An automated glue spraying apparatus

Abstract

The application provides an automatic glue spraying equipment, which comprises a transfer device, a trolley, an AGV trolley, a trolley positioning mechanism, a tray detection assembly, a glue spraying device and a control device; the transfer device transfers parts supported by trays between the trolley and the glue spraying device; the trolley can store multiple parts supported by trays in layers; the AGV trolley drives the trolley to move; 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 trays on the trolley, respectively; the glue spraying device is arranged on the other side of the transfer device and mainly comprises a glue spraying mechanism, a camera mechanism and a supporting plate for glue spraying; the glue spraying mechanism sprays glue on the parts according to image data obtained by the camera mechanism, which can meet the glue spraying processing requirements of various parts and has good applicability. The automatic glue spraying equipment can realize the centralized storage, rapid transfer and glue spraying processing of different parts, and greatly improves the automation degree and processing efficiency.

Description

Technical Field

[0001] This invention relates to the field of parts processing, and more specifically to an automated adhesive spraying device. Background Technology

[0002] In the manufacturing process of parts such as automotive interior components, adhesive spraying is often required. Current methods include using traditional conveyor equipment to transport parts and manual adhesive spraying, resulting in low production efficiency and high labor costs. Another method uses a mechanical gripper to pick up parts and a glue gun for spraying, which improves efficiency to some extent, but the mechanical gripper requires multiple grippers for each part, and the glue gun is not in use during the gripper's loading and unloading process, wasting considerable time. Furthermore, the glue gun's position is usually fixed, which cannot adequately meet the adhesive spraying needs of some parts. Therefore, based on existing technology, this application provides an automated adhesive spraying device that can meet the needs of centralized storage, rapid transfer, and adhesive spraying of different parts, focusing on improving automation and processing efficiency. Summary of the Invention

[0003] This invention was made to solve the above-mentioned problems, and its purpose is to provide an automated glue spraying device.

[0004] This invention provides an automated glue spraying device, characterized by comprising a transfer device, a material cart, an AGV (Automated Guided Vehicle) trolley, a material cart positioning mechanism and a pallet detection assembly disposed on one side of the transfer device, a glue spraying device disposed on the other side of the transfer device, and a control device; one side of the transfer device has multiple parking positions for the material carts, and the transfer device is used to transfer pallet-supported parts between the material carts and the glue spraying device; the material carts are used to store multiple pallet-supported parts in layers; the AGV trolleys are used to move the material carts in and out of the parking positions; the material cart positioning mechanism is used to fix the position of the material carts at the parking positions; the pallet detection assembly is used to detect the position and quantity of pallets on the material carts; the glue spraying device has multiple glue spraying positions corresponding to the multiple parking positions, and the glue spraying device is used to spray glue onto the pallet-supported parts. The adhesive spraying device includes a transfer control unit for controlling the operation of the transfer device, an AGV control unit for controlling the operation of the AGV trolley, a material cart positioning control unit for controlling the operation of the material cart positioning mechanism, a pallet detection control unit for controlling the operation of the pallet detection component, and an adhesive spraying control unit for controlling the operation of the adhesive spraying device. The adhesive spraying device includes a housing and an adhesive spraying mechanism, a camera mechanism, and an adhesive spraying support plate housed within the housing. The housing has an opening that can be opened and closed for the transfer device to pick up and place parts supported by the pallet. The adhesive spraying mechanism is used to spray adhesive onto the parts supported by the pallet. The camera mechanism is used to scan and photograph the parts supported by the pallet. The adhesive spraying support plate is used to support the pallet and is equipped with a pallet positioning detection sensor for detecting whether the pallet is properly positioned.

[0005] The automated glue spraying equipment provided by this invention may also have the following features: the glue spraying mechanism includes a glue spraying moving guide rail, a glue spraying robot, and a glue spraying moving drive unit. The glue spraying moving guide rail is set on the inner wall of the room, the glue spraying robot is set 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; the camera mechanism includes a camera moving guide rail, a scanning camera, and a camera moving drive unit. The camera moving guide rail is set on the inner wall of the room, the glue spraying robot is set on the camera moving guide rail, and the camera moving drive unit drives the glue spraying robot to move along the camera moving guide rail.

[0006] Furthermore, the glue spraying control unit controls the glue spraying device to spray glue onto the parts supported by the tray in the following steps: the tray positioning detection sensor detects whether the tray is properly positioned on the glue spraying support plate, and when it is properly positioned, proceeds to the next step; the camera motion drive unit drives the scanning camera to move to the corresponding glue spraying position; the scanning camera scans the parts and transmits the scanned image data to the glue spraying control unit; the glue spraying motion drive unit drives the glue spraying robot to move to the corresponding glue spraying position; the glue spraying robot sprays glue onto the parts according to the image data.

[0007] The automated glue spraying equipment provided by this invention may also have the following features: the transfer device can realize the alternating transfer of two parts supported by a pallet, including a support mechanism, a lifting mechanism, two horizontal moving mechanisms, and two supporting mechanisms. The support mechanism includes a support guide rail set on the ground, a first frame set on the support guide rail, and a support drive unit that drives the first frame to move along the support guide rail to align with the docking position. The lifting mechanism includes a lifting guide rail set on the first frame, a second frame set 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 parallel to each other on the second frame. Each horizontal moving mechanism includes a primary horizontal guide rail set on the second frame, a third frame set on the primary horizontal guide rail, a primary horizontal drive unit that drives the third frame to move along the primary horizontal guide rail, a secondary horizontal guide rail set on the third frame, a slide plate set on the secondary horizontal guide rail, and a secondary horizontal drive unit that drives the slide plate to move along the secondary horizontal guide rail. The two supporting mechanisms are respectively set on the two horizontal moving mechanisms. Each supporting mechanism includes a supporting arm set on the slide plate for supporting the pallet and a rotation drive unit that drives the supporting arm to rotate horizontally.

[0008] Furthermore, when the first frame aligns with the parking position of the material cart, the transfer control unit controls the transfer device to remove the pallet from the material cart or the glue spraying device in the following steps: the lifting drive unit drives the second frame to lift, so that the support arm of a support mechanism is adjusted to a suitable height corresponding to the pallet to be removed; the first-level horizontal drive unit drives the third frame to move horizontally, and the second-level horizontal drive unit drives the sliding plate to move horizontally, so that the support arm extends under the pallet to be removed; the lifting drive unit drives the second frame to rise, so that the support arm lifts the pallet; the first-level horizontal drive unit drives the third frame to move horizontally in the opposite direction, and the second-level horizontal drive unit drives the sliding plate to move horizontally in the opposite direction, so that the support arm returns to the second frame.

