A process for adhering an outer cylindrical layer of pellets to a tube

Abstract

In order to solve the problems of low efficiency, high labor intensity and difficult to guarantee quality of the existing pipe body outer circle particle layer sticking method, the present application provides a pipe body outer circle particle layer sticking process, which uses a full-automatic pipe body outer circle particle layer sticking device for sticking, the full-automatic pipe body outer circle particle layer sticking device comprises a pipe body positioning unit, a mechanical arm I, a mechanical arm II and a monitoring unit. The pipe body outer circle particle layer sticking process has the beneficial technical effect that the sticking of the pipe body outer circle particle layer can be automatically completed, the sticking efficiency and quality are greatly improved, and the labor intensity and production cost are effectively reduced.

Description

Technical Field

[0001] This invention relates to a technique for bonding a granular layer to the outer surface of a tube, and particularly to a process for bonding a granular layer to the outer surface of a tube. Background Technology

[0002] In some equipment, a granular layer needs to be adhered to the outer circumference of a tube. This involves applying one or more layers of granules to the outer surface of a circular tube of equal or varying diameter, or a conical tube, using a fast-drying adhesive (such as 502 glue). The granules are typically cubic, cuboid, or rhomboid in shape. During adhesion, the geometric axis of the granule's adhesion surface must be tangent to the tube surface. Furthermore, the bottom of each granule must be in close contact with the outer circumference of the tube and filled with fast-drying adhesive. The perimeter of each granule must also be in close contact with adjacent granules and filled with fast-drying adhesive. The gaps between the granules in the concentric circles should be staggered (see Appendix). Figure 1 In the diagram, A represents the tube body, and B represents the particles. Due to manufacturing errors in the particle dimensions, the gaps between particles during bonding cannot be exactly the same. Therefore, the design specifications specifically stipulate that the number of particles bonded in each ring must not be less than the set number, and the gap between the last particle and the first particle must not be greater than the width of one particle. Furthermore, the number of particle rings along the tube body axis must not be less than the set number, and the gap between the last ring of particles and the edge of the tube body must not be greater than the length of one particle.

[0003] The existing method for bonding the outer circumference granules to the tube shell involves manual application. The granules are placed manually on the outer circumference surface of the tube, and quick-drying adhesive is injected after the granules are stabilized. Once the adhesive dries and becomes tacky, the next granule is applied. While one granule can be applied at a time, or several granules can be applied at once, the basic requirements remain the same: the bottom of each granule must be in close contact with the outer circumference surface of the tube and filled with quick-drying adhesive, and the perimeter of each granule must be in close contact with adjacent granules and filled with quick-drying adhesive. Furthermore, the number of granules in each ring and the number of axial rings must meet design requirements.

[0004] Clearly, the existing method of bonding the outer circumferential granular layer of the tube has problems such as low efficiency, high labor intensity, and difficulty in guaranteeing quality. Summary of the Invention

[0005] To address the problems of low efficiency, high labor intensity, and difficulty in ensuring quality in existing methods for bonding the outer circumference of a tube, this invention proposes a process for bonding the outer circumference of a tube to a granular layer.

