A glue spraying apparatus

Abstract

The present application provides a kind of glue spraying equipment, including transfer device, car, car positioning mechanism, tray detection component and glue spraying device;Transfer device is transferred by tray supported parts between car and glue spraying device, multiple parts supported by tray can be stored in layers on car, car positioning mechanism and tray detection component are arranged at one side of transfer device, respectively can fix the position of car and detect tray on car, glue spraying device is arranged at the other side of transfer device and mainly includes glue spraying mechanism, camera mechanism and support plate for glue spraying.Wherein, glue spraying mechanism of glue spraying device carries out glue spraying according to the image data obtained by camera mechanism scanning, can satisfy the glue spraying processing demand of various parts, has good applicability.This glue spraying equipment can realize the centralized storage of different parts, fast transfer and glue spraying processing, greatly improves processing efficiency.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of part processing, in particular to a glue spraying equipment. BACKGROUND

[0002] In the manufacturing process of parts such as automotive interior parts, a glue spraying process is often needed. The current operation mode is to use traditional conveying equipment to convey parts and cooperate with manual glue spraying operation for glue spraying processing, which has low production efficiency and high labor cost. Another mode is to use a mechanical gripper to grab parts and cooperate with a glue gun for glue spraying processing, which has improved efficiency, but the mechanical gripper needs to be configured with multiple sets of grippers for the grabbed parts, and the glue gun is not working during the process of taking and placing parts by the mechanical gripper, which wastes a lot of time. In addition, the position of the glue gun is usually fixed, which cannot well meet the glue spraying processing needs of some parts. Therefore, on the basis of the prior art, the present application provides a glue spraying equipment which can meet the centralized storage, rapid transfer and glue spraying processing of different parts, and focuses on improving the processing efficiency. SUMMARY

[0003] The present application is to solve the above problems, and aims to provide a glue spraying equipment.

[0004] The present application provides a glue spraying equipment, which has the following characteristics: a transfer device, a trolley, a trolley positioning mechanism and a tray detection assembly arranged on one side of the transfer device, and a glue spraying device arranged on the other side of the transfer device; the transfer device is used to transfer parts supported by a tray between the trolley and the glue spraying device; the trolley is used to store a plurality of parts supported by a tray in layers; the trolley positioning mechanism is used to fix the position of the trolley; the tray detection assembly is used to detect the position and quantity of the trays on the trolley; the glue spraying device is used to spray glue on the parts supported by the tray; wherein the glue spraying device comprises a housing and a glue spraying mechanism, a camera mechanism and a glue spraying support plate arranged in the housing, the housing is provided with an opening which can be opened and closed and is used for the transfer device to take and place the parts supported by the tray, the glue spraying mechanism is used to spray glue on the parts supported by the tray, the camera mechanism is used to scan and shoot the parts supported by the tray, and the glue spraying support plate is used to support the tray and is provided with a tray position detection sensor for detecting whether the tray is placed in place.

[0005] In the glue spraying equipment provided by the present application, the glue spraying mechanism can further have the following characteristics: the glue spraying mechanism comprises a glue spraying moving guide rail, a glue spraying robot and a glue spraying moving drive unit, the glue spraying moving guide rail is arranged on the inner wall of the housing, the glue spraying robot is arranged on the glue spraying moving guide rail, and the glue spraying moving drive unit drives the glue spraying robot to move along the glue spraying moving guide rail.

[0006] In the glue spraying device, the camera mechanism comprises a camera moving guide rail, a scanning camera and a camera moving driving unit, the camera moving guide rail is arranged on the inner wall of the house body, the glue spraying robot is arranged on the camera moving guide rail, and the camera moving driving unit drives the glue spraying robot to move along the camera moving guide rail.

[0007] In the glue spraying device, the glue spraying device further comprises a glue receiving plate and an air exhaust mechanism, the glue receiving plate is arranged below the glue spraying supporting plate in a replaceable manner, and is used for collecting the glue flowing down from the glue spraying supporting plate and the tray supported by the glue spraying supporting plate; and the air exhaust mechanism is used for exhausting the glue spraying waste gas in the house body.

[0008] Further, the air exhaust mechanism comprises an air exhaust fan and an air pipe, the air exhaust fan is arranged at the top of the house body, one end of the air pipe is connected with the air exhaust fan, and the other end of the air pipe is communicated with the internal space of the house body and arranged below the glue receiving plate.

[0009] Further, the glue receiving plate comprises a frame and a non-woven fabric arranged on the frame.

[0010] In the glue spraying device, the transfer device can realize the alternate transfer of two parts supported by the tray, and comprises a supporting mechanism, a lifting mechanism, two horizontal moving mechanisms and two supporting mechanisms, the supporting mechanism comprises a first frame, the lifting mechanism comprises a lifting guide rail arranged on the first frame, a second frame arranged on the lifting guide rail and a lifting driving unit driving the first frame to move along the lifting guide rail, the two horizontal moving mechanisms are arranged on the second frame in parallel, each horizontal moving mechanism comprises a first-level horizontal guide rail arranged on the second frame, a third frame arranged on the first-level horizontal guide rail, a first-level horizontal driving unit driving the third frame to move along the first-level horizontal guide rail, a second-level horizontal guide rail arranged on the third frame, a sliding plate arranged on the second-level horizontal guide rail and a second-level horizontal driving unit driving the sliding plate to move along the second-level horizontal guide rail, and the two supporting mechanisms are arranged on the two horizontal moving mechanisms respectively, each supporting mechanism comprises a supporting arm arranged on the sliding plate and used for supporting the tray, and a rotating driving unit driving the supporting arm to rotate horizontally.

[0011] Further, each supporting mechanism further comprises a jacking unit, the jacking unit comprises a jacking cylinder arranged on the third frame and a jacking plate jacked by the jacking cylinder and used for lifting the tray on the supporting arm.

[0012] In the glue spraying equipment provided by the application, the trolley positioning mechanism can further comprise a mounting seat, a blocking piece, a lifting driving piece and a limiting piece, the blocking piece is arranged on the mounting seat and used for abutting against the bottom of the trolley, the lifting driving piece is arranged on the mounting seat, and the limiting piece is driven to lift by the lifting driving piece and used for limiting the trolley in cooperation with the blocking piece when the trolley is lifted up.

[0013] In the glue spraying equipment provided by the application, the tray detection assembly can further comprise a plurality of tray detection sensors, and the plurality of tray detection sensors are arranged at equal intervals along the vertical direction, and each tray detection sensor is used for detecting whether a tray is stored at a corresponding horizontal position on the trolley.