[0009] Furthermore, the transfer control unit controls the transfer device to place the pallet onto the material cart or glue spraying device in the following steps: The lifting drive unit drives the second frame to lift, so that the support arm supporting the pallet is adjusted to a suitable height corresponding to the support plate at the target placement position; the first-level horizontal drive unit drives the third frame to move horizontally, and the second-level horizontal drive unit drives the sliding plate to move horizontally, so that the support arm and the pallet on it extend above the support plate at the target placement position; the lifting drive unit drives the second frame to descend, so that the pallet on the support arm is placed on the support plate at the target placement position and separated from the support arm; the first-level horizontal drive unit drives the third frame to move horizontally in the opposite direction, and the second-level horizontal drive unit drives the sliding plate to move horizontally in the opposite direction, so that the support arm returns to the second frame.

[0010] Furthermore, each support mechanism also includes a lifting unit, which includes a lifting cylinder and a lifting plate. The lifting cylinder is mounted on the third frame, and the lifting plate is lifted by the lifting cylinder to support the pallet on the support arm.

[0011] Before transferring the pallet to the opposite side of the pallet placement side, the transfer control unit controls the transfer device to perform the following steps: the lifting unit lifts the pallet on the support arm; the secondary horizontal drive unit drives the slide plate to move horizontally to adjust the position of the support arm; the rotation drive unit drives the support arm to rotate +180° or -180°; the secondary horizontal drive unit drives the slide plate to move horizontally to adjust the position of the rotated support arm to ensure that the support arm corresponds to the pallet; the lifting unit lowers the pallet, so that the pallet is placed back on the support arm.

[0012] The automated glue spraying equipment provided by the present invention may also have the following features: the glue spraying device further includes a glue receiving plate and a ventilation mechanism. The glue receiving plate is replaceably arranged below the glue spraying support plate for collecting glue flowing down from the glue spraying support plate and the tray it supports. The ventilation mechanism is used to exhaust glue spraying exhaust gas in the room.

[0013] The automated glue spraying equipment provided by the present invention may also have the following features: the material cart positioning mechanism includes a mounting base, a blocking component, a lifting drive component, and a limiting component. The blocking component is set on the mounting base and is used for the bottom of the material cart to abut against. The lifting drive component is set on the mounting base, and the limiting component is driven to rise and fall by the lifting drive component and is used to limit the material cart in conjunction with the blocking component when it is raised.

[0014] The automated glue spraying equipment provided by the present invention may also have the following features: the pallet detection component includes multiple pallet detection sensors, which are equally spaced 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.

[0015] The role and effect of invention

[0016] The automated glue spraying equipment according to the present invention includes a transfer device, a material cart, an AGV trolley, a material cart positioning mechanism, a pallet detection component, a glue spraying device, and a control device. The transfer device transfers parts supported by pallets between the material cart and the glue spraying device. Multiple parts supported by pallets can be stored in layers on the material cart, and parts before and after glue spraying are stored via the material cart. The AGV trolley moves the material cart. The material cart positioning mechanism and the pallet detection component are located on one side of the transfer device, respectively fixing the position of the material cart and detecting the position and quantity of pallets on the material cart. The glue spraying device is located on the other side of the transfer device and mainly includes a glue spraying mechanism, a camera mechanism, and a glue spraying support plate. The control device controls the operation of the transfer device, the AGV trolley, the material cart positioning mechanism, the pallet detection component, and the glue spraying device.

[0017] During operation, the material cart is driven by the AGV and stops on one side of the transfer device. The material cart positioning mechanism fixes the position of the material cart. The pallet detection component detects the pallets on the material cart. The transfer device moves back and forth between the material cart and the glue spraying device to pick up and put the parts supported by the pallets. The glue spraying device supports the pallets with glue spraying support plates, the camera mechanism scans the images of the parts on the pallets, and the glue spraying mechanism sprays glue onto the parts according to the image data to perform glue spraying processing.

[0018] This automated glue spraying equipment utilizes pallets to support parts and incorporates a material cart and transfer device for these pallets, enabling centralized loading and unloading and rapid transfer of parts. A glue spraying device, including a glue spraying mechanism and a camera mechanism, is designed for the parts supported on the pallets. The glue spraying mechanism applies glue to the parts based on image data scanned by the camera mechanism, meeting the glue spraying processing needs of various parts and exhibiting excellent applicability. Therefore, this automated glue spraying equipment can achieve centralized storage, rapid transfer, and glue spraying processing of different parts, significantly improving the degree of automation and processing efficiency. Attached Figure Description

[0019] Figure 1 This is a schematic diagram of the structure of the automated glue spraying equipment in an embodiment of the present invention;

[0020] Figure 2 This is a system block diagram of the automated glue spraying equipment in an embodiment of the present invention;

[0021] Figure 3 This is a schematic diagram of the structure of the material cart, AGV trolley, material cart positioning mechanism, and pallet detection component in an embodiment of the present invention;

[0022] Figure 4 This is a schematic diagram of the structure of the material cart and the material cart positioning mechanism in an embodiment of the present invention;

[0023] Figure 5 This is a schematic diagram of the material cart positioning mechanism in an embodiment of the present invention;

[0024] Figure 6 This is a schematic diagram of the transfer device in an embodiment of the present invention;

[0025] Figure 7 This is a schematic diagram of the support mechanism in an embodiment of the present invention;

[0026] Figure 8 This is a schematic diagram of the lifting mechanism in an embodiment of the present invention;

[0027] Figure 9 This is a schematic diagram of the structure of the first-stage horizontal drive unit of the horizontal moving mechanism in an embodiment of the present invention;

[0028] Figure 10 This is a schematic diagram of the structure of the secondary horizontal drive unit of the horizontal moving mechanism in an embodiment of the present invention;

[0029] Figure 11 This is a schematic diagram of the supporting arm of the supporting mechanism in the first rotational position in an embodiment of the present invention;

[0030] Figure 12 This is a schematic diagram of the supporting arm of the supporting mechanism in the second rotational position in an embodiment of the present invention;

[0031] Figure 13 This is a schematic diagram of the rotation drive unit of the support mechanism in an embodiment of the present invention;

[0032] Figure 14 This is a front view of the adhesive spraying device after part of the housing has been removed in an embodiment of the present invention;

[0033] Figure 15 This is a rear view of the glue spraying device in an embodiment of the present invention;

[0034] Figure 16This is a schematic diagram of the internal structure of the glue spraying device in an embodiment of the present invention;

[0035] Figure 17 This is a schematic diagram of the camera guide rail and camera drive unit of the camera mechanism in an embodiment of the present invention;

[0036] Figure 18 This is an isometric view of the adhesive spraying device after removing part of the housing in an embodiment of the present invention;

[0037] Figure 19 This is a schematic diagram of the workflow of the automated glue spraying equipment in an embodiment of the present invention;

[0038] Figure 20 This is a partial flowchart of the transfer device in an embodiment of the present invention, wherein (a) is the process of the transfer device taking the tray, (b) is the process of the transfer device making adjustments, and (c) is the process of the transfer device taking the tray.

