A glue coating end effector with glue mixing and negative pressure feedback back suction function

Abstract

The present application relates to a kind of end flange plate of industrial robot, a kind of adhesive end effector with mixed glue and negative pressure feedback back suction function is loaded, for single-component or double-component glue liquid is coated and sealed;The end effector includes rack, fixed support, motor, motor base, coupling, upper valve body, intermediate body, two-position three-way solenoid valve, rotary shaft moving device, glue inlet device, glue mixing chamber and glue coating nozzle;The intermediate body includes longitudinal gas bypass, horizontal gas bypass, air bag;When using, the two-position three-way solenoid valve pushes the upward movement or downward movement of rotary shaft moving device, and the low negative pressure caused by the fast upward movement or downward movement of rotary shaft moving device is supplemented by air bag, glue liquid flows into glue mixing chamber by glue inlet device, and is discharged after mixing by glue coating nozzle;Due to the setting of air bag, when glue is discharged, the air bubbles in glue liquid can be eliminated, and the glue coating quality is improved;When glue is broken, it can suck back instantaneously, and the control of glue amount is improved.

Description

Technical Field

[0001] This invention relates to the field of adhesive coating equipment technology, and more specifically to an adhesive coating end effector with adhesive mixing and negative pressure feedback suction functions. Background Technology

[0002] With technological advancements, the use of industrial robots equipped with dedicated adhesive-applying end effectors to seal various workpieces and structures is gradually replacing manual methods of squeezing bottled sealant or filling piping bags with sealant for extrusion. Dispensing technology is categorized into contact dispensing and non-contact dispensing based on whether it comes into contact with the workpiece. Non-contact dispensing valves offer advantages such as high speed and the ability to dispense micro-volume amounts, but this technology is not yet mature, and current research largely focuses on microelectronics dispensing. Contact dispensing technology is mature and widely used in aerospace, automotive parts, electronic product packaging, furniture, and new energy batteries, among other fields. During the adhesive application process, different adhesives are used depending on the specific characteristics required by the product. Most existing dispensing devices can only handle single-component adhesives; even those capable of mixing two-component adhesives rely on quick-change mechanisms for changing the adhesive. This not only increases labor costs but also reduces production efficiency. In addition, the dispensing valves currently on the market are not equipped with defoaming devices, which affects the sealing performance and other properties of the cured adhesive.

[0003] Therefore, existing technology requires a coating end effector that simultaneously possesses a mixing function and a negative pressure valve feedback suction function to solve the problems of glue dripping and glue stringing during the application of coating end effectors on industrial robots. At the same time, integrating the mixing device into the coating end effector simplifies the cumbersome mixing equipment and improves the quality and efficiency of coating. Summary of the Invention

[0004] To address the shortcomings of existing technologies, this invention proposes a dispensing end effector with mixing and negative pressure feedback suction functions. It features internal mixing capabilities and ensures no air bubbles appear during dispensing. In addition to instantaneous dispensing during dispensing, it also prevents glue leakage and stringing.

[0005] To achieve the above objectives, the present invention provides the following technical solution: a dispensing end effector with mixing and negative pressure feedback suction functions, installed at the end of an industrial robot, comprising a motor 1, a spring cap 4, an upper valve body 10, an intermediate body 15, a mixing chamber 25, a dispensing nozzle 27, a rotary pump 26, and a gas bypass, wherein,

[0006] Motor 1, located at the top, has an output shaft and is mounted on motor base 3;

[0007] The spring cap 4 is bolted to the motor base 3 at its upper end and has a mounting groove at its lower end for holding the compression spring 5. The output shaft passes through the middle of the motor base 3 and the spring cap 4 from top to bottom.

[0008] The upper valve body 10 has an internal chamber that communicates with the recess of the spring cap 4. The chamber houses a main shaft 9, a coupling 8, and a piston 11. The main shaft 9 is divided into an upper section, a middle section, and a lower section according to its diameter. The piston 11 has a stepped surface on its upper outer circumference and its lower outer circumference abuts against the inner wall of the upper valve body 10. The piston 11 can slide along the inner wall of the upper valve body 10 within the chamber. The coupling 8 is connected at its upper end to the motor output shaft and at its lower end to the upper section of the main shaft 9. A compression spring 5 is sleeved on the upper end of the piston 11 and the outside of the coupling 8.