[0006] This invention relates to a process for bonding a granular outer layer to a tube, employing a fully automated device. This device includes a tube positioning unit, robotic arm I, robotic arm II, and a monitoring unit. The tube positioning unit comprises a rotating base, a base plate, an angle adjustment mechanism, a tube fixing mechanism, and a tube rotation mechanism. The rotating base includes a rotation mechanism and a turntable; the rotation mechanism is fixedly mounted on a base plane, and the turntable is fixedly mounted on the rotation shaft of the rotation mechanism. The base plate is rectangular and can be rotated via the angle adjustment mechanism. The rotating body is fixed in the middle of the turntable; the angle adjustment mechanism is fixed in the middle of the turntable; the tube fixing mechanism includes a lower support, a rotating shaft I, a lower end cover, a slide rail, an upper support, a rotating shaft II, and an upper end cover; the lower support is fixed in the lower middle part of the front side of the substrate, and a rotating shaft I is provided at the top of the lower support; the lower end cover is fixedly connected to the upper end of the rotating shaft I, and the lower end is connected to the drive shaft of the tube rotating mechanism; the slide rail is fixedly installed at the upper end of the front side of the substrate; the upper support is installed on the slide rail, and a rotating shaft II is provided at the top of the upper support; the upper end cover is fixedly installed at the lower end of the rotating shaft II; Furthermore, the rotating shaft I and rotating shaft II are coaxial; the tube rotation mechanism is located at the bottom of the front side of the substrate; the robotic arm I is fixedly installed beside the tube rotation mechanism, including a base I, a universal arm I, a robotic gripper I, a suction pump, and a dispensing tube; the base I is fixedly installed on the base plane, the universal arm I is fixedly installed on the base I, and the robotic gripper I is fixedly installed at the end of the universal arm I; the suction pump is fixedly installed on the left side of the robotic gripper I; the dispensing tube is fixedly installed on the right side of the robotic gripper I; the robotic arm II is fixedly installed beside the tube rotation mechanism, including a base II, a universal arm I, a robotic gripper I, a suction pump, and a dispensing tube. The system comprises a universal arm II, a mechanical gripper II, and a particle straightening assembly; the base II is fixedly mounted on a foundation plane, the universal arm II is fixedly mounted on the base II, and the mechanical gripper II is fixedly mounted on the end of the universal arm II; the particle straightening assembly is mounted on the front side of the mechanical gripper II and includes a reference baffle, a circumferential push plate, an axial push plate, and a radial push plate; the reference baffle, circumferential push plate, axial push plate, and radial push plate are all hydraulically controlled; the monitoring unit includes a camera, which is fixedly mounted above the middle of the mechanical gripper II; and the outer circumferential particle layer bonding process of the tube includes the following steps:

[0007] S01. The tube to be pasted is clamped and fixed between the upper and lower end caps. The tube tilt angle is set according to the tube diameter and particle size. The tube is then moved to the initial particle attachment position of the initial particle ring. The tube tilt angle refers to the angle between the tube axis and the horizontal plane.

[0008] S02. The particles are manually arranged in rows according to the process requirements and placed on the gripping position of the mechanical claw I, i.e., the discharge rail.

[0009] S03, Mechanical claw I moves above the discharge rail, and the suction and discharge are directly above the neatly arranged particles; Mechanical claw I descends, so that the suction and discharge contact the upper surface of the particles and adsorb the particles;

[0010] S04. The mechanical gripper I moves to the set position of the tube to be pasted, the mechanical gripper I descends, places the particles on the set position of the outer circular surface of the tube to be pasted, and the mechanical gripper I moves to the dispensing waiting position.

[0011] S05. The mechanical claw II moves to the particle placement position, and the particle straightening component begins to straighten the particle arrangement. For the initial particle pasting of each ring, the reference baffle moves forward to block the rightmost particle in the set position, and the circumferential pusher moves from left to right, pushing the particles to be neatly arranged in the circumferential direction based on the reference baffle. For pasting the remaining particles in each ring, the circumferential pusher moves from left to right, pushing the particles to be neatly arranged in the circumferential direction based on the already pasted particles. At the same time, the radial pusher moves towards the center of the tube, pushing the particles towards the outer circumferential surface of the tube, so that the inner side of the particle is perpendicular to the normal of the outer circumferential surface of the tube. The axial pusher moves downward along the tube axis, pushing the particles towards the edge step of the tube or the previous ring of particles that have already been pasted.

[0012] S06. The mechanical gripper I moves above the already sized particles, and the dispensing tube is located at the far left or far right of the already sized particles. The dispensing tube begins to inject fast-drying glue. At the same time, the dispensing tube moves at a constant speed from left to right or from right to left until it reaches the far right or far left. When the dispensing is finished, the mechanical gripper I moves back to the initial position.

[0013] S07. The camera checks the quality of the pasting in this round; if the inspection is successful, proceed to the next step; otherwise, issue an error alarm and wait for manual intervention before proceeding to the next step.

[0014] S08. The camera determines whether the pasting of the particles in this circle is complete; if yes, proceed to the next step; if no, proceed to step S10.

[0015] S09. The camera determines whether the particle is in the last cycle; if yes, proceed to step S12; if no, proceed to step S11.

[0016] S10. Rotate the tube to the next set of particle attachment positions; return to steps S02-S08.

