving mechanism moves the plate in the first and the second directions to dispense product and comprises a motor, a threaded rod disposed through the threaded bore of the plate that is driven by a driving belt attached to the motor.

Claims

1. A liquid compound dispensing apparatus for dispensing a controlled amount of a liquid compound onto a workpiece, the apparatus comprising: a cartridge system for accepting at least one liquid compound cartridge containing the liquid compound to be dispensed; a plate, having a threaded bore, positioned above the cartridge system and movable in a first direction and a second direction; at least one plunger attached to the plate at a first end of the at least one plunger and attached to a piston at a second end of the at least one plunger, wherein the piston is dimensioned to move within the at least one liquid compound cartridge to displace the liquid compound when the plate is moved in the second direction; and a driving mechanism configured to move the plate in the first direction and the second direction and said driving mechanism configured to dispense the liquid compound, said driving mechanism comprising: a motor; and a threaded rod attached to the motor via a driving belt, wherein the threaded rod is disposed through the threaded bore of the plate, wherein the threaded rod is rotated by the motor via the driving belt to drive the plate in the second direction to dispense the liquid compound from the cartridge system; said motor is located above said plate and above at least one guide rod; and said liquid compound dispensing apparatus is mounted to the top and front portion of a robotic arm; said robotic arm located below said motor; said robotic arm includes a Z-axis member movable in said first direction and second direction, said Z-axis member is connected to a dispensing tip connected to an end of the cartridge system; and said at least one guide rod located between said at least one plunger and the robotic arm; said guide rod disposed through the plate.

2. The apparatus of claim 1, further comprising: a mixer attached to an inferior end of the cartridge system for mixing the liquid compound dispensed from the at least one liquid compound cartridge; a hose attached to an inferior end of the mixer; and the dispensing tip attached to an inferior end of the hose for dispensing the liquid compound onto a working piece disposed under the dispensing tip.

3. The apparatus of claim 1, wherein the motor is a stepping motor.

4. The apparatus of claim 1, wherein the liquid compound dispensing apparatus is attached to an X-Y-Z robotic table for positioning the liquid compound dispensing apparatus in three dimensional space over the work piece.

5. The apparatus of claim 3, wherein the stepping motor is rotatable in response to a pulse signal provided by a control unit.

6. The apparatus of claim 3, wherein the stepping motor is configured to perform 200 full steps per revolution.

7. The apparatus of claim 6, wherein the stepping motor is further configured to perform 1 microstep per full step.

8. The apparatus of claim 6, wherein the stepping motor is further configured to perform 2 microsteps per full step.

9. The apparatus of claim 5, further comprising: an operator interface (OI) connected to the control unit for allowing user control of the liquid compound dispensing apparatus.

10. The apparatus of claim 5, wherein the control unit is configured to provide a pulse signal to the stepper motor during an idle period to dispense a controlled volume of liquid compound.

Description

BRIEF DESCRIPTION OF THE DRAWING(S)

(1) FIG. 1 is a diagram of a conventional time/pressure dispensing system;

(2) FIG. 2 is an isometric view of an example motorized liquid dispensing apparatus mounted on an X-Y-Z robotic table; and

(3) FIG. 3 is a zoomed reverse isometric view of a portion of the example motorized liquid dispensing apparatus of FIG. 2 with mounted sensors.

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENT(S)

(4) FIG. 2 is an isometric diagram of an example motorized liquid dispensing apparatus 205, in accordance with an embodiment of the invention. The motorized liquid dispensing apparatus 205 is shown mounted on an X-Y-Z-robotic table 250. The X-Y-Z robotic table 250 comprises a base member 255 that may house the robotic system components for driving the motorized liquid dispensing apparatus 205 in the X, Y and Z directions. The base member 255 is stationary relative to its moving members. A Y-axis member 260 is slidably attached to base member 255 for movement in the Y direction. The Y-axis member 260 may include a plate 265 that may support a workpiece 270. Also attached to the base member 255 is X-axis member 275. In some embodiments, the X-axis member 275 is affixed with the base member 255 such that it is stationary. A robotic arm 280 is slidably attached to the X-axis member 275 for movement in the X direction across the X-axis member 275. The robotic arm 280 may include Z-axis member 285, which may be slidably attached to robotic arm 280 for movement in the Z direction. In one embodiment, robotic arm 280, Y-axis member 260, and Z-axis member 285 may be slidably moved along tracks using one or more motors. Additionally, one or more controllers, such as a microcontroller, processor, or other controller, may be housed in base member 255 and used to control the motor(s) associated with robotic arm 280, Y-axis member 260, and Z-axis member 285 to position the motorized liquid dispensing apparatus 205 in three dimensional space over workpiece 270.

