Mechanism and method for trace controllable glue brushing on annular surface

Abstract

The invention discloses a mechanism for trace controllable glue brushing of an annular surface. The mechanism comprises an electric clamping jaw, an electric clamping jaw rotation driving mechanism, a first servo moving module, a glue dispensing needle, a profiling glue poking jig and a second servo moving module. The invention further discloses a trace controllable glue brushing method for the annular surface. The trace controllable glue brushing method comprises the steps that S1, a brushed workpiece is clamped on the electric clamping jaw; s2, moving the dispensing needle head and the profiling glue poking jig to a glue brushing position; s3, an electric clamping jaw rotation driving mechanism adjusts the inclination angle of an electric clamping jaw, the electric clamping jaw drives the brushed workpiece to rotate, and a dispensing needle performs dispensing on the brushed workpiece; and the to-be-brushed workpiece is aligned, the profiling glue poking jig and the to-be-brushed surface of the to-be-brushed workpiece rotate relatively, and glue brushing is conducted. According to the device, the glue brushing amount and the glue brushing position of the annular surface of the initiating explosive device can be accurately controlled, the glue brushing quality and the glue brushing efficiency are effectively improved, and the device has wide application prospects in the field of initiating explosive device assembly.

Description

Technical Field

[0001] The invention relates to a mechanism and method for applying micro-amount controllable glue to an annular surface, and is particularly suitable for applying micro-amount controllable glue to an annular inner cone surface of a shell, and belongs to the technical field of pyrotechnic assembly. Background Art

[0002] During the assembly process of pyrotechnics, it is often necessary to apply epoxy resin glue on the mating surfaces of two annular parts to achieve the effect of bonding, fixing and sealing. Among them, especially for products such as conical plug igniters, the target amount of glue applied between the inner conical surfaces of the parts is required to be only in the milligram level, otherwise it will cause excess glue to overflow and contaminate the non-glue-coated parts, resulting in product scrapping. At present, there are two main ways of applying glue in the assembly field, one is manual brushing, and the other is automatic or semi-automatic brushing. The two have their own advantages but cannot complement each other. In terms of manual brushing, it is flexible, suitable for workpieces of various shapes and sizes, and has the characteristics of intuitive brushing effect; it is also the main way to apply glue on the annular surface of pyrotechnics. However, this method has always been a backward process method. On the one hand, the brushing quality depends on the skill level of the operator and is unstable; on the other hand, it is not suitable for the construction needs of future automated assembly production lines. In terms of automatic or semi-automatic glue application, the most commonly used method is to directly apply glue based on a pneumatic glue dispenser with a glue syringe. However, the amount of glue applied in this method is generally large, and the glue application accuracy is affected by a variety of factors such as the viscosity state of the glue liquid and the ambient temperature. In particular, the viscosity of the epoxy resin glue widely used in pyrotechnics changes nonlinearly with temperature, and the matching of the glue application pressure and the glue application time parameters is very difficult. The glue application accuracy is difficult to control and cannot meet the purpose of stable and continuous micro-controllable glue application. Among the existing common glue application methods, the method of applying glue by directly contacting the brushed part with the glue roller or the glue brushing disk has a large amount of glue applied, which is only suitable for brushing glue on a flat surface and cannot meet the needs of brushing glue on a small-sized annular surface; the method of applying glue by a pneumatic glue dispenser can only be applied to the outer surface, and cannot meet the purpose of brushing glue on the inner surface of the annular surface; the piston pump method is used for quantitative glue application. Although the glue application accuracy is higher than that of the pneumatic glue dispenser, the glue liquid cannot be restored to a fluid state once it solidifies, resulting in the scrapping of the core components of the piston pump, which increases the processing cost and has no application value at all.

[0003] In summary, the existing technology cannot meet the demand for micro-controllable glue brushing on the annular surface of this type of pyrotechnics, especially the annular inner cone surface. Summary of the invention

[0004] The purpose of the present invention is to overcome the above-mentioned defects and provide a mechanism and method for controllable micro-brushing of glue on annular surfaces, which solves the technical problem that the existing brushing methods cannot meet the demand for controllable micro-brushing of glue on the annular surfaces of pyrotechnics. The present invention can achieve precise control of the amount of glue brushing and the brushing position on the annular surface of pyrotechnics, effectively improve the quality and efficiency of glue brushing, and has broad application prospects in the field of pyrotechnic assembly.

[0005] In order to achieve the above-mentioned object of the invention, the present invention provides the following technical solutions:

[0006] A mechanism for controllable micro-amount glue application on an annular surface, comprising: an electric clamp, an electric clamp rotation drive mechanism, a first servo moving module, a glue dispensing needle, a contour glue stamping fixture and a second servo moving module;

[0007] The electric clamp is used to clamp the brushed workpiece. In the initial state, the rotating axis of the electric clamp is in a vertical state, which can drive the brushed workpiece to rotate;

[0008] The electric gripper rotation drive mechanism is used to adjust the tilt angle of the electric gripper during the dispensing process; after the angle is adjusted, the rotation axis of the electric gripper is also in a tilted state, but it can also rotate along its own rotation axis; the first servo moving module is used to drive the electric gripper to move between the loading and unloading station and the glue brushing station;

[0009] The second servo moving module is used to drive the dispensing needle or the contoured glue stamping jig to move between the glue brushing station, the waiting station, the contoured glue stamping jig cleaning station, etc.; the dispensing needle is used to dispense glue on the brushed workpiece at the glue brushing position; the contoured glue stamping jig is used to brush glue on the brushed workpiece at the glue brushing position.