[0009] The intermediate body 15 includes a sealing system, an air intake channel, and an airbag 23. The sealing system is installed at the bottom of the upper valve body 10 chamber where it connects to the intermediate body 15. The sealing system includes, in sequence, an adjusting ring 17, a pressure ring 18, a V-shaped sealing structure 19, a support ring 20, and a sealing plug 21. The bottom of the intermediate body 15 is provided with a groove, and the airbag is installed in the groove. There are two air intake channels, which are respectively provided on the inner walls of the two sides of the sealing system. The outer port of the air intake channel is connected to a compressed air source, and the inner port is connected to the bottom chamber of the piston 11 for air intake.

[0010] The mixing chamber 25 has an internal cavity for mixing adhesives, an adhesive inlet device on the side wall, and an adhesive outlet at the bottom.

[0011] The glue applicator 27 contains a glue flow channel inside, which is connected to the glue outlet at the bottom of the mixing chamber 25.

[0012] A rotary pump 26 has a long shaft, with spiral blades arranged on the outer periphery of the lower part of the long shaft located in the mixing chamber 25, and the bottom end abutting the outlet. The upper end of the spiral pump 26 passes through the air bladder 23, sealing plug 21, support ring 20, V-shaped sealing structure 19, pressure ring 18 and adjusting ring 17 in sequence. The upper end of the spiral pump 26 is connected to the lower end of the main shaft 9.

[0013] The gas bypass includes a first transverse gas bypass 35, a second transverse gas bypass 36, a third transverse gas bypass 37, a fourth transverse gas bypass 38, a first longitudinal gas bypass 31, and a second longitudinal gas bypass 33. The first transverse gas bypass 35 and the second transverse gas bypass 36 are located on the inner walls of both sides of the upper valve body 10, and the two bypasses are connected to the chamber of the upper valve body 10. The third transverse gas bypass 37 and the fourth transverse gas bypass 38 are located on the inner walls of both sides of the intermediate body 15, and the inner sides of the two bypasses are connected to the air bladder 23 of the intermediate body 15. The second longitudinal gas bypass 33 is used to connect the second transverse gas bypass 36 and the fourth transverse gas bypass 38. The first longitudinal gas bypass 31 is used to connect the first transverse gas bypass 35 and the third transverse gas bypass 37.

[0014] Furthermore, a groove is provided at the connection between the piston 11 and the upper valve body 10 housing, and a piston sealing ring 12 is embedded in the groove.

[0015] Furthermore, two-position three-way solenoid valves A14 and B30 are provided on both sides of the upper part of the intermediate body 15, and are respectively connected to the outer ports of the two intake channels through quick-connect couplings A16 and B29.

[0016] Furthermore, the upper end of the spiral pump 26 is connected to the lower end of the main shaft 9 by threads and / or pin holes; specifically, the upper end of the spiral pump 26 has a small hole, and the lower end of the main shaft 9 has a small hole. The two small holes have the same radius. After the spiral pump 26 and the main shaft 9 are connected by threads, the two small holes are coaxially aligned, and the pin 39 is inserted horizontally at the alignment of the two small holes.

[0017] Furthermore, the glue inlet device includes an A glue inlet 24 and a B glue inlet 28. Both glue inlets include a quick-connect connector 2401, a retaining ring 2402, a sealing gasket 2403, and a connector 2404. The A glue inlet 24 and the B glue inlet 28 are installed on the upper part of the mixing chamber 25 and are in communication with the internal cavity of the mixing chamber 25.

[0018] Furthermore, the adhesive application end effector is fixed to the end of the industrial robot via the frame 2. The frame 2 is equipped with a fixed bracket 22, and the intermediate body 15 is fitted onto the fixed bracket 22. The two annular protruding ends in the fixed bracket 22 are connected by bolts and nuts to provide locking force. At the same time, the threaded holes at both ends of the fixed bracket 22 correspond to the threaded holes at both ends of the intermediate body 15, and the intermediate body 15 is fixed onto the fixed bracket 22 by bolts.

