Gluing equipment and gluing method

Abstract

The invention discloses gluing equipment and a gluing method, and relates to the technical field of battery pack upper cover gluing, the gluing equipment comprises a conveying mechanism, a gluing mechanism, a general control mechanism and an auxiliary gluing mechanism, and the conveying mechanism is provided with a gluing position; the gluing mechanism comprises a driving device and a glue discharging device which are in transmission connection; the auxiliary gluing mechanism comprises a first visual identification device and a second visual identification device, the first visual identification device can obtain position image information of a workpiece, the general control mechanism can obtain gluing path information according to the position image information, and the driving device can drive the glue outlet device to move according to the gluing path information; the gluing path information is obtained according to the position of the existing workpiece, so that compared with gluing according to a preset path, the accuracy is higher, and the phenomenon of poor sealing of the battery pack is effectively reduced.

Description

Technical Field

[0001] The present application relates to the technical field of gluing on battery pack covers, and in particular to a gluing device and a gluing method. Background Art

[0002] In the production line of new energy vehicle battery packs, after the battery module is assembled on the lower shell of the battery pack, an upper cover needs to be placed on it to seal the battery pack. The upper cover is in the material area, and the operator uses a special grabbing device to grab the upper cover to the preparation station. After the upper cover is placed at the preparation station, the glue edge of the upper cover is cleaned with a cleaning agent. The cleaned upper cover is transported to the gluing station through the conveyor line. When it arrives at the gluing station, the gluing positioning mechanism will position the upper cover. After positioning, the industrial robot is equipped with a glue gun to apply a high-rigidity sealant on the edge of the upper cover. After gluing, the conveyor line will transport the upper cover to the removal station.

[0003] It is difficult to control the quality of glue coating with existing glue coating equipment, and poor sealing of battery packs often occurs due to substandard glue coating quality. Summary of the invention

[0004] The main purpose of the present application is to propose a glue coating device and a glue coating method, aiming to solve the problem of poor sealing of battery packs that often occurs in existing glue coating equipment.

[0005] To achieve the above purpose, the glue coating equipment proposed in this application includes:

[0006] A conveying mechanism, wherein the conveying mechanism is provided with a gluing station;

[0007] A gluing mechanism, the gluing mechanism is arranged corresponding to the gluing position, and the gluing mechanism comprises a driving device and a gluing device connected in a transmission manner;

[0008] A master control mechanism, the master control mechanism being communicatively connected with the driving device;

[0009] Auxiliary gluing mechanism, the auxiliary gluing mechanism includes a first visual recognition device and a second visual recognition device, the first visual recognition device and the second visual recognition device are both communicatively connected to the master control mechanism; the first visual recognition device and the second visual recognition device are both arranged corresponding to the gluing position, the first visual recognition device can obtain position image information of the workpiece located at the gluing position, the master control mechanism can obtain gluing path information according to the position image information, and the driving device can drive the gluing device to move according to the gluing path information; the second visual recognition device is used to obtain contour scanning information of the colloid coated on the workpiece, the master control mechanism can obtain colloid contour information according to the contour scanning information, and the master control mechanism can also judge whether the size of the colloid is qualified according to the colloid contour information.

[0010] In one embodiment, the first visual recognition device includes a visual camera, and the visual camera is used to photograph the reference point of the workpiece to obtain the position image information;

[0011] And / or, the second visual recognition device includes a plurality of cameras, each of which is capable of performing laser scanning on the colloid to obtain the contour scanning information.

[0012] In one embodiment, the gluing equipment also includes a positioning mechanism, which is arranged corresponding to the gluing position. The positioning mechanism includes a mounting frame and a first positioning device and a second positioning device arranged on the mounting frame. The first positioning device includes two first positioning components arranged relatively along a first direction, and the two first positioning components can drive the workpiece to move along the first direction to position the workpiece in the first direction; the second positioning device includes a stopper and a second positioning component arranged relatively along a second direction, and the second positioning component can drive the workpiece to move along the second direction so that the workpiece abuts against the stopper, and the first direction is perpendicular to the second direction.

[0013] In one embodiment, the second positioning assembly includes a servo electric cylinder, a connecting frame, a positioning member and a force sensor, the output shaft of the servo electric cylinder is connected to the connecting frame, the force sensor is arranged on the connecting frame, and the positioning member is connected to the force sensor so that the force sensor can obtain the force information of the workpiece acting on the positioning member.