[0039] Figure 21 This is a schematic diagram of the working process of the glue spraying device in an embodiment of the present invention.

[0040] Explanation of reference numerals in the attached figures:

[0041] 1. Pallet; 10. Cart; 11. Frame; 111. Crossbar; 12. Support plate; 13. Casters; 14. Limiting block; 20. AGV trolley; 30. Cart positioning mechanism; 31. Mounting base; 311. Base plate; 312. Side plate; 32. Blocking component; 33. Lifting guide rail; 34. Lifting drive component; 35. Limiting component; 351. Side; 352. Chamfer; 36. Rolling component; 40. Pallet detection assembly; 41. Vertical plate; 42. Pallet detection sensor; 50. Transfer device; 51. Support mechanism; 511. First frame; 5111. Strip hole; 512. Support guide rail; 513. Support drive unit; 5131. Gear motor; 5132. Fourth gear; 513 3. 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 drive unit; 5231. Motor; 5232. Dual-shaft reducer; 5233. Drive shaft; 5234. First gear; 5235. First rack; 524. Lifting limit unit; 5241. Locking cylinder; 5242. Limit rod; 53. Horizontal movement mechanism; 531. Third frame; 532. First-stage horizontal guide rail; 533. First-stage horizontal drive unit; 5331. Gear motor; 5332. Second gear; 5333. Second rack; 534. Slide plate; 535. Secondary water... Flat guide rail; 536 Secondary horizontal drive unit; 5361 Motor; 5362 Pulley drive assembly; 5363 Screw and nut assembly; 54 Support mechanism; 541 Support arm; 542 Rotary drive unit; 5421 Rotary drive cylinder; 5422 Third rack; 5423 Third gear; 5424 Connecting shaft; 543 Rotary limit component; 544 Lifting unit; 5441 Lifting cylinder; 5442 Lifting plate; 5443 Guide shaft; 60 Glue spraying device; 60 Glue spraying device; 61 Room body; 611 Opening; 612 Door body; 613 Door body drive component; 614 Parts changing window; 62 Glue spraying mechanism; 621 Glue spraying robot; 6 22. Glue spraying guide rail; 623. Glue spraying drive unit; 6231. Gear motor; 6232. Fifth rack; 63. Camera mechanism; 631. Scanning camera; 632. Camera moving guide rail; 633. Camera moving drive unit; 6331. Gear motor; 6332. Sixth gear; 6333. Sixth rack; 64. Glue spraying support plate; 641. Limiting block; 65. Glue receiving plate; 66. Exhaust mechanism; 661. Exhaust fan; 662. Air duct; 6621. Exhaust outlet; 70. Control device; 71. AGV control unit; 72. Material cart positioning control unit; 73. Pallet detection control unit; 74. Transfer control unit; 75. Glue spraying control unit. Detailed Implementation

[0042] To make the technical means, creative features, objectives and effects of this invention easier to understand, the following embodiments are described in detail with reference to the accompanying drawings.

[0043] Example

[0044] Figure 1 This is a structural diagram of an automated glue spraying equipment. Figure 2 This is a system block diagram of an automated glue spraying equipment.

[0045] like Figure 1 and Figure 2 As shown, this embodiment provides an automated glue spraying device, including a material cart 10, an AGV trolley 20, a material cart positioning mechanism 30, a pallet detection component 40, a transfer device 50, a glue spraying device 60, and a control device 70.

[0046] The transfer device 50 includes a material cart 10, an AGV trolley 20, a material cart positioning mechanism 30, and a pallet detection assembly 40, all positioned on one side. This side of the transfer device 50 has at least one parking position for the material cart 10. 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 the pallet detection assembly 40 are located at the parking position and are used to fix the position of the material cart 10 and detect the position and quantity of pallets 1 on the material cart 10, respectively. A glue spraying device 60 is located on the other side of the transfer device 50 and has a glue spraying position corresponding to the parking position. The glue spraying device 60 is used to spray glue onto the parts supported by pallets 1. The transfer device 50 is used to transfer the parts supported by pallets 1 between the material cart 10 located at the parking position and the glue spraying device 60. The control device 70 is an industrial computer used to control the operation of the AGV trolley 20, the material cart positioning mechanism 30, the pallet detection component 40, the transfer device 50, and the glue spraying device 60. It includes the corresponding AGV control unit 71, material cart positioning control unit 72, pallet detection control unit 73, transfer control unit 74, and glue spraying control unit 75. The following is a detailed description of each part.

[0047] Figure 3 This is a structural diagram of the material cart 10, AGV trolley 20, material cart positioning mechanism 30, and pallet detection component 40. Figure 4 This is a structural schematic diagram of the material cart 10 and the material cart positioning mechanism 30.

[0048] like Figure 3 and Figure 4 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.

[0049] 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.

[0050] Each support plate 12 is also equipped with a limiting block 14, which can block the side 31 of the pallet 1 to prevent the pallet 1 from shifting horizontally. In this embodiment, each support plate 12 has a limiting block 14 at both ends. The distance between the two limiting blocks 14 is adapted to the width of the pallet 1, which can limit the pallet 1 in the horizontal direction of entering and exiting the opening, thus preventing the pallet 1 from shifting. The height of the limiting block 14 near the opening is smaller than the height of the other limiting block 14, so that the limiting block 14 near the opening can support the pallet 1 when it is horizontally transferred, facilitating its horizontal transfer. The top of the adjacent sides of the two limiting blocks 14 are also chamfered, so that the pallet 1 transferred to the support plate 12 falls between the two limiting blocks 14.

[0051] The AGV trolley 20 lifts the material cart 10 by jacking it up from the bottom of the frame 11, thereby enabling the material cart 10 to move along a set route.

[0052] Figure 5 This is a schematic diagram of the material cart positioning mechanism 30.

[0053] like Figure 5 As shown, the material cart positioning mechanism 30 mainly includes a mounting base 31, a blocking component 32, a lifting guide rail 33, a lifting drive component 34, and a limiting component 35, all installed at the parking position. In the following text, the direction in which the material cart 10 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.

[0054] The mounting base 31 is fixed to the ground and includes a base plate 311 and two side plates 312 vertically fixed to the base plate 311. The two side plates 312 are distributed along a first horizontal direction. A blocking member 32 is installed on the top of the side plate 312 located rearward in the direction the material trolley 10 enters the parking position. The blocking member 32 is positioned directly opposite the direction the material trolley 10 enters the parking position and is used to block the crossbar 111 at the bottom of the frame 11. The side plate 312 located forward in the direction the material trolley 10 enters the parking position is lower than the crossbar 111 at the bottom of the frame 11 to avoid collision with the frame 11. A lifting guide rail 33 is installed on this side plate 312.