[0019] Furthermore, in the sealing system, the sealing plug 21 is installed at the top of the cavity region of the intermediate body 15, the bottom of the support ring 20 contacts the top of the sealing plug 21, and the V-shaped sealing structure 19 is composed of four V-shaped sealing rings A191, B192, C193, and D194 of the same size and shape; the bottom of the V-shaped sealing ring D194 matches the groove at the top of the support ring 20, the top of the V-shaped sealing ring A191 matches the bottom of the pressure ring 18, the top of the pressure ring 18 contacts the adjusting ring 17, and the adjusting ring 17 is fixed to the bottom of the cavity where the piston 11 is located in the intermediate body 15 by bolts.

[0020] Furthermore, the inner sides of the third transverse gas bypass 37 and the fourth transverse gas bypass 38 are connected to the air nozzles on both sides of the airbag 23 via air sealing valves A32 and B34; the air sealing valve A32 includes a quick-connect connector A324, a retaining ring A323, a sealing gasket A322, and a connector A321; the air sealing valve B34 includes a quick-connect connector B344, a retaining ring B343, a sealing gasket B342, and a connector B341.

[0021] The beneficial effects of this invention are as follows: When adhesive dispensing is required, the negative pressure feedback device formed by the gas bypass connecting the internal cavity of the upper valve body and the air bladder solves the problem of air bubbles in the adhesive during dispensing caused by the rapid upward movement of the spiral pump. Simultaneously, the forward rotation of the spiral pump also achieves the effects of mixing the adhesive and assisting in adhesive discharge. When adhesive dispensing needs to be stopped, while the negative pressure feedback device formed by the gas bypass connecting the internal cavity of the upper valve body and the air bladder draws back the adhesive, the reverse rotation of the spiral pump drives the already drawn-back adhesive upward, solving the problem of adhesive backflow. Simultaneously, the rapid downward movement of the spiral pump achieves the effect of instantaneous adhesive dispensing. The spiral pump solves the problem of adhesive mixing, increases dispensing efficiency, and simultaneously assists in solving the problems of adhesive backflow and instantaneous adhesive dispensing. It can accurately open or close the applicator head, is less prone to dripping or stringing, has a simple structure, is easy to clean, improves work efficiency, and demonstrates good mixing effects. It is used for applying two-component adhesives, especially for applying two-component polysulfide sealants. Attached Figure Description

[0022] Figure 1 This is a three-dimensional structural diagram of the present invention.

[0023] Figure 2 This is a two-dimensional structural schematic diagram of the present invention.

[0024] Figure 3 yes Figure 2 The left view.

[0025] Figure 4 yes Figure 2BB projection view Detailed Implementation

[0026] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the invention.

[0027] When using existing glue-applying equipment, its basic working principle is to achieve glue dispensing and dispensing by moving a valve stem. The valve stem, in turn, needs a spring to move up and down to achieve the glue dispensing and dispensing operations. Based on the spring parameters, the stiffness of the circular spring can be calculated, as shown in the following expression:

[0028]

[0029] Where K represents the spring stiffness, G represents the spring shear modulus, D represents the center diameter, d represents the spring wire diameter, and n represents the number of effective coils; after obtaining the spring stiffness, the energy equation of the spring is known to be:

[0030]

[0031] Since the spring energy remains constant, based on the state of the valve stem before and after its ascent, the equilibrium equation of the spring can be written to obtain the velocity of the valve stem just before it stops rising:

[0032]

[0033] Where m represents the mass of the spring and its driven moving components, v1 represents the initial velocity of the valve, v2 represents the velocity of the valve just before it stops rising, x1 represents the pre-displacement of the spring, and x2 represents the spring displacement when the valve stops moving; after obtaining the velocity of the valve just before it stops rising, given the outlet pressure and the density of the adhesive, according to Bernoulli's equation for incompressible homogeneous fluids in a gravitational field:

[0034]

[0035] The relationship between the valve movement speed and the pressure difference inside the valve chamber can be obtained; further, it can be found that the faster the valve moves, the greater the pressure drop inside the valve chamber, and the easier it is for bubbles to be generated.

[0036] refer to Figure 1-4As shown in the figure, a dispensing end effector with mixing and negative pressure feedback back suction functions is used for dispensing and sealing single-component or two-component adhesives. It features a mixing structure and a back suction cut-off function for two-component dispensing. The end effector includes a motor 1, a frame 2, a motor base 3, a spring cap 4, a coupling 8, an upper valve body 10, an intermediate body 15, a two-position three-way solenoid valve A14, a two-position three-way solenoid valve B30, a mixing chamber 25, and a dispensing nozzle 27.