[0010] Furthermore, the electric gripper rotation driving mechanism includes a synchronous pulley, a speed reducer and a servo motor;

[0011] The slave synchronous pulley includes a driving pulley, a driven pulley and a belt connecting the driving pulley and the driven pulley;

[0012] The driven wheel is installed on the side of the electric clamp, and the rotation axis of the driven wheel is parallel to the horizontal plane; the driving wheel is connected to the reducer, and the servo motor drives the driving wheel to rotate through the reducer. The rotation of the driving wheel drives the driven wheel and the electric clamp to rotate in turn, so that the dispensing surface of the workpiece being brushed during the dispensing process is perpendicular to the dispensing needle.

[0013] Furthermore, the contoured glue stamping fixture is a conical structure that matches the inner conical shape of the workpiece being brushed;

[0014] The profiling glue stamping jig cooperates with the inner conical surface of the workpiece to be brushed and then rotates to achieve glue brushing;

[0015] When the contour glue stamping jig is matched with the inner conical surface of the workpiece being brushed, there is a gap between the two, and the thickness of the glue brushing is controlled by controlling the size of the gap.

[0016] Furthermore, the conical surface of the contoured glue stamping jig is provided with a groove for storing excess glue.

[0017] Furthermore, it also includes a dispensing needle position calibration device;

[0018] The dispensing needle position calibration device includes an optical fiber sensor and a contact limit switch, which are arranged side by side in the X direction and fixed on the connecting plate through machined parts. The connecting plate is mounted on the guide rail through a slide and can move in the X direction. The optical fiber sensor is used to calibrate the position of the dispensing needle on the horizontal plane (X and Y directions), and the contact limit switch is used to calibrate the position of the dispensing needle in the vertical direction (Z direction).

[0019] After the dispensing needle position calibration device is installed, the Z and Y direction position coordinates of the optical fiber sensor and the contact limit switch remain fixed, and only the X direction position coordinate can change with the X-axis servo module; but since the dispensing needle position calibration device and the electric clamp are installed and fixed on the connecting plate together, the relative position relationship between the two remains fixed, so no matter where the X-axis servo module moves, the X direction position coordinates of the optical fiber sensor and the contact limit switch always remain unchanged relative to the electric clamp position. When working, the dispensing needle position calibration device first moves with the X-axis servo module from the loading and unloading station to the glue brushing station to calibrate the needle position in the three directions of X, Y, and Z, and then returns to the loading and unloading station to wait for loading.

[0020] Furthermore, the dispensing needle is first inserted into the square cavity in the middle of the optical fiber sensor, and the dispensing needle is moved from the X direction and the Y direction to the center of the square cavity until it is detected by the photoelectric detection on both sides of the square cavity, that is, the position calibration in the X and Y directions is completed, and the origin coordinates of the dispensing needle in the X direction and the origin coordinates of the dispensing needle in the Y direction are obtained; the dispensing needle is then moved to the top of the contact limit switch, and slowly moves downward in the Z direction until the contact limit switch is triggered, that is, the position calibration in the Z direction is completed, and the origin coordinates of the dispensing needle in the Z direction are obtained;

[0021] The dispensing needle is controlled according to the distance between the origin coordinates of the dispensing needle in the X, Y, and Z directions and other workstations to achieve precise positioning of the dispensing needle at each workstation.

[0022] Furthermore, it also includes a residual glue cleaning device for the profiling glue stamping jig;

[0023] The residual glue cleaning device of the profiling glue stamping fixture comprises a base, a left rubber brush wheel, a right rubber brush wheel, a cleaning tank and an air drying device;

[0024] The cleaning pool is installed on the base, the cleaning agent is contained inside the cleaning pool, the left rubber brush wheel and the right rubber brush wheel are symmetrically installed above the cleaning pool, the air drying device is arranged above the left rubber brush wheel and the right rubber brush wheel, the profiling glue stamping jig stained with glue passes from bottom to top between the two rubber brush wheels after being cleaned in the cleaning pool, and the profiling glue stamping jig is blown dry by the air drying device.

[0025] Furthermore, the glue liquid used for dispensing is controlled to be at a constant temperature by a glue liquid temperature control device.

[0026] Furthermore, it also includes a residual glue cleaning device;

[0027] The residual glue cleaning device is installed on the machine platform outside the servo module, and is located next to the glue brushing station. It includes a glue cylinder, a foam cotton fixing frame, a glue cup and a bracket;

[0028] The bracket is used to support the foam cotton fixing frame, and slide rails are arranged on both sides of the foam cotton fixing frame. The glue cup is installed on the foam cotton fixing frame and cooperates with the slide rails. The glue cup can be covered with foam cotton. The glue cylinder is used to push the glue cup to move along the slide rail to adjust the position of the glue cup. After the glue dispensing needle completes the glue dispensing, the glue dispensing needle moves downward through the foam cotton to retain the excess glue in the glue cup.

[0029] A method for applying a micro-amount of glue to an annular surface in a controllable manner is implemented by using the above-mentioned mechanism for applying a micro-amount of glue to an annular surface, comprising:

[0030] In the initial state of S1, the electric gripper and the dispensing needle position calibration device are located at the loading and unloading stations; the dispensing needle and the contoured glue-poking fixture are at the waiting station (the dispensing needle is inserted into the glue cup);

[0031] Before S2 officially starts working, the dispensing needle position calibration device first moves to the glue brushing station to calibrate the dispensing needle position, and then returns to the loading and unloading position;

[0032] S3 The brushed workpiece is clamped on the electric clamp;

[0033] The S4 electric gripper holds the workpiece to be brushed and reaches the glue brushing position;

[0034] The dispensing needle and the contoured glue stamping fixture move to the glue brushing position;

[0035] The S5 electric gripper rotation drive mechanism adjusts the tilt angle of the electric gripper so that the inner conical surface of the brushed workpiece matches the glue dispensing needle. The electric gripper drives the brushed workpiece to rotate, and the glue dispensing needle dispenses glue to the brushed workpiece.