[0014] In one embodiment, the gluing device also includes an auxiliary cleaning mechanism, and the conveying mechanism is also provided with a cleaning position, the cleaning position and the gluing position are arranged in sequence along the transmission direction of the conveying mechanism, and the auxiliary cleaning mechanism is arranged corresponding to the cleaning position, and the auxiliary cleaning mechanism includes a lifting drive member, a fixed frame and a rotating frame, the lifting drive member is arranged on the fixed frame, the rotating frame can be rotatably installed on the fixed frame, and the rotating frame is slidably matched with the fixed frame, and the rotating frame is transmission-connected to the lifting drive member so that the lifting drive member can drive the rotating frame to rise and fall in the vertical direction relative to the fixed frame.

[0015] In one embodiment, the conveying mechanism includes a frame, a conveying drive and a flat conveyor chain, a conveying plane is arranged on the outer side of the flat conveyor chain, the conveying plane is used to place the workpiece, the conveying drive and the flat conveyor chain are both arranged on the frame, the conveying drive is transmission-connected to the flat conveyor chain to drive the workpiece located on the flat conveyor chain to move, and the frame is provided with the gluing position.

[0016] The present application also proposes a gluing method, which is applied to the above-mentioned gluing device, the gluing device also includes a positioning mechanism, and the gluing method includes the following steps:

[0017] Control the conveying mechanism to transport the workpiece to the gluing position;

[0018] Controlling the positioning mechanism to position the workpiece and obtaining model information of the workpiece;

[0019] Controlling the first visual recognition device to obtain position image information of the reference point on the workpiece;

[0020] The control main control mechanism obtains the gluing path information according to the position image information and the model information;

[0021] The control driving device drives the glue discharging device to move and apply glue according to the glue coating path information;

[0022] Controlling the second visual recognition device to obtain contour scanning information of the colloid;

[0023] Controlling the master control mechanism to obtain colloid profile information according to the profile scanning information;

[0024] The master control mechanism is controlled to judge whether the size of the colloid is qualified according to the colloid profile information.

[0025] In one embodiment, the second visual recognition device includes a plurality of cameras, each of which is capable of laser scanning the colloid to obtain the contour scanning information, and the contour information of the colloid includes height information, width information and volume information; the step of the control master mechanism obtaining the glue coating path information according to the position image information and the model information includes:

[0026] Controlling the master control mechanism to obtain actual coordinate information of the reference point according to the position image information;

[0027] Control the master control mechanism to obtain preset coordinate information and preset path information according to the model information, and obtain position change information according to the actual coordinate information and the preset coordinate information;

[0028] Controlling the master control mechanism to obtain the gluing path information according to the position change information and the preset path information;

[0029] The step of controlling the second visual recognition device to obtain the contour scanning information of the colloid comprises:

[0030] Controlling each of the cameras to perform laser scanning on the colloid and obtain the contour scanning information;

[0031] The step of controlling the master control mechanism to obtain colloid profile information according to the profile scanning information comprises:

[0032] The master control mechanism is controlled to obtain the height information, the width information and the volume information of the colloid according to the contour scanning information.

[0033] In one embodiment, the gluing device further includes an auxiliary cleaning mechanism, the conveying mechanism is further provided with a cleaning position, the cleaning position and the gluing position are sequentially spaced along the transmission direction of the conveying mechanism, the auxiliary cleaning mechanism includes a lifting drive, a fixed frame, a rotating frame, a travel switch and an indicator light, the travel switch is communicatively connected with the indicator light, the lifting drive is arranged on the fixed frame, the rotating frame is rotatably installed on the fixed frame, the workpiece includes a starting position and a completion position, the workpiece can be moved from the starting position to the completion position by the rotating frame, the travel switch can detect whether the workpiece is located at the completion position, the rotating frame is slidably matched with the fixed frame, the rotating frame is transmission-connected with the lifting drive, so that the lifting drive can drive the rotating frame to rise and fall in the vertical direction relative to the fixed frame,

[0034] The step of controlling the conveying mechanism to transport the workpiece to the gluing position includes:

[0035] placing the workpiece on the rotating frame;

[0036] Controlling the lifting drive member to drive the rotating frame to rise;

[0037] rotating the rotating frame and cleaning the outer periphery of the workpiece;

[0038] Controlling the travel switch to determine whether the workpiece is located at the completion position;

[0039] If yes, control the indicator light to flash;

[0040] stopping the rotation of the rotating frame;

[0041] The lifting drive member is controlled to drive the rotating frame to descend, so that the workpiece contacts the conveying mechanism.