[0037] The motor 1, motor base 3, spring cap 4, upper valve body 10, intermediate body 15, mixing chamber 25, and dispensing nozzle 27 are connected to each other; the motor 1 is fixed to the motor base 3 by bolts, and the motor base 3 is fixed to the spring cap 4 by bolts; the outer shells of the upper valve body 10, intermediate body 15, mixing chamber 25, and dispensing nozzle 27 are connected by threads.

[0038] Motor 1, located at the top, has an output shaft and is mounted on motor base 3;

[0039] The frame 2 has a bracket 22 fixed on it by bolts and nuts. The frame 2 is screwed to the end flange of the industrial robot. The intermediate body 15 is fitted on the fixed bracket 22. The two annular protruding ends in the fixed bracket 22 are connected by bolts and nuts to provide locking force. At the same time, the threaded holes at both ends of the fixed bracket 22 correspond to the threaded holes at both ends of the intermediate body 15, and the intermediate body 15 is fixed on the fixed bracket 22 by bolts.

[0040] Spring cap 4, the upper end is bolted to motor base 3, and the lower end has a mounting groove for spring limiter, which is used to place compression spring 5. The output shaft passes through the middle of motor base 3 and spring cap 4 from top to bottom.

[0041] The upper valve body 10 has an internal chamber that communicates with the recess of the spring cap 4. The chamber houses a main shaft 9, a coupling 8, and a piston 11. The main shaft 9 is divided into an upper section, a middle section, and a lower section according to its diameter. The piston 11 has a stepped surface on its upper outer circumference and its lower outer circumference abuts against the inner wall of the upper valve body 10. The piston 11 can slide along the inner wall of the upper valve body 10 within the chamber. The coupling 8 is divided into upper and lower parts, with the upper part 801 and the lower part 802 connected by bolts. The coupling 8 is installed inside the upper valve body 10, with its upper end connected to the motor output shaft and its lower end connected to the upper section of the main shaft 9. The compression spring 5 is sleeved on the upper end of the piston 11 and the outside of the coupling 8. The inner wall of the upper valve body 10 is provided with a first transverse gas bypass 35 and a second transverse gas bypass 36. The inner sides of the first transverse gas bypass 35 and the second transverse gas bypass 36 in the upper valve body 10 are connected to the compression and extension area of ​​the compression spring 5, and the outer sides are sealed by threads.

[0042] The intermediate body 15 includes a first longitudinal gas bypass 31, a second longitudinal gas bypass 33, a third transverse gas bypass 37, a fourth transverse gas bypass 38, an adjusting ring 17, a pressure ring 18, a V-shaped sealing structure 19, a support ring 20, a sealing plug 21, and an airbag 23. The outer sides of the third transverse gas bypass 37 and the fourth transverse gas bypass 38 are sealed by threads, and the inner sides are connected to the air nozzles on both sides of the airbag 23 through air sealing valves A32 and B34. The air sealing valve A32 includes a quick-connect connector A324, a retaining ring A323, a sealing gasket A322, and a connector A321. The air sealing valve B34 includes a quick-connect connector B344, a retaining ring B343, a sealing gasket B342, and a connector B341. The airbag 23 is inserted into a groove in the lower part of the intermediate body 15 and has the function of inflation and deflation.

[0043] The mixing chamber 25 is where glue A and glue B are mixed, and the bottom of the mixing chamber 25 has a glue outlet; the two-position three-way solenoid valve 14 and the two-position three-way solenoid valve 30 are placed on both sides of the upper part of the intermediate body 15, and are respectively connected to the bottom of the cavity where the upper part of the intermediate body 15 is located through quick-change connector 16 and quick-change connector 29.

[0044] The mixing chamber 25 has an internal cavity for mixing adhesives, an adhesive inlet device on the side wall, and an adhesive outlet at the bottom.

[0045] The glue applicator 27 contains a glue flow channel inside, which is connected to the glue outlet at the bottom of the mixing chamber 25.