[0036] After S6 glue dispensing is completed, the electric gripper rotation drive mechanism adjusts the inclination angle of the electric gripper to return the brushed workpiece to the center, the profiling glue stamping fixture cooperates with the surface to be brushed of the workpiece, and the profiling glue stamping fixture and the surface to be brushed of the workpiece rotate relative to each other to apply glue; after the glue application is completed, the residual glue on the surface of the profiling glue stamping fixture is cleaned using the residual glue cleaning device of the profiling glue stamping fixture.

[0037] Compared with the prior art, the present invention has at least one of the following beneficial effects:

[0038] (1) The present invention creatively proposes a mechanism for controllable micro-amount glue application on an annular surface. Through the cooperation of an electric clamp, a glue dispensing needle and a contoured glue-poking fixture, the amount of glue applied to the workpiece can be controlled, which is beneficial to improving the glue application quality and efficiency.

[0039] (2) The present invention realizes that the glue liquid is evenly flattened and spread on the surface to be brushed by rotating the profiling glue stamping jig with the glue brushing surface; at the same time, the vertical grooves on the surface of the profiling glue stamping jig can be used to temporarily store and eventually transfer excess glue liquid when the profiling glue stamping jig rotates relative to the surface to be brushed; the structural dimensions of the profiling glue stamping jig are designed to match the dimensions of the surface to be brushed, so that when rotating and bonding, the gap between the profiling glue stamping jig and the surface to be brushed is fixed and controllable, that is, the target glue brushing amount is controllable; the present invention can achieve a micro-controllable glue brushing effect on annular inner surfaces of any shape and size;

[0040] (3) Based on the present invention, it is only necessary to simply control the glue dispensing amount of the glue dispensing needle on the inner conical surface of the shell to be larger than the target glue brushing amount on the annular surface, which can greatly weaken the influence of the accuracy of the pneumatic syringe glue dispensing on the accuracy of the target glue brushing amount on the annular surface, and solve the problem of the difficulty in controlling the glue dispensing accuracy of epoxy resin glue in the pneumatic glue dispensing method;

[0041] (4) When applying glue, the tilt angle and rotation speed of the shell can be flexibly controlled by rotating the electric clamp, and the position accuracy of the glue dispensing needle and the contour glue stamping fixture can be controlled by the three-axis servo module, so that the glue application position on the annular surface of any shape and size can be accurately controlled. BRIEF DESCRIPTION OF THE DRAWINGS

[0042] Figure 1 This is a structural diagram of a mechanism for controllable micro-amount glue application on an annular surface according to the present invention;

[0043] Figure 2 It is a schematic diagram of the structure of the electric clamp and its driving device, the dispensing needle position calibration device, the residual glue cleaning device and the workpiece feeding and discharging servo moving module of the present invention;

[0044] Figure 3It is a structural schematic diagram of the residual glue cleaning device of the profiling glue stamping jig, the glue liquid temperature control device, the profiling glue stamping jig and its mounting and fixing device, and the second servo moving module of the present invention;

[0045] In the figure, 100-workpiece feeding and discharging servo moving module, 200-profile stamping glue fixture excess glue cleaning device, 300-excess glue cleaning device, 400-profile stamping glue fixture and profile stamping glue fixture installation and fixing device, 500-glue liquid temperature control device, 600-second servo moving module, 700-glue dispensing needle position calibration device, 800-electric clamp and its driving device; 1-base, 2-left rubber brush wheel, 3-right rubber brush wheel, 4-profile stamping glue fixture 5-left mounting profile, 6-glue brushing motor, 7-Y-axis servo motor, 8-third coupling, 9-Y-axis servo module, 10-Z-axis servo motor , 11-the second coupling, 12-Z-axis servo module, 13-glue temperature controller, 14-needle guide block, 15-right mounting profile, 16-guide rail, 17-slide, 18-connecting plate, 19-slave synchronous pulley, 20-electric gripper, 21-brushed workpiece, 22-reducer, 23-optical fiber sensor, 24-contact limit switch, 25-glue cup, 26-foam cotton fixing frame, 27-glue cylinder, 28-bracket, 29-X-axis servo module, 30-the first coupling, 31-X-axis servo motor, 32-air drying device, 33-glue dispensing needle, 34-angle servo motor. DETAILED DESCRIPTION

[0046] The following detailed description of the present invention will make the features and advantages of the present invention more clear and explicit.

[0047] The word "exemplary" is used exclusively herein to mean "serving as an example, embodiment, or illustration." Any embodiment described herein as "exemplary" is not necessarily to be construed as preferred or advantageous over other embodiments. Although various aspects of the embodiments are shown in the drawings, the drawings are not necessarily drawn to scale unless otherwise noted.

