Flexible automatic assembling device and method for part with surface needing glue solution coating

Abstract

The invention discloses a flexible automatic assembly device and method for a part with the surface needing to be coated with a glue solution, the position of the part to be coated is recognized through a recognition positioning mechanism, a glue extruding and driving mechanism, a grabbing mechanism and an assembly mechanism which are mounted on the same horizontal plane, the glue solution is quantitatively extruded, and a straight line is formed on a glue solution plane carrier; then the linear glue solution is flattened to form a glue face with the uniform thickness, then the part is grabbed according to the position of the part to be coated, uniform gluing and thinness control are conducted on the surface, needing gluing, of the part on the formed glue face, and finally assembly of the glued part and the shell is automatically completed. The device is particularly suitable for the glue solution coating and assembling process of annular parts with poor glue solution fluidity, high viscosity and high glue solution control precision, and grabbing, surface glue solution coating and assembling of the parts are achieved.

Description

Technical Field

[0001] The invention relates to the field of mechanical assembly, in particular to a flexible automatic assembly device and method for parts whose surfaces need to be coated with glue. Background Art

[0002] Glue coating assembly is commonly used in various fields, such as printing, sheet material processing, etc. For example, CN15891420A is for gluing and laminating protective films for graphics in the printing industry, and CN211359431 U is for bonding composite boards in the field of composite board processing technology. In the field of parts assembly, glue coating during the assembly process is currently mainly achieved through dispensing and spraying. For the dispensing method, glue is usually dispensed on multiple parts of the assembled parts, and the amount of glue applied is controlled in the form of excess glue; while the spraying method is not applicable to glue with high viscosity and low fluidity. Therefore, it is necessary to be able to stably control the glue coating thickness on parts for glue coating scenarios with high viscosity and low fluidity, and to achieve automatic picking and automatic assembly of parts. Summary of the invention

[0003] The technical problem solved by the present invention is: to overcome the shortcomings of the prior art and provide a flexible automatic assembly device and method for parts whose surfaces need to be coated with glue, which can realize automatic flexible picking of parts, stably and accurately control the coating thickness of the glue on the surface of parts, and prevent the parts from getting stuck after coating.

[0004] The technical solution of the present invention is: a flexible automatic assembly device for parts whose surfaces need to be coated with glue, comprising: an identification and positioning mechanism, a glue squeezing and glue-driving mechanism, a gripping mechanism and an assembly mechanism installed on the same horizontal plane; the identification and positioning mechanism identifies the position of the part to be coated; the glue squeezing and glue-driving mechanism quantitatively squeezes out the glue and forms a straight line on a glue plane carrier, and then flattens the straight glue to form a glue surface with uniform thickness; the gripping mechanism grabs the part according to the position of the part to be coated, and evenly coats the surface of the part to be coated with glue and controls the thickness on the glue surface formed by the glue squeezing and glue-driving mechanism, and then moves to the assembly mechanism; the assembly mechanism is used to clamp the shell, cooperate with the gripping mechanism, and automatically complete the assembly of the part and the shell after glue coating.

[0005] Furthermore, the glue squeezing and glue rushing mechanism includes a glue squeezing and glue rushing plate, a glue squeezing moving module glue cylinder, a glue rushing cylinder, a glue rushing rod height adjustment module and a glue rushing rod; the glue squeezing and glue rushing plate and the glue rushing rod are parallel to each other, and the glue squeezing moving module drives the glue cylinder to move along direction A to quantitatively extrude glue liquid onto the film of the glue squeezing and glue rushing plate to form a straight line; the glue rushing rod height adjustment module adjusts the height between the glue rushing rod and the glue squeezing and glue rushing plate to a required height, and the glue rushing cylinder then drives the glue rushing rod through the glue rushing rod height adjustment module to move along direction B to flatten the straight glue liquid to a required thickness, and the A direction is perpendicular to the B direction.

[0006] Furthermore, the glue squeezing and glue driving mechanism also includes a film roller, a film changing motor, a film supporting wheel, a film pressing cylinder, and a film pressing block; the film pressing block is connected to the film pressing cylinder, and the film roller and the film supporting wheel are driven by the rotation of the film changing motor, and the film is spread flat on the glue squeezing and glue driving flat plate under the pressure of the film pressing block.