[0017] S11. Move the tube body to the auxiliary bonding position of the next ring of particles, and stop at the auxiliary bonding position of the initial particles of this ring, that is, ensure that the gap between the particles of this ring is located at the circumferential centerline of the next ring of particles; return to execute steps S02-S9.

[0018] S12. The granules on this tube are now properly bonded. Turn off the machine, remove the bonded tube, and continue drying.

[0019] Furthermore, the angle adjustment mechanism includes a main support, a base plate support, a helical gear, a drive gear, a gearbox, and a motor; the main support is fixedly mounted on the left side surface of the turntable and includes a support plate and triangular supports I; there are two triangular supports I, vertically fixed at intervals on the left side surface of the turntable; the support plate is a rectangular plate, vertically fixed on the plane formed by the vertical sides of the triangular supports I; thus, a stable support structure is formed; in addition, a support shaft is fixedly installed in the upper middle part of the support plate; the base plate support is fixed in the lower middle part of the back of the base plate and includes triangular supports II and a liner. The base plate consists of two triangular supports II, which are horizontally spaced and fixed to the back of the base plate, with the support edges of the triangular supports flush with the left side of the base plate. The liner is disc-shaped and fixed on the plane formed by the support edges of the triangular supports and the left side of the base plate, forming a stable support structure. The helical gear is fixed on the liner and mounted on the support shaft via bearings. Thus, a rotatable fixed structure is formed for the base plate relative to the main support. The drive gear meshes with the helical gear and is fixed on the output shaft of the gearbox. The motor is fixed to the rear side of the gearbox, and its shaft is connected to the input shaft of the gearbox.

[0020] Furthermore, the tube rotation mechanism includes a coupling, a steering gearbox, and a rotary motor; one end of the coupling is fixedly connected to the rotating shaft I of the tube fixing mechanism, and the other end is connected to the output shaft of the steering gearbox; the steering gearbox I is a right-angle steering gearbox, that is, the input shaft and the output shaft are set at a right angle; the rotary motor is fixed to the input side of the steering gearbox, and the rotating shaft of the rotary motor is connected to the input shaft of the steering gearbox.

[0021] Furthermore, four stop seats are provided on the turntable, arranged in pairs at intervals at the front and rear of the turntable; the spacing between each pair matches the width of the substrate.

[0022] The beneficial technical effect of the tube outer circumferential particle layer bonding process of the present invention is that it can automatically complete the bonding of the tube outer circumferential particle layer, which not only greatly improves the bonding efficiency and bonding quality, but also effectively reduces labor intensity and production costs. Attached Figure Description

[0023] Appendix Figure 1 A three-dimensional schematic diagram of the outer circumferential granular layer of the tube.

[0024] Appendix Figure 2 This is a three-dimensional schematic diagram of the tube outer circumferential particle layer bonding device of the present invention;

[0025] Appendix Figure 3 This is a three-dimensional schematic diagram of the outer circumferential particle layer pasting device of the present invention from another angle;

[0026] Appendix Figure 4This is a three-dimensional view of the tube positioning unit of the tube outer circumferential particle layer pasting device of the present invention;

[0027] Appendix Figure 5 This is a three-dimensional view of the tube positioning unit of the tube outer circumferential particle layer pasting device of the present invention from another angle;

[0028] Appendix Figure 6 This is a three-dimensional view of the robotic arm I of the tube outer circumferential particle layer pasting device of the present invention;

[0029] Appendix Figure 7 This is a plan view of the mechanical claw I of the tube outer circumferential particle layer pasting device of the present invention;

[0030] Appendix Figure 8 This is a three-dimensional view of the robotic arm II of the tube outer circumferential particle layer pasting device of the present invention;

[0031] Appendix Figure 9 This is a plan view of the mechanical claw II of the tube outer circumferential particle layer pasting device of the present invention;

[0032] Appendix Figure 10 This is an exploded three-dimensional view of the mechanical claw II of the tube outer circumferential particle layer pasting device of the present invention;

[0033] Appendix Figure 11 This is a three-dimensional view of the angle adjustment mechanism of the outer circumferential particle layer pasting device for the tube of the present invention;

[0034] Appendix Figure 12 This is an exploded three-dimensional view of the angle adjustment mechanism of the outer circumferential particle layer pasting device of the present invention.