[0048] The present invention provides a method and mechanism for micro-controllable glue brushing on the surface of annular parts, especially annular inner cones. The core principle of the method is to use a glue dispensing needle to evenly apply one or more circles of glue on the surface of annular workpieces by pneumatic glue dispensing. The glue dispensing accuracy requirement is not high, as long as the glue dispensing amount is always greater than the target glue brushing amount of the surface to be brushed, the problem of difficulty in controlling the glue dispensing accuracy of epoxy resin glue in pneumatic glue dispensing can be solved, and the influence of pneumatic glue dispensing accuracy on the target glue brushing amount accuracy can be weakened. Of course, in actual operation, it is generally possible to match a syringe insulation device and measures such as the change of glue dispensing pressure with the use time of the glue to ensure the stability of the glue dispensing amount within the entire glue use window period as much as possible. On the basis of the above, the glue that has been applied to the surface of the glue to be brushed is evenly flattened by a contoured glue-poking fixture, and the excess glue is taken away to achieve the purpose of micro-controllable glue brushing. To achieve this goal, on the one hand, the structural dimensions of the profiling glue stamping jig should be designed to match the dimensions of the surface of the workpiece being brushed with glue, and the gap between the two is the area that can accommodate the glue liquid, that is, the thickness of the glue is controlled by controlling the gap between the profiling glue stamping jig and the surface being brushed with glue, and the excess glue liquid is taken away by the profiling glue stamping jig. The key to the profiling glue stamping jig being able to effectively take away the excess glue liquid between the mating surfaces is to process several vertical grooves on the profiling glue stamping jig, which can play the role of storing excess glue liquid when the profiling glue stamping jig rotates relative to the surface being brushed with glue.

[0049] In order to realize the principle of the above method, the technical scheme of the present invention includes: (1) the dispensing needle position calibration device and the electric clamp are first moved from the loading and unloading position to the glue brushing position under the action of the X-axis servo module, and the dispensing needle is respectively moved to the optical fiber sensor and the contact limit switch under the action of the YZ-axis servo module to calibrate the position of the dispensing needle; with the calibration position as the origin coordinate, the relationship between the dispensing needle in the waiting position, the glue brushing position, and the glue cleaning position can be accurately controlled; after the dispensing needle calibration is completed, the dispensing needle position calibration device and the electric clamp are returned to the loading and unloading position together with the X-axis servo module; (2) the workpiece to be brushed with glue is clamped and fixed on the rotatable electric clamp manually or by a robot, and the servo motor connected to the electric clamp through a pulley can arbitrarily adjust the inclination angle of the workpiece to be brushed, so that the subsequent dispensing needle can be kept as vertical as possible to the dispensing surface during dispensing. (3) After the workpiece to be brushed is clamped and fixed, the X-axis servo module is used to realize the position switching of the workpiece to be brushed between the loading and unloading station and the glue brushing station. (4) When the workpiece to be brushed is moved to the glue brushing station, the servo motor works to tilt the workpiece to a certain angle through the electric clamp. (5) The glue dispensing needle is accurately moved to the glue dispensing point on the surface of the brushed workpiece under the action of the YZ axis servo module. At this time, the brushed workpiece rotates circumferentially under the action of the rotating electric claw to achieve one or more circles of glue in a ring. (6) During glue dispensing, a syringe temperature control device is installed outside the glue dispensing syringe to keep the temperature of the glue liquid as constant as possible, reduce the change in the viscosity of the glue liquid due to changes in ambient temperature, and ensure the stability of the glue dispensing amount. (7) After the needle glue dispensing is completed, the glue dispensing needle leaves the surface to be brushed under the action of the servo module; the contour glue stamping fixture is then moved to the surface to be brushed under the action of the module and fits with the surface to be brushed; the contour glue stamping fixture and the glue dispensing needle are installed on the same Z axis module and distributed side by side in the Y axis direction, so the two go to fit with the workpiece to be brushed one after another without any position conflict. (8) The profiling glue stamping jig rotates under the action of the small motor directly connected to its top, and the workpiece being brushed also rotates under the action of the electric clamp. The two rotate in opposite directions, realizing the relative rotation of the surface of the profiling glue stamping jig and the surface of the workpiece being brushed. (9) Through the relative rotation, the profiling glue stamping jig evenly flattens and spreads one or more circles of glue on the surface of the workpiece being brushed, while the excess glue is temporarily stored in the vertical grooves processed on the surface of the profiling glue stamping jig and finally taken away with the profiling glue stamping jig. (10) When the glue brushing of a workpiece is completed, the electric clamp is transferred by the X-axis servo module to the loading and unloading station to unload the workpiece, and the other workpiece to be glued is transferred to the glue brushing station. During this period, the YZ axis servo module first drives the profiling glue stamping fixture to the residual glue cleaning device of the profiling glue stamping fixture to clean the residual glue on the surface, and then drives the glue dispensing needle back to the waiting position and inserts it into the glue receiving cup. There is a sponge on the glue receiving cup, which can play the role of cleaning the glue on the needle surface when the needle enters and exits, always ensuring that there is no excess glue on the needle surface before dispensing the next workpiece. And so on.

[0050] The Z direction mentioned in the present invention is a vertical direction, and the XY plane is a horizontal plane.