[0007] Furthermore, the glue squeezing and glue driving mechanism also includes a glue cylinder fixing plate, a glue rolling rod connecting plate, a glue driving connecting block, a first-level connecting plate, and a second connecting plate; the glue cylinder is connected to the glue squeezing moving module through the glue cylinder fixing plate, the glue driving rod is connected to the glue driving rod height adjustment module through the glue rolling rod connecting plate, and the glue driving rod height adjustment module is connected to the glue driving cylinder through the glue driving connecting block; the glue squeezing and glue driving module, the film pressing cylinder are fixed on the left and right sides of the first connecting plate, and the film roller, film material changing motor, film supporting wheel, glue squeezing and glue driving flat plate, and glue driving cylinder are fixed to the second connecting plate.

[0008] Furthermore, the first connecting plate is located above the second connecting plate, and the planes of the two connecting plates are perpendicular to each other.

[0009] Furthermore, the gripping mechanism includes a manipulator and an internal support device, wherein the internal support device is connected to the execution end of the manipulator; a flexible paddle is provided in the internal support device to control the clamping force between the internal support device and the shell on the assembly mechanism.

[0010] Furthermore, the specific form of the internal support device is: the connecting surface at one end of the internal support rod cooperates with the cavity of the flexible paddle, and the internal support rod and the flexible paddle are connected by a connecting ring; the flexible paddle is installed in the main connecting body and connected through a connecting piece; the pressure plate is placed in the cavity of the connecting piece and connected to the robot arm; the sensor is installed on the side of the main connecting body and its position is adjustable.

[0011] Furthermore, a groove is provided at the other end of the inner support rod, and the rubber ring is installed in the groove of the inner support rod.

[0012] Furthermore, during the assembly process, the pressure plate deforms as the assembly pressure changes, and the stress on the inner support rod is detected by the displacement of the deformation. During the deformation of the pressure plate, the flexible paddle is displaced accordingly, and the blocking force is controlled by controlling its displacement.

[0013] The present invention also provides a flexible automatic assembly method for parts whose surfaces need to be coated with glue, comprising:

[0014] The identification and positioning mechanism identifies the position of the parts;

[0015] The film is laid flat on the glue extrusion and glue-driving flat plate, and the glue liquid in the glue cylinder is quantitatively squeezed onto the film of the glue extrusion and glue-driving flat plate by using the glue extrusion moving module to form a straight line; the glue-driving rod height adjustment module adjusts the required height between the glue-driving rod and the glue extrusion and glue-driving flat plate, and the glue-driving cylinder moves to flatten the straight line glue liquid to the required thickness;

[0016] The grabbing mechanism grabs the parts according to their positions, and places the bottom and cylindrical surface of the parts on the glue extrusion and glue rushing plate for bottom glue sitting and cylindrical surface glue rolling, so as to achieve uniform glue coating and thickness control on the surface of the parts;

[0017] The gripping mechanism moves the parts after the seat and rolling of glue to the assembly mechanism for assembly with the shell.

[0018] The advantages of the present invention compared with the prior art are:

[0019] (1) The present invention is aimed at the glue coating and assembly of annular parts with poor glue fluidity, high viscosity and high glue control accuracy. The glue is first extruded onto a film, and the glue is flattened by a glue rod. The glue thickness is adjustable in the range of 0.1mm-10mm. A robot arm is used to coat the mating surface of the part and the shell (the bottom surface and cylindrical surface of an annular part). The thickness of the glue on the surface of the part can reach 0.06mm, so that the part can be grasped, coated with glue on the surface and assembled.

[0020] (2) In the process of picking up parts, vision is used to determine the direction and position of the parts. An annular groove is added to the suction head, and a rubber ring is set in the groove. The elasticity and compressibility of the rubber are used to achieve flexible picking of annular parts of different specifications, thus solving the problem of various specifications and frequent switching of parts.