[0055] The lifting drive component 34 is mounted on the base plate 311 with its output end facing upward. In this embodiment, the lifting drive component 34 is a cylinder.

[0056] The limiting member 35 is installed on the slider of the lifting guide rail 33 and connected to the output end of the lifting drive member 34. The limiting member 35 is driven by the lifting drive member 34 to move up and down along the lifting guide rail 33. The lifting drive member 34 and the limiting member 35 are configured such that when the lifting member 35 is raised, the top of the limiting member 35 is higher than the lower surface of the crossbar 111, and when the lifting member 35 is lower than the lower surface of the crossbar 111, the limiting member 35 can cooperate with the blocking member 32 to block both sides of the crossbar 111, thereby achieving positioning of the material cart 10 in the first horizontal direction.

[0057] In this embodiment, the limiting member 35 has two vertically adjacent sides 351, respectively arranged corresponding to the first horizontal direction and the second horizontal direction. For example... Figure 4 As shown, two rolling elements 36 are installed on the crossbar 111 at the bottom of the frame 11, which cooperate with the two sides 351 of the limiting member 35. This prevents the crossbar 111 from making hard contact with the lifting limiting member 35. The rolling elements 36 can be rollers or bearings. The top of the two sides 351 of the limiting member 35 is also provided with chamfers 352, which can reduce the impact when in contact with the two rolling elements 36.

[0058] Furthermore, such as Figure 3 and Figure 4 As shown, in this embodiment, there are two material cart positioning mechanisms 30, distributed along the second horizontal direction. Four rolling elements 36 are provided on the crossbar 111, with each pair of rolling elements 36 corresponding to one material cart positioning mechanism 30. The limiting elements 35 of the two material cart positioning mechanisms 30 have their corresponding sides 351 facing away from each other in the second horizontal direction. This allows the material cart 10 to be positioned in the second horizontal direction when the two raised limiting elements 35 engage with the corresponding rolling elements 36 on the crossbar 111.

[0059] like Figure 3 As shown, the pallet detection assembly 40 includes a stand plate 41 and multiple pallet detection sensors 42.

[0060] The upright plate 41 is fixed to the ground. Multiple pallet detection sensors 42 are evenly spaced vertically on the upright plate 41, each corresponding to one of the multiple sets of support plates 12 on the material cart 10. Each pallet detection sensor 42 detects whether a pallet 1 is stored on its corresponding support plate 1, thus enabling the multiple pallet detection sensors 42 to detect the number of pallets 1 on the material cart 10. In this embodiment, the pallet detection sensor 42 is a proximity sensor.

[0061] Figure 6 This is a schematic diagram of the transfer device 50.

[0062] like Figure 6 As 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.

[0063] Figure 7 This is a structural schematic diagram of the support mechanism 51.

[0064] like Figure 7 As shown, the support mechanism 51 mainly includes a first frame 511 that provides support and has a rectangular structure.

[0065] 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.

[0066] Figure 8 This is a structural schematic diagram of the lifting mechanism 52.

[0067] like Figure 8 As shown, the lifting mechanism 52 mainly includes a second frame 521, a lifting guide rail 522, and a lifting drive unit 523.

[0068] 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.

[0069] 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 6 The second frame 521 is mounted on the sliders of the corresponding side lifting guide rails 522 on both sides. In this embodiment, there are four lifting guide rails 522, with two lifting guide rails 522 on each side of the first frame 511.

[0070] The lifting drive unit 523 can drive the second frame 521 to move along the lifting guide rail 522, so that the horizontal moving mechanism 53 and the supporting mechanism 54 on the lifting mechanism 52 can be aligned vertically with the pallet pick-up and drop positions on the material cart 10 and the glue spraying device 60. Specifically, the lifting drive unit 523 includes a motor 5231, a dual-shaft reducer 5232, two drive shafts 5233, two first gears 5234, and two first racks 5235. Among them, the dual-shaft reducer 5232 is installed at the center of the top frame beam 5212 of the second frame 521. The input end of the dual-shaft reducer 5232 is connected to the output shaft of the motor 5231. The two output shafts of the dual-shaft reducer 5232 are arranged on both sides of the first frame 511 and are respectively connected to one end of the two drive shafts 5233. The two drive shafts 5233 are respectively mounted on the top frame beam 5212 through bearing seats, and the other end of each drive shaft 5233 is equipped with a first gear 5234. Two first racks 5235 are respectively installed on both sides of the first frame 511 in a vertical direction and mesh with the first gear 5234 on the corresponding side.

[0071] In this embodiment, a plurality of strip-shaped holes 5111 are provided on each side of the first frame 511 at intervals along the vertical direction. The lifting mechanism 52 also includes a lifting limiting unit 524 that cooperates 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. The locking cylinder 5241 can drive the limiting rod 5242 to extend horizontally into the strip-shaped hole 5111, thereby limiting the second frame 521 in the vertical direction. This can improve the accuracy of the position of the second frame 521 when it is raised and lowered, and also prevent the second frame 521 from accidentally falling or rising too high and colliding with other structures, thereby improving the safety of the lifting mechanism 52 when it is raised and lowered.

[0072] Figure 9 This is a schematic diagram of the structure of the first-stage horizontal drive unit 533 of the horizontal moving mechanism 53. Figure 10 This is a schematic diagram of the structure of the secondary horizontal drive unit 536 of the horizontal moving mechanism 53.

[0073] Each horizontal moving mechanism 53 can drive the supporting mechanism 54 on it to move along a first horizontal direction. Each horizontal moving mechanism 53 includes a third frame 531, a primary horizontal guide rail 532, a primary horizontal drive unit 533, a sliding plate 534, a secondary horizontal guide rail 535, and a secondary horizontal drive unit 536.

[0074] like Figure 9 As shown, the third frame 531 is a hexagonal shape formed by splicing a trapezoid and a rectangle, and the long base of the trapezoid coincides with the long side of the rectangle.

[0075] The first-level horizontal guide rail 532 is a linear guide rail set along the first horizontal direction. The two first-level horizontal guide rails 532 are respectively set on the two side frames 5211 of the second frame 521. The two sides of the third frame 531 are respectively mounted on the sliders of the two first-level horizontal guide rails 532.

[0076] The primary horizontal drive unit 533 can drive the third frame 531 to move along the primary horizontal guide rail 532, realizing primary horizontal movement. Specifically, the primary horizontal drive unit 533 includes a geared motor 5331, a second gear 5332, and a second rack 5333. The geared motor 5331 is installed on the side of the third frame 531, and the output shaft of the geared motor 5331 is arranged vertically and connected to the second gear 5332. The second rack 5333 is arranged on the corresponding side frame 5211 along the first horizontal direction and meshes with the second gear 5332.