[0051] Example:

[0052] like Figure 1As shown, the annular surface micro-controllable glue brushing mechanism of the present invention is composed of eight parts, namely, the workpiece feeding and discharging servo moving module 100 (first servo moving module), the main function of which is to switch the electric clamp 20 and the brushed workpiece 21 between the loading and unloading position and the glue brushing position. It is mainly composed of a standard servo module, which is located directly below the mechanism and installed along the X direction. Among them, the loading and unloading station is at the left end of the servo moving module, and the glue brushing station is approximately in the middle of the servo moving module; the left and right side machines of the glue brushing station are respectively fixedly installed with a profiling glue stamping jig residual glue cleaning device 200 and a residual glue cleaning device 300. The profiling glue stamping jig residual glue cleaning device 200 is a device for cleaning the profiling glue stamping jig residual glue, and is fixed to the left side of the workpiece feeding and discharging servo moving module 100 through machined parts. The residual glue cleaning device 300 is used to clean the residual glue at the tip of the glue dispensing needle between beats. It is fixed to the right side of the workpiece feeding and discharging servo moving module 100 through machined parts. Its position belongs to the waiting station. The glue dispensing needle will stay at this station when it is not working. The relative position relationship between the residual glue cleaning device 200 of the profiling glue stamping fixture, the residual glue cleaning device 300, and the glue brushing station is fixed. Above the workpiece feeding and discharging servo moving module 100, a second servo moving module 600 is installed across the left mounting profile 5 and the right mounting profile 15. It is composed of a pair of two-axis servo modules (Y / Z), which is mainly used to control the movement of the glue dispensing needle between the glue brushing station and the residual glue cleaning device 300, and to control the movement of the profiling glue stamping fixture between the glue brushing station and the profiling glue stamping fixture residual glue cleaning device 200. The profiling glue stamping jig and its mounting and fixing device 400 are mounted and fixed on the Z-axis servo module of the second servo moving module 600. The profiling glue stamping jig is mounted on the mounting and fixing device of the profiling glue stamping jig. Its function is to roll and brush the glue applied by the needle on the inner surface of the ring evenly and form a glue film. When working, the profiling glue stamping jig can move between the glue brushing station and the profiling glue stamping jig residual glue cleaning device 200 respectively under the action of the second servo moving module 600. The glue liquid temperature control device 500 is a device with a cylindrical shape. The temperature of the inner cavity of the cylinder is adjusted by a controller. When working, the glue dispensing syringe is installed inside it, so as to control the glue liquid in the glue dispensing syringe to be at a constant temperature, reduce the influence of the external environment temperature change on the viscosity of the glue liquid, extend the use window of the glue liquid, and ensure the stability of the glue dispensing amount during the use time of the glue liquid. The glue temperature control device 500 and the profiling glue stamping fixture and its mounting and fixing device 400 are installed on the Z-axis module of the second servo moving module 600 through the same machined part, and are arranged side by side in the Y-axis direction, wherein the glue temperature control device 500 is installed on the outside.The dispensing needle position calibration device 700 and the electric clamp and its driving device 800 are installed and fixed on the connecting plate 18 together, and the relative position relationship between the two is fixed. The connecting plate 18 is fixedly installed on the workpiece feeding and discharging servo moving module 100, and the movement between the loading and unloading station and the glue brushing station is realized through the workpiece feeding and discharging servo moving module 100. Among them, the dispensing needle position calibration device 700 is a device for calibrating the XYZ position coordinates of the dispensing needle. In the electric clamp and its driving device 800, the electric clamp is used to clamp and fix the brushed workpiece while providing a rotation function along the axis of the electric clamp itself. The driving device is used to rotate the electric clamp to make it tilt at a certain angle relative to the axis to adjust the posture of the workpiece.

[0053] like Figure 2 As shown, after the electric gripper 20 returns to the loading and unloading point (origin), the annular brushed workpiece 21 is placed on the electric gripper by a robot or manually and clamped and fixed; a synchronous pulley 19 is installed on the side of the electric gripper 20, and the synchronous pulley 19 is connected to a 1:10 reducer 22 through a belt, and the reducer 22 is connected to the servo motor 34 through a coupling. By controlling the rotation of the servo motor 34, the electric gripper 20 is controlled to rotate and tilt at a certain angle relative to the Z axis direction on the YZ plane, thereby achieving the brushed workpiece 21 clamped and fixed on the electric gripper 20 to also rotate and tilt at a certain angle relative to the Z axis direction.

[0054] The dispensing needle position calibration device includes an optical fiber sensor 23 and a contact limit switch 24, which are placed side by side in the X direction. The optical fiber sensor 23 is closer to the left end of the X axis direction, and the position coordinates in the Y and Z directions are basically consistent. The optical fiber sensor 23 and the contact limit switch 24 are installed and fixed on the connecting plate 18 through machined parts, and the connecting plate is installed on the guide rail 16 through the slide 17 and can move in the X direction. The optical fiber sensor is used to calibrate the position of the dispensing needle on the horizontal plane (X and Y directions), and the contact limit switch is used to calibrate the position of the dispensing needle in the vertical direction (Z direction).