[0021] (3) A flexible pick is added to the suction head module to achieve accurate control of the sticking force. The sticking force can be controlled in the range of 1-20N, which can realize the assembly and sticking detection of different products. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 It is a schematic diagram of the device of the present invention;

[0023] Figure 2 This is a schematic diagram of a glue squeezing and driving glue module of the present invention;

[0024] Figure 3 It is a schematic diagram of the inner support device of the present invention. DETAILED DESCRIPTION

[0025] In order to better understand the technical solution of the present invention, the embodiments of the present invention are described in detail below in conjunction with the accompanying drawings. The parts of each structure in the accompanying drawings will be described separately. It is worth noting that the elements not shown in the figures or not described in words are in a form known to ordinary technicians in the relevant technical field. The description of the embodiments herein, any reference to directions and orientations, are only for the convenience of description and should not be construed as limiting the scope of protection of the present invention. The following description of the preferred embodiments will involve a combination of features, which may exist independently or in combination, and the present invention is not particularly limited to the preferred embodiments.

[0026] like Figure 1 As shown, the device proposed by the present invention includes an identification and positioning mechanism (camera support 1-1, camera adjustment block 1-2, camera 1-3, vibrating material tray 1-9), a glue squeezing and driving mechanism 1-4, a grasping mechanism (manipulator 1-5, internal support device 1-6), and an assembly mechanism (shell clamping mechanism 1-7, pressing mechanism 1-8). The camera 1-3 is fixed on the camera adjustment block 1-2, and the camera adjustment block 1-2 is connected to the camera support 1-1, and the camera is placed directly above the vibrating material tray 1-9. The suction head device 1-6 is connected to the execution end of the manipulator 1-5, and the shell clamping mechanism 1-7 is connected to the pressing mechanism 1-8, and each connection module is divided into the same horizontal plane.

[0027] The camera 1-3, the camera bracket 1-1, and the vibrating material tray 1-9 are combined and connected to form the material position and direction recognition function; the internal support device 1-6 is installed at the execution end of the robot 1-5, and cooperates with the robot 1-5 to realize the change of the position and direction of the parts; the shell clamping mechanism 1-7 realizes the clamping of the shell required for the assembly of the parts and realizes the fixation of the position; the glue squeezing and driving mechanism 1-4 realizes the quantitative extrusion of the required glue liquid and drives the glue liquid into a thin surface of a certain thickness.

[0028] A preferred implementation method is as follows: Figure 2 As shown, the glue squeezing and glue driving mechanism 1-4 mainly includes a film roller 2-1, a film changing motor 2-2, a film supporting wheel 2-3, a glue squeezing and glue driving plate 2-4, a glue driving rod 2-5, a glue cylinder 2-6, a glue driving rod height adjustment module 2-7, a glue cylinder fixing plate 2-8, a glue squeezing and moving module 2-9, a film pressing cylinder 2-10, a first-stage connecting plate 2-11, a glue rolling rod connecting plate 2-12, a film pressing block 2-13, a glue driving connecting block 2-14, a glue driving cylinder 2-15, a bearing 2-16, and a second connecting plate 2-17.

[0029] The glue cylinder 2-6 is connected to the glue extrusion moving module 2-9 through the glue cylinder fixing plate 2-8; the film pressing block 2-13 is connected to the film pressing cylinder 2-10; the glue extrusion moving module 2-9 and the film pressing cylinder 2-10 are fixed on the left and right sides of the first connecting plate 2-11; the glue driving rod 2-5 is connected to the glue driving rod height adjustment module 2-7 through the glue rolling rod connecting plate 2-12, and the glue driving rod height adjustment module 2-7 is connected to the glue driving cylinder 2-15 through the glue driving connecting block 2-14; the film roller 2-1, the film material changing motor 2-2, the film supporting wheel 2-3, the glue extrusion and glue driving plate 2-4, and the glue driving cylinder 2-15 are fixed to the second connecting plate 2-17, and the glue extrusion and glue driving plate 2-4 is in a parallel relationship with the glue driving rod 2-5; the first connecting plate 2-11 is located above the second connecting plate 2-17, and the planes of the two connecting plates are perpendicular to each other.

[0030] Its working process is:

[0031] (1) The film is laid flat on the glue extrusion and glue rushing plate 2-4 by means of the film roller 2-1, the film material changing motor 2-2 and the film supporting wheel 2-3, and the glue liquid in the glue cylinder 2-6 is quantitatively extruded onto the film of the glue extrusion and glue rushing plate 2-4 by means of the glue extrusion moving module 2-9 to form a straight line;

[0032] (2) The glue stick height adjustment module 2-7 adjusts the required height between the glue stick 2-5 and the glue extrusion and glue extrusion plate 2-4, and the glue extrusion cylinder 2-15 moves forward and backward to flatten the glue liquid to the required thickness;

[0033] (3) After the glue liquid is used up, turn the membrane replacement motor 2-2 to adjust the unused membrane and repeat steps (1) and (2).