[0077] like Figure 10 As shown, the secondary horizontal guide rail 535 is a linear guide rail arranged along the first horizontal direction. In this embodiment, the two secondary horizontal guide rails 535 are arranged in parallel on the third frame 531, and the slide plate 534 is straddled and installed on the slider of the two secondary horizontal guide rails 535.

[0078] The secondary horizontal drive unit 536 can drive the slide plate 534 to move along the secondary horizontal guide rail 535, achieving secondary horizontal movement based on the primary horizontal movement. Specifically, the secondary horizontal drive unit 536 includes a motor 5361, a pulley drive assembly 5362, and a lead screw and nut assembly 5363. The motor 5361 is mounted on the third frame 531, and its output shaft is connected to the lead screw via the pulley drive assembly 5362. The pulley drive assembly 5362 includes a driving pulley connected to the output of the motor 5361, a driven pulley connected to the lead screw, and a synchronous belt fitted onto the driving and driven pulleys. The lead screw and nut assembly 5363 includes a lead screw and a lead screw nut. The lead screw is mounted on the third frame 531 along the first horizontal direction via a lead screw seat, and the lead screw nut is connected to the slide plate 534 via a connector.

[0079] As can be seen, the two-stage horizontal movement design of the horizontal movement mechanism 53 not only expands the horizontal movement range, but also makes the structure more compact and occupies less space. It is also less likely to collide with the material cart 10 and the glue spraying device 60 when performing horizontal transfer operations, which helps to ensure the smooth progress of the transfer operation.

[0080] Figure 11 This is a schematic diagram of the supporting arm 541 of the supporting mechanism 54 when it is in the first rotational position. Figure 12 This is a schematic diagram of the supporting arm 541 of the supporting mechanism 54 when it is in the second rotational position. Figure 13 This is a schematic diagram of the rotary drive unit 542.

[0081] like Figure 11 and Figure 12 As shown, each support mechanism 54 is mounted on the slide plate 534 of the horizontal moving mechanism 53, and includes a support arm 541 and a rotary drive unit 542.

[0082] One end of the support arm 541 is rotatably mounted on the slide plate 534, enabling it to support the tray 1 from the bottom. In this embodiment, the support arm 541 has an octagonal frame structure, and the maximum width of the support arm 541 is less than the width of the tray 1.

[0083] The rotary drive unit 542 is mounted on the slide plate 534 and is capable of driving the support arm 541 to rotate horizontally. Specifically, as shown... Figure 13 As shown, the rotary drive unit 542 includes a rotary drive cylinder 5421, a third rack 5422, a third gear 5423, and a connecting shaft 5424. The rotary drive cylinder 5421 is mounted on the bottom surface of the slide plate 534. The third rack 5422 is arranged parallel to the piston rod of the rotary drive cylinder 5421 and connected to the piston rod via a connector. The third gear 5423 meshes with the third rack 5422 and is connected to one end of the support arm 541 via the connecting shaft 5424, which is rotatably mounted on the slide plate 534.

[0084] In this embodiment, the rotation drive unit 542 drives the support arm 541 to rotate alternately at +180° and -180°, corresponding to two rotation positions for the support arm 541, namely the first rotation position and the second rotation position, see... Figure 11 and Figure 12 The support mechanism 54 also includes a rotation limiter 54335, which is block-shaped and mounted on the slide plate 534. The rotation limiter 54335 limits the rotation of the support arm 541 by blocking the side 351 of the support arm 541.

[0085] To prevent the pallet 1 from rotating when the support arm 541 rotates, thus avoiding collisions with other structures, the support mechanism 54 also includes a lifting unit 544. The lifting unit 544 mainly includes a lifting cylinder 5441 and a lifting plate 5442. The lifting cylinder 5441 is mounted on the third frame 531, and the lifting plate 5442, driven by the lifting cylinder 5441, can lift the pallet 1. In this embodiment, two lifting cylinders 5441 are symmetrically installed on both sides of the third frame 531. The piston end of each lifting cylinder 5441 is vertically upward and connected to a lifting plate 5442 positioned along a first horizontal direction. The two lifting plates 5442, driven by their respective lifting cylinders 5441, can smoothly lift the pallet 1 from both sides. Each lifting plate 5442 is an L-shaped strip plate, which can block the side of the pallet 1 in the second horizontal direction, preventing the pallet 1 from moving in that direction when lifted. The bottom of each lifting plate 5442 is also connected to multiple vertically arranged guide shafts 5443. Each guide shaft 5443 is guided and engaged with a corresponding guide bearing installed on the third frame 531 to ensure the stability of the lifting plate 5442 when it is raised or lowered.

[0086] Figure 14 This is a front view of the glue spraying device 60 after part of its housing has been removed. Figure 15 This is a rear view of the glue spraying device 60.

[0087] like Figure 14 and Figure 15 As shown, the glue spraying device 60 includes a chamber 61 and a glue spraying mechanism 62, a camera mechanism 63, a glue spraying support plate 64, a glue receiving plate 65, and a ventilation mechanism 66 disposed within the chamber 61. The glue spraying mechanism 62 is used to spray glue onto parts supported by a tray 1; the camera mechanism 63 is used to scan and photograph the parts supported by the tray 1; the glue spraying support plate 64 is used to support the tray 1; the glue receiving plate 65 is used to collect glue dripping from the tray 1 and the glue spraying support plate 64; and the ventilation mechanism 66 is used to exhaust glue spraying fumes from the chamber 61.

[0088] The chamber 61 has multiple adhesive spraying positions arranged along the second horizontal direction, each spraying position corresponding to a docking position. For example... Figure 15 As shown, each adhesive spraying position of the chamber body 61 has an opening 611 for placing and removing the tray 1, a door body 612, and a door drive component 613 for opening and closing the opening 611 on the side facing the transfer device. In this embodiment, the door body 612 is a sliding door that slides with the opening 611 on both sides, and the door drive component 613 is a cylinder installed above the opening 611, with the piston rod of the cylinder facing downward and connected to the door body 612.

[0089] Figure 16 This is a schematic diagram of the internal structure of the glue spraying device 60.

[0090] like Figure 16 As shown, the glue spraying mechanism 62 includes a glue spraying robot 621, a glue spraying moving guide rail 622, and a glue spraying moving drive unit 623. In this embodiment, the glue spraying mechanism 62 is configured with two glue spraying positions.

[0091] The glue spraying robot 621 is a six-axis glue spraying manipulator with a glue gun at the end of its execution.

[0092] The adhesive spraying guide rail 622 is a linear guide rail arranged along the second horizontal direction, and the adhesive spraying robot 621 is mounted on the slider of the adhesive spraying guide rail 622. In this embodiment, there are two adhesive spraying guide rails 622, which are arranged vertically parallel to each other on the side wall inside the room 61.