(5) Motorized liquid dispensing apparatus 205 may be mounted to the top and front portion of robotic arm 280 via mount 207. It should be noted that any mounting design may be used to mount the motorized liquid dispensing apparatus 205 onto any compatible desktop robot. In addition, the motorized liquid dispensing apparatus 205 may be mounted to a manually movable frame for positioning by a user.

(6) Supported by mount 207 is motor unit 209 which may be attached to and may drive driving belt 211. The motor unit 209 may be a servo motor, a stepper motor, or the like. For example, a standard 2-phase stepper motor may be used, and may provide 200 full steps per full revolution, which is the equivalent of 1.8 degrees per step. Motor resolution may be increased by increasing the number of microsteps per full step. For example, each full step may include a total of 256 microsteps, which would result in 51,200 microsteps per one full revolution, which is the equivalent of 0.007 degrees per microstep. However, as shown in Table 1, below, increasing the number of microsteps per full step may result in a decrease in holding torque of the motor.

(7) TABLE-US-00001 TABLE 1 MICROSTEPS PER FULL STEP AND RELATED PROPERTIES Microsteps/full step Rotation per step Holding Torque/Microstep 1 1.8000 100.00% 2 0.9000 70.71% 4 0.4500 38.27% 8 0.2250 19.51% 16 0.1125 9.80% 32 0.0563 4.91% 64 0.0281 2.45% 128 0.0141 1.23% 256 0.0070 0.61%
Therefore, motor selection and configuration may depend on the resolution and torque/accuracy requirements of the user. An optimal setting may be two (2) or four (4) microsteps per full step. Such a configuration may provide a sufficient amount of holding torque (i.e., 70.71% and 38.27%) as well as a sufficient level of precision. However, it should be noted that a user may vary the application to achieve more or less precision.

(8) Referring again to FIG. 2, driving belt 211 is attached to and drives threaded rod 213. Threaded rod 213 is attached to front plate 215 and rotates to drive front plate 215 in the Z direction. Disposed through the front plate 215 is at least one guide rod 214 to prevent front plate 215 from moving in the X or Y directions. Threaded rod 213 may be easily detachable and may be of any configuration. For example, the threaded rod 213 may have a diameter of 10 millimeters (mm) and may have 5 threads per centimeter (cm), which may allow for a travel distance of 2 mm per full turn. It should be noted that one or more threaded rods, attached to one or more motor units, may be used to drive one or more front plates in the Z direction. The use of one motor unit and one threaded rod is for explanation purposes only and is not intended to be limiting.

(9) Attached to front plate 215 are plungers 217a, 217b that terminate into pistons 219a, 219b which are driven in the Z direction via their attachment to front plate 215. Pistons 219a, 219b are driven into cartridge system 221 to displace the liquid compound housed in the cartridge system 221. In this way, the amount of volume of the liquid compound dispensed may be controlled by the displacement of compound in the cartridge system and the rate of speed at which it is displaced. In addition, dripping from the cartridge system may be controlled by releasing the pressure in the cartridge system by turning the motor unit in the opposite direction. Moreover, the cartridge system may be configured to automatically dispense preset volumes of liquid compound to prevent the liquid compound from curing.

(10) Although shown as a two-part cartridge system, cartridge system 221 may be a multi-part cartridge system including more than two cartridges or may be a one-part cartridge system, having only a single cartridge. The cartridge system may also be easily detachable to accommodate different sized cartridge systems.