[0034] A preferred implementation method is as follows: Figure 3 As shown, the internal support device 1-6 mainly includes a rubber ring 3-1, an internal support rod 3-2, a connecting ring 3-3, a flexible paddle 3-4, a sensor 3-5, a main connecting body 3-6, a pressure plate 3-7, and a connecting piece 3-8.

[0035] Install the rubber ring 3-1 into the groove of the inner support rod 3-2, the connecting surface of the inner support rod 3-2 cooperates with the cavity of the flexible pick 3-4, and use the connecting ring 3-3 to connect the inner support rod 3-2 and the flexible pick 3-4 to prevent shaking; the sensor 3-5 is installed on the side of the main connector 3-6, and the position is adjustable; the flexible pick 3-4 is installed in the main connector 3-6 and connected through the connector 3-8; the pressure plate 3-7 is placed in the cavity of the connector 3-8 and connected to the robot 1-5.

[0036] It is to be understood that the present invention is described by way of embodiments, and it is known to those skilled in the art that various changes or equivalent substitutions may be made to these features and embodiments without departing from the spirit and scope of the present invention. In addition, under the teachings of the present invention, these features and embodiments may be modified to adapt to specific circumstances without departing from the spirit and scope of the present invention. Therefore, the present invention is not limited by the specific embodiments disclosed herein, and embodiments that can fall within the scope of the claims of this application all fall within the scope protected by the present invention.

[0037] The contents not described in detail in the specification of the present invention belong to the common knowledge of those skilled in the art.

Claims

1. A flexible automatic assembly device for parts whose surfaces need to be coated with glue, characterized in that: include: The identification and positioning mechanism, glue squeezing and glue rushing mechanism, gripping mechanism and assembly mechanism are installed on the same horizontal plane; the identification and positioning mechanism identifies the position of the part to be coated; the glue squeezing and glue rushing mechanism quantitatively squeezes out the glue liquid and forms a straight line on the glue liquid plane carrier, and then flattens the straight line glue liquid to form a glue surface with uniform thickness; the gripping mechanism grabs the part according to the position of the part to be coated, and evenly coats the glue and controls the thickness of the part on the glue surface formed by the glue squeezing and glue rushing mechanism, and then moves to the assembly mechanism; the assembly mechanism is used to clamp the shell, and cooperates with the gripping mechanism to automatically complete the assembly of the part and the shell after gluing.

2. The flexible automatic assembly device for parts whose surfaces need to be coated with glue according to claim 1 is characterized in that: The glue extrusion and glue rushing mechanism comprises a glue extrusion and glue rushing plate (2-4), a glue extrusion moving module (2-9), a glue cylinder (2-6), a glue rushing cylinder (2-15), a glue rushing stick height adjustment module (2-7) and a glue rushing stick (2-5); the glue extrusion and glue rushing plate (2-4) and the glue rushing stick (2-5) are parallel to each other, the glue extrusion moving module (2-9) drives the glue cylinder (2-6) to move along direction A, and quantitatively squeezes glue liquid onto a film of the glue extrusion and glue rushing plate (2-4) to form a straight line; the glue rushing stick height adjustment module (2-7) adjusts the height between the glue rushing stick (2-5) and the glue extrusion and glue rushing plate (2-4) to a required height, and the glue rushing cylinder (2-15) drives the glue rushing stick (2-5) to move along direction B through the glue rushing stick height adjustment module (2-7) to flatten the straight glue liquid to a required thickness, and the A direction is perpendicular to the B direction.

3. The flexible automatic assembly device for parts whose surfaces need to be coated with glue according to claim 2 is characterized in that: The glue squeezing and glue driving mechanism also includes a film roller (2-1), a film material changing motor (2-2), a film supporting wheel (2-3), a film pressing cylinder (2-10), and a film pressing block (2-13); the film pressing block (2-13) is connected to the film pressing cylinder (2-10), and the film roller (2-1) and the film supporting wheel (2-3) are driven by the rotation of the film material changing motor (2-2), and the film is spread on the glue squeezing and glue driving flat plate (2-4) under the pressure of the film pressing block (2-13).