[0014] Effects of the application

[0015] According to the glue spraying equipment provided by the application, the glue spraying equipment comprises a transfer device, a trolley, a trolley positioning mechanism, a tray detection assembly and a glue spraying device, wherein the transfer device transfers parts supported by trays between the trolley and the glue spraying device, the trolley can store a plurality of parts supported by trays in layers, and the parts before and after glue spraying are stored by the trolley, the trolley positioning mechanism and the tray detection assembly are arranged on one side of the transfer device and can fix the position of the trolley and detect the position and quantity of the trays on the trolley respectively, and the glue spraying device is arranged on the other side of the transfer device and mainly comprises a glue spraying mechanism, a camera mechanism, a support plate for glue spraying, a glue water receiving plate and an air extraction mechanism. During work, the trolley is fixed in position under the action of the trolley positioning mechanism, the transfer device takes and places the parts supported by the trays between the trolley and the glue spraying device, the glue spraying device supports the trays by the support plate for glue spraying, scans the image of the parts on the trays by the camera mechanism, and sprays glue on the parts according to the image data obtained by the camera mechanism to perform the glue spraying work.

[0016] To sum up, the glue spraying equipment can realize the centralized taking and placing and rapid transfer of the trays by supporting the parts by the trays and designing the trolley and the transfer device for the trays, can meet the glue spraying processing requirements of various parts by designing the glue spraying device comprising the glue spraying mechanism and the camera mechanism and spraying glue on the parts according to the image data obtained by the camera mechanism, has good applicability, and therefore, the glue spraying equipment can realize the centralized storage, rapid transfer and glue spraying processing of different parts and greatly improves the processing efficiency. BRIEF DESCRIPTION OF DRAWINGS

[0017] Figure 1 is a structural schematic view of the glue spraying equipment in the embodiment of the application;

[0018] Figure 2 is a structural schematic view of the trolley, the AGV trolley, the trolley positioning mechanism and the tray detection assembly in the embodiment of the application;

[0019] Figure 3 is a structural schematic diagram of a dolly and a dolly positioning mechanism in an embodiment of the present application;

[0020] Figure 4 is a structural schematic diagram of a dolly positioning mechanism in an embodiment of the present application;

[0021] Figure 5 is a structural schematic diagram of a transfer device in an embodiment of the present application;

[0022] Figure 6 is a structural schematic diagram of a support mechanism in an embodiment of the present application;

[0023] Figure 7 is a structural schematic diagram of a lifting mechanism in an embodiment of the present application;

[0024] Figure 8 is a structural schematic diagram of a first horizontal driving unit of a horizontal moving mechanism in an embodiment of the present application;

[0025] Figure 9 is a structural schematic diagram of a second horizontal driving unit of a horizontal moving mechanism in an embodiment of the present application;

[0026] Figure 10 is a structural schematic diagram of a support arm of a support mechanism in a first rotational position in an embodiment of the present application;

[0027] Figure 11 is a structural schematic diagram of a support arm of a support mechanism in a second rotational position in an embodiment of the present application;

[0028] Figure 12 is a structural schematic diagram of a rotational driving unit of a support mechanism in an embodiment of the present application;

[0029] Figure 13 is a front view of a glue spraying device in an embodiment of the present application after removing part of a shell;

[0030] Figure 14 is a rear view of a glue spraying device in an embodiment of the present application;

[0031] Figure 15 is a structural schematic diagram of an internal structure of a glue spraying device in an embodiment of the present application;

[0032] Figure 16 is a structural schematic diagram of a camera guide rail and a camera driving unit of a camera mechanism in an embodiment of the present application;

[0033] Figure 17 is an axonometric view of a glue spraying device in an embodiment of the present application after removing part of a shell.

[0034] Explanation of reference numerals:

[0035] 1 tray; 10 trolley; 11 frame; 111 crossbar; 12 supporting plate; 13 caster; 14 limiting block; 20 AGV trolley; 30 trolley positioning mechanism; 31 mounting seat; 311 bottom plate; 312 side plate; 32 blocking piece; 33 lifting guide rail; 34 lifting driving piece; 35 limiting piece; 351 side surface; 352 chamfer; 36 rolling piece; 40 tray detection assembly; 41 vertical plate; 42 tray detection sensor; 50 transfer device; 51 supporting mechanism; 511 first frame; 5111 slot; 512 supporting guide rail; 513 supporting driving unit; 5131 speed reduction motor; 5132 fourth gear; 5133 fourth rack; 52 lifting mechanism; 521 second frame; 5211 side frame; 5212 top frame beam; 5213 bottom frame beam; 522 lifting guide rail; 523 lifting driving unit; 5231 motor; 5232 double-shaft speed reducer; 5233 transmission shaft; 5234 first gear; 5235 first rack; 524 lifting limiting unit; 5241 locking cylinder; 5242 limiting rod; 53 horizontal moving mechanism; 531 third frame; 532 first-level horizontal guide rail; 533 first-level horizontal driving unit; 5331 speed reduction motor; 5332 second gear; 5333 second rack; 534 sliding plate; 535 second-level horizontal guide rail; 536 second-level horizontal driving unit; 5361 motor; 5362 pulley transmission assembly; 5363 screw nut assembly; 54 supporting mechanism; 541 supporting arm; 542 rotary driving unit; 5421 rotary driving cylinder; 5422 third rack; 5423 third gear; 5424 connecting shaft; 543 rotary limiting piece; 544 jacking unit; 5441 jacking cylinder; 5442 jacking plate; 5443 guide shaft; 60 glue spraying device; 60 glue spraying device; 61 housing; 611 opening; 612 door body; 613 door body driving piece; 614 replacement window; 62 glue spraying mechanism; 621 glue spraying robot; 622 glue spraying moving guide rail; 623 glue spraying moving driving unit; 6231 speed reduction motor; 6232 fifth rack; 63 imaging mechanism; 631 scanning camera; 632 imaging moving guide rail; 633 imaging moving driving unit; 6331 speed reduction motor; 6332 sixth gear; 6333 sixth rack; 64 glue spraying supporting plate; 641 limiting block; 65 glue receiving plate; 66 air extraction mechanism; 661 air extractor; 662 air pipe; 6621 air extraction port. DETAILED DESCRIPTION

[0036] In order to make the technical means, creative features, purposes and effects realized by the present application easy to understand, the present application is specifically described below in conjunction with the drawings.

[0037] EMBODIMENT

[0038] Figure 1 is a structural schematic view of the glue spraying equipment.