[0035] Appendix Figure 13 This is a three-dimensional view of the tube body rotation mechanism of the tube body outer circular particle layer pasting device of the present invention;

[0036] Appendix Figure 14 This is an exploded three-dimensional view of the tube body rotation mechanism of the tube body outer circular particle layer pasting device of the present invention.

[0037] The process of pasting the outer circumferential granular layer of the tube body according to the present invention will be further described below with reference to the accompanying drawings and specific embodiments. Detailed Implementation

[0038] Appendix Figure 2 This is a three-dimensional schematic diagram of the tube outer circumferential particle layer bonding device of the present invention, attached. Figure 3 This is a three-dimensional schematic diagram of the outer circumferential particle layer bonding device of the present invention from another angle, attached. Figure 4 This is a three-dimensional view of the tube positioning unit of the tube outer circumferential particle layer pasting device of the present invention, with attached... Figure 5 This is a three-dimensional view of the tube positioning unit of the tube outer circumferential particle layer pasting device of the present invention from another angle, attached. Figure 6This is a three-dimensional view of the robotic arm I of the tube outer circumferential particle layer pasting device of the present invention, attached. Figure 7 This is a plan view of the mechanical claw I of the tube outer circumferential particle layer pasting device of the present invention, attached. Figure 8 This is a three-dimensional view of the robotic arm II of the tube outer circumferential particle layer pasting device of the present invention, attached. Figure 9 This is a plan view of the mechanical claw II of the tube outer circumferential particle layer pasting device of the present invention, attached. Figure 10This is an exploded three-dimensional view of the mechanical claw II of the outer circumferential particle layer pasting device for the tube body of the present invention. In the figure, 1 is the tube body positioning unit, 1-1 is the rotating base, 1-2 is the base plate, 1-3 is the angle adjustment mechanism, 1-4 is the tube body fixing mechanism, 1-4-1 is the lower support, 1-4-2 is the rotating shaft I, 1-4-3 is the lower end cover, 1-4-4 is the slide, 1-4-5 is the upper support, 1-4-6 is the rotating shaft II, 1-4-7 is the upper end cover, and 1-5 is the tube body rotation mechanism; 2 is the mechanical arm I, 2-1 is the base I, 2-2 is the universal arm I, 2-3 is the mechanical claw I, 2-4 is the suction and discharge mechanism, and 2-5 is the dispensing tube; 3 is the mechanical arm II, 3-1 is the base II, 3-2 is the universal arm II, 3-3 is the mechanical claw II, and 3-4 is the particle straightening component; 4-1 is the camera.As shown in the figure, the outer circumferential particle layer bonding process of the present invention uses a fully automatic outer circumferential particle layer bonding device. This device includes a tube positioning unit 1, robotic arm I 2, robotic arm II 3, and a monitoring unit 4. The tube positioning unit 1 includes a rotating base 1-1, a base plate 1-2, an angle adjustment mechanism 1-3, a tube fixing mechanism 1-4, and a tube rotation mechanism 1-5. The rotating base 1-1 includes a rotation mechanism and a turntable. The rotation mechanism is fixedly mounted on a base plane, and the turntable is fixedly mounted on the rotating shaft of the rotation mechanism. The base plate 1-2 is a rectangular plate, rotatably fixed to the center of the turntable via the angle adjustment mechanism. The angle adjustment mechanism 1-5... -3 is fixed in the middle of the turntable; the tube fixing mechanism 1-4 includes a lower support 1-4-1, a rotating shaft I 1-4-2, a lower end cover 1-4-3, a slide rail 1-4-4, an upper support 1-4-5, a rotating shaft II 1-4-6, and an upper end cover 1-4-7; the lower support 1-4-1 is fixed in the lower middle part of the front of the substrate, and a rotating shaft I is provided at the top of the lower support; the upper end of the rotating shaft I 1-4-2 is fixedly connected to the lower end cover 1-4-3, and the lower end is connected to the drive shaft of the tube rotating mechanism 1-5; the slide rail 1-4-4 is fixedly installed at the upper end of the front of the substrate; the upper support 1-4-5 is installed on the slide rail, and a rotating shaft II 1-4-6 is provided at the top of the upper support; the upper end cover 1-4-7 is fixed. The rotating shaft I and rotating shaft II are coaxial; the tube rotation mechanism 1-5 is located at the bottom of the front side of the substrate; the robotic arm I2 is fixedly installed on the side of the tube rotation mechanism, including a base I2-1, a universal arm I2-2, a robotic gripper I2-3, a suction pump 2-4, and a dispensing tube 2-5; the base I2-1 is fixedly installed on the base plane, the universal arm I2-2 is fixedly installed on the base I, and the robotic gripper I2-3 is fixedly installed on the end of the universal arm I; the suction pump 2-4 is fixedly installed on the left side of the robotic gripper I; the dispensing tube 2-5 is fixedly installed on the right side of the robotic gripper I; the robotic arm II3 is fixedly installed on the side of the tube rotation mechanism, including a base II3 ... plane, the robotic gripper I2-3 is fixedly installed on the end of the universal arm I; the suction pump 2-4 is fixedly installed on the left side of the robotic gripper I; the dispensing tube 2-5 is fixedly installed on the right side of the robotic The system comprises a universal arm II 3-2, a mechanical gripper II 3-3, and a particle straightening assembly 3-4; the base II 3-1 is fixedly mounted on the foundation plane, the universal arm II 3-2 is fixedly mounted on the base II, and the mechanical gripper II 3-3 is fixedly mounted on the end of the universal arm II; the particle straightening assembly 3-4 is mounted on the front side of the mechanical gripper II and includes a reference baffle 3-4-1, a circumferential push plate 3-4-2, an axial push plate 3-4-3, and a radial push plate 3-4-4; the reference baffle, circumferential push plate, axial push plate, and radial push plate are all hydraulically controlled; the monitoring unit 4 includes a camera 4-1, which is fixedly mounted above the middle of the mechanical gripper II; and the outer circumferential particle layer pasting process of the tube includes the following steps:

[0039] S01. The tube to be pasted is clamped and fixed between the upper and lower end caps. The tube tilt angle is set according to the tube diameter and particle size. The tube is then moved to the initial particle attachment position of the initial particle ring. The tube tilt angle refers to the angle between the tube axis and the horizontal plane.

[0040] S02. The particles are manually arranged in rows according to the process requirements and placed on the gripping position of the mechanical claw I, i.e., the discharge rail (not shown in the figure).

[0041] S03, Mechanical claw I moves above the discharge rail, and the suction and discharge are directly above the neatly arranged particles; Mechanical claw I descends, so that the suction and discharge contact the upper surface of the particles and adsorb the particles;

[0042] S04. The mechanical gripper I moves to the set position of the tube to be pasted, the mechanical gripper I descends, places the particles on the set position of the outer circular surface of the tube to be pasted, and the mechanical gripper I moves to the dispensing waiting position.

[0043] S05. The mechanical claw II moves to the particle placement position, and the particle straightening component begins to straighten the particle arrangement. For the initial particle pasting of each ring, the reference baffle moves forward to block the rightmost particle in the set position, and the circumferential pusher moves from left to right, pushing the particles to be neatly arranged in the circumferential direction based on the reference baffle. For pasting the remaining particles in each ring, the circumferential pusher moves from left to right, pushing the particles to be neatly arranged in the circumferential direction based on the already pasted particles. At the same time, the radial pusher moves towards the center of the tube, pushing the particles towards the outer circumferential surface of the tube, so that the inner side of the particle is perpendicular to the normal of the outer circumferential surface of the tube. The axial pusher moves downward along the tube axis, pushing the particles towards the edge step of the tube or the previous ring of particles that have already been pasted.

[0044] S06. The mechanical gripper I moves above the already sized particles, and the dispensing tube is located at the far left or far right of the already sized particles. The dispensing tube begins to inject fast-drying glue. At the same time, the dispensing tube moves at a constant speed from left to right or from right to left until it reaches the far right or far left. When the dispensing is finished, the mechanical gripper I moves back to the initial position.

[0045] S07. The camera checks the quality of the pasting in this round; if the inspection is successful, proceed to the next step; otherwise, issue an error alarm and wait for manual intervention before proceeding to the next step.

[0046] S08. The camera determines whether the pasting of the particles in this circle is complete; if yes, proceed to the next step; if no, proceed to step S10.

[0047] S09. The camera determines whether the particle is in the last cycle; if yes, proceed to step S12; if no, proceed to step S11.

