Intelligent glue dispensing system

Abstract

The application relates to an intelligent glue dispensing system and relates to the technical field of glue dispensing.The intelligent glue dispensing system comprises a workbench, a glue dispenser and a driving mechanism, the workbench is used for placing objects to be glued, the glue dispenser is used for outputting glue to the surfaces of the objects, and the driving mechanism is used for driving the relative movement of the glue dispenser and the objects so that glue strips with specified tracks are formed on the surfaces of the objects; the intelligent glue dispensing system further comprises a visual detection module, a main control analysis module and a display module, the visual detection module and the display module are both in communication connection with the main control analysis module, an image acquisition module is used for shooting the surfaces of the objects with the glue strips and generating glue coating images, the main control analysis module is used for acquiring the glue coating images, and is further used for calculating glue width data along the specified tracks based on the glue coating images, and controlling the display module to display the glue width data and the glue coating images; the application has the effects of automatically and intelligently detecting and analyzing the quality of the glue strips formed by glue dispensing, reducing the manpower consumed in the detection process, and improving the detection efficiency.

Description

TECHNICAL FIELD

[0001] The application relates to the technical field of glue coating, in particular to an intelligent glue coating system. BACKGROUND

[0002] The glue coating system is a device for coating glue on the surface or inside of a product, and is mainly used in the production process of bonding two products together. For example, in the assembly production line of the hydraulic regulator of the ABS (antilock braking system), the hydraulic regulator includes integrated seats, motors, electromagnetic valves, plunger pumps, accumulators and other components. The surface of the integrated seat is provided with a motor mounting surface for mutual adhesion and installation with the motor. In the specific adhesion and installation operation, the glue coating machine is generally used to coat glue on the motor mounting surface, and the glue coating machine and the integrated seat are driven to move relative to each other during the coating process to form a glue strip in a specified track (such as a circle, an arc, etc.). Then, the motor shell is pressed onto the motor mounting surface of the integrated seat to achieve adhesion and fixation, and the installation of the motor is completed.

[0003] According to the above-mentioned installation example of the motor adhesion on the integrated seat, when the glue coating machine moves relative to the integrated seat to coat glue, the glue outlet of the glue coating machine is easily blocked, which leads to slow glue output, and then the glue strip on the motor mounting surface of the integrated seat is easily too thin or even broken. These defects can easily cause problems such as air tightness at the joint of the two mutually adhered objects. The detection operation of the glue strip coating quality mainly depends on manual visual inspection, which leads to high labor cost and inaccurate judgment. Therefore, it needs to be improved. SUMMARY

[0004] In order to realize efficient and accurate detection of the glue strip coating quality and reduce labor cost, the application provides an intelligent glue coating system.

[0005] The intelligent glue coating system provided by the application adopts the following technical scheme:

[0006] An intelligent glue coating system, comprising a workbench, a glue coating machine and a driving mechanism, the workbench is used for placing an object to be coated with glue, the glue coating machine is used for outputting glue to the surface of the object, and the driving mechanism is used for driving the glue coating machine and the object to move relative to each other, so that a glue strip in a specified track is formed on the surface of the object; further comprising a visual detection module, a main control analysis module and a display module, the visual detection module and the display module are both communicatively connected to the main control analysis module, the image acquisition module is used for shooting the surface of the object with the glue strip and generating a glue coating image, the main control analysis module is used for acquiring the glue coating image, and is further used for calculating glue width data along the specified track based on the glue coating image, and controlling the display module to display the glue width data and the glue coating image.

[0007] By adopting the technical scheme, the glue strip of the specified track is coated on the surface of the object to be coated by cooperation of the glue coating machine and the driving mechanism. After coating, the glue coating image with the glue strip is automatically collected by the visual detection module, and the width data of the glue strip along the specified track direction (i.e. the glue width data) is obtained by analysis of the main control analysis module. The glue width data and the glue coating image are automatically displayed on the display, so that the quality of the glue strip after coating is automatically and efficiently detected, the labor cost in the detection process is reduced, and the detection accuracy is improved.

[0008] As preferred, the main control analysis module is configured to determine a reference track on the glue coating image, and select a plurality of detection points on the specified track along the reference track at equal intervals. The main control analysis module is further configured to measure the linear distance values of the two sides of the glue strip at each detection point to the reference track, and obtain the glue width corresponding to each detection point by subtracting the two linear distance values of the same detection point. The glue width data refers to a set of glue widths corresponding to all detection points.

[0009] By adopting the technical scheme, the glue width of the glue strip is measured in the following manner: a plurality of detection points are selected on the specified track of the glue strip at equal intervals, the linear distance values of the two sides of the glue strip at each detection point to the reference track are calculated, and the glue width of the glue strip at each detection point is obtained by subtracting the linear distance values.

[0010] As preferred, the main control analysis module is further configured to measure the glue width difference between any two adjacent detection points on the specified track based on the glue width measured at each detection point. If the target glue width difference corresponding to two adjacent target detection points is greater than a preset deviation value, a supplementary detection point is selected on the specified track between the two target detection points, the glue width of the supplementary detection point is measured, and the glue width of the supplementary detection point is added to the glue width data.

[0011] By adopting the technical scheme, since the selected detection points are scattered points, the corresponding measured glue width is the glue width of the glue strip at the corresponding detection point position. In order to improve the detection comprehensiveness and accuracy, the main control analysis module of the present application further determines the glue width difference between adjacent detection points based on all the glue widths of the selected detection points. The glue width difference can be used to represent the width change of the glue strip between adjacent detection points. If the glue width difference is greater than a preset deviation value, it is considered that the glue strip has a large fluctuation between the two detection points. Therefore, a supplementary detection point is selected between the two detection points (i.e. the target detection point), and the glue width of the glue strip at the supplementary detection point is further measured to improve the detection accuracy and comprehensiveness.