[0039] AsFigure 1 As shown, this embodiment provides a glue spraying device, including a material cart 10, an AGV trolley 20, a material cart positioning mechanism 30 (not shown in the figure), a pallet detection component 40, a transfer device 50, and a glue spraying device 60. The material cart 10, AGV trolley 20, material cart positioning mechanism 30, and pallet detection component 40 are arranged on one side of the transfer device 50. This side of the transfer device 50 has at least one parking position for the material cart 10 to dock. The material cart 10 is driven in and out of the parking position by the AGV trolley 20. The material cart 10 is used to store multiple parts supported by pallets 1 in layers. The material cart positioning mechanism 30 and pallet detection component 40 are arranged at the parking position, respectively used to fix the position of the material cart 10 and detect the position and quantity of pallets 1 on the material cart 10. The glue spraying device 60 is arranged on the other side of the transfer device 50, having a glue spraying position corresponding to the parking position. The glue spraying device 60 is used to spray glue onto the parts supported by the pallets 1. The transfer device 50 is used to transfer parts supported by the pallet 1 between the trolley 10 located at the docking position and the glue spraying device 60.

[0040] Figure 2 This is a structural diagram of the material cart 10, AGV trolley 20, material cart positioning mechanism 30, and pallet detection component 40. Figure 3 This is a structural schematic diagram of the material cart 10 and the material cart positioning mechanism 30.

[0041] like Figure 2 and Figure 3 As shown, the material cart 10 includes a frame 11, a plurality of support plates 12 disposed on the frame 11, and a plurality of casters 13 disposed at the bottom of the frame 11.

[0042] In this embodiment, the frame 11 is a square frame structure with an open top and one side, forming an opening for placing and removing the tray 1. A crossbar 111 is located near the opening at the bottom of the frame. Multiple support plates 12 are evenly spaced vertically in pairs on the frame 11. The two support plates 12 in each group are symmetrically positioned on either side of the opening in the horizontal direction to support one tray 1. Each support plate 12 is an L-shaped strip with multiple adhesive holes distributed along its length. Four casters 13 are located at the four corners of the bottom of the frame 11; the casters 13 are swivel casters.

[0043] The limit stop 14 is arranged on each support plate 12 and can stop the side surface 31 of the tray 1 to prevent horizontal displacement of the tray 1. In the embodiment, one limit stop 14 is arranged at each end of each support plate 12, and the distance between the two limit stops 14 is matched with the width of the tray 1, so that the tray 1 can be limited in front and back directions in the horizontal direction of the tray 1 entering and exiting the opening to avoid displacement of the tray 1. The height of the limit stop 14 close to the opening is less than the height of the other limit stop 14, so that the limit stop 14 close to the opening can support the tray 1 when the tray 1 is horizontally moved, and the horizontal movement of the tray 1 is facilitated. The top of the side close to the limit stops 14 is also chamfered to facilitate the tray 1 on the support plate 12 to fall between the two limit stops 14.

[0044] The AGV 20 can lift the trolley 10 by jacking from the bottom of the frame 11, and then drive the trolley 10 to move along the set route.

[0045] Figure 4 is a structural schematic view of the trolley positioning mechanism 30.

[0046] As shown in Figure 4 , the trolley positioning mechanism 30 mainly includes a mounting seat 31 arranged at the parking position, a blocking piece 32, a lifting guide rail 33, a lifting driving piece 34, and a limiting piece 35. Hereinafter, the direction of the trolley 10 entering and exiting the parking position is defined as a first horizontal direction, and the second horizontal direction is perpendicular to the first horizontal direction.

[0047] The mounting seat 31 is fixed on the ground and includes a bottom plate 311 and two side plates 312 vertically fixed on the bottom plate 311, and the two side plates 312 are arranged along the first horizontal direction. The top of the side plate 312 arranged at the rear in the direction of the trolley 10 entering the parking position is provided with the blocking piece 32, and the blocking piece 32 is arranged opposite to the direction of the trolley 10 entering the parking position and is used to stop the horizontal rod 111 at the bottom of the frame 11. The height of the side plate 312 arranged at the front in the direction of the trolley 10 entering the parking position is lower than the horizontal rod 111 at the bottom of the frame 11 to avoid collision with the frame 11, and the lifting guide rail 33 is arranged on the side plate 312.

[0048] The lifting driving piece 34 is arranged on the bottom plate 311 with the output end upward, and the lifting driving piece 34 in the embodiment is a pneumatic cylinder.

[0049] The limiting member 35 is installed on the sliding block of the lifting guide rail 33 and connected with the output end of the lifting driving member 34, and the limiting member 35 is driven by the lifting driving member 34 to lift along the lifting guide rail 33. The lifting driving member 34 and the limiting member 35 are configured such that the top of the limiting member 35 is higher than the lower surface of the cross bar 111 when being lifted, and the top of the limiting member 35 is lower than the lower surface of the cross bar 111 when being lowered, so that the limiting member 35 can block the two sides of the cross bar 111 when being lifted to realize the positioning of the trolley 10 in the first horizontal direction.

[0050] In the embodiment, the limiting member 35 has two vertically adjacent side surfaces 351, which are respectively arranged in the first horizontal direction and the second horizontal direction. As shown in Figure 3 The cross bar 111 at the bottom of the trolley frame 11 is provided with two rolling members 36 matched with the two side surfaces 351 of the limiting member 35, which can avoid the hard contact between the cross bar 111 and the lifting limiting member 35, and the rolling member 36 can be a roller or a bearing. The top of the two side surfaces 351 of the limiting member 35 is also provided with a chamfer 352, which can play a role in reducing the impact when being contacted with the two rolling members 36.

[0051] Further, as shown in Figure 2 and Figure 3 In the embodiment, the trolley positioning mechanism 30 is two and arranged in the second horizontal direction, and the cross bar 111 is provided with four rolling members 36, and each two rolling members 36 correspond to one trolley positioning mechanism 30. The side surfaces 351 of the limiting members 35 of the two trolley positioning mechanisms 30 corresponding to the second horizontal direction are arranged in opposite directions, so that when the two lifted limiting members 35 are matched with the corresponding rolling members 36 on the cross bar 111, the trolley 10 can be positioned in the second horizontal direction.

[0052] As shown in Figure 2 The tray detection assembly 40 includes a vertical plate 41 and a plurality of tray detection sensors 42.

[0053] The vertical plate 41 is fixed on the ground. The plurality of tray detection sensors 42 are arranged on the vertical plate 41 in the vertical direction at equal intervals and correspond to the plurality of sets of supporting plates 12 on the trolley 10 one by one, and each tray detection sensor 42 is used to detect whether the corresponding supporting tray 1 is stored with a tray 1, so that the plurality of tray detection sensors 42 can detect the number of trays 1 on the trolley 10. In the embodiment, the tray detection sensor 42 is a proximity sensor.