[0093] The glue-spraying mobile drive unit 623 can drive the glue-spraying robot 621 to move along the glue-spraying mobile guide rail 622, realizing the movement of the glue-spraying robot 621 within the glue-spraying position and the switching between different glue-spraying positions. Specifically, the glue-spraying mobile drive unit 623 includes a reduction motor 6231, a fifth gear, and a fifth rack 6232. The reduction motor 6231 is mounted on the slider of the glue-spraying mobile guide rail 622, the output shaft of the reduction motor 6231 is connected to the fifth gear, and the fifth rack 6232 is arranged along the second horizontal direction on the side wall inside the chamber 61 and meshes with the fifth gear.

[0094] Figure 17 This is a schematic diagram of the camera guide rail and camera drive unit of camera mechanism 63.

[0095] like Figure 14 and Figure 17 As shown, the camera assembly 63 includes a scanning camera 631, a camera movement guide rail 632, and a camera movement drive unit 633. In this embodiment, the camera assembly 63 is configured with two glue spraying positions.

[0096] The scanning camera 631 is used to scan and photograph the parts supported by the tray 1, and the glue spraying mechanism 62 can accurately spray glue onto the parts based on the image data obtained by the scanning camera 631.

[0097] The camera moving guide rail 632 is a linear guide rail arranged along the second horizontal direction, and the scanning camera 631 is mounted on the slider of the camera moving guide rail 632. In this embodiment, the camera moving guide rail 632 is arranged on the inner wall of the top of the room 61.

[0098] The camera movement drive unit 633 can drive the scanning camera 631 to move along the camera movement guide rail 632, realizing the movement of the scanning camera 631 within the glue spraying position and the switching between different glue spraying positions. Specifically, the camera movement drive unit 633 includes a geared motor 6331, a sixth gear 6332, and a sixth rack 6333. The geared motor 6331 is mounted on the slider of the camera movement guide rail 632, the output shaft of the geared motor 6331 is connected to the sixth gear 6332, and the sixth rack 6333 is arranged along the second horizontal direction on the inner wall of the top of the chamber 61 and meshes with the sixth gear 6332.

[0099] Figure 18 This is an isometric view of the adhesive spraying device 60 after part of the housing has been removed.

[0100] like Figure 16 and Figure 18 As shown, each glue spraying position is provided with two glue spraying support plates 64. These two glue spraying support plates 64 are arranged horizontally and symmetrically on both sides of the opening 611, and can support the tray 1 from both sides. Each glue spraying support plate 64 has multiple glue dripping holes, which allow the glue on it to drip down and be collected by the glue receiving plate 64.

[0101] Each adhesive spraying support plate 64 is also equipped with a limiting block 641 and a tray positioning detection sensor (not shown in the figure). The limiting block 641 can block the side of the tray 1 to prevent the tray 1 from shifting horizontally. The tray positioning detection sensor detects whether the tray 1 is properly positioned on the adhesive spraying support plate 64. When it is properly positioned, the adhesive spraying mechanism 62 can start the adhesive spraying operation. In this embodiment, each adhesive spraying support plate 64 is equipped with two limiting blocks 641. One limiting block 641 is used to block the front side of the tray 1 in the placement direction. The tray positioning detection sensor is embedded in this limiting block 641. The other limiting block 641 is used to block the left or right side of the tray 1 in the placement direction. Both limiting blocks 641 are provided with chamfers to facilitate the placement of the tray 1.

[0102] like Figure 18 As shown, a glue receiving plate 65 is provided below the glue-spraying support plate 64 in each glue-spraying position. The glue receiving plate 65 can receive and absorb the glue flowing down from the tray 1 and the glue-spraying support plate 64. In this embodiment, the glue receiving plate 65 is supported by brackets on both sides and is at a certain height from the bottom surface of the chamber 61. This height ensures that the exhaust port 6621 of the air duct 662 can be installed below the glue receiving plate 65. The glue receiving plate 65 is composed of a frame and non-woven fabric laid flat on the frame. The frame has handles for easy handling. Each glue-spraying position in the chamber 61 has an openable and closable replacement window 614 on the side facing away from the transfer device (see...). Figure 14 The glue-receiving plate 65 can be manually removed and replaced through the replacement window 614.

[0103] An exhaust fan 661 is installed on the top surface outside the chamber 61. Each glue spraying position corresponds to an air duct 662. One end of the air duct 662 is connected to the exhaust fan 661, and the other end serves as an exhaust port 6621, communicating with the space of the glue spraying position. The exhaust fan 661 can exhaust exhaust gas from the glue spraying position to the outside of the chamber 61 through the air duct 662. In this embodiment, the exhaust port 6621 of the air duct 662 is located on the side wall of the chamber 61 and below the glue receiving plate 65. This location does not affect the glue spraying operation of the glue spraying mechanism 62.

[0104] Figure 19 This is a schematic diagram of the workflow of an automated glue spraying equipment.

[0105] Taking the example that multiple trays 1 are stored on the material cart 10, and each tray 1 supports parts to be sprayed with glue, the working process of this automated glue spraying equipment is described below.

[0106] like Figure 19 As shown, firstly, under the control of the AGV control unit 71, the AGV trolley 20 delivers the material cart 10 to a parking position next to the transfer device 50. At the parking position, the material cart positioning mechanism 30, under the control of the material cart positioning control unit 72, positions the material cart 10, including positioning in the first horizontal direction and positioning in the second horizontal direction, ensuring that the position of the material cart 10 is fixed. After positioning is completed, each pallet detection sensor 42 of the pallet detection assembly 40, under the control of the pallet detection control unit 70, detects whether a pallet 1 is stored at the corresponding horizontal position on the material cart 10, and sends information including the position and quantity of the pallet 1 to the control device 70.

[0107] Next, under the control of the transfer control unit 74, the transfer device 50 first aligns with the parking position of the material cart 10, and then takes out a pallet 1 from the material cart 10. After taking out the pallet 1, the transfer device 50 adjusts according to the glue spraying position of the glue spraying device 60, and after adjustment, puts the taken pallet 1 into the glue spraying position.

[0108] Then, under the control of the glue spraying control unit 75, the glue spraying device 60 sprays glue onto the automotive interior parts on the tray 1. During the glue spraying process, the transfer device 50 removes the next tray 1 from the material cart 10 according to the aforementioned steps. Before placing it into the glue spraying position, the control device first determines whether the transfer device 50 needs to remove the tray 1 from the glue spraying position first. If so, the transfer device 50 removes the tray 1 from the glue spraying position first, and then places the next tray 1 into the glue spraying position. For the tray 1 that has already been removed from the glue spraying position, the transfer device 50 places it into the material cart 10. If not, the transfer device 50 directly places the next tray 1 into the glue spraying position. After the glue spraying is completed, the transfer device 50 places the tray 1 into the material cart 10.