[0012] Preferably, the workbench is provided with a gluing area and a positioning area, the driving mechanism comprises a first driving assembly, a positioning assembly and a second driving assembly, the first driving assembly is configured to drive the object to reciprocally slide along a straight line connecting the positioning area and the gluing area, the second driving assembly is configured to drive the glue dispenser to move above the gluing area or move away from the gluing area, and the second driving assembly is further configured to drive the glue dispenser to move along a specified path, which can be a circular path or a straight line path.

[0013] The positioning assembly comprises a sliding member and at least two positioning blocks, the two positioning blocks are oppositely arranged at the positioning area of the workbench, and a placing space for inserting the object is reserved between the two positioning blocks, the sliding member is configured to drive the two positioning blocks to slide towards each other or away from each other, and when the two positioning blocks move to the maximum extent towards each other, the side of the two positioning blocks facing each other is attached to the object; and the first driving assembly is configured to drive the object to reciprocally move towards or away from the gluing area.

[0014] By adopting the above technical scheme, the positioning blocks and the sliding member can fix the sliding path of the object in advance before the object is driven to move by the first driving assembly, so that the object can be stably moved to a specified position in the gluing area under the driving of the first driving assembly, and the deviation of the object during the movement driven by the first driving assembly is reduced; when the object moves to the gluing area and is ready for gluing, the second driving assembly can first drive the glue dispenser to move above the gluing area, and then control the lifting member to drive the glue dispenser to move downward according to the height of the object, so that the glue outlet of the glue dispenser is directed to the position on the surface of the object where the glue is needed, and then the glue dispenser is driven to move along the specified path according to the specified trajectory of the glue strip actually needed; specifically, if a glue strip with a circular specified trajectory is needed to be coated on the surface of the object, the second driving assembly can directly drive the glue dispenser to move along the circular specified path; if a glue strip with a square or rectangular specified trajectory is needed to be coated on the surface of the object.

[0015] Preferably, the workbench is provided with a receiving plate for receiving the object, the first driving assembly is configured to drive the receiving plate to reciprocally slide along a straight line connecting the positioning area and the gluing area, the surface of the receiving plate for being attached to the surface of the object is provided with a suction port, and the positioning assembly further comprises a suction member, the suction member is configured to form a negative pressure at the suction port when the receiving plate is separated from the positioning area, and the suction member is further configured to release the suction at the suction port when the receiving plate moves into the positioning area.

[0016] By adopting the technical scheme, in actual glue dispensing operation, the object is placed on the receiving plate, and the receiving plate slides to bring the object to slide. After the position of the object relative to the positioning area is corrected by the positioning block and the sliding piece, when the receiving plate with the object moves away from the positioning area and moves towards the glue dispensing area, the suction port on the receiving plate is subjected to the suction of the suction member to form negative pressure, so that the object is adsorbed on the receiving plate, and the deviation during the movement of the object and the glue dispensing process is further reduced.

[0017] Preferably, the suction member comprises a suction rod, a return spring, a pressing plate, a pushing rod and a reset piece, the receiving plate is internally provided with a cavity for communicating with the suction port, the suction rod is slidably connected in the cavity, and the peripheral wall of the suction rod is fitted with the internal peripheral wall of the cavity, the return spring is arranged between the suction rod and the bottom wall of the cavity, the pressing plate is rotatably connected in the cavity, and the pushing rod is arranged on one side wall of the positioning block facing the workbench; when the return spring is not deformed, and the pushing rod moves with the positioning block, the end of the suction rod is located on the rotation path of the pressing plate, the pressing plate is located on the sliding path of the pushing rod, and the reset piece is used to drive the pressing plate to rotate away from the end of the suction rod.

[0018] By adopting the technical scheme, when the positioning block moves towards the receiving plate, the pushing rod on the positioning block is inserted into the cavity of the receiving plate and pushes the pressing plate, so that the pressing plate rotates towards the end of the suction rod, and pushes the suction rod during rotation, so that the suction rod moves away from the suction port, and the negative pressure state of the suction port is realized. After the glue dispensing is completed, the pressing plate can be driven by the reset piece to rotate away from the suction rod, so that the suction rod is lifted and reset under the elastic force of the return spring, and the suction on the suction port is released.

[0019] Preferably, the reset piece comprises a transition rod, the transition rod is located at the glue dispensing area of the workbench, the length direction of the transition rod is parallel to the sliding direction of the receiving plate, the side wall of the receiving plate is provided with a transition hole for the transition rod to penetrate and insert into the cavity, and the pressing position of the pressing plate when pressing the end of the suction rod is located on the movement path of the transition rod relative to the receiving plate.

[0020] By adopting the technical scheme, when the receiving plate moves, the transition rod and the receiving plate achieve relative movement, when the receiving plate moves with the object to the glue applying area, the transition rod passes through the transition hole and is inserted into the cavity, and since the abutting position of the abutting plate abutting against the end of the air suction rod is located on the moving path of the transition rod relative to the receiving plate, the transition rod will abut against the end of the air suction rod and push the abutting plate to rotate away from the end of the air suction rod, so that the abutting plate is reset, and the abutting plate is replaced by the transition rod to abut against the end of the air suction rod during the glue applying process, that is, the suction port is ensured to be in the suction state during the glue applying process, and after the glue applying is completed, when the receiving plate moves with the object away from the glue applying area, the transition rod is separated from the end of the air suction rod, so that the air suction rod is reset under the elastic force of the reset spring.