[0048] S10. Rotate the tube to the next set of particle attachment positions; return to steps S02-S08.

[0049] S11. Move the tube body to the auxiliary bonding position of the next ring of particles, and stop at the auxiliary bonding position of the initial particles of this ring, that is, ensure that the gap between the particles of this ring is located at the circumferential centerline of the next ring of particles; return to execute steps S02-S09.

[0050] S12. The granules on this tube are now properly bonded. Turn off the machine, remove the bonded tube, and continue drying.

[0051] As described above, the granular layer pasting process and apparatus for the outer circumference of the tube using this invention essentially achieves automated and intelligent pasting. Except for situations requiring manual intervention when particle quality or pasting quality is abnormal, the entire process, from pasting the first particle to the last on the outer circumference of the tube, can be completed automatically, under visualized and intelligent monitoring; thus, there is no rework due to quality issues after pasting. Therefore, the beneficial technical effect of the granular layer pasting process for the outer circumference of the tube using this invention is that it can automatically complete the pasting of the granular layer on the outer circumference of the tube, significantly improving pasting efficiency and quality, while also effectively reducing labor intensity and production costs.

[0052] Appendix Figure 11 This is a three-dimensional view of the angle adjustment mechanism of the outer circumferential particle layer pasting device for the tube of the present invention, attached. Figure 12This is an exploded three-dimensional view of the angle adjustment mechanism of the outer cylindrical particle layer pasting device of the present invention. In the figure, 1-3-1 is the main support, 1-3-2 is the base plate support, 1-3-3 is the inclined gear, 1-3-4 is the drive gear, 1-3-5 is the gearbox, and 1-3-6 is the motor. As shown in the figure, as one of the preferred embodiments, the angle adjustment mechanism 1-3 includes the main support 1-3-1, the base plate support 1-3-2, the inclined gear 1-3-3, the drive gear 1-3-4, the gearbox 1-3-5, and the motor 1-3-6. The main support 1-3-1 is fixedly installed on the left side surface of the turntable and includes a support plate and a triangular support I. There are two triangular supports I, which are vertically fixed at intervals on the left side surface of the turntable. The support plate is a rectangular plate and is vertically fixed on the plane formed by the vertical sides of the triangular supports I. Thus, a stable support structure is formed. In addition, a support shaft is fixedly installed in the upper middle part of the support plate. The base plate support 1-3-2 is fixed on the base plate. The lower-middle part of the back includes a triangular support II and a backing plate. Two triangular supports II are fixed laterally at intervals on the back of the substrate, with their support edges flush with the left side of the substrate. The backing plate is disc-shaped and fixed on the plane formed by the support edges of the triangular supports and the left side of the substrate, forming a stable support structure. The helical gear 1-3-3 is fixed to the backing plate and mounted on the support shaft via bearings. This constitutes a rotatable fixed structure of the substrate relative to the main support. The drive gear 1-3-4 meshes with the helical gear and is fixed to the output shaft of the gearbox 1-3-5. The motor 1-3-6 is fixed to the rear side of the gearbox, and its shaft is connected to the input shaft of the gearbox. Using the main support as the load-bearing component of the substrate simplifies the structure, facilitates operation, and reduces manufacturing costs; it also facilitates installation and maintenance.

[0053] Appendix Figure 13 This is a three-dimensional view of the tube body rotation mechanism of the tube body outer circumferential particle layer pasting device of the present invention, attached. Figure 14 This is an exploded three-dimensional view of the tube body rotation mechanism of the tube outer circumferential particle layer pasting device of the present invention. In the figure, 1-5-1 is a coupling, 1-5-2 is a steering gearbox, and 1-5-3 is a rotary motor. As shown in the figure, as one of the preferred embodiments, the tube body rotation mechanism 1-5 includes a coupling 1-5-1, a steering gearbox 1-5-2, and a rotary motor 1-5-3. One end of the coupling 1-5-1 is fixedly connected to the rotating shaft I of the tube body fixing mechanism, and the other end is connected to the output shaft of the steering gearbox. The steering gearbox 1-5-2 is a right-angle steering gearbox, that is, the input shaft and the output shaft are set at a right angle. The rotary motor 1-5-3 is fixed to the input side of the steering gearbox, and the rotating shaft of the rotary motor is connected to the input shaft of the steering gearbox. The use of a steering gearbox allows for convenient installation of the rotary motor, making the overall structure compact.