[0046] The rotary pump 26 has a long shaft, and the lower part of the long shaft is provided with spiral blades on the outer periphery of the mixing chamber 25. The bottom end of the long shaft abuts against the upper port of the glue application channel. The upper end of the spiral pump 26 passes through the air bag 23, the sealing plug 21, the support ring 20, the V-shaped sealing structure 19, the pressure ring 18, and the adjusting ring 17 in sequence. The upper end of the spiral pump 26 is connected to the lower end of the main shaft 9 by a thread.

[0047] In this scheme, the first longitudinal gas bypass 31 is connected to the first transverse gas bypass 35 in the upper valve body 10 and the third transverse gas bypass 37 in the intermediate body 15; the second longitudinal gas bypass 33 is connected to the second transverse gas bypass 36 in the upper valve body 10 and the fourth transverse gas bypass 38 in the intermediate body 15; the first transverse gas bypass 35, the first longitudinal gas bypass 31, the third transverse gas bypass 37, the second transverse gas bypass 36, the second longitudinal gas bypass 33, and the fourth transverse gas bypass 38 together constitute a gas bypass.

[0048] In this design, the rotary shaft actuator refers to a mechanism that can both rotate and move axially. The rotary shaft actuator includes key 6, key 7, coupling 8, piston 11, piston seal ring 12, locking nut 13, motor 1, pin 39, main shaft 9, and screw pump 26. The screw pump 26 has an external thread at its upper end. The piston seal ring 12 is fitted into a groove on the outer side wall of the piston 11. The output shaft of motor 1, key 6, coupling 8, key 7, main shaft 9, and screw pump 26 are sequentially connected to each other. The groove at the lower end of the output shaft of motor 1 is connected to the upper part 801 of the coupling via key 6. The upper end of the main shaft 9 has a larger diameter and a groove, which is connected to the lower part 802 of the coupling via key 7. The middle diameter of the main shaft 9 is smaller, and the lower end of the middle section has a... The piston 11, with external threads, is fitted onto the middle of the main shaft 9. The upper end of the piston 11 is engaged with the upper end and the diameter-changing section of the middle of the main shaft 9. The piston 11 is fixed to the main shaft 9 by the locking nut 13 through the external threads at the lower end of the main shaft 9. After installation, the piston 11 is located at the bottom of the cavity inside the upper valve body 10. The compression spring 5 is fitted onto the upper end of the piston 11. The adjusting ring 17, the pressure ring 18, the V-shaped sealing structure 19, the support ring 20, and the sealing plug 21 together constitute a sealing system. The sealing plug 21 is installed at the top of the cavity area of ​​the intermediate body 15. The bottom of the support ring 20 contacts the top of the sealing plug 21. The V-shaped sealing structure 19 consists of four V-shaped sealing rings A191 of the same size and shape. The system comprises V-shaped sealing rings B192, C193, and D194. The bottom of V-shaped sealing ring D194 matches the groove on the top of the support ring 20, the top of V-shaped sealing ring A191 matches the bottom of the pressure ring 18, and the top of the pressure ring 18 contacts the adjusting ring 17. The adjusting ring 17 is fixed to the bottom of the cavity containing the piston 11 in the intermediate body 15 by bolts. The upper end of the spiral pump 26 passes sequentially through the air bladder 23, sealing plug 21, support ring 20, V-shaped sealing structure 19, pressure ring 18, and adjusting ring 17. The upper end of the spiral pump 26 is threadedly connected to the lower end of the main shaft 9. Simultaneously, a small hole is opened at the upper end of the spiral pump 26, and a small hole is opened at the lower end of the main shaft 9. The screw pump 26 and the main shaft 9 are connected by a thread, and the two small holes are aligned coaxially. The pin 39 is inserted horizontally at the alignment of the two small holes for fixing. The lower end of the screw pump 26 abuts against the glue outlet at the bottom of the mixing chamber 25. The motor 1 serves as the power source, transmitting power to the main shaft 9 through key 6, coupling 8, and key 9 in sequence, thereby driving the main shaft 9 to rotate and thus driving the screw pump 26 to rotate. The glue inlet device includes an A glue inlet 24 and a B glue inlet 28. The A glue inlet 24 includes a quick-connect connector C241, a retaining ring C242, a sealing gasket C243, and a connector C244. The B glue inlet 28 includes a quick-connect connector D281, a retaining ring D282, a sealing gasket D283, and a connector D284.The A glue inlet 24 and the B glue inlet 28 are installed on the upper part of the mixing chamber 25; the glue nozzle 27 contains a glue flow channel inside, and the glue flow channel is connected to the glue outlet at the bottom of the mixing chamber 25.