4. The flexible automatic assembly device for parts whose surfaces need to be coated with glue according to claim 3 is characterized in that: The glue squeezing and glue-driving mechanism also includes a glue cylinder fixing plate (2-8), a glue rolling rod connecting plate (2-12), a glue-driving connecting block (2-14), a first-level connecting plate (2-11), and a second connecting plate (2-17); the glue cylinder (2-6) is connected to the glue squeezing moving module (2-9) through the glue cylinder fixing plate (2-8); the glue-driving rod (2-5) is connected to the glue-driving rod height adjustment module (2-7) through the glue rolling rod connecting plate (2-12); the glue-driving rod height adjustment module (2-7) is connected to the glue-driving cylinder (2-15) through the glue-driving connecting block (2-14); the glue squeezing and glue-driving moving module (2-9) and the film pressing cylinder (2-10) are fixed to the left and right sides of the first connecting plate (2-11); the film roller (2-1), the film material changing motor (2-2), the film supporting wheel (2-3), the glue squeezing and glue-driving flat plate (2-4), and the glue-driving cylinder (2-15) are fixed to the second connecting plate (2-17).

5. The flexible automatic assembly device for parts whose surfaces need to be coated with glue according to claim 4 is characterized in that: The first connecting plate (2-11) is located above the second connecting plate (2-17), and the planes of the two connecting plates are perpendicular to each other.

6. The flexible automatic assembly device for parts whose surfaces need to be coated with glue according to any one of claims 1 to 5, characterized in that: The gripping mechanism comprises a manipulator (1-5) and an internal support device (1-6), wherein the internal support device (1-6) is connected to an execution end of the manipulator (1-5); a flexible paddle is arranged in the internal support device (1-6) to control the clamping force between the internal support device (1-6) and a shell on the assembly mechanism.

7. The flexible automatic assembly device for parts whose surfaces need to be coated with glue according to claim 6 is characterized in that: The specific form of the inner support device (1-6) is as follows: the connection surface at one end of the inner support rod (3-2) cooperates with the cavity of the flexible pick (3-4), and the inner support rod (3-2) and the flexible pick (3-4) are connected by using a connecting ring (3-3); the flexible pick (3-4) is installed in the main connecting body (3-6) and connected through a connecting piece (3-8); the pressure sheet (3-7) is placed in the cavity of the connecting piece (3-8) and connected to the robot (1-5); the sensor (3-5) is installed on the side of the main connecting body (3-6) and its position is adjustable.

8. The flexible automatic assembly device for parts whose surfaces need to be coated with glue according to claim 7 is characterized in that: The other end of the inner support rod (3-2) is provided with a groove, and the rubber ring (3-1) is installed in the groove of the inner support rod (3-2).

9. The flexible automatic assembly device for parts whose surfaces need to be coated with glue according to claim 6, characterized in that: During the assembly process, the pressure plate (3-7) is deformed as the assembly pressure changes, and the force applied to the inner support rod (3-2) is detected by the displacement of the deformation. During the deformation of the pressure plate (3-7), the flexible paddle (3-4) is displaced accordingly, and the blocking force is controlled by controlling its displacement.

10. A flexible automatic assembly method for parts whose surfaces need to be coated with glue using the method of claim 2, characterized in that: include: The identification and positioning mechanism identifies the position of the parts; The film is laid flat on the glue extrusion and glue rushing flat plate (2-4), and the glue liquid in the glue cylinder is quantitatively extruded onto the film of the glue extrusion and glue rushing flat plate (2-4) by using the glue extrusion moving module (2-9) to form a straight line; the glue rushing rod height adjustment module (2-7) adjusts the required height between the glue rushing rod (2-5) and the glue extrusion and glue rushing flat plate (2-4), and the glue rushing cylinder (2-15) moves to flatten the straight line glue liquid to a required thickness; The grabbing mechanism grabs the parts according to their positions, and places the bottom and cylindrical surface of the parts on the glue squeezing and glue driving plate (2-4) for bottom glue sitting and cylindrical surface glue rolling, so as to achieve uniform glue coating and thickness control on the surface of the parts; The gripping mechanism moves the parts after the seat and rolling of glue to the assembly mechanism for assembly with the shell.

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