[0021] Preferably, the suction accessory comprises an air suction pump and a position detection module, the air suction pump and the position detection module are commonly electrically connected with a controller, the air inlet end of the air suction pump is communicated with all the suction ports, the position detection module is used for detecting whether the receiving plate is located in the positioning area, and the detection result is sent to the controller, the controller is used for controlling the air suction pump to start when the receiving plate moves out of the positioning area, so that negative pressure is formed at the suction port, and the controller is also used for controlling the air suction pump to be closed when the receiving plate moves out of the positioning area.

[0022] By adopting the technical scheme, since the positioning block and the sliding piece are arranged, the object is preliminarily positioned and corrected when the object is in the positioning area, in order to prevent the object from deviating during the subsequent movement with the receiving plate and the glue applying process, the suction accessory is specially arranged, and the suction accessory can be the suction of the air suction pump disclosed in the present application, and the position detection module is used to detect whether the receiving plate is separated from the positioning area, when the receiving plate is separated from the positioning area, the controller controls the air suction pump to start to form negative pressure at the suction port, and when the receiving plate returns to the positioning area, the controller controls the air suction pump to be closed to release the suction force on the suction port.

[0023] Preferably, the workbench is also provided with a surplus glue receiving box, the surplus glue receiving box is located directly below the glue outlet of the glue gun when the second driving piece does not drive the glue gun to move, the surplus glue receiving box is also provided with a dredging needle, and the workbench is also provided with a docking piece, the docking piece is used to drive the dredging needle to slide towards or away from the glue outlet of the glue gun, so that the dredging needle can be inserted into the glue outlet when the dredging needle is close to the glue outlet of the glue gun.

[0024] By adopting the technical scheme, the glue dripping from the glue outlet of the glue gun is received by the surplus glue receiving box, so that clean production is achieved, and in addition, the glue outlet of the glue gun is dredged by the dredging needle, so that the situation that the glue is broken or the glue strip is too thin during the subsequent glue applying due to the blockage of the glue outlet is reduced.

[0025] As preferred, the docking piece comprises a rotating rod, a docking gear and a docking rack, each end of the rotating rod corresponds to a docking gear, the docking gear is sleeved at the end of the rotating rod, the docking gear is arranged one by one with the docking rack, and the docking rack is engaged with the corresponding docking gear, one of the docking racks is arranged on the side wall of the positioning block along the sliding direction of the positioning block, and the other docking gear is arranged on the side wall of the dredging needle along the sliding direction of the dredging needle.

[0026] By adopting the above technical scheme, when the positioning block slides and limits the object, the sliding of the positioning block will drive the rotating rod to rotate, so that the dredging needle moves up and down under the driving of the docking rack, and is inserted into the glue outlet of the glue machine when moving up, thereby realizing dredging of the glue outlet of the glue machine.

[0027] In summary, the present application has the following beneficial technical effects:

[0028] By cooperation of the glue machine and the driving mechanism, the glue strip with a specified track is coated on the surface of the object to be coated, after coating, the vision detection module automatically collects the coating image with the glue strip, and the master control analysis module is used to analyze the width data of the glue strip along the specified track direction (i.e. glue width data), and the display automatically displays the glue width data and the coating image, thereby realizing automatic and efficient detection of the quality of the coated glue strip, reducing the labor cost in the detection process, and improving the detection accuracy. BRIEF DESCRIPTION OF DRAWINGS

[0029] Figure 1 is a structure schematic view of the object in the positioning area before the intelligent glue coating system disclosed in embodiment 1 of the present application coats glue.

[0030] Figure 2 is a structure schematic view of the object in the coating area after the intelligent glue coating system disclosed in embodiment 1 of the present application coats glue.

[0031] Figure 3 is Figure 1 is a sectional view of A-A view in the above figure.

[0032] Figure 4 is a top view sectional view for showing the positional relationship between the receiving plate, the pressing plate, the end of the air extraction rod and the pushing rod when the receiving plate is in the positioning area.

[0033] Figure 5 is a top view sectional view for showing the positional relationship between the receiving plate, the pressing plate, the end of the air extraction rod and the pushing rod when the receiving plate is in the positioning area.

[0034] Figure 6is a schematic diagram of the structure of the dredging needle and the docking piece in Embodiment 1 of the present application.

[0035] Figure 7 is a schematic diagram of the main control analysis module disclosed in Embodiment 1 of the present application when calculating the glue width.

[0036] Figure 8 is a sectional view of the structure of the suction accessory in Embodiment 2 of the present application.

[0037] BRIEF DESCRIPTION OF REFERENCE NUMERALS: 1, workbench; 11, positioning area; 12, glue coating area; 2, receiving plate; 21, suction port; 22, cavity; 23, transition hole; 24, accommodation hole; 3, glue machine; 4, driving mechanism; 41, first driving assembly; 42, second driving assembly; 421, lifting cylinder; 422, translation cylinder; 423, driving motor; 424, transition plate; 425, turntable; 43, positioning assembly; 431, positioning block; 432, sliding member; 433, suction accessory; 4331, air extraction rod; 4332, return spring; 4333, pressing plate; 4334, thrust rod; 4335, return member; 4336, transition rod; 4337, air extraction pump; 4338, position detection module; 5, visual detection module; 6, main control analysis module; 7, display module; 8, excess glue receiving box; 81, dredging needle; 82, docking piece; 821, rotating rod; 822, docking gear; 823, docking rack. DETAILED DESCRIPTION

[0038] The present application discloses an intelligent glue dispensing system, which is suitable for any glue dispensing scene and can evaluate the quality of coated glue strips. As mentioned in the background art, the intelligent glue dispensing system can be used in the assembly production line of the hydraulic regulator of the ABS (antilock braking system), and specifically used for coating the subordinate parts (integrated seat) of the hydraulic regulator, so as to subsequently fix and bond the motor to the integrated seat wall coated with glue.