[0049] Given the pressure provided by the adhesive supply power source, the adhesive flow rate range in the adhesive inlet pipe of inlet A 24 or the adhesive flow rate range in the adhesive inlet pipe of inlet B 28, and the diameter of the adhesive inlet pipe of inlet A 24 or the adhesive inlet pipe of inlet B 28, the adhesive flow velocity in the adhesive inlet pipe of inlet A 24 or the adhesive flow velocity in the adhesive inlet pipe of inlet B 28 can be calculated according to the equations for flow rate and velocity in fluid mechanics.

[0050] Q = Sv

[0051] Wherein, Q represents the glue dispensing range within the glue inlet pipe of glue inlet A 24 or glue inlet B 28; S represents the cross-sectional area within the glue inlet pipe of glue inlet A 24 or glue inlet B 28; v represents the glue flow rate within the glue inlet pipe of glue inlet A 24 or glue inlet B 28; and the cross-sectional area is expressed as:

[0052]

[0053] Wherein, Y represents the diameter of the glue inlet pipe of the A glue inlet 24 or the diameter of the glue inlet pipe of the B glue inlet 28; after obtaining the glue flow rate in the glue inlet pipe of the A glue inlet 24 or the glue flow rate in the glue inlet pipe of the B glue inlet 28, the Bernoulli equation for an incompressible homogeneous fluid in the gravitational field can be applied to obtain the relationship between the working pressure value in the mixing chamber 25 of the glue applicator with mixing and negative pressure feedback suction function and the glue flow rate in the corresponding glue inlet pipe of the A glue inlet 24 or the glue inlet pipe of the B glue inlet 28; it can be concluded that even when the glue flow rate in the glue inlet pipe of the A glue inlet 24 or the glue inlet pipe of the B glue inlet 28 is high, the working pressure value in the mixing chamber 25 is still much higher than atmospheric pressure, that is, the inside of the mixing chamber 25 is in a positive high pressure state, thus proving that no gas will be released or a vacuum will occur during the mixing of glue.

[0054] When there is a demand for dispensing glue, the motor 1 controlled by the program drives the motor shaft to rotate forward. The power is transmitted through the coupling 8, which drives the main shaft 9 and then drives the screw pump 26 to rotate forward. Under the action of glue supply pressure, glue A and glue B flow into the mixing chamber 25 through glue A inlet 24 and glue B inlet 28 respectively, and are stirred by the screw pump 26.

[0055] The internal coils of the two-position three-way solenoid valve 14 and the two-position three-way solenoid valve 30 are energized by the program. Compressed air enters from the bottom of the cavity where the piston 11 is located inside the intermediate body 15. Since the sealing ring 12 on the piston 11 has a sealing function, the compressed air pushes the piston 11 to move upward, that is, pushes the main shaft 9 to move upward, and then drives the spiral pump 26 to move upward. The glue outlet at the bottom of the mixing chamber 25 is in the open state.

[0056] As the compressed air pushes the piston 9 to move upward continuously, the compression spring 5 is gradually compressed, and the gas in the cavity where the compression spring 5 is located inside the upper valve body 10 is continuously squeezed. The squeezed gas enters the air bladder 23 through the gas bypass inside the upper valve body 10 and the intermediate body 15. The air bladder 23 gradually expands and replenishes the pressure loss inside the mixing chamber 25 caused by the upward movement of the spiral pump 26, preventing air bubbles from appearing.

[0057] At the same time, the forward rotation of motor 1 can achieve the purpose of mixing adhesive and drive screw pump 26 to deliver adhesive downward, thereby assisting in the discharge of adhesive.

[0058] When there is a need to stop the glue supply, the motor shaft of the motor controlled by the program is reversed. The power is transmitted through the coupling 8, which drives the main shaft 9 and then drives the screw pump 26 to reverse. The glue supply pressure is reduced, and the glue inlet 24 of A glue and the glue inlet 28 of B glue stop supplying glue to the mixing chamber 25.