[0042] In one embodiment, the gluing equipment further comprises a positioning mechanism, which is arranged corresponding to the gluing position, and the positioning mechanism comprises a mounting frame, a first positioning device and a second positioning device, the first positioning device comprises two first positioning components arranged relatively along a first direction, and the two first positioning components can drive the workpiece to move along the first direction to position the workpiece in the first direction; the second positioning device comprises a stopper and a second positioning component arranged relatively along a second direction, and the second positioning component can drive the workpiece to move along the second direction so that the workpiece abuts against the stopper, and the second positioning component comprises a servo electric cylinder, a connecting frame, a positioning member and a force sensor, the output shaft of the servo electric cylinder is connected to the connecting frame, the force sensor is arranged on the connecting frame, and the positioning member is connected to the force sensor so that the sensor can obtain the force information of the workpiece acting on the positioning member; the steps of controlling the positioning mechanism to position the workpiece and obtaining the model information of the workpiece comprise:

[0043] Controlling the two first positioning components to position the workpiece;

[0044] Controlling the servo electric cylinder to push the workpiece through the positioning member until the workpiece abuts against the stopper, and obtaining the stroke information of the output shaft of the servo electric cylinder and the force information of the force sensor in real time;

[0045] Determining whether the force information reaches a preset pressure value;

[0046] If so, the servo electric cylinder is controlled to drive the positioning member to reset, and the master control mechanism is controlled to obtain the model information of the workpiece according to the stroke information and the force information.

[0047] The technical solution of the present application uses a conveying mechanism to transport the workpiece to the gluing position, and then obtains the position image information of the workpiece through the first visual recognition device. The general control mechanism obtains the gluing path information according to the position image information, and then the driving device drives the gluing device to move and apply glue according to the gluing path information. Since the gluing path information is obtained according to the position of the existing workpiece, it is more accurate than gluing according to a preset path, thereby effectively reducing the phenomenon of poor sealing of the battery pack. The workpiece can be the upper cover of the battery pack. BRIEF DESCRIPTION OF THE DRAWINGS

[0048] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on the structures shown in these drawings without paying any creative work.

[0049] Figure 1 A structural schematic diagram of an embodiment of a glue coating device provided in this application;

[0050] Figure 2 A partial structural schematic diagram of an embodiment of a glue coating device provided in this application;

[0051] Figure 3 A structural schematic diagram of an embodiment of a positioning mechanism provided in this application;

[0052] Figure 4 A schematic structural diagram of an embodiment of an auxiliary cleaning mechanism provided in this application;

[0053] Figure 5 for Figure 4 A local enlarged schematic diagram at point A;

[0054] Figure 6 A schematic diagram of the structure of an embodiment of a transmission mechanism provided by the present application;

[0055] Figure 7 for Figure 6 A local enlarged schematic diagram at B;

[0056] Figure 8 A schematic diagram of the process of the first embodiment of the gluing method provided by the present application;

[0057] Fig. 9 A schematic diagram of the flow chart of the second embodiment of the gluing method provided by the present application;

[0058] Fig.10 A schematic diagram of a third embodiment of the gluing method provided by the present application;

[0059] Fig.11 This is a schematic flow chart of the fourth embodiment of the gluing method provided in the present application.

[0060] Description of Figure Numbers:

[0061] 100. Gluing equipment; 1. Conveying mechanism; 11. Frame; 12. Conveying drive member; 13. Flat conveyor chain; 131. Transport plane; 14. Gluing position; 15. Cleaning position; 2. Gluing mechanism; 21. Driving device; 22. Gluing device; 3. Auxiliary gluing mechanism; 31. First visual recognition device; 32. Second visual recognition device; 4. Positioning mechanism; 41. First positioning device; 411. First positioning assembly; 42. Second positioning device; 421. Stopper; 422. Second positioning assembly; 4221. Servo cylinder; 4222. Connecting frame; 4223. Positioning member; 5. Auxiliary cleaning mechanism; 51. Lifting drive member; 52. Fixed frame; 53. Rotating frame; 54. One-way bearing; 55. Suction cup assembly; 6. Turning mechanism; 7. Loading mechanism;

[0062] 200. Workpiece.