(11) A mixer 223 is attached to cartridge system 221 and receives the liquid compound displaced from the cartridge system 221. In the two-part arrangement as shown, the mixer 223 serves to mix both component compounds together. The mixer may be removably attached to the cartridge system to allow for ease in cleaning the apparatus. A hose 225 is attached to mixer 223 and functions to carry the liquid compound to dispensing tip 227. Hose 225 may be removably attached to both the dispensing tip 227 and mixer 223. Hose 225 may be made from a flexible durable material such as polyurethane or the like. Hose 225 and dispensing tip 227 may be attached to Z-axis member 285 via Z-axis attachment plate 287.

(12) Motor unit 209 may be controlled by motor driver unit 290 and control unit 293. Control unit 293 may include one or more processors, memory, and one or more programs. The one or more programs may be stored in the memory and configured to be executed by the one or more processors. The one or more programs may include instructions for operating the motorized liquid dispensing apparatus 205 and the X-Y-Z robotic table 250. The one or more programs may be presented to an operator by operator interface (OI) 295. OI 295 may include a display, a touch-sensitive surface, one or more processors, memory, and other components. The OI 295 may enable an operator to configure and control the motorized liquid dispensing apparatus 205 and X-Y-Z robotic table 250.

(13) For example, the operator interface may allow an operator to select an operating configuration from a plurality of preset operating configurations. The associated memory may include a database of selectable operating configurations including a plurality of standard cartridge sizes, two-part compound application ratios, and the like that are selectable by the operator. Alternatively, an operator may input cartridge sizes and ratios, which may be added to the database stored in the memory.

(14) The OI may also allow an operator to manually control movement of the front attachment plate 215 in the Y direction or return the front attachment plate 215 to a pre-configured home position. The OI may allow an operator to select from a plurality of dispensing speed presets. The plurality of dispensing speed presets may be preconfigured by the operator. For example, an operator may define a certain preset, (e.g., slow), by entering a specified dispensing rate, (e.g., in milliliters per minute).

(15) The OI may also allow an operator to define auto purge parameters to dispense liquid compound during idle periods to prevent clogging. For example, an operator may set the idle time and volume of liquid compound to be purged. Additionally, the OI may also allow an operator to reset the system and return all parameters to a default setting.

(16) FIG. 3 is a zoomed reverse isometric view of the example motorized liquid dispensing apparatus 205 of FIG. 2 with mounted sensors. As shown in FIG. 3, home sensor 305 and lower limit sensor 310 may be attached to motorized liquid dispensing apparatus 205. The home sensor 305 may be connected to the control unit and may set an upper limit and home position for movement of front attachment plate 215. The lower limit sensor 310 may be connected to the control unit and may set a lower limit for travel of the front attachment plate 215. The lower limit sensor 310 may prevent the motor from driving front attachment plate 215 past its maximum travel position. Exceeding the maximum travel position may damage the motorized liquid dispensing apparatus 205. In some embodiments, as illustrated in FIG. 3, each of the home sensor 305 and the lower limit sensor 310 has a receiving member that is sized to receive a flange that is coupled to the front attachment plate 215. When flange is received by and in the receiving member of either the home sensor 305 or the lower limit sensor 310, further movement or traveling of the front attachment plate 215 in its current moving direction is limited or stopped.

(17) The following formula may be used to determine the piston travel distance to dispense a desired volume of liquid compound in a single-part cartridge system:

(18) $\begin{array}{cc}\mathrm{Piston}\mathrm{travel}\mathrm{distance}=\frac{V}{A},& \mathrm{Equation}1\end{array}$
where A is the cross section area of the single-part cartridge and V is the desired volume to be dispensed. To calculate piston travel distance to dispense a desired volume of liquid compound in a two-part cartridge system, the following formula may be used:

(19) $\begin{array}{cc}\mathrm{Piston}\mathrm{travel}\mathrm{distance}=\frac{V}{\left(A_A+A_B\right)},& \mathrm{Equation}2\end{array}$
where A.sub.A is the area of a first cartridge of the two-part cartridge system, A.sub.B is the area of a second cartridge of the two-part cartridge system, and V is the desired volume to be dispensed.