[0039] Specifically, the following will be combined with the accompanying drawings to further illustrate the present application. Figures 1-8 The intelligent glue dispensing system disclosed in the present application will be further described in detail.

[0040] Embodiment 1

[0041] Reference will be made to the accompanying drawings Figure 1 and Figure 2The intelligent glue dispensing system comprises a workbench 1, the upper surface of one end of the workbench 1 is a positioning area 11, the upper surface of the other end is a glue dispensing area 12, and a receiving plate 2 for containing objects to be dispensed with glue is slidably connected to the workbench 1. The intelligent glue dispensing system further comprises a glue dispenser 3, a driving mechanism 4, a visual detection module 5, a main control analysis module 6 and a display module 7. The driving mechanism 4 comprises a first driving assembly 41 and a second driving assembly 42, the first driving assembly 41 is used to drive the receiving plate 2 to reciprocally slide between the positioning area 11 and the glue dispensing area 12, the glue dispenser 3 is arranged on the side of the workbench 1 close to the glue dispensing area 12, and the glue dispenser 3 is used to output glue from the glue outlet of the glue dispenser 3, the second driving assembly 42 is used to drive the glue dispenser 3 to move above the glue dispensing area 12, so that the glue outlet of the glue dispenser 3 faces the surface of the object to be dispensed with glue, and the second driving assembly 42 is further used to drive the glue dispenser 3 to move along a specified path, so that a glue strip of a specified track is formed on the surface of the object. The visual detection module 5 and the display module 7 are electrically connected to the main control analysis module 6, the visual detection module 5 is used to shoot the surface of the object with the glue strip and generate a glue coating image, and the main control analysis module 6 is used to calculate glue width data of the glue strip along the specified track of the glue strip and control the display module 7 to display the glue coating image and the glue width data.

[0042] With reference to Figure 1 and Figure 2 The first driving assembly 41 can be a combination structure of a pneumatic sliding table or a motor lead screw, or any other mechanism that can realize the linear reciprocating movement of the receiving plate 2. For example, the first driving assembly 41 shown in the drawings is a pneumatic sliding table. By installing the receiving plate 2 on the driving end of the pneumatic sliding table, the reciprocating movement of the receiving plate 2 can be realized. The second driving assembly 42 can specifically include a lifting cylinder 421, a translation cylinder 422, a driving motor 423, a transition plate 424 and a rotating disc 425. The cylinder body of the lifting cylinder 421 is connected to a pre-set frame, the driving end of the lifting cylinder 421 is connected to the cylinder body of the translation cylinder 422, the driving end of the translation cylinder 422 extends and retracts in the horizontal direction, the driving end of the translation cylinder 422 is connected to the transition plate 424, the driving motor 423 is installed on the transition plate 424, the driving shaft of the driving motor 423 penetrates through the transition plate 424 and is connected to the center of the rotating disc 425, the glue outlet of the glue dispenser 3 is downwardly arranged, the top of the body of the glue dispenser 3 is connected to the lower surface of the rotating disc 425, and the connection position of the body of the glue dispenser 3 and the rotating disc 425 is located outside the center of the rotating disc 425. In order to improve the degree of automation, the first driving assembly 41 and the second driving assembly can be controlled by the main control analysis module 6. The opening and closing of the pneumatic sliding table, the lifting cylinder 421, the translation cylinder 422 and the driving motor 423, and the extension length of the piston rods of the lifting cylinder 421 and the translation cylinder 422 can be controlled by the active analysis module.

[0043] When it is necessary to form a glue strip of a specified track on the surface of the object, the glue dispenser 3 is driven by the second driving assembly 42 to move above the glue dispensing area 12, so that the glue outlet of the glue dispenser 3 faces the surface of the object to be dispensed with glue. Figure 2When a circular trajectory of the glue strip is needed, the translation cylinder 422 is first started to extend the piston rod of the translation cylinder 422 by a specified length, so as to move the glue dispenser 3 above the glue applying area 12, then the lifting cylinder 421 is started to drive the glue dispenser 3 to move downward, so as to make the glue outlet of the glue dispenser 3 close to the surface of the object, then the driving motor 423 is started to drive the rotating disc 425 to rotate, so as to make the glue dispenser 3 body make circular motion with the center of the rotating disc 425 as the circle, and in the process of the circular motion, the glue dispenser 3 is controlled to discharge glue, so as to form the glue strip with the circular trajectory.

[0044] When a rectangular or square trajectory of the glue strip is needed, the translation cylinder 422 is first started to extend the piston rod of the translation cylinder 422 by a specified length, so as to move the glue dispenser 3 above the glue applying area 12, then the lifting cylinder 421 is started to drive the glue dispenser 3 to move downward, so as to make the glue outlet of the glue dispenser 3 close to the surface of the object, then the glue dispenser 3 is controlled to discharge glue, and the piston rod of the translation cylinder 422 is controlled to extend by a specified length, which is the length of one of the straight edges of the rectangular or square trajectory, the first driving assembly 41 is controlled to drive the receiving plate 2 and the object to slide along the sliding direction of the receiving plate 2 by a length (which is the length of the other straight edge of the rectangular or square trajectory), the piston rod of the translation cylinder 422 is controlled to retract by a specified length, the first driving assembly 41 is controlled to drive the receiving plate 2 to slide in the opposite direction by a length, so as to finally form the rectangular or square trajectory.