[0063] The realization of the purpose, functional features and advantages of this application will be further explained in conjunction with embodiments and with reference to the accompanying drawings. DETAILED DESCRIPTION

[0064] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0065] It should be noted that if the embodiments of the present application involve directional indications (such as up, down, left, right, front, back, etc.), the directional indications are only used to explain the relative position relationship, movement status, etc. between the components in a certain specific posture. If the specific posture changes, the directional indication will also change accordingly.

[0066] In addition, if there are descriptions involving "first", "second", etc. in the embodiments of the present application, the descriptions of "first", "second", etc. are only used for descriptive purposes and cannot be understood as indicating or implying their relative importance or implicitly indicating the number of technical features indicated. Therefore, the features limited to "first" and "second" may explicitly or implicitly include at least one of the features. In addition, if "and / or" or "and / or" appears in the full text, its meaning includes three parallel schemes. Taking "A and / or B" as an example, it includes scheme A, or scheme B, or a scheme that satisfies both A and B. In addition, the technical solutions between the various embodiments can be combined with each other, but it must be based on the ability of ordinary technicians in the field to implement. When the combination of technical solutions is contradictory or cannot be implemented, it should be considered that such a combination of technical solutions does not exist and is not within the scope of protection required by this application.

[0067] In the production line of new energy vehicle battery packs, after the battery module is assembled on the lower shell of the battery pack, an upper cover needs to be placed on it to seal the battery pack. The upper cover is in the material area, and the operator uses a special grabbing device to grab the upper cover to the preparation station. After the upper cover is placed at the preparation station, the glue edge of the upper cover is cleaned with a cleaning agent. The cleaned upper cover is transported to the gluing station through the conveyor line. When it arrives at the gluing station, the gluing positioning mechanism will position the upper cover. After positioning, the industrial robot is equipped with a glue gun to apply a high-rigidity sealant on the edge of the upper cover. After gluing, the conveyor line will transport the upper cover to the removal station.

[0068] It is difficult to control the quality of glue coating with existing glue coating equipment, and poor sealing of battery packs often occurs due to substandard glue coating quality.

[0069] The following is an explanation using the workpiece, which is the upper cover of a battery pack, as an example. The inventors have found that when the upper cover reaches the gluing position, the upper cover will be positioned in the first direction and the second direction by the positioning mechanism. However, different upper covers have errors in size, resulting in slight deviations in the positions of different upper covers after positioning. The deviation will cause the robot to apply glue along the preset path, which will not meet the quality requirements, and further cause the upper cover to be poorly sealed after being covered on the lower shell.

[0070] In view of this, the present invention proposes a glue coating device and a glue coating method, aiming to solve the problem of poor sealing of battery packs that often occurs in existing glue coating devices.

[0071] See also Figure 1 and Figure 2As shown, the present application proposes a glue coating device 100, which includes a conveying mechanism 1, a glue coating mechanism 2, a master control mechanism and an auxiliary glue coating mechanism 3. The conveying mechanism 1 is provided with a glue coating position 14; the glue coating mechanism 2 is provided corresponding to the glue coating position 14, and the glue coating mechanism 2 includes a driving device 21 and a glue discharging device 22 connected by transmission; the master control mechanism is in communication connection with the driving device 21; the auxiliary glue coating mechanism 3 includes a first visual recognition device 31 and a second visual recognition device 32, and the first visual recognition device 31 and the second visual recognition device 32 are both in communication connection with the master control mechanism; the first visual recognition device The first visual recognition device 31 and the second visual recognition device 32 are both set corresponding to the glue coating position 14. The first visual recognition device 31 can obtain the position image information of the workpiece 200 located at the glue coating position 14, and the general control mechanism can obtain the glue coating path information according to the position image information. The driving device 21 can drive the glue discharge device 22 to move according to the glue coating path information; the second visual recognition device 32 is used to obtain the contour scanning information of the colloid coated on the workpiece 200, and the general control mechanism can obtain the colloid contour information according to the contour scanning information. The general control mechanism can also judge whether the size of the colloid is qualified according to the colloid contour information.