[0054] Figure 5 is a structural schematic view of the transfer device 50.

[0055] As shown in Figure 5As shown, the transfer device 50 includes a support mechanism 51, a lifting mechanism 52, two horizontal moving mechanisms 53, and two supporting mechanisms 54. The support mechanism 51 primarily supports the other mechanisms. The lifting mechanism 52 is mounted on the support mechanism 51, and the two horizontal moving mechanisms 53 are arranged parallel to each other on the lifting mechanism 52 and are driven by the lifting mechanism 52 to move up and down. The two supporting mechanisms 54 are respectively mounted on the two horizontal moving mechanisms 53 and are driven by the corresponding horizontal moving mechanisms 53 to move horizontally. Each supporting mechanism 54 supports one pallet 1.

[0056] Figure 6 This is a structural schematic diagram of the support mechanism 51.

[0057] like Figure 6 As shown, the support mechanism 51 mainly includes a first frame 511 that provides support and has a rectangular structure.

[0058] In this embodiment, the support mechanism 51 further includes a support guide rail 512 and a support drive unit 513. The support drive unit 513 can drive the first frame 511 to move along the support guide rail 512, so that the first frame 511 can be aligned with different stopping positions. Specifically, the support guide rail 512 is a linear guide rail arranged along the second horizontal direction, and the bottom of the first frame 511 is mounted on the slider of the support guide rail 512. The support drive unit 513 includes a reduction motor 5131, a fourth gear 5132, and a fourth rack 5133. The reduction motor 5131 is mounted on the bottom of the first frame 511 and its output shaft is arranged vertically downward. The fourth gear 5132 is mounted on the output shaft of the reduction motor 5131 and meshes with the fourth rack 5133 arranged along the second horizontal direction.

[0059] Figure 7 This is a structural schematic diagram of the lifting mechanism 52.

[0060] like Figure 7 As shown, the lifting mechanism 52 mainly includes a second frame 521, a lifting guide rail 522, and a lifting drive unit 523.

[0061] The second frame 521 includes two side frames 5211, a top frame beam 5212, and a bottom frame beam 5213. The side frames 5211 are hexagonal in shape, formed by combining trapezoids and rectangles. The two side frames 5211 are arranged opposite each other at a certain distance in the second horizontal direction. The top frame beam 5212 is connected to the top of the two side frames 5211, and the bottom frame beam 5213 is connected to the bottom of the two side frames 5211.

[0062] The lifting guide rail 522 is a linear guide rail arranged in the vertical direction, and multiple lifting guide rails 522 are symmetrically distributed on both sides of the first frame 511 (see...). Figure 5), two sides of the second frame 521 are respectively installed on the sliders of the corresponding side lifting guide rails 522, in the embodiment, the number of the lifting guide rails 522 is four, and two lifting guide rails 522 are arranged on each side of the first frame 511.

[0063] The lifting driving unit 523 can drive the second frame 521 to move along the lifting guide rails 522, so that the horizontal moving mechanism 53 and the supporting mechanism 54 on the lifting mechanism 52 can be aligned with the tray taking and placing positions on the trolley 10 and the glue spraying device 60 in the vertical direction. Specifically, the lifting driving unit 523 includes a motor 5231, a double-shaft speed reducer 5232, two transmission shafts 5233, two first gears 5234, and two first racks 5235. The double-shaft speed reducer 5232 is installed at the center position of the top frame beam 5212 of the second frame 521, the input end of the double-shaft speed reducer 5232 is connected with the output shaft of the motor 5231, and the two output shafts of the double-shaft speed reducer 5232 are arranged on the two sides of the first frame 511 and are respectively connected with one end of the two transmission shafts 5233. The two transmission shafts 5233 are respectively installed on the top frame beam 5212 through bearing seats, and the other end of each of the two transmission shafts 5233 is provided with a first gear 5234. The two first racks 5235 are respectively installed on the two sides of the first frame 511 in the vertical direction and are respectively engaged with the corresponding first gear 5234.

[0064] In the embodiment, a plurality of strip-shaped holes 5111 are arranged on each side of the first frame 511 in the vertical direction. The lifting mechanism 52 further includes a lifting limiting unit 524 matched with the strip-shaped holes 5111 on the first frame 511. The lifting limiting unit 524 includes a locking cylinder 5241 and a limiting rod 5242. The cylinder body of the locking cylinder 5241 is installed at the end position of the top frame beam 5212 of the second frame 521, the piston rod of the locking cylinder 5241 is coaxially connected with the limiting rod 5242, and the locking cylinder 5241 can drive the limiting rod 5242 to horizontally extend into the strip-shaped hole 5111 to limit the second frame 521 in the vertical direction. In this way, the position accuracy of the second frame 521 during lifting can be improved, and the safety of the lifting mechanism 52 during lifting can be improved.

[0065] Figure 8 is a structure schematic view of the first-level horizontal driving unit 533 of the horizontal moving mechanism 53, Figure 9 is a structure schematic view of the second-level horizontal driving unit 536 of the horizontal moving mechanism 53.

[0066] Each horizontal moving mechanism 53 can drive the support mechanism 54 thereon to move along a first horizontal direction. Each horizontal moving mechanism 53 comprises a third frame 531, a first level horizontal guide rail 532, a first level horizontal driving unit 533, a sliding plate 534, a second level horizontal guide rail 535, and a second level horizontal driving unit 536.

[0067] As shown in Figure 8 , the third frame 531 is in a hexagonal shape which is spliced by a trapezoid and a rectangle, and the long bottom side of the trapezoid coincides with the long side of the rectangle.

[0068] The first level horizontal guide rail 532 is a linear guide rail arranged along the first horizontal direction, and two first level horizontal guide rails 532 are arranged on the two side frames 5211 of the second frame 521 respectively, and the two sides of the third frame 531 are mounted on the sliding blocks of the two first level horizontal guide rails 532 respectively.

[0069] The first level horizontal driving unit 533 can drive the third frame 531 to move along the first level horizontal guide rail 532, so as to realize the first level horizontal movement. Specifically, the first level horizontal driving unit 533 comprises a reduction motor 5331, a second gear 5332, and a second rack 5333. Among them, the reduction motor 5331 is installed at the side of the third frame 531, the output shaft of the reduction motor 5331 is arranged along the vertical direction and is connected with the second gear 5332, and the second rack 5333 is arranged on the corresponding side frame 5211 along the first horizontal direction and is engaged with the second gear 5332.