[0045] Referring to Figure 1 and Figure 2 , in order to reduce the deviation of the object relative to the receiving plate 2 during the movement of the object with the receiving plate 2 and during the glue dispensing by the glue dispenser 3, and to affect the deviation of the trajectory of the glue strip formed subsequently, and even to affect the stability of the object when bonded with other objects subsequently, the driving mechanism 4 of the present application further comprises a positioning assembly 43, which is used to fix the object at a specified position on the receiving plate 2.

[0046] Referring to Figure 1 and Figure 3The positioning assembly 43 comprises positioning blocks 431 symmetrically arranged on both sides of the workbench 1 and a sliding member 432 for driving the two positioning blocks 431 to slide towards or away from each other. The positioning blocks 431 are located on one side of the workbench 1 close to the positioning area 11. The sliding member 432 can be a combination of a motor and a bidirectional screw rod. The positioning blocks 431 are threadedly connected to the ends of the bidirectional screw rod, and the bidirectional screw rod has one positioning block 431 at each end. The motor driving end is connected to the end of the bidirectional screw rod to drive the rotation of the bidirectional screw rod, thereby driving the sliding of the positioning blocks 431. The positions where the two positioning blocks 431 face each other are reserved for the placement of the object, and when the two positioning blocks 431 move to the maximum distance towards each other, the side walls of the positioning blocks 431 facing each other will be in contact with the surface of the object to push the object to the designated position on the receiving plate 2.

[0047] With reference to Figure 2 , Figure 3 and Figure 4 , a plurality of suction ports 21 are formed on the upper surface of the receiving plate 2, and a cavity 22 is formed in the receiving plate 2 for communication with all the suction ports 21. The positioning assembly 43 further comprises a suction member 433 for forming negative pressure at the suction ports 21 or releasing the suction at the suction ports 21. The suction member 433 comprises an air extraction rod 4331, a return spring 4332, a pressing plate 4333, a pushing rod 4334 and a return member 4335.

[0048] With reference to Figure 2 , Figure 3 and Figure 4 , the air extraction rod 4331 is in the shape of an I-beam, and is slidably connected to the cavity 22 along the height direction of the cavity 22. The top peripheral wall of the air extraction rod 4331 is attached to the inner wall of the cavity 22. A rubber pad can be attached to the top peripheral wall of the air extraction rod 4331 to improve the sealing performance of the position where the top peripheral wall of the air extraction rod 4331 is attached to the inner wall of the cavity 22.

[0049] With reference to Figure 2 , Figure 3 and Figure 4The reset spring 4332 is fixedly connected between the lower end of the air extraction rod 4331 and the bottom wall of the cavity 22, and the abutting plates 4333 can be two and are symmetrically arranged in the cavity 22 with the air extraction rod 4331 as the center, and the abutting plates 4333 are rotationally connected to the inner wall of the cavity 22. The abutting plates 4333 and the lower end surface of the air extraction rod 4331 are each provided with a first inclined surface for abutting the abutting plates 4333 against the air extraction rod 4331. The abutting rods 4334, the abutting plates 4333 and the positioning blocks 431 are one-to-one correspondingly arranged. The abutting rods 4334 are fixedly connected to one side of the corresponding positioning blocks 431 towards the side wall of the receiving plate 2. The receiving plate 2 is provided with a gap hole 24 for inserting the abutting rod 4334. When the reset spring 4332 is not deformed, the abutting plates 4333 are located on the sliding path of the abutting rods 4334 when the positioning blocks 431 slide, and at this time, the lower end of the air extraction rod 4331 is located on the rotation path of the abutting plates 4333 when the abutting plates 4333 are rotated by the abutting rods 4334.

[0050] With reference to Figure 3 and Figure 4 When the two positioning blocks 431 move towards each other, the abutting rods 4334 are inserted into the gap hole 24 and abut against the abutting plates 4333 as the positioning blocks 431 move, so that the abutting plates 4333 rotate towards the end of the air extraction rod 4331, and are rotated onto the end surface of the lower end of the air extraction rod 4331 under the action of the first inclined surface, so that the air extraction rod 4331 moves downward, the air at the suction port 21 is extracted into the cavity 22, and negative pressure is achieved. At this time, the reset spring 4332 is contracted and deformed.

[0051] With reference to Figure 2 and Figure 5 The reset member 4335 is located on the upper surface of the workbench 1 near the positioning area 11. The reset member 4335 includes two transition rods 4336 fixedly arranged on the upper surface of the workbench 1. The transition rods 4336 are one-to-one correspondingly arranged with the abutting plates 4333. The length direction of the transition rods 4336 is parallel to the length direction of the receiving plate 2, and the side wall of the receiving plate 2 is provided with a transition hole 23 for inserting each transition rod 4336. When the receiving plate 2 reciprocally slides along the workbench 1, the relative motion is formed between the receiving plate 2 and the transition rods 4336, and the transition rods 4336 can be inserted into the transition hole 23 in the relative motion. The position where the abutting plates 4333 abut against the end of the air extraction rod 4331 is just located on the insertion path of the transition rods 4336, and the end of the transition rod 4336 is provided with a second inclined surface for abutting the transition rod 4336 against the end surface of the lower end of the air extraction rod 4331.