(20) For example, if the diameter of a standard 200 ml 1:1 two-part cartridge system is 37 mm per cartridge, given A=r.sup.2, the total area of two 200 ml cartridges may be defined as A=18.5 mm.sup.2+18.5 mm.sup.2=2,150 mm.sup.2. If 100 ml (i.e., 100 mm.sup.3) of liquid compound is desired to be dispensed,

(21) $\mathrm{Piston}\mathrm{travel}\mathrm{distance}=\frac{V}{A_A+A_B}=\frac{100{\mathrm{mm}}^3}{2,150{\mathrm{mm}}^2}=0.0465\mathrm{mm}.$

(22) To determine the number of turns required by the threaded rod to drive the front plate the appropriate distance in the Z direction to achieve a dispensing of the desired volume, the following formula may be used:

(23) $\begin{array}{cc}\mathrm{Number}\mathrm{of}\mathrm{turns}=\frac{\mathrm{Piston}\mathrm{Travel}\mathrm{Distance}}{\mathrm{Travel}\mathrm{Distance}\mathrm{per}\mathrm{Turn}}.& \mathrm{Equation}3\end{array}$

(24) In this example, since the piston travel distance=0.0465 mm, using a threaded rod with a travel distance per turn=2 mm, Equation 3 will yield a total of 0.0233 turns to dispense a desired volume of 100 ml. The number of turns may then be converted to determine an equivalent rotation angle using the following formula:
Rotation Angle=360number of turns,Equation 4
where one revolution is equal to 360.

(25) In the above example, Rotation Angle=3600.0233 turns=8.388. If a 2 microstep driver is used (e.g., using 0.9000 rotations per step), the number of steps required to achieve a 8.388 rotation may be determined using the following formula:

(26) $\begin{array}{cc}\mathrm{Number}\mathrm{of}\mathrm{MicroSteps}=\frac{\mathrm{rotation}\mathrm{angle}}{\mathrm{rotation}\mathrm{per}\mathrm{microstep}}.& \mathrm{Equation}5\end{array}$

(27) In the above example, since the rotation angle=8.388, and the rotations per microstep=0.9, Equation 5 will yield 9.32 steps. In this case, if the motor is driven 10 steps, the total adhesive dispensed may be 107.5 ml, which yields an error margin of 7.5%. The error margin may be improved by using a finer threaded rod or a smaller sized cartridge.

(28) Table 2, below, is a table comparing desired liquid dispensing volumes using a 2 microstep per full step motor configuration and 4 microstep per full step motor configuration. As shown in Table 2, the accuracy of the 4 microstep per full step motor configuration is generally more accurate than the 2 microstep motor. However, as noted above, the 4 microstep per full step motor configuration has less of holding torque when compared to the 2 microstep motor configuration.

(29) TABLE-US-00002 TABLE 2 2 MICROSTEP V. 4 MICROSTEP COMPARISON TABLE 2 microsteps/ 4 microsteps/ Piston full step full step Desired Travel Actual Actual Volume Distance Volume Error Volume Error (ml) (mm) Steps (ml) % Steps (ml) % 100 0.046511628 10 107.5 7.50 19 102.125 2.13 200 0.093023256 19 204.25 2.13 38 204.25 2.13 300 0.139534884 28 301 0.33 56 301 0.33 400 0.186046512 38 408.5 2.13 75 403.125 0.78 500 0.23255814 47 505.25 1.05 94 505.25 1.05 600 0.279069767 56 602 0.33 112 602 0.33 700 0.325581395 66 709.5 1.36 131 704.125 0.59 800 0.372093023 75 806.25 0.78 149 800.875 0.11 900 0.418604651 84 903 0.33 168 903 0.33 1000 0.465116279 94 1010.5 1.05 187 1005.125 0.51 1500 0.697674419 140 1505 0.33 280 1505 0.33 2000 0.930232558 187 2010.25 0.51 373 2004.875 0.24

(30) Although features and elements are described above in particular combinations, one of ordinary skill in the art will appreciate that each feature or element can be used alone or in any combination with the other features and elements.