[0070] As shown in Figure 9 , the second level horizontal guide rail 535 is a linear guide rail arranged along the first horizontal direction, and in this embodiment, two second level horizontal guide rails 535 are arranged in parallel on the third frame 531, and the sliding plate 534 is installed on the sliding blocks of the two second level horizontal guide rails 535.

[0071] The second level horizontal driving unit 536 can drive the sliding plate 534 to move along the second level horizontal guide rail 535, so as to realize the second level horizontal movement on the basis of the first level horizontal movement. Specifically, the second level horizontal driving unit 536 comprises a motor 5361, a belt wheel transmission assembly 5362, and a screw nut assembly 5363. Among them, the motor 5361 is installed on the third frame 531 and the output shaft is connected with the screw through the belt wheel transmission assembly 5362. The belt wheel transmission assembly 5362 comprises a driving wheel connected with the output of the motor 5361, a driven wheel connected with the screw, and a synchronous belt sleeved on the driving wheel and the driven wheel. The screw nut assembly 5363 comprises a screw and a screw nut, the screw is installed on the third frame 531 along the first horizontal direction through a screw seat, and the screw nut is connected with the sliding plate 534 through a connecting piece.

[0072] It can be seen that the two-stage horizontal moving design of the horizontal moving mechanism 53 not only expands the horizontal moving range, but also makes the structure more compact, occupies less space, and is less likely to collide with the trolley 10 and the glue spraying device 60 during the horizontal moving and carrying operation, which helps the smooth progress of the moving and carrying operation.

[0073] Figure 10 is a structural schematic view of the supporting arm 541 of the supporting mechanism 54 in the first rotating position, Figure 11 is a structural schematic view of the supporting arm 541 of the supporting mechanism 54 in the second rotating position, Figure 12 is a structural schematic view of the rotating driving unit 542.

[0074] As shown in Figure 10 and Figure 11 , each supporting mechanism 54 is installed on the sliding plate 534 of the horizontal moving mechanism 53, and includes the supporting arm 541 and the rotating driving unit 542.

[0075] One end of the supporting arm 541 is rotatably installed on the sliding plate 534 and can support the tray 1 from the bottom of the tray 1. The supporting arm 541 in the embodiment is an octagonal frame structure, and the maximum width of the supporting arm 541 is less than the width of the tray 1.

[0076] The rotating driving unit 542 is installed on the sliding plate 534 and can drive the supporting arm 541 to rotate horizontally. Specifically, as shown in Figure 12 , the rotating driving unit 542 includes a rotating driving cylinder 5421, a third rack 5422, a third gear 5423, and a connecting shaft 5424. The rotating driving cylinder 5421 is installed on the bottom surface of the sliding plate 534, the third rack 5422 is arranged in parallel on the side of the piston rod of the rotating driving cylinder 5421 and is connected with the piston rod through a connecting piece. The third gear 5423 is engaged with the third rack 5422 and is connected with one end of the supporting arm 541 through the connecting shaft 5424 which is rotatably installed on the sliding plate 534.

[0077] In the embodiment, the rotating driving unit 542 drives the supporting arm 541 to rotate by +180° and -180° alternately, and the corresponding supporting arm 541 has two rotating positions, which are the first rotating position and the second rotating position, respectively, as shown in Figure 10 and Figure 11 . The supporting mechanism 54 further includes a rotating limiting piece 54335 which is block-shaped and installed on the sliding plate 534. The rotating limiting piece 54335 realizes the rotation limiting of the supporting arm 541 by blocking the side surface 351 of the supporting arm 541.

[0078] In order to prevent the tray 1 from following the rotation of the supporting arm 541 when the supporting arm 541 rotates, and to avoid the collision between the tray 1 and other structures, the supporting mechanism 54 further comprises a lifting unit 544. The lifting unit 544 mainly comprises a lifting cylinder 5441 and a lifting plate 5442. The lifting cylinder 5441 is installed on the third frame 531, and the lifting plate 5442 can be lifted to support the tray 1 under the driving of the lifting cylinder 5441. In the embodiment, the number of the lifting cylinders 5441 is two, and the two lifting cylinders 5441 are symmetrically installed on the two sides of the third frame 531. The piston end of each lifting cylinder 5441 is vertically upward, and one lifting plate 5442 arranged in the first horizontal direction is connected to the piston end. The two lifting plates 5442 can stably lift the tray 1 from both sides under the driving of the respective lifting cylinders 5441. Each lifting plate 5442 is an L-shaped strip plate in cross section, which can block the side edge of the tray 1 in the second horizontal direction, so as to prevent the tray 1 from moving in this direction when the tray 1 is lifted. The bottom of each lifting plate 5442 is further connected to a plurality of vertically arranged guide shafts 5443. Each guide shaft 5443 is guided and matched with a corresponding guide bearing installed on the third frame 531, so as to ensure the stability of the lifting plate 5442 during lifting.

[0079] Figure 13 is a front view of the glue spraying device 60 after part of the shell is removed, Figure 14 is a rear view of the glue spraying device 60.

[0080] As shown in Figure 13 and Figure 14 , the glue spraying device 60 comprises a housing 61, a glue spraying mechanism 62, a camera mechanism 63, a glue spraying supporting plate 64, a glue receiving plate 65, and an air extraction mechanism 66 arranged in the housing 61. The glue spraying mechanism 62 is used for spraying glue on the parts supported by the tray 1. The camera mechanism 63 is used for scanning and photographing the parts supported by the tray 1. The glue spraying supporting plate 64 is used for supporting the tray 1. The glue receiving plate 65 is used for collecting the glue flowing down from the tray 1 and the glue spraying supporting plate 64. The air extraction mechanism 66 is used for extracting and discharging the glue spraying exhaust gas in the housing 61.

[0081] The housing 61 has a plurality of glue spraying positions arranged in the second horizontal direction. Each glue spraying position is provided with a parking position. As shown in Figure 14 , each glue spraying position of the housing 61 is provided with an opening 611 for taking and placing the tray 1, a door body 612, and a door body driving member 613 for driving the door body 612 to open and close the opening 611. In the embodiment, the door body 612 is a sliding door with two sides slidingly matched with the opening 611. The door body driving member 613 is a cylinder installed above the opening 611, and the piston rod of the cylinder is downwardly connected with the door body 612.

[0082] Figure 15 is a schematic view of the internal structure of the glue spraying device 60.

[0083] As shown in Figure 15 The glue spraying mechanism 62 includes a glue spraying robot 621, a glue spraying movement guide rail 622, and a glue spraying movement driving unit 623. In the embodiment, two glue spraying positions are provided for the glue spraying mechanism 62.

[0084] The glue spraying robot 621 is a six-axis glue spraying robot with a glue gun at the end.