[0052] With reference to Figure 2 and Figure 5When the receiving plate 2 moves into the glue applying area 12, the transition rod 4336 is just inserted into the transition hole 23 and moves to the position where the abutting plate 4333 abuts against the end of the air suction rod 4331, at this time, the abutting plate 4333 is reset in the direction away from the end of the air suction rod 4331 by the abutting of the transition rod 4336, and the transition rod 4336 replaces the abutting plate 4333 to abut against the end of the air suction rod 4331, so that the suction port 21 maintains the negative pressure state, then when the glue applying operation is completed and the receiving plate 2 moves away from the glue applying area 12, the transition rod 4336 gradually leaves the end of the air suction rod 4331, thereby releasing the abutment against the air suction rod 4331, then the air suction rod 4331 is reset upward under the elastic force of the reset spring 4332, and the negative pressure state at the suction port 21 is released.

[0053] With reference to Figure 1 and Figure 6 , the side of the workbench 1 close to the glue applying area 12 is also provided with a residual glue receiving box 8, when the second driving assembly 42 does not drive the glue applying machine 3 to move, that is, the glue applying machine 3 is in the initial position, at this time, the glue outlet of the glue applying machine 3 is located directly above the residual glue receiving box 8, the side wall of the residual glue receiving box 8 is provided with a dredging needle 81, and the workbench 1 is provided with a butt joint 82 for driving the dredging needle 81 to slide in the vertical direction, the butt joint 82 is used to insert the top of the dredging needle 81 into the glue outlet of the glue applying machine 3 when the dredging needle 81 is driven to move upward, so as to dredge the glue outlet.

[0054] With reference to Figure 1 and Figure 6 , the butt joint 82 includes a rotating rod 821, two butt gears 822 and butt racks 823 corresponding to the butt gears 822, the rotating rod 821 is rotationally connected to the workbench 1, one butt gear 822 is sleeved on each end of the rotating rod 821, and the butt racks 823 are used to mesh with the corresponding butt gears 822, one butt rack 823 is fixedly connected to the side wall of the positioning block 431, and the length direction of the butt rack 823 is parallel to the sliding direction of the positioning block 431; the other butt rack 823 is fixedly connected to the lower end of the dredging needle 81, and the length direction of the butt gear 822 is parallel to the moving direction of the dredging needle 81.

[0055] When the adhesive strip forming the specified track is coated on the surface of the object, the application will detect, analyze and display the analysis results of the adhesive strip quality through the visual detection module 5, the display module 7 and the master control analysis module 6. Specifically, the visual detection module 5 can be an electronic camera, the master control analysis module 6 can be a PLC controller, and the display module 7 can be a display screen. The visual detection module 5 can be arranged above the workbench 1 between the positioning area 11 and the glue coating area 12. A cylinder or other lifting structure can be arranged on the workbench 1 to drive the visual detection module 5 to lift, so as to obtain a picture (i.e. a glue coating image) meeting the requirements by shooting through the visual detection module 5; in other embodiments, the visual detection module 5 can also be arranged on the workbench 1 at one end of the glue coating area 12 away from the positioning area 11, so that after the glue coating image is obtained, during the feedback process of the positioning area 11 by the receiving plate 2, the positions with missing glue can be supplemented by the glue machine 3 when passing through the glue coating area 12.

[0056] Referring to Figure 2 and Figure 7 , the master control analysis module 6 is used to receive the glue coating image detected by the visual detection module 5, and based on the specified track of the adhesive strip in the glue coating image, a plurality of detection points are selected on the specified track at equal intervals. The selection method of the detection points can be based on the specific shape of the specified track. For example, Figure 4 the selection methods of the detection points when the specified track is a circle and a square (which can be compared to a rectangle) are shown in FIGS. 1 and 2, respectively.

[0057] For the case where the specified track is a circle, the master control analysis module 6 can first determine the center of the circle (by default, the center of the glue coating image) in the glue coating image, and then select a detection point on the specified track every specified angle from the center of the circle. The specified angle can be set according to actual detection needs. The smaller the specified angle, the more detection points are selected. For example, the specified angle of the application is 30°.

[0058] For the case where the specified track is a rectangle, the master control analysis module 6 first determines the boundary position of the specified track, and then selects a detection point on the specified track every specified distance from the boundary position.

[0059] After the selection of the detection points is completed, the master control analysis module 6 is also used to determine the reference track. For example, if the specified track is a circle, the reference track can be set as a concentric circle located on the periphery of the specified track. If the specified track is a rectangle, the reference track can be set as a rectangular track located on the periphery of the specified track and scaled in proportion to the specified track.

[0060] The master control analysis module 6 is configured to calculate the linear distance values of the two side edges of the adhesive tape at each detection point to the reference track, i.e., the linear distance values of each side edge of the adhesive tape at the detection point to the reference track in a specified linear direction, wherein if the specified track is a circle, the center of the circle can be located on the extension line of the specified line, and if the specified track is a rectangle or a square, the linear distance value is the vertical distance value.

[0061] The master control analysis module 6 is further configured to subtract the two linear distance values calculated by the detection point to obtain the adhesive width, and finally generate a set of adhesive widths corresponding to all detection points, i.e., adhesive width data.