[0055] The purpose of the glue dispensing needle position calibration device is to avoid the problem of inaccurate glue dispensing position due to needle differences after the mechanism replaces a new glue dispensing needle 33. The optical fiber sensor 23 is used to calibrate the position of the glue dispensing needle tip on the horizontal plane (X, Y direction), and the contact limit switch 24 is used to calibrate the position of the glue dispensing needle tip in the vertical direction (Z direction). The reason for the need to calibrate the glue dispensing needle 33 position is: the window period of the epoxy resin glue used is generally only 1 hour, so it is necessary to regularly replace the new glue dispensing syringe and glue dispensing needle 33 during use, but because the glue dispensing needle 33 is a slender rod structure, it is easy to bend and deflect, so the position of the glue dispensing needle tip after replacement is easy to deviate from the previous needle, so it is necessary to calibrate the position of the glue dispensing needle. The working process and principle of the glue dispensing needle position calibration are: based on the glue dispensing needle position calibration device at the glue brushing station, the square cavity center position of the optical fiber sensor 23 is used as the position coordinate reference of the entire mechanism in the X and Y directions, and the trigger position of the contact limit switch 24 is used as the position coordinate reference of the entire mechanism in the Z direction. During calibration, the glue dispensing needle 33 position calibration device first moves to the glue brushing station with the X-axis servo module, and the glue dispensing needle 33 is first inserted into the square cavity in the middle of the optical fiber sensor 23, and the glue dispensing needle is slowly moved from the X direction and the Y direction to the center of the square cavity until it is detected by the photoelectric detection on both sides of the square cavity, that is, the position calibration in the X and Y directions is completed. At this time, the coordinate position of the workpiece feeding and discharging servo moving module 100 is the origin coordinate of the glue dispensing needle in the X direction, and the coordinate position of the Y-axis servo module of the second servo moving module 600 is the origin coordinate of the glue dispensing needle in the Y direction. Similarly, the glue dispensing needle 33 then moves to the top of the contact limit switch 24, and slowly moves downward along the Z direction until the contact limit switch 24 is triggered, that is, the position calibration in the Z direction is completed, and at this time, the coordinate position of the Z-axis servo module of the second servo moving module 600 is the origin coordinate of the glue dispensing needle in the Z direction. Since at the glue brushing station, the positional relationship between the center position inside the square cavity of the optical fiber sensor 23 (the coordinate origin in the X and Y directions) and the trigger position in the Z direction (the coordinate origin in the Z direction) of the contact limit switch 24 is fixed relative to the working positions of the electric clamp 20, the contour-shaped glue-poking fixture residual glue cleaning device 200, and the residual glue cleaning device 300 of the mechanism remains unchanged, as long as the glue dispensing needle is calibrated, the calibration position is used as the coordinate position origin in the three directions of XYZ, and then the servo module can be controlled to accurately carry the tip of the glue dispensing needle to act accurately at each working position according to the physical distance from the coordinate origin to other working positions, thereby ensuring the accuracy of the positions of glue dispensing, glue poking, and glue wiping.

[0056] The residual glue cleaning device 300 comprises a glue cylinder 27, a foam cotton fixing frame 26, a glue cup 25, and a bracket 28. Generally speaking, after the glue is applied to the previous workpiece, the glue needle moves to the waiting position, the glue cylinder 27 drives the glue cup 25 to extend, and the glue needle passes through the foam cotton to stay and wait, during which the excess glue can be collected in the glue cup 25; when the needle comes out, the residual glue on the surface of the needle will also be taken away by the foam cotton, so as to ensure that there is no excess glue attached to the surface of the glue needle before applying glue to the next workpiece.

[0057] The workpiece feeding and unloading servo moving module 100 includes an X-axis servo motor 31, an X-axis servo module 29, a first coupling 30, etc. Its main function is to drive the dispensing needle position calibration device 700 and the electric clamp and its driving device 800 to switch between the workpiece loading and unloading position and the glue brushing position.

[0058] like Figure 3 As shown, the structure of the residual glue cleaning device 200 for the profiling glue stamping fixture is that a symmetrical glue brush wheel 2 is installed on the base 1, and an air drying device 32 is installed on the top, and the air drying device 32 can be directly connected to compressed air. The second servo moving module 600 is a pair of servo modules (Y / Z), including a Z-axis servo motor 10, a second coupling 11, a Z-axis servo module 12, a Y-axis servo motor 7, a third coupling 8, and a second screw module 9. Its main function is to control the movement trajectory of the end dispensing needle and the profiling glue stamping fixture. The profiling glue stamping jig and its mounting and fixing device 400 include a profiling glue stamping jig 4 and a glue brushing motor 6 (the main function of which is to drive the profiling glue stamping jig 4 to rotate in a certain direction); the glue liquid temperature control device 500 includes a glue liquid temperature controller 13 and a needle guide block 14. The glue liquid temperature controller is used to wrap the glue dispensing syringe to make the temperature of the glue liquid in the syringe as stable as possible; the needle guide block 14 and the temperature controller 13 are connected by threaded engagement to form a closed space. On the one hand, the temperature can be locked inside the temperature controller as much as possible to prevent it from overflowing, thereby ensuring the insulation effect; on the other hand, it can provide a guiding effect when the glue dispensing needle is installed, thereby ensuring the consistency of the tip position after the glue dispensing needle is replaced as much as possible.

[0059] Finally, the whole action process of the mechanism is described:

[0060] An electric clamp 20 and a glue dispensing needle position calibration device 700 are installed on the connecting plate 18; first, the X-axis servo motor 31 rotates to drive the first coupling 30, and the first coupling 30 drives the X-axis servo module 29, so that the upper electric clamp 20 and the glue dispensing needle position calibration device 700 move to the glue brushing station to calibrate the position of the glue dispensing needle. At this time, the Z-axis servo motor 10 and the Y-axis servo motor 7 respectively drive their respective third couplings 8 and second couplings 11, and their respective couplings respectively drive their respective Y-axis servo modules 9 and Z-axis servo modules 12, so that the glue dispensing needle 33 moves and is inserted into the square cavity of the optical fiber sensor 23 to move for X and Y direction calibration, and then moves to the top of the contact limit switch 24 to slowly trigger the contact limit switch 24 to complete the Z direction position calibration.

[0061] When the position calibration of the glue dispensing needle 33 is completed, the glue cylinder 27 drives the glue cup 25 to extend, and the Z-axis servo module 12 and the Y-axis servo module 9 work to drive the glue dispensing needle 33 to move above the glue cup 25, and let the glue dispensing needle 33 pass through the foam cotton to squeeze out the glue to flow into the glue cup 25. This step is to fill the cavity in the glue dispensing needle with glue before starting; then the glue dispensing needle 33 waits temporarily at this position (waiting station).