[0054] To prevent damage to the substrate or other components when the substrate is in a rotatable state and not being pasted, as a preferred embodiment, four stop seats 1-6 are provided on the turntable, arranged in pairs at intervals at the front and rear of the turntable; the spacing between the two in each pair matches the width of the substrate. Thus, when not pasting, the substrate can be rotated, one end of the substrate placed on the stop seat, and the clips engaged, preventing the substrate from rotating or shifting unnecessarily and thus preventing damage to the substrate or other components.

[0055] Obviously, the beneficial technical effect of the tube outer circumferential particle layer bonding process of the present invention is that it can automatically complete the bonding of the tube outer circumferential particle layer, which not only greatly improves the bonding efficiency and bonding quality, but also effectively reduces labor intensity and production costs.

Claims

1. A process for bonding a granular layer to the outer surface of a tube, characterized in that, The bonding process is performed using a fully automated tube outer circumferential particle layer bonding device. This device includes a tube positioning unit, robotic arm I, robotic arm II, and a monitoring unit. The tube positioning unit includes a rotating base, a base plate, an angle adjustment mechanism, a tube fixing mechanism, and a tube rotation mechanism. The rotating base... The system includes a rotating mechanism and a turntable. The rotating mechanism is fixedly mounted on a base plane, and the turntable is fixedly mounted on the rotating shaft of the rotating mechanism. The base plate is a rectangular plate and is rotatably fixed to the center of the turntable via an angle adjustment mechanism. The angle adjustment mechanism is fixed to the center of the turntable. The tube fixing mechanism includes a lower support, a rotating shaft I, a lower end cover, a slide, an upper support, a rotating shaft II, and an upper end cover. The lower support is fixed to the lower-middle part of the front side of the base plate, and the rotating shaft I is provided at the top of the lower support. The rotating shaft I... The upper end is fixedly connected to the lower end cap, and the lower end cap is connected to the drive shaft of the tube rotation mechanism; the slide is fixedly installed on the upper end of the front side of the substrate; the upper support is installed on the slide, and a rotating shaft II is provided on the top of the upper support; the upper end cap is fixedly installed on the lower end of the rotating shaft II; and the rotating shaft I and the rotating shaft II are coaxial; the tube rotation mechanism is located at the bottom of the front side of the substrate; the robotic arm I is fixedly installed on the side of the tube rotation mechanism, including a base I, a universal arm I, a robotic claw I, a suction and discharge mechanism, and a dispensing tube; The base I is fixedly installed on the foundation plane, the universal arm I is fixedly installed on the base I, and the mechanical gripper I is fixedly installed at the end of the universal arm I; the suction and discharge mechanism is fixedly installed on the left side of the mechanical gripper I. The dispensing tube is fixedly installed on the right side of the mechanical gripper I; The robotic arm II is fixedly installed on the side of the tube rotation mechanism, and includes a base II, a universal arm II, a robotic claw II, and a particle straightening assembly; the base II is fixedly installed on the base plane, the universal arm II is fixedly installed on the base II, and the robotic claw II is fixedly installed at the end of the universal arm II. The particle straightening assembly is installed on the front side of the robotic gripper II and includes a reference baffle, a circumferential pusher, an axial pusher, and a radial pusher; the reference baffle, circumferential pusher, axial pusher, and radial pusher are all hydraulically controlled; the monitoring unit includes a camera, which is fixedly installed above the center of the robotic gripper II; and the outer circumferential particle layer bonding process of the tube includes the following steps: S01. The tube to be pasted is clamped and fixed between the upper and lower end caps. The tube tilt angle is set according to the tube diameter and particle size. The tube is then moved to the initial particle attachment position of the initial particle ring. The tube tilt angle refers to the angle between the tube axis and the horizontal plane. S02. The particles are manually arranged in rows according to the process requirements and placed on the gripping position of the mechanical claw I, i.e., the discharge rail. S03, Mechanical claw I moves above the discharge rail, and the suction and discharge are directly above the neatly arranged particles; Mechanical claw I descends, so that the suction and discharge contact the upper surface of the particles and adsorb the particles; S04. The mechanical gripper I moves to the set position of the tube to be pasted, the mechanical gripper I descends, places the particles on the set position of the outer circular surface of the tube to be pasted, and the mechanical gripper I moves to the dispensing waiting position. S05. The mechanical claw II moves to the particle placement position, and the particle straightening component begins to straighten the particle arrangement. For the initial particle pasting of each ring, the reference baffle moves forward to block the rightmost particle in the set position, and the circumferential pusher moves from left to right, pushing the particles to be neatly arranged in the circumferential direction based on the reference baffle. For pasting the remaining particles in each ring, the circumferential pusher moves from left to right, pushing the particles to be neatly arranged in the circumferential direction based on the already pasted particles. At the same time, the radial pusher moves towards the center of the tube, pushing the particles towards the outer circumferential surface of the tube, so that the inner side of the particle is perpendicular to the normal of the outer circumferential surface of the tube. The axial pusher moves downward along the tube axis, pushing the particles towards the edge step of the tube or the previous ring of particles that have already been pasted. S06. The mechanical gripper I moves above the already sized particles, and the dispensing tube is located at the far left or far right of the already sized particles. The dispensing tube begins to inject fast-drying glue. At the same time, the dispensing tube moves at a constant speed from left to right or from right to left until it reaches the far right or far left. When the dispensing is finished, the mechanical gripper I moves back to the initial position. S07. The camera checks the quality of the pasting in this round; if the inspection is successful, proceed to the next step; otherwise, issue an error alarm and wait for manual intervention before proceeding to the next step. S08. The camera determines whether the pasting of the particles in this circle is complete; if yes, proceed to the next step; if no, proceed to step S10. S09. The camera determines whether the particle is in the last cycle; if yes, proceed to step S12; if no, proceed to step S11. S10. Rotate the tube to the next set of particle attachment positions; return to steps S02-S08. S11. Move the tube body to the auxiliary bonding position of the next ring of particles, and stop at the auxiliary bonding position of the initial particles of this ring, that is, ensure that the gap between the particles of this ring is located at the circumferential centerline of the next ring of particles; return to execute steps S02-S9. S12. The granules on this tube are now properly bonded. Turn off the machine, remove the bonded tube, and continue drying.