[0062] The master control analysis module 6 is further configured to subtract the adhesive widths corresponding to any two adjacent detection points on the specified track to obtain an adhesive width difference value, and compare the adhesive width difference value with a preset deviation value. If there are two adjacent target detection points, the adhesive width difference value corresponding to the two target detection points is greater than the preset deviation value, a supplementary detection point is selected on the specified track between the two target detection points, and the adhesive width of the supplementary detection point is calculated according to the above rule. The supplementary detection point and the adhesive width thereof are added to the adhesive width data. Finally, the master control analysis module 6 controls the display module 7 to display the adhesive width data and the adhesive image with the detection points or the supplementary detection points.

[0063] In other embodiments, the master control analysis module 6 can also compare the adhesive width at each detection point or supplementary detection point with a preset reference adhesive width range one by one, respectively determine a first detection point whose adhesive width range is greater than the reference adhesive width range, and a second detection point whose adhesive width is less than the reference range, and display the first detection point and the second detection point in different display forms on the display module 7. Thus, the operator can know whether the adhesive width meets the reference adhesive width range and the position of the adhesive tape that does not meet the reference foot width range.

[0064] The implementation principle of the intelligent gluing system disclosed in Embodiment 1 of the present application is as follows: the object to be glued is placed on the receiving plate 2 in the positioning area 11, the two positioning blocks 431 are driven by the sliding member 432 to move towards each other until they are both attached to the object, and then move reversely to reset, at the same time, the push rod 4334 pushes the pressing plate 4333, so that the pressing plate 4333 is turned to the end face of the lower end of the air suction rod 4331, so that the air suction rod 4331 moves downward, and a negative pressure is formed at the suction port 21, so that the object is adsorbed on the receiving plate 2; at the same time, the dredging rod completes the lifting reciprocating motion and is inserted into the glue outlet of the glue machine 3 during the lifting process, thereby achieving the dredging of the glue outlet.

[0065] Then the receiving plate 2 is moved to the gluing area 12 by the first driving assembly 41, the glue gun 3 is moved by the second driving assembly 42 and the glue strip of the specified track is coated on the surface of the object, and the gluing operation is completed. After that, the master control analysis module 6 controls the second driving assembly 42 to move towards the direction of approaching the positioning area 11, when it moves to the lower part of the visual detection module 5, it is paused for a specified time length, so that the visual detection module 5 shoots the gluing image, and the glue width data of the glue strip is calculated along the specified track, and finally the gluing image and the glue width data are displayed by the display module 7, so that the operator can determine the quality of the glue strip based on the glue width data.

[0066] Embodiment 2

[0067] The difference between the embodiment 2 of the present application and the embodiment 1 is that Figure 8 The suction accessory 433 includes a suction pump 4337 and a position detection module 4338. The suction pump 4337 is installed on the side wall of the receiving plate 2, and the air inlet end of the suction pump 4337 is communicated with all the suction ports 21 through a pipeline, and the air outlet end of the suction pump 4337 is located outside the receiving plate 2. The position detection module 4338 can be a photoelectric switch, and the transmitter and the receiver of the photoelectric switch are oppositely arranged, and the transmitter can be installed on the side wall of the receiving plate 2, and the receiver can be installed on the upper surface of the workbench 1 near the positioning area 11.

[0068] The position detection module 4338 and the suction pump 4337 are both electrically connected to the master control analysis module 6 (refer to Figure 1 When the receiver does not receive the light emitted by the transmitter, the position detection module 4338 sends a first photoelectric signal to the master control analysis module 6, and the master control analysis module 6 considers that the receiving plate 2 is separated from the positioning area 11 when the first photoelectric signal is received. At this time, the master control analysis module 6 controls the suction pump 4337 to start, so that a negative pressure is formed at the suction port 21. On the contrary, when the receiver receives the light emitted by the transmitter, the position detection module 4338 sends a second photoelectric signal to the master control analysis module 6, and the master control analysis module 6 considers that the receiving plate 2 enters the positioning area 11 when the second photoelectric signal is received. The suction pump 4337 is controlled to be closed, and the negative pressure state of the suction port 21 is contacted, so as to facilitate taking out the object from the positioning area 11.

[0069] The above are the preferred embodiments of the present application, which do not limit the protection scope of the present application, therefore: any equivalent changes made on the structure, shape, principle of the present application shall be covered within the protection scope of the present application.