[0062] After the calibration is completed, the electric gripper 20 and the glue needle position calibration device 700 synchronously return to the loading and unloading station with the X-axis servo module 29. After the annular workpiece 21 to be brushed is placed on the electric gripper 20 by a manual or mechanical arm at the loading and unloading position, the X-axis servo module 29 drives the electric gripper 20 and the glue needle position calibration device 700 to move to the glue brushing station; at this time, the angle servo motor 34 rotates and transmits it to the reducer 22, and the reducer 22 is transmitted to the belt driven wheel 19 through a belt, driving the electric gripper 20 to tilt 60 degrees (the specific angle of inclination is related to the structural size of the product, so that the glue needle can be as close to the glued surface as possible at a 90° angle). Then the Z-axis servo module 12 and the Y-axis servo module 9 work to move the glue dispensing needle 33 out of the glue receiving cup 25 and move it to the glue brushing station to dispense glue on the surface of the annular workpiece 21 to be brushed; the electric clamp 20 starts to rotate, and the glue dispensing needle 33 starts to extrude the glue liquid, and the glue dispensing is completed. The Z-axis servo module 12 and the Y-axis servo module 9 work to drive the glue dispensing needle 33 to leave the glue dispensing surface; the angle servo motor 34 rotates to drive the electric clamp to return to the correct angle, and then the Z-axis servo module 12 and the Y-axis servo module 9 drive the contour-profiling glue stamping fixture 4 to move to the top of the annular workpiece 21 to be brushed, and the angle servo motor 34 rotates to drive the electric clamp to return to the correct angle.

[0063] Subsequently, the Z-axis servo module 12 and the Y-axis servo module 9 drive the profiling glue stamping jig 4 to move to the glue brushing position and vertically insert it into the brushed workpiece 21, so that the surface of the profiling glue stamping jig fits the surface of the brushed glue, and the glue brushing motor 6 drives the profiling glue stamping jig 4 to start rotating, and the electric clamp 20 also starts to rotate relatively, and the glue brushing operation is completed after rotating for 6 seconds; subsequently, the X-axis servo module 29 works to move the annular brushed workpiece 21 that has completed the glue brushing to the loading and unloading position for unloading and loading the second brushed workpiece 21; at the same time, the Z-axis servo module 12 and the Y-axis servo The module acts to transport the profiling glue stamping jig 4 to the residual glue cleaning device 200 of the profiling glue stamping jig and vertically insert it between the left rubber brush wheel 2 and the right rubber brush wheel 3. The left rubber brush wheel 2 and the right rubber brush wheel 3 rotate relative to each other to clean and remove the residual glue on the profiling glue stamping jig. Then, the profiling glue stamping jig 4 moves upward and the surface glue cleaning solvent is blown dry by the compressed air blown out by the air drying device 32. Then, the Z-axis servo module 12 and the Y-axis servo module drive the glue dispensing needle 33 to move to the residual glue cleaning device 300, and vertically insert it into the glue receiving cup 25 to temporarily wait for the next round of glue dispensing operation, and so on.

[0064] The present invention has been described in detail above in conjunction with specific implementations and exemplary examples, but these descriptions cannot be understood as limiting the present invention. Those skilled in the art understand that, without departing from the spirit and scope of the present invention, a variety of equivalent substitutions, modifications or improvements may be made to the technical solution of the present invention and its implementation methods, all of which fall within the scope of the present invention. The scope of protection of the present invention shall be subject to the attached claims.

[0065] 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 mechanism for applying a micro-amount of controllable glue to an annular surface, characterized in that: include: An electric clamp (20), an electric clamp rotation drive mechanism, a first servo movable module, a glue dispensing needle (33), a contour glue stamping fixture (4) and a second servo movable module; The electric clamp (20) is used to clamp the brushed workpiece (21) and drive the brushed workpiece (21) to rotate; The electric clamping jaw rotation driving mechanism is used to adjust the tilt angle of the electric clamping jaw (20) during the dispensing process; The first servo moving module is used to drive the electric clamp (20) to move between the loading and unloading station and the glue brushing station; The second servo moving module is used to drive the glue dispensing needle (33) or the contour glue stamping jig (4) to move; the glue dispensing needle (33) is used to dispense glue on the brushed workpiece (21) at the glue brushing position; the contour glue stamping jig (4) is used to brush glue on the brushed workpiece (21) at the glue brushing position.

2. The mechanism for applying a micro-amount of controllable glue to an annular surface according to claim 1, characterized in that: The electric gripper rotation driving mechanism comprises a synchronous pulley (19), a speed reducer (22) and a servo motor (34); The synchronous pulley (19) comprises a driving wheel, a driven wheel and a belt connecting the driving wheel and the driven wheel; The driven wheel is installed on the side of the electric clamp (20), and the rotation axis of the driven wheel is parallel to the horizontal plane; the driving wheel is connected to the reducer (22), and the servo motor (34) drives the driving wheel to rotate through the reducer (22). The rotation of the driving wheel drives the driven wheel and the electric clamp (20) to rotate in turn, so that the glue dispensing surface of the workpiece (21) to be brushed is perpendicular to the glue dispensing needle (33) during the glue dispensing process.

3. The mechanism for applying micro-amount of controllable glue to annular surface according to claim 1, characterized in that: The contour-shaped glue stamping jig (4) is a conical structure that matches the inner conical shape of the workpiece (21) being brushed; The profiling glue stamping jig (4) cooperates with the inner conical surface of the workpiece (21) to be brushed and then rotates to achieve glue brushing; When the contour-shaped glue stamping jig (4) is matched with the inner conical surface of the workpiece (21) to be brushed, there is a gap between the two, and the thickness of the brushed glue is controlled by controlling the size of the gap.