[0059] The internal coils of the two-position three-way solenoid valve 14 and the two-position three-way solenoid valve 30 are de-energized by the program control, the compressed air in the original cavity where the piston 11 is located in the intermediate body 15 is discharged, and the compression spring 5 pushes the piston 11 to reset; thereby driving the main shaft 9 to move down, and then driving the spiral pump 26 to move down until it reaches the glue outlet at the bottom of the mixing chamber 25.

[0060] During the reset process of the compression spring 5, the volume of the cavity where the compression spring 5 is located inside the upper valve body 10 gradually increases. Some of the gas in the original supplementary air bag returns to the cavity where the compression spring 5 is located along the gas bypass. The volume of the air bag 23 decreases, and the pressure inside the mixing chamber 25 decreases, achieving the effect of adhesive back suction.

[0061] At the same time, the reverse rotation of motor 1 can also drive the spiral pump 26 to deliver the adhesive upwards, achieving the purpose of instantaneous adhesive cut-off while assisting in the back suction of adhesive.

[0062] When cleaning is required, since the intermediate body 15, mixing chamber 25, dispensing nozzle 27, spiral pump 26, and main shaft 9 are connected by threads, the dispensing nozzle 27, mixing chamber 25, and spiral pump 26 inside the mixing chamber 25 can be disassembled by screwing. The spiral pump 26, mixing chamber 25, and dispensing nozzle 27 can be cleaned with cleaning agent or the mixing chamber 25 and dispensing nozzle 27 can be replaced.

[0063] The above are merely preferred embodiments of the present invention and are not intended to limit the present invention. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A dispensing end effector with adhesive mixing and negative pressure feedback suction functions, installed at the end of an industrial robot, characterized in that: Includes a motor (1), a spring cap (4), an upper valve body (10), an intermediate body (15), a mixing chamber (25), a dispensing nozzle (27), a screw pump (26), and a gas bypass, wherein, The motor (1), located at the top, has an output shaft and is mounted on the motor base (3); The spring cap (4) is bolted to the motor base (3) at its upper end and has a mounting groove at its lower end for holding a compression spring (5). The output shaft passes through the middle of the motor base (3) and the spring cap (4) from top to bottom. The upper valve body (10) has an internal chamber that communicates with the recess of the spring cap (4). The chamber contains a main shaft (9), a coupling (8), and a piston (11). The main shaft (9) is divided into an upper section, a middle section, and a lower section according to its diameter. The piston (11) has a stepped surface on its upper outer circumference and abuts against the inner wall of the upper valve body (10) on its lower outer circumference. The piston (11) can slide along the inner wall of the upper valve body (10) in the chamber. The coupling (8) is connected to the motor output shaft at its upper end and to the upper section of the main shaft (9) at its lower end. A compression spring (5) is sleeved on the upper end of the piston (11) and the outside of the coupling (8). The intermediate body (15) includes a sealing system, an air intake channel, and an air bag (23). The sealing system is installed at the bottom of the upper valve body (10) chamber and at the connection between the intermediate body (15). The sealing system includes, in sequence, an adjusting ring (17), a pressure ring (18), a V-shaped sealing structure (19), a support ring (20), and a sealing plug (21). The bottom of the intermediate body (15) is provided with a groove, and the air bag is installed in the groove. There are two air intake channels, which are respectively located on the inner walls of the two sides of the sealing system. The outer port of the air intake channel is connected to a compressed air source, and the inner port is connected to the bottom chamber of the piston (11) for air intake. The mixing chamber (25) has a cavity inside for mixing adhesives, an adhesive inlet device on the side wall, and an adhesive outlet at the bottom; The glue applicator (27) contains a glue channel inside, which is connected to the glue outlet at the bottom of the mixing chamber 25; The spiral pump (26) has a long shaft, and the lower part of the long shaft is provided with spiral blades on the outer periphery of the mixing chamber (25), with the bottom end abutting the outlet. The upper end of the spiral pump (26) passes through the air bag (23), sealing plug (21), support ring (20), V-shaped sealing structure (19), pressure ring (18) and adjusting ring (17) in sequence. The upper end of the spiral pump (26) is connected to the lower end of the main shaft (9). The gas bypass includes a first transverse gas bypass (35), a second transverse gas bypass (36), a third transverse gas bypass (37), a fourth transverse gas bypass (38), a first longitudinal gas bypass (31), and a second longitudinal gas bypass (33). The first transverse gas bypass (35) and the second transverse gas bypass (36) are located on the inner walls of both sides of the upper valve body (10), and the two bypasses are connected to the chamber of the upper valve body (10). The third transverse gas bypass (37) and the fourth transverse gas bypass (38) are located on the inner walls of both sides of the intermediate body (15), and the inner sides of the two bypasses are connected to the air bladder (23) of the intermediate body (15). The second longitudinal gas bypass (33) is used to connect the second transverse gas bypass (36) and the fourth transverse gas bypass (38). The first longitudinal gas bypass (31) is used to connect the first transverse gas bypass (35) and the third transverse gas bypass (37).