[0085] The glue spraying movement guide rail 622 is a linear guide rail arranged along the second horizontal direction, and the glue spraying robot 621 is installed on the sliding block of the glue spraying movement guide rail 622. In the embodiment, two glue spraying movement guide rails 622 are arranged in parallel on the side walls in the house body 61.

[0086] The glue spraying movement driving unit 623 can drive the glue spraying robot 621 to move along the glue spraying movement guide rail 622, so as to realize the movement of the glue spraying robot 621 in the glue spraying position and the switching between different glue spraying positions. Specifically, the glue spraying movement driving unit 623 includes a speed reducer 6231, a fifth gear, and a fifth rack 6232. The speed reducer 6231 is installed on the sliding block of the glue spraying movement guide rail 622, the output shaft of the speed reducer 6231 is connected with the fifth gear, and the fifth rack 6232 is arranged on the side wall in the house body 61 along the second horizontal direction and is engaged with the fifth gear.

[0087] Figure 16 is a structural schematic view of the camera guide rail and the camera driving unit of the camera mechanism 63.

[0088] As shown in Figure 13 and Figure 16 The camera mechanism 63 includes a scanning camera 631, a camera movement guide rail 632, and a camera movement driving unit 633. In the embodiment, two glue spraying positions are provided for the camera mechanism 63.

[0089] The scanning camera 631 is used for scanning and shooting the parts supported by the tray 1, and the glue spraying mechanism 62 can accurately spray glue on the parts according to the image data obtained by the scanning camera 631.

[0090] The camera movement guide rail 632 is a linear guide rail arranged along the second horizontal direction, and the scanning camera 631 is installed on the sliding block of the camera movement guide rail 632. In the embodiment, the camera movement guide rail 632 is arranged on the inner wall of the top of the house body 61.

[0091] The moving driving unit 633 for imaging can drive the scanning camera 631 to move along the moving guide rail 632 for imaging, so as to realize the movement of the scanning camera 631 in the glue spraying position and the switching between different glue spraying positions. Specifically, the moving driving unit 633 for imaging includes a reduction motor 6331, a sixth gear 6332, and a sixth rack 6333. The reduction motor 6331 is installed on the slider of the moving guide rail 632 for imaging, the output shaft of the reduction motor 6331 is connected with the sixth gear 6332, and the sixth rack 6333 is arranged on the inner wall of the top of the house body 61 in the second horizontal direction and is engaged with the sixth gear 6332.

[0092] Figure 17 is an isometric view of the glue spraying device 60 after the removal of part of the shell.

[0093] As shown in Figure 15 and Figure 17 , two supporting plates 64 for glue spraying are arranged in each glue spraying position, the two supporting plates 64 for glue spraying are horizontally symmetrically arranged corresponding to the two sides of the opening 611 and can support the tray 1 from both sides. A plurality of glue dripping holes are distributed on each supporting plate 64 for glue spraying, so that the glue on the supporting plate 64 for glue spraying can drip and be collected by the glue receiving plate 64.

[0094] A limiting block 641 and a tray in-place detection sensor (not shown in the figure) are further arranged on each supporting plate 64 for glue spraying. The limiting block 641 can block the side of the tray 1 to prevent the horizontal displacement of the tray 1. The tray in-place detection sensor detects whether the tray 1 is placed in place on the supporting plate 64 for glue spraying. When the tray 1 is placed in place, the glue spraying mechanism 62 can start the glue spraying work. In the embodiment, two limiting blocks 641 are arranged on each supporting plate 64 for glue spraying. One limiting block 641 is used to block the front side of the placing direction of the tray 1, and the tray in-place detection sensor is embedded in the limiting block 641. The other limiting block 641 is used to block the left side or the right side of the placing direction of the tray 1, and a chamfer for facilitating the placing of the tray 1 is arranged on both limiting blocks 641.

[0095] As shown in Figure 17 , a glue receiving plate 65 is arranged below the supporting plate 64 for glue spraying in each glue spraying position. The glue receiving plate 65 can receive and adsorb the glue flowing on the tray 1 and the supporting plate 64 for glue spraying. In the embodiment, the glue receiving plate 65 is supported by the supports arranged on both sides at a certain height from the bottom surface in the house body 61, and the height ensures that the suction port 6621 of the air pipe 662 can be arranged below the glue receiving plate 65. The glue receiving plate 65 is composed of a frame and non-woven fabric arranged on the frame. The frame is provided with a handle for facilitating the taking and placing of the glue receiving plate 65. A changeable window 614 (see Figure 13 ) is arranged on the side of each glue spraying position of the house body 61 away from the transfer device, and the glue receiving plate 65 can be manually taken, placed, and replaced through the changeable window 614.

[0096] The air extractor 661 is arranged on the top surface outside the house body 61, and one air duct 662 is arranged corresponding to each glue spraying position. One end of the air duct 662 is connected with the air extractor 661, and the other end is used as an air extraction opening 6621, which is communicated with the space of the glue spraying position. The air extractor 661 can extract and discharge the waste gas in the glue spraying position to the outside of the house body 61 through the air duct 662. In the embodiment, the air extraction opening 6621 of the air duct 662 is arranged on the side wall of the house body 61 and below the glue receiving plate 65, which will not affect the glue spraying operation of the glue spraying mechanism 62.

[0097] The glue spraying equipment also comprises a control system, which can control the operation of the AGV 20, the trolley positioning mechanism 30, the tray detection assembly 40, the transfer device 50 and the glue spraying device 60.

[0098] Taking the example that a plurality of trays 1 are stored on the trolley 10, and each tray 1 supports a part to be sprayed with glue, the working process of the glue spraying equipment will be described below.

[0099] Firstly, the AGV 20 sends the trolley 10 to a parking position beside the transfer device 50. In the parking position, the trolley positioning mechanism 30 positions the trolley 10, including the first horizontal direction positioning and the second horizontal direction positioning, to ensure that the trolley 10 is fixed in position. After positioning, the tray detection sensors 42 of the tray detection assembly 40 detect whether the corresponding horizontal positions of the trolley 10 store the trays 1 respectively, and send the information including the positions and the number of the trays 1 to the control system.

[0100] Then, the transfer device 50 is aligned with the parking position of the trolley 10, and then takes one tray 1 from the trolley 10. After taking the tray 1, the transfer device 50 adjusts according to the glue spraying position of the glue spraying device 60, and then puts the taken tray 1 into the glue spraying position after adjustment.