4. The mechanism for applying micro-amount of controllable glue to annular surface according to claim 3, characterized in that: The conical surface of the contoured glue stamping jig (4) is provided with a groove for storing excess glue.

5. The mechanism for applying micro-amount of controllable glue to annular surface according to claim 1, characterized in that: Also included is a dispensing needle position calibration device; The glue dispensing needle position calibration device comprises an optical fiber sensor (23) and a contact limit switch (24); the optical fiber sensor (23) is used to calibrate the position of the glue dispensing needle on the horizontal plane, and the contact limit switch (24) is used to calibrate the position of the glue dispensing needle in the vertical direction; The glue dispensing needle (33) is first inserted into the square cavity in the middle of the optical fiber sensor 23, and the glue dispensing needle (33) is moved from the X direction and the Y direction to the center of the square cavity until it is detected by the photoelectric detection on both sides of the square cavity, thus completing the position calibration in the X and Y directions, and obtaining the origin coordinates of the glue dispensing needle in the X direction and the origin coordinates of the glue dispensing needle in the Y direction; then the glue dispensing needle (33) is moved to the top of the contact limit switch (24), and slowly moves downward in the Z direction until the contact limit switch (24) is triggered, thus completing the position calibration in the Z direction, and obtaining the origin coordinates of the glue dispensing needle in the Z direction; The dispensing needle is controlled according to the distance between the origin coordinates of the dispensing needle in the X, Y, and Z directions and other workstations to achieve precise positioning of the dispensing needle at each workstation.

6. The mechanism for applying micro-amount of controllable glue to annular surface according to claim 1, characterized in that: It also includes a residual glue cleaning device for the profiling glue stamping jig; The residual glue cleaning device for the profiling glue stamping fixture comprises a base (1), a left rubber brush wheel (2), a right rubber brush wheel (3), a cleaning pool and an air drying device (32); A cleaning pool is installed on a base (1), a cleaning agent is contained in the cleaning pool, a left rubber brush wheel (2) and a right rubber brush wheel (3) are symmetrically installed above the cleaning pool, an air drying device (32) is arranged above the left rubber brush wheel (2) and the right rubber brush wheel (3), a profiling glue stamping jig (4) dipped in glue passes from bottom to top between the two rubber brush wheels after being cleaned in the cleaning pool, and the profiling glue stamping jig (4) is blown dry by the air drying device (32).

7. The mechanism for applying a micro-amount of controllable glue to an annular surface according to claim 1, characterized in that: The glue liquid used for dispensing is controlled at a constant temperature by a glue liquid temperature control device.

8. The mechanism for applying micro-amount of controllable glue to annular surface according to claim 1, characterized in that: It also includes a residual glue cleaning device; The residual glue cleaning device comprises a glue connecting cylinder (27), a foam cotton fixing frame (26), a glue connecting cup (25) and a bracket (28); The bracket (28) is used to support the foam cotton fixing frame (26), and slide rails are arranged on both sides of the foam cotton fixing frame (26). The glue cup (25) is installed on the foam cotton fixing frame (26) and cooperates with the slide rails. The glue cup (25) is covered with foam cotton. The glue cylinder (27) is used to push the glue cup (25) to move along the slide rails to adjust the position of the glue cup (25); after the glue dispensing needle (33) completes the glue dispensing, the glue dispensing needle (33) moves downward through the foam cotton to retain the excess glue in the glue cup (25).

9. A method for applying a micro-amount of controllable glue to an annular surface, characterized in that: The method is implemented by using a mechanism for controllable micro-amount glue application on an annular surface as described in any one of claims 1 to 8, comprising: In the initial state S1, the electric clamp (20) is located at the loading and unloading station; the dispensing needle (33) and the contoured glue stamping fixture (4) are at the waiting station; S2 performs position calibration of the dispensing needle (33); S3 The brushed workpiece (21) is clamped on the electric clamp (20); S4 electric clamp (20) clamps the workpiece (21) to be brushed to a brushing position; The glue dispensing needle (33) and the contoured glue stamping fixture (4) are moved to the glue applying position; S5 The electric clamping jaw rotation driving mechanism adjusts the tilt angle of the electric clamping jaw (20) so that the inner conical surface of the brushed workpiece (21) cooperates with the glue dispensing needle (33), the electric clamping jaw (20) drives the brushed workpiece (21) to rotate, and the glue dispensing needle (33) dispenses glue on the brushed workpiece (21); After the glue dispensing is completed in step S6, the electric clamping jaw rotation driving mechanism adjusts the tilt angle of the electric clamping jaw (20) to return the brushed workpiece (21) to the correct position, the profiling glue stamping jig (4) cooperates with the surface to be brushed of the brushed workpiece (21), and the profiling glue stamping jig (4) and the surface to be brushed of the brushed workpiece (21) rotate relative to each other to apply glue.

10. A method for controlling the amount of glue applied to an annular surface according to claim 9, characterized in that: In step S2, the position of the glue dispensing needle (33) is calibrated by a glue dispensing needle position calibration device; the glue dispensing needle position calibration device first moves to the glue brushing station to calibrate the position of the glue dispensing needle, and then returns to the loading and unloading position; In step S6, after the glue application is completed, the residual glue on the surface of the profiling glue stamping jig (4) is cleaned using the residual glue cleaning device of the profiling glue stamping jig.

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