2. The adhesive application end effector with mixing and negative pressure feedback suction functions as described in claim 1, characterized in that: A groove is provided at the connection between the piston (11) and the upper valve body (10) housing, and a piston sealing ring (12) is embedded in the groove.

3. The adhesive application end effector with mixing and negative pressure feedback suction functions as described in claim 1, characterized in that: Two-position three-way solenoid valves A (14) and B (30) are provided on both sides of the upper part of the intermediate body (15), and are connected to the outer ports of the two air intake channels through quick-connect fittings A (16) and B (29) respectively.

4. The adhesive application end effector with mixing and negative pressure feedback suction functions as described in claim 1, characterized in that: The upper end of the spiral pump (26) is connected to the lower end of the main shaft (9) by a thread and / or a pin hole; specifically, the upper end of the spiral pump (26) has a small hole, and the lower end of the main shaft (9) has a small hole. The two small holes have the same radius. After the spiral pump (26) and the main shaft (9) are connected by a thread, the two small holes are aligned coaxially. The pin (39) is inserted horizontally at the alignment of the two small holes.

5. The adhesive application end effector with mixing and negative pressure feedback suction functions as described in claim 1, characterized in that: The glue inlet device includes an A glue inlet (24) and a B glue inlet (28). Both glue inlets include a quick-connect fitting (241), a snap ring (242), a sealing gasket (243), and a connector (244). The A glue inlet (24) and the B glue inlet (28) are installed on the upper part of the mixing chamber (25) and are in communication with the internal cavity of the mixing chamber (25).

6. The adhesive application end effector with mixing and negative pressure feedback suction functions as described in claim 1, characterized in that: The glue-applying end effector is fixed to the end of the industrial robot via a frame (2). A fixed bracket (22) is provided on the frame (2). The intermediate body (15) is fitted onto the fixed bracket (22). The two annular protruding ends of the fixed bracket (22) are connected by bolts and nuts to provide locking force. At the same time, the threaded holes at both ends of the fixed bracket (22) correspond to the threaded holes at both ends of the intermediate body (15), and the intermediate body (15) is fixed onto the fixed bracket (22) by bolts.

7. The adhesive application end effector with mixing and negative pressure feedback suction functions as described in claim 1, characterized in that: In the sealing system, the sealing plug (21) is installed at the top of the cavity area of ​​the intermediate body (15), the bottom of the support ring (20) is in contact with the top of the sealing plug (21), and the V-shaped sealing structure (19) is composed of four V-shaped sealing rings A (191), B (192), C (193) and D (194) of the same size and shape; the bottom of the V-shaped sealing ring D (194) matches the groove at the top of the support ring (20), the top of the V-shaped sealing ring A (191) matches the bottom of the pressure ring (18), the top of the pressure ring (18) is in contact with the adjusting ring (17), and the adjusting ring (17) is fixed to the bottom of the cavity where the piston (11) is located in the intermediate body (15) by bolts.

8. The adhesive application end effector with mixing and negative pressure feedback suction functions as described in claim 1, characterized in that: The inner sides of the third transverse gas bypass (37) and the fourth transverse gas bypass (38) are connected to the air nozzles on both sides of the airbag (23) through air sealing valve A (32) and air sealing valve B (34); the air sealing valve A (32) includes quick connector A (324), snap ring A (323), sealing gasket A (322) and connector A (321); the air sealing valve B (34) includes quick connector B (344), snap ring B (343), sealing gasket B (342) and connector B (341).

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