[0101] Then, the glue spraying device 60 sprays the part on the tray 1. During the spraying process, the transfer device 50 takes the next tray 1 from the trolley 10 according to the foregoing steps, and before putting the next tray 1 into the glue spraying position, the control system first judges whether the transfer device 50 needs to take the tray 1 in the glue spraying position. If so, the transfer device 50 takes the tray 1 in the glue spraying position first, and then puts the next tray 1 into the glue spraying position, and for the tray 1 taken from the glue spraying position, the transfer device 50 puts it into the trolley 10; if not, the transfer device 50 directly puts the next tray 1 into the glue spraying position, and after the next tray 1 is sprayed, the transfer device 50 puts it into the trolley 10.

[0102] In this way, the transfer device 50 cyclically performs the transfer operation of taking and placing the tray 1 from the trolley 10 or the glue spraying device 60, and the glue spraying device 60 continuously performs the glue spraying operation at a short interval, so that the glue spraying operation on all parts supported by the tray 1 on the trolley 10 can be completed.

[0103] The alignment of the transfer device 50 and the trolley 10 is achieved by the support mechanism 51, specifically, the first frame 511 is driven by the support driving unit 513 to move along the support guide rail 512, so that the first frame 511 is aligned with the trolley 10.

[0104] The process of the transfer device 50 taking the tray 1 is as follows: Step 1, the lifting mechanism 52 works, the second frame 521 is lifted by the lifting driving unit 523, so that the supporting arm 541 of the supporting mechanism 54 is adjusted to a suitable height corresponding to the tray 1 to be taken; Step 2, the horizontal moving mechanism 53 works, the third frame 531 is horizontally moved by the first horizontal driving unit 533, and the sliding plate 534 is horizontally moved by the second horizontal driving unit 536, so that the supporting arm 541 of the supporting mechanism 54 is extended to the lower side of the tray 1 to be taken; Step 3, the lifting mechanism 52 works, the second frame 521 is lifted by the lifting driving unit 523, so that the supporting arm 541 lifts the tray 1; Step 4, the horizontal moving mechanism 53 works, the third frame 531 is horizontally moved in the opposite direction by the first horizontal driving unit 533, and the sliding plate 534 is horizontally moved in the opposite direction by the second horizontal driving unit 536, so that the supporting arm 541 returns to the second frame 521, and the tray 1 is located above the jacking unit 544.

[0105] Before transferring the tray 1 to the opposite side of the side where the tray 1 is located, the transfer device 50 adjusts the glue spraying device 60 or the trolley 10 on the opposite side according to the following process: Step 1, the supporting mechanism 54 works, the jacking unit 544 first lifts the tray 1 on the supporting arm 541, so that the tray 1 is separated from the supporting arm 541; Step 2, the horizontal moving mechanism 53 works, the sliding plate 534 is horizontally moved by the second horizontal driving unit 536 to adjust the position of the supporting arm 541, so as to facilitate the subsequent rotation of the supporting arm 541; Step 3, the supporting mechanism 54 works, the rotation driving unit 542 drives the supporting arm 541 to rotate +180° or -180°; Step 4, the horizontal moving mechanism 53 works, the sliding plate 534 is horizontally moved by the second horizontal driving unit 536 to adjust the position of the rotated supporting arm 541, so as to ensure that it corresponds to the tray 1; Step 5, the supporting mechanism 54 works, the jacking unit 544 lowers the tray 1 again, so that the tray 1 is placed on the supporting arm 541 again. In this way, the position of the supporting arm 541 is adjusted to ensure that the supporting arm 541 can be horizontally extended into the glue spraying device 60 or the trolley 10 on the opposite side when storing the tray 1 subsequently.

[0106] The process of the transfer device 50 placing the tray 1 is as follows: step 1, the lifting mechanism 52 works, the lifting driving unit 523 drives the second frame 521 to lift, so that the supporting arm 541 supporting the tray 1 is adjusted to the appropriate height corresponding to the supporting plate of the target placement position; step 2, the horizontal moving mechanism 53 works, the first level driving unit 533 drives the third frame 531 to move horizontally, and the second level driving unit 536 drives the sliding plate 534 to move horizontally, so that the supporting arm 541 and the tray 1 thereon extend to above the supporting plate 12 of the target placement position; step 3, the lifting mechanism 52 works, the lifting driving unit 523 drives the second frame 521 to descend, so that the supporting arm 541 and the tray 1 thereon are separated; step 4, the horizontal moving mechanism 53 works, the first level driving unit 533 drives the third frame 531 to move horizontally in the opposite direction, and the second level driving unit 536 drives the sliding plate 534 to move horizontally in the opposite direction, so that the supporting arm 541 returns to the second frame 521.

[0107] The process of the glue spraying device 60 spraying glue on the parts supported by the tray 1 is as follows: step 1, the tray on the glue spraying supporting plate 64 is detected to be in place by the tray in place detection sensor; step 2, the camera mechanism 63 works, the image scanning camera 631 is driven by the image scanning moving driving unit 633 to move to the corresponding glue spraying position and be located directly above the part; step 3, the image scanning camera 631 scans the part and transmits the scanned image data to the glue spraying control unit 75; step 4, the glue spraying mechanism 62 works, the glue spraying robot 621 is driven by the glue spraying moving driving unit 623 to move to the corresponding glue spraying position and be located directly above the part; step 5, the glue spraying robot 621 sprays glue on the part according to the image data.

[0108] Effects of the embodiment

[0109] According to the glue spraying equipment, the transfer device transfers the parts supported by the tray between the trolley and the glue spraying device, the trolley can store multiple parts supported by the tray in layers, and the parts before and after the glue spraying process are stored by the trolley, the trolley positioning mechanism and the tray detection assembly are arranged on one side of the transfer device and can fix the position of the trolley and detect the position and quantity of the tray on the trolley, respectively, and the glue spraying device is arranged on the other side of the transfer device and mainly includes a glue spraying mechanism, a camera mechanism, a glue spraying supporting plate, a glue water receiving plate, and an air extraction mechanism. In work, the trolley is fixed in position under the action of the trolley positioning mechanism, the transfer device takes and places the parts supported by the tray between the trolley and the glue spraying device, the glue spraying device supports the tray by the glue spraying supporting plate, scans the image of the part on the tray by the camera mechanism, and sprays glue on the part according to the image data by the glue spraying mechanism to perform the glue spraying work.

[0110] The glue spraying equipment can realize the centralized taking and placing and rapid transfer of the trays by using the trays to support the parts and designing the trolleys and the transfer devices for the trays, and can satisfy the glue spraying processing requirements of various parts by designing the glue spraying devices including the glue spraying mechanisms and the camera mechanisms for the parts supported on the trays, and has good applicability, so the glue spraying equipment can realize the centralized storage, rapid transfer and glue spraying processing of different parts, and greatly improves the processing efficiency.