Claims

1. An intelligent glue application system, comprising a worktable (1), a glue applicator (3), and a drive mechanism (4), wherein the worktable (1) is used to place an object to be glued, the glue applicator (3) is used to apply glue to the surface of the object, and the drive mechanism (4) is used to drive the glue applicator (3) and the object to move relative to each other, so that a glue strip with a specified trajectory is formed on the surface of the object; characterized in that: It also includes a visual inspection module (5), a main control analysis module (6), and a display module (7). The visual inspection module (5) and the display module (7) are both communicatively connected to the main control analysis module (6). The visual inspection module (5) is used to photograph the surface of an object with adhesive strips and generate an adhesive-coated image. The main control analysis module (6) is used to acquire the adhesive-coated image and also to calculate adhesive width data along the specified trajectory based on the adhesive-coated image, and control the display module (7) to display the adhesive width data and the adhesive-coated image. The main control analysis module (6) is used to determine a reference trajectory on the adhesive image and select a number of detection points at uniform intervals along the reference trajectory; it is also used to calculate the straight-line distance from the two sides of the adhesive strip at each detection point to the reference trajectory, and to obtain the adhesive width corresponding to the detection point by subtracting the two straight-line distance values ​​belonging to the same detection point; the adhesive width data refers to the set of adhesive widths corresponding to all detection points. The main control analysis module (6) is also used to calculate the glue width difference between any two adjacent detection points on the specified trajectory based on the glue width calculated at each detection point; if there is a target glue width difference between two adjacent target detection points that is greater than a preset deviation value, then a supplementary detection point is selected on the specified trajectory between the two target detection points, the glue width of the supplementary detection point is calculated, and the glue width of the supplementary detection point is added to the glue width data; The workbench (1) is provided with a gluing area (12) and a positioning area (11). The driving mechanism (4) includes a first driving component (41), a positioning component (43), and a second driving component (42). The first driving component (41) is used to drive the object to slide back and forth along the straight line connecting the positioning area (11) and the gluing area (12). The second driving component (42) is used to drive the glue applicator (3) to move above the gluing area (12) or to move away from the gluing area (12). The second driving component (42) is also used to drive the glue applicator (3) to move along a specified trajectory, which can be a circular path or a straight path. The positioning component (43) includes a sliding member (432) and at least two positioning blocks (431). The two positioning blocks (431) are arranged facing each other in the positioning area (11) of the worktable (1). A storage space for inserting an object is reserved between the two positioning blocks (431). The sliding member (432) is used to drive the two positioning blocks (431) to slide in a direction that is closer to or farther from each other, and when the two positioning blocks (431) move closer to each other to the maximum extent, the side of the two positioning blocks (431) facing each other is in contact with the object. The first driving component (41) is used to drive the object to reciprocate in a direction that is closer to or farther from the glue application area (12). The workbench (1) is also provided with an excess glue receiving box (8). When the second drive component (42) does not drive the glue applicator (3) to move, the excess glue receiving box (8) is located directly below the glue outlet of the glue applicator (3). The excess glue receiving box (8) is also provided with a drain needle (81). The workbench (1) is also provided with a docking part (82). The docking part (82) is used to drive the drain needle (81) to slide towards or away from the glue outlet of the glue applicator (3), so that the drain needle (81) can be inserted into the glue outlet when it is close to the glue outlet of the glue applicator (3). The docking component (82) includes a rotating rod (821), a docking gear (822), and a docking rack (823). Each end of the rotating rod (821) corresponds to a docking gear (822). The docking gear (822) is sleeved on the end of the rotating rod (821). The docking gear (822) and the docking rack (823) are arranged in a one-to-one correspondence, and the docking rack (823) meshes with the corresponding docking gear (822). One of the docking racks (823) is arranged on the side wall of the positioning block (431) along the sliding direction of the positioning block (431), and the other docking rack (823) is arranged on the side wall of the unclogging needle (81) along the sliding direction of the unclogging needle (81).

2. The intelligent glue dispensing system according to claim 1, characterized in that: The workbench (1) is provided with a receiving plate (2) for receiving objects. The first driving component (41) is used to drive the receiving plate (2) to slide back and forth along the straight line connecting the positioning area (11) and the glue application area (12). The receiving plate (2) has an adsorption port (21) on the surface that is in contact with the object. The positioning component (43) also includes an adsorption element (433). The adsorption element (433) is used to control the formation of negative pressure at the adsorption port (21) when the receiving plate (2) leaves the positioning area (11), and is also used to release the adsorption at the adsorption port (21) when the receiving plate (2) moves into the positioning area (11).

3. The intelligent glue dispensing system according to claim 2, characterized in that: The adsorption component (433) includes a suction rod (4331), a return spring (4332), a pressure plate (4333), a push rod (4334), and a reset component (4335). The receiving plate (2) has an internal cavity (22) for communication with the adsorption port (21). The suction rod (4331) is slidably connected within the cavity (22), and the peripheral wall of the suction rod (4331) is in contact with the internal peripheral wall of the cavity (22). The return spring (4332) is positioned between the suction rod (4331) and the bottom wall of the cavity (22). The pressure plate (4333)... The push rod (4334) is rotatably connected to the cavity (22) and is located on the side wall of the positioning block (431) facing the worktable (1). When the reset spring (4332) is not deformed and the push rod (4334) moves with the positioning block (431), the end of the suction rod (4331) is located on the rotation path of the pressure plate (4333), the pressure plate (4333) is located on the sliding path of the push rod (4334), and the reset member (4335) is used to drive the pressure plate (4333) to rotate and disengage from the end of the suction rod (4331).

4. The intelligent glue dispensing system according to claim 3, characterized in that: The reset component (4335) includes a transition rod (4336), which is located on the workbench (1) near the glue application area (12). The length direction of the transition rod (4336) is parallel to the sliding direction of the receiving plate (2). The side wall of the receiving plate (2) is provided with a transition hole (23) for the transition rod (4336) to be inserted into the cavity (22). The pressing position of the pressing plate (4333) when it presses against the end of the suction rod (4331) is located on the moving path of the transition rod (4336) when it moves relative to the receiving plate (2).

5. The intelligent glue dispensing system according to claim 2, characterized in that: The adsorption component (433) includes a vacuum pump (4337) and a position detection module (4338). The vacuum pump (4337) and the position detection module (4338) are electrically connected to a controller. The air inlet of the vacuum pump (4337) is connected to all adsorption ports (21). The position detection module (4338) is used to detect whether the receiving plate (2) is located in the positioning area (11) and send the detection result to the controller. The controller is used to start the vacuum pump (4337) when the receiving plate (2) moves out of the positioning area (11) so that a negative pressure is formed at the adsorption port (21). The controller is also used to turn off the vacuum pump (4337) when the receiving plate (2) moves out of the positioning area (11).

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