[0109] In this way, the transfer device 50 cyclically performs the transfer operation of picking up and putting down the pallet 1 from the material cart 10 or the glue spraying device 60, and the glue spraying device 60 continuously performs glue spraying operation at short intervals, which can complete the glue spraying processing operation of all automotive interior parts supported by the pallet 1 on the material cart 10.

[0110] The alignment of the transfer device 50 with the material cart 10 is achieved by the support mechanism 51. Specifically, the support drive unit 513 drives the first frame 511 to move along the support guide rail 512, so that the first frame 511 is aligned with the material cart 10.

[0111] Figure 20 This is a partial flowchart of the operation of the transfer device 50.

[0112] like Figure 20 As shown in (a), the process of the transfer device 50 taking pallet 1 is as follows: Step 1, the lifting mechanism 52 operates, the lifting drive unit 523 drives the second frame 521 to rise and fall, so that the support arm 541 of the support mechanism 54 is adjusted to a suitable height corresponding to the pallet 1 to be taken; Step 2, the horizontal moving mechanism 53 operates, the first-level horizontal drive unit 533 drives the third frame 531 to move horizontally, and the second-level horizontal drive unit 536 drives the slide plate 534 to move horizontally, so that the support arm 541 of the support mechanism 54 extends below the pallet 1 to be taken; Step 3, the lifting mechanism 52 operates, the lifting drive unit 523 drives the second frame 521 to rise, so that the support arm 541 lifts the pallet 1; Step 4, the horizontal moving mechanism 53 operates, the first-level horizontal drive unit 533 drives the third frame 531 to move horizontally in the opposite direction, and the second-level horizontal drive unit 536 drives the slide plate 534 to move horizontally in the opposite direction, so that the support arm 541 returns to the second frame 521, and the pallet 1 is located above the lifting unit 544.

[0113] like Figure 20As shown in (b), before transferring pallet 1 to the opposite side of the side where pallet 1 is located, the transfer device 50 adjusts according to the glue spraying device 60 or the material cart 10 on the opposite side as follows: Step 1, the support mechanism 54 operates, and the lifting unit 544 first lifts the pallet 1 on the support arm 541, so that the pallet 1 is separated from the support arm 541; Step 2, the horizontal movement mechanism 53 operates, and the secondary horizontal drive unit 536 drives the slide plate 534 to move horizontally to adjust the position of the support arm 541, so as to facilitate the subsequent rotation of the support arm 541; Step 3, the support mechanism 54 operates, and the rotation drive unit 542 drives the support arm 541 to rotate +180° or -180°; Step 4, the horizontal movement mechanism 53 operates, and the secondary horizontal drive unit 536 drives the slide plate 534 to move horizontally to adjust the position of the rotated support arm 541 to ensure that it corresponds to the pallet 1; Step 5, the support mechanism 54 operates, and the lifting unit 544 then lowers the pallet 1, so that the pallet 1 is placed back on the support arm 541. This adjustment of the support arm 541 ensures that when the pallet 1 is subsequently stored, the support arm 541 can extend horizontally into the glue spraying device 60 or the material cart 10 on the opposite side.

[0114] like Figure 20 As shown in (c), the process of placing the pallet 1 by the transfer device 50 is as follows: Step 1: The lifting mechanism 52 operates, and the lifting drive unit 523 drives the second frame 521 to rise and fall, so that the support arm 541 supporting the pallet 1 is adjusted to a suitable height corresponding to the support plate at the target placement position; Step 2: The horizontal movement mechanism 53 operates, and the first-level horizontal drive unit 533 drives the third frame 531 to move horizontally, and the second-level horizontal drive unit 536 drives the slide plate 534 to move horizontally, so that the support arm 541 and the pallet 1 on it extend to the target placement position. Above the support plate 12; Step 3, the lifting mechanism 52 works, the lifting drive unit 523 drives the second frame 521 to descend, and the support arm 541 descends accordingly, so that the pallet 1 is placed on the support plate 12 at the target placement position, and the support arm 541 is separated from the pallet 1; Step 4, the horizontal moving mechanism 53 works, the first-level horizontal drive unit 533 drives the third frame 531 to move horizontally in the opposite direction, and the second-level horizontal drive unit 536 drives the slide plate 534 to move horizontally in the opposite direction, so that the support arm 541 returns to the second frame 521.

[0115] Figure 21 This is a schematic diagram of the working process of the glue spraying device 60.

[0116] like Figure 21As shown, the process of the glue spraying device 60 spraying glue onto the parts supported by the tray 1 is as follows: Step 1, the tray position detection sensor on the glue spraying support plate 64 detects that the tray 1 is in place; Step 2, the camera mechanism 63 operates, and the camera movement drive unit 633 drives the scanning camera 631 to move to the corresponding glue spraying position, which is directly above the part; Step 3, the 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 operates, and the glue spraying movement drive unit 623 drives the glue spraying robot 621 to move to the corresponding glue spraying position, which is directly above the part; Step 5, the glue spraying robot 621 sprays glue onto the part according to the image data.

[0117] The role and effect of the embodiments

[0118] The automated glue spraying equipment according to this embodiment includes a transfer device, a material cart, an AGV trolley, a material cart positioning mechanism, a pallet detection component, a glue spraying device, and a control device. The transfer device transfers parts supported by pallets between the material cart and the glue spraying device. The material cart can store multiple parts supported by pallets in layers, and parts before and after glue spraying are stored in the material cart. The AGV trolley moves the material cart. The material cart positioning mechanism and the pallet detection component are located on one side of the transfer device, respectively fixing the position of the material cart and detecting the position and quantity of pallets on the material cart. The glue spraying device is located on the other side of the transfer device and mainly includes a glue spraying mechanism, a camera mechanism, and a glue spraying support plate. The control device controls the operation of the transfer device, the AGV trolley, the material cart positioning mechanism, the pallet detection component, and the glue spraying device. During operation, the material cart is driven by the AGV and stops on one side of the transfer device. The material cart positioning mechanism fixes the position of the material cart. The pallet detection component detects the pallets on the material cart. The transfer device moves back and forth between the material cart and the glue spraying device to pick up and put the parts supported by the pallets. The glue spraying device supports the pallets with glue spraying support plates, the camera mechanism scans the images of the parts on the pallets, and the glue spraying mechanism sprays glue onto the parts according to the image data to perform glue spraying processing.

[0119] This automated glue spraying equipment utilizes pallets to support parts and incorporates a material cart and transfer device for these pallets, enabling centralized loading and unloading and rapid transfer of parts. A glue spraying device, including a glue spraying mechanism and a camera mechanism, is designed for the parts supported on the pallets. The glue spraying mechanism applies glue to the parts based on image data scanned by the camera mechanism, meeting the glue spraying processing needs of various parts and exhibiting excellent applicability. Therefore, this automated glue spraying equipment can achieve centralized storage, rapid transfer, and glue spraying processing of different parts, significantly improving the degree of automation and processing efficiency.