[0072] The technical solution of the present application is to transport the workpiece 200 to the gluing position 14 through the conveying mechanism 1, and then obtain the position image information of the workpiece 200 through the first visual recognition device 31, and the general control mechanism obtains the gluing path information according to the position image information, and then the driving device 21 drives the gluing device 22 to move and apply glue according to the gluing path information. Since the gluing path information is obtained according to the existing position of the workpiece 200, that is, the actual coordinate information of the reference point on the workpiece 200 is obtained through the existing position image information, and then the preset path information is corrected according to the position change amount between the actual coordinate information and the preset coordinate information to obtain the gluing path information matching the actual position of the workpiece 200, compared with gluing according to the preset path, the present application applies glue to the workpiece 200 according to the gluing path information, which has higher accuracy, effectively improves the gluing quality, and effectively reduces the phenomenon of poor sealing of the battery pack. The workpiece 200 can be a battery pack upper cover.

[0073] In addition, after the existing glue coating is completed, it is generally necessary to rely on an inspector to inspect the shape of the sealant on the upper cover plate. However, the present application uses a second visual recognition device 32 to scan the colloid formed by the glue coating to obtain the contour scanning information of the colloid, and then the general control mechanism calculates the colloid contour information based on the contour scanning information. The colloid contour information includes the height information, width information and volume information of the colloid, and then determines whether this information is qualified. If it is unqualified, an alarm is issued to the staff, the conveying mechanism 1 stops running, and the position of the abnormal point is displayed on the display device or the prompt light is turned on to prompt the operator of the position of the abnormal point, so that the staff can find the problem in time and come to deal with it, thereby improving the quality efficiency of the glue coating equipment 100; if it is qualified, the workpiece 200 will continue to move to the next workstation; by adding a second visual recognition device 32, the personnel used for detection are eliminated, thereby saving manpower.

[0074] According to an embodiment of the present invention, the first visual recognition device 31 is suspended above the glue coating position 14 , and the second visual recognition device 32 is disposed at the glue outlet of the glue dispensing device 22 .

[0075] In one embodiment, the first visual recognition device 31 includes a visual camera, which is used to photograph the reference point of the workpiece 200 to obtain position image information; the reference point on the workpiece 200 is photographed by the visual camera, so as to obtain the position image information corresponding to the reference point. If necessary, the visual camera is connected to the master control mechanism. It should also be noted that the visual camera can communicate with the master control mechanism using the TCP / IP (Transmission Control Protocol / Internet Protocol) protocol, and the master control mechanism can also receive command information from other devices connected to it.

[0076] In one embodiment, the second visual recognition device 32 includes a plurality of cameras, each of which can perform laser scanning on the colloid to obtain contour scanning information. By arranging a plurality of cameras to emit lasers to perform laser scanning on the colloid, the accuracy and reliability of the contour scanning information are effectively improved. It should be noted that the detection accuracy of the camera can reach ±0.75 mm.

[0077] See also Figure 2 and Figure 3As shown, in one embodiment, the gluing device 100 further includes a positioning mechanism 4, which is arranged corresponding to the gluing position 14. The positioning mechanism 4 includes a mounting frame and a first positioning device 41 and a second positioning device 42 arranged on the mounting frame. The first positioning device 41 includes two first positioning components 411 arranged relatively along a first direction. The two first positioning components 411 can drive the workpiece 200 to move along the first direction to position the workpiece 200 in the first direction; the second positioning device 42 includes a stopper 421 and a second positioning component 422 arranged relatively along a second direction. The second positioning component 422 can drive the workpiece 200 to move along the second direction so that the workpiece 200 abuts against the stopper 421. The first direction is perpendicular to the second direction. The first direction is Figure 1 The left and right directions shown, the second direction is Figure 1 The front and rear directions shown in the figure; by setting two first positioning components 411, the positioning of the workpiece 200 in the first direction is completed, and by setting the second positioning component 422 and the stopper 421, the positioning of the workpiece 200 in the second direction is realized; thus, the positioning of the workpiece 200 is completed by the first positioning device 41 and the second positioning device 42. It should be noted that the first positioning component 411 includes a positioning drive and a positioning clamping member, and the positioning drive is linked to the positioning clamping member. The positioning drive is used to drive the positioning clamping member to approach or move away from the workpiece 200. When the workpiece 200 needs to be positioned, the two positioning drives respectively drive the positioning clamping members to clamp and position the workpiece 200 from both sides of the workpiece 200; wherein the positioning drive can be a cylinder or an electric cylinder.