[0111] The glue spraying mechanism and the camera mechanism can be designed in the form of movable mechanisms.

[0112] The glue spraying device can be further provided with a glue water receiving plate for collecting residual glue water and an air extraction mechanism for extracting and discharging glue spraying waste gas, so that the pollution of the internal space of the glue spraying device can be effectively controlled.

[0113] The transfer device can realize the alternate transfer of two parts supported by the trays, and includes a supporting mechanism, a lifting mechanism, two horizontal moving mechanisms and two supporting mechanisms, the supporting mechanism provides support, and the lifting mechanism, the two horizontal moving mechanisms and the two supporting mechanisms cooperate to realize the alternate taking and placing, which can shorten the time interval of the glue spraying processing of the glue spraying device and greatly improve the processing efficiency. The horizontal moving mechanism adopts a two-stage horizontal transfer design, which not only expands the horizontal moving range, but also makes the structure more compact and occupies less space, and is not easy to collide with the trolley and the glue spraying device when performing the horizontal transfer action, which helps the smooth operation of the transfer work. The supporting mechanism can further include a jacking unit, which can jack up the tray so that the tray does not rotate when the supporting arm rotates, which can avoid the collision between the tray and other structures.

[0114] The trolley positioning mechanism uses fixed blocking pieces and liftable limiting pieces to cooperate to limit the trolley, which has simple structure and good positioning effect.

[0115] The above embodiments are preferred cases of the present application and do not limit the protection scope of the present application.

Claims

1. A glue spraying device, characterized in that, It includes a transfer device, a material cart, an AGV trolley, a material cart positioning mechanism and a pallet detection assembly located on one side of the transfer device, and a glue spraying device located on the other side of the transfer device; The transfer device is used to transfer parts supported by a pallet between the material cart and the glue spraying device; The trolley is used to store multiple parts supported by pallets in layers, including a frame, multiple support plates set on the frame, and multiple casters set at the bottom of the frame, the bottom of the frame having crossbars; The AGV lifts the material cart by lifting it from the bottom of the frame, thereby enabling the material cart to move along a set route. The material cart positioning mechanism is used to fix the position of the material cart; The pallet detection component is used to detect the position and quantity of pallets on the material cart; The adhesive spraying device is used to spray adhesive onto parts supported by a pallet; The glue spraying device includes a room body and a glue spraying mechanism, a camera mechanism, and a glue spraying support plate disposed within the room body. The chamber is provided with an opening that can be opened and closed, allowing the transfer device to pick up and place parts supported by a tray. The glue spraying mechanism is used to spray glue onto the parts supported by the tray. The camera is configured to scan and photograph the parts supported by the tray. The adhesive spraying support plate is used to support the pallet, and it is equipped with a pallet positioning detection sensor to detect whether the pallet is in place. The material cart positioning mechanism includes a mounting base, a blocking component, a lifting drive component, and a limiting component. The direction in which the material cart enters and exits the parking position is defined as the first horizontal direction, and the direction perpendicular to the first horizontal direction is defined as the second horizontal direction. The mounting base is located at the parking position and includes a base plate and two side plates vertically fixed to the base plate. The two side plates are distributed along a first horizontal direction. The top of the side plate, located rearward in the direction the material trolley enters the parking position, is equipped with the blocking member. The blocking member is positioned facing the direction the material trolley enters the parking position and is used to block the crossbar at the bottom of the frame. The transfer device enables the alternating transfer of two parts supported by a pallet, and includes a support mechanism, a lifting mechanism, two horizontal moving mechanisms, and two supporting mechanisms. The support structure includes a first frame. The lifting mechanism includes a lifting guide rail mounted on the first frame, a second frame mounted on the lifting guide rail, and a lifting drive unit that drives the first frame to move along the lifting guide rail. The two horizontal moving mechanisms are arranged vertically and parallel to each other on the second frame. Each horizontal moving mechanism includes a primary horizontal guide rail arranged on the second frame, a third frame arranged on the primary horizontal guide rail, a primary horizontal drive unit for driving the third frame to move along the primary horizontal guide rail, a secondary horizontal guide rail arranged on the third frame, a sliding plate arranged on the secondary horizontal guide rail, and a secondary horizontal drive unit for driving the sliding plate to move along the secondary horizontal guide rail. The two supporting mechanisms are respectively mounted on the two horizontal moving mechanisms. Each supporting mechanism includes a supporting arm mounted on the slide plate for supporting the pallet and a rotary drive unit for driving the supporting arm to rotate horizontally. Each of the aforementioned support mechanisms also includes a lifting unit. The lifting unit includes a lifting cylinder and a lifting plate. The lifting cylinder is mounted on the third frame. The lifting plate is lifted by the lifting cylinder to support the pallet on the support arm.

2. The adhesive spraying equipment according to claim 1, characterized in that: in, The glue spraying mechanism includes a glue spraying guide rail, a glue spraying robot, and a glue spraying motion drive unit. The adhesive spraying guide rail is installed on the inner wall of the room. The glue-spraying robot is mounted on the glue-spraying moving guide rail. The glue-spraying mobile drive unit drives the glue-spraying robot to move along the glue-spraying mobile guide rail.

3. The adhesive spraying equipment according to claim 2, characterized in that: in, The camera mechanism includes a camera movement guide rail, a scanning camera, and a camera movement drive unit. The camera's movable guide rail is installed on the inner wall of the room. The glue-spraying robot is mounted on the camera's moving guide rail. The camera-mounted mobile drive unit drives the glue-spraying robot to move along the camera-mounted mobile guide rail.

4. The adhesive spraying equipment according to claim 1, characterized in that: in, The glue spraying device also includes a glue receiving plate and a ventilation mechanism. The glue receiving plate is replaceably disposed below the glue spraying support plate for collecting glue flowing from the glue spraying support plate and the tray it supports. The exhaust system is used to extract the adhesive spraying fumes from inside the chamber.

5. The adhesive spraying equipment according to claim 4, characterized in that: in, The ventilation system includes a fan and ductwork. The exhaust fan is located at the top of the room. One end of the duct is connected to the exhaust fan, and the other end is connected to the interior space of the room and is located below the glue support plate.

6. The adhesive spraying equipment according to claim 4, characterized in that: in, The adhesive bonding board includes a frame and a non-woven fabric laid flat on the frame.

7. The adhesive spraying equipment according to claim 1, characterized in that: in, The pallet detection assembly includes multiple pallet detection sensors. Multiple pallet detection sensors are arranged at equal intervals along the vertical direction, and each pallet detection sensor is used to detect whether a pallet is stored at the corresponding horizontal position on the material cart.

Images