[0120] Both the glue spraying mechanism and the camera mechanism can be designed as movable structures.

[0121] The glue spraying device can also be equipped with a glue receiving plate for collecting residual glue and a ventilation mechanism for extracting glue spraying exhaust gas, so that the pollution inside the glue spraying device can be effectively controlled.

[0122] The transfer device enables the alternating transfer of two parts supported by a pallet. It includes a support mechanism, a lifting mechanism, two horizontal moving mechanisms, and two supporting mechanisms. The support mechanism allows for lateral alignment, while the lifting mechanism, the two horizontal moving mechanisms, and the two supporting mechanisms work together to achieve alternating pick-and-place operations. This shortens the time interval between glue application processes and significantly improves processing efficiency. The horizontal moving mechanism employs a two-stage horizontal transfer design, which not only expands the horizontal movement range but also makes the structure more compact and occupies less space. It also reduces the likelihood of collisions with the material cart or glue application device during horizontal transfer operations, facilitating smooth transfer operations. The supporting mechanism may also include a lifting unit, which can lift the pallet, preventing it from rotating with the supporting arm and avoiding collisions with other structures.

[0123] The material cart positioning mechanism uses a combination of fixed blocking components and liftable limiting components to limit the movement of the material cart. It has a simple structure and good positioning effect.

[0124] The above embodiments are preferred embodiments of the present invention and are not intended to limit the scope of protection of the present invention.

Claims

1. An automated 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, a glue spraying device located on the other side of the transfer device, and a control device; The transfer device has multiple parking positions on one side for the material cart to park at. The transfer device is used to transfer parts supported by the pallet between the material cart and the glue spraying device. The material cart is used to store multiple parts supported by pallets in layers; The AGV trolley is used to move the material cart in and out of the parking position; The material cart positioning mechanism is used to fix the position of the material cart at the parking position; The pallet detection component is used to detect the position and quantity of pallets on the material cart; The glue spraying device has multiple glue spraying positions corresponding to the multiple docking positions, and the glue spraying device is used to spray glue onto the parts supported by the pallet. The control device includes a transfer control unit for controlling the operation of the transfer device, an AGV control unit for controlling the operation of the AGV trolley, a material cart positioning control unit for controlling the operation of the material cart positioning mechanism, a pallet detection control unit for controlling the operation of the pallet detection assembly, and a glue spraying control unit for controlling the operation of the glue spraying device. 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 and the glue spraying device are positioned on opposite sides of the transfer device. The transfer device enables the alternating transfer of two automotive interior components supported by trays, and includes a support mechanism, a lifting mechanism, two horizontal moving mechanisms, and two supporting mechanisms. The support mechanism includes a support rail mounted on the ground, a first frame mounted on the support rail, and a support drive unit that drives the first frame to move along the support rail to align with the docking position. 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 second 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, a rotary drive unit for driving the supporting arm to rotate horizontally, and a lifting unit for supporting the pallet on the supporting arm. The lifting unit includes a lifting cylinder and a lifting plate. The lifting cylinder is mounted on the third frame, and the lifting plate is lifted by the lifting cylinder to lift the pallet on the supporting arm, so that the pallet does not rotate when the supporting arm rotates.

2. The automated glue 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; 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.

3. The automated glue spraying equipment according to claim 2, characterized in that: in, The steps by which the glue spraying control unit controls the glue spraying device to spray glue onto the parts supported by the tray are as follows: The pallet positioning detection sensor detects whether the pallet is properly placed on the adhesive spraying support plate, and proceeds to the next step when it is properly placed. The camera movement drive unit drives the scanning camera to move to the corresponding glue spraying position; The scanning camera scans the part and transmits the obtained image data to the glue spraying control unit; The glue-spraying mobile drive unit drives the glue-spraying robot to move to the corresponding glue-spraying position; The glue-spraying robot sprays glue onto the parts based on image data.

4. The automated glue spraying equipment according to claim 1, Its features are: When the first frame is aligned with the docking position of the material cart, the transfer control unit controls the transfer device to remove the pallet from the material cart or the glue spraying device as follows: The lifting drive unit drives the second frame to lift, so that the support arm of one of the support mechanisms is adjusted to a suitable height corresponding to the pallet to be picked up; The first-level horizontal drive unit drives the third frame to move horizontally, and the second-level horizontal drive unit drives the slide plate to move horizontally, so that the support arm extends under the pallet to be picked up; The lifting drive unit drives the second frame to rise, so that the support arm lifts the pallet; The first-level horizontal drive unit drives the third frame to move horizontally in the opposite direction, and the second-level horizontal drive unit drives the slide plate to move horizontally in the opposite direction, so that the support arm returns to the second frame; Furthermore, the steps by which the transfer control unit controls the transfer device to place the pallet onto the material cart or the glue spraying device are as follows: The lifting drive unit drives the second frame to lift, so that the support arm supporting the pallet is adjusted to a suitable height corresponding to the support plate at the target placement position; The first-level horizontal drive unit drives the third frame to move horizontally, and the second-level horizontal drive unit drives the slide plate to move horizontally, so that the support arm and the tray on it extend above the support plate at the target placement position; The lifting drive unit drives the second frame to descend, so that the tray on the support arm is placed on the support plate at the target placement position and separated from the support arm; The first-level horizontal drive unit drives the third frame to move horizontally in the opposite direction, and the second-level horizontal drive unit drives the slide plate to move horizontally in the opposite direction, so that the support arm returns to the second frame.

5. The automated glue spraying equipment according to claim 1, characterized in that: in, One end of the support arm is rotatably mounted on the slide plate, and when the slide plate moves horizontally to the end of the secondary horizontal guide rail, the support arm can extend out of the third frame.

6. The automated glue spraying equipment according to claim 5, characterized in that: in, Before transferring the pallet to the side opposite to the side where the pallet is located, the transfer control unit controls the transfer device to perform the following steps: The lifting unit lifts the tray on the support arm; The secondary horizontal drive unit drives the skateboard to move horizontally to adjust the position of the support arm; The rotary drive unit drives the support arm to rotate +180° or -180°. The secondary horizontal drive unit drives the slide plate to move horizontally to adjust the position of the rotating support arm, ensuring that the support arm corresponds to the tray; The lifting unit lowers the pallet, allowing it to be placed back on the support arm.

7. The automated glue 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.

8. The automated glue spraying equipment according to claim 1, characterized in that: in, The material cart positioning mechanism includes a mounting base, a blocking component, a lifting drive component, and a limiting component. The blocking element is disposed on the mounting base for the bottom of the material cart to abut against. The lifting drive component is mounted on the mounting base. The limiting member is driven to rise and fall by the lifting drive member, and is used to limit the material cart when it is raised in conjunction with the blocking member.

9. The automated glue 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