2. The process for bonding the outer circumferential granular layer of the tube according to claim 1, characterized in that, The angle adjustment mechanism includes a main support, a base plate support, a helical gear, a drive gear, a gearbox, and a motor. The main support is fixedly mounted on the left side surface of the turntable and includes a support plate and triangular supports I. There are two triangular supports I, vertically fixed at intervals on the left side surface of the turntable. The support plate is a rectangular plate, vertically fixed on the plane formed by the vertical sides of the triangular supports I. Thus, a stable support structure is formed. In addition, a support shaft is fixedly installed in the upper middle part of the support plate. The base plate support is fixed in the lower middle part of the back of the base plate and includes triangular supports II and a backing plate. Two triangular supports II are fixed laterally at intervals on the back of the base plate, with the support edges of the triangular supports flush with the left side of the base plate. The liner is disc-shaped and fixed on the plane formed by the support edges of the triangular supports and the left side of the base plate, forming a stable support structure. The helical gear is fixed on the liner and mounted on the support shaft via bearings. Thus, a rotatable fixed structure is formed for the base plate relative to the main support. The drive gear meshes with the helical gear and is fixed on the output shaft of the gearbox. The motor is fixed on the rear side of the gearbox, and its shaft is connected to the input shaft of the gearbox.

3. The process for bonding the outer circumferential granular layer of the tube according to claim 1, characterized in that, The tube rotation mechanism includes a coupling, a steering gearbox, and a rotary motor; one end of the coupling is fixedly connected to the rotating shaft I of the tube fixing mechanism, and the other end is connected to the output shaft of the steering gearbox; the steering gearbox is a right-angle steering gearbox, that is, the input shaft and the output shaft are set at a right angle; the rotary motor is fixed to the input side of the steering gearbox, and the rotating shaft of the rotary motor is connected to the input shaft of the steering gearbox.

4. The process for bonding the outer circumferential granular layer of the tube according to claim 1, characterized in that, The turntable is also provided with four stop seats, which are arranged in pairs at intervals at the front and rear of the turntable; the spacing between the two in each pair matches the width of the substrate.

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