[0078] In one embodiment, the second positioning component 422 includes a servo cylinder 4221, a connecting frame 4222, a positioning member 4223 and a force sensor. The output shaft of the servo cylinder 4221 is connected to the connecting frame 4222, the force sensor is arranged on the connecting frame 4222, and the positioning member 4223 is connected to the force sensor so that the force sensor can obtain the force information of the workpiece 200 acting on the positioning member 4223. The existing positioning mechanism 4, taking the cylinder as an example, generally has a fixed output stroke during positioning, and the same output stroke is used for positioning workpieces 200 of different sizes. Therefore, in order to ensure that each workpiece 200 of different sizes can be positioned, the stroke setting is generally designed according to the positioning standard of the workpiece 200 of the smallest size, so that the positioning of workpieces 200 of different sizes can be achieved; however, the inventors have found that although the design can cope with a variety of workpieces 200 of different sizes, when the size difference of the workpieces 200 is large, facing a large-sized workpiece 200, still using the output stroke of a small-sized workpiece 200 will greatly increase the probability of damage to the parts. This is because the stroke is not well matched to the part size, resulting in small parts requiring a larger output stroke of the cylinder, while the larger output stroke for large-sized workpieces 200 will result in the cylinder stroke not being completed after the large-sized workpiece 200 is in place, and the cylinder will continue to increase the force on the workpiece 200, thereby causing the workpiece 200 to deform. The present application adds a force sensor and a servo electric cylinder 4221, so that when the servo electric cylinder 4221 drives the positioning member 4223 to position the workpiece 200, after the workpiece 200 contacts the stop block 421, the servo electric steel will continue to increase the force on the workpiece 200 through the positioning member 4223 because it does not have a fixed stroke design. The magnitude of the reaction force of the workpiece 200 on the positioning member 4223 can be obtained through the force sensor. When the force sensor detects that the force is greater than the preset threshold, the servo electric cylinder 4221 is controlled to drive the positioning member 4223 to reset, so as to prevent the workpiece 200 from being deformed due to excessive force. Therefore, no matter what size the workpiece 200 is, the servo electric cylinder 4221 can ensure that it can complete the positioning, and the design of the force sensor can also effectively reduce the deformation probability of the workpiece 200. Therefore, by adding the servo electric cylinder 4221 and the force sensor, workpieces 200 of different sizes can be positioned, and the occurrence of deformation of the workpiece 200 caused by positioning is effectively reduced.

[0079] In addition, by adding the servo electric cylinder 4221 and the force sensor, the model of the workpiece 200 can also be identified, thereby obtaining the model information of the workpiece 200. Since the sizes of different workpieces 200 are different, the stroke of the servo electric cylinder 4221 when positioning the workpiece 200 will also be different. Therefore, the model information of the workpiece 200 can be obtained through the stroke of the servo electric cylinder 4221 and the force of the force sensor. In this way, the model information of the workpiece 200 is obtained without the need for manual confirmation, eliminating the manual confirmation link; compared with the traditional process of obtaining model information by scanning the code, the code scanning equipment is eliminated, and the cost of the glue coating equipment 100 is reduced.

[0080] See also Figure 1 , Figure 4 and Figure 5 As shown, in one embodiment, the gluing device 100 further includes an auxiliary cleaning mechanism 5, and the conveying mechanism 1 is further provided with a cleaning position 15, the cleaning position 15 and the gluing position 14 are sequentially arranged at intervals along the transmission direction of the conveying mechanism 1, and the auxiliary cleaning mechanism 5 is arranged corresponding to the cleaning position 15, and the auxiliary cleaning mechanism 5 includes a lifting drive member 51, a fixed frame 52 and a rotating frame 53, the lifting drive member 51 is arranged on the fixed frame 52, the rotating frame 53 is rotatably installed on the fixed frame 52, and the rotating frame 53 is slidably matched with the fixed frame 52, and the rotating frame 53 is connected to the lifting drive member 51 in a transmission manner, so that the lifting drive member 51 can drive the rotating frame 53 to rise and fall in the vertical direction relative to the fixed frame 52. The existing cleaning of the outer periphery of the upper cover plate is generally completed by the operator walking around the upper cover plate once, which makes it difficult for the operator engaged in the operation to work for a long time, and the operation efficiency is low, and a large amount of manpower is required. The present application places the upper cover on the rotating frame 53, and then drives the rotating frame 53 to slide and rise relative to the fixed frame 52 through the lifting drive member 51, thereby avoiding interference between the upper cover and other components during the subsequent rotation process; when the upper cover has completed its ascent, since the rotating frame 53 is rotatably installed on the fixed frame 52, the upper cover can be rotated by rotating the rotating frame 53, thereby achieving cleaning of the periphery of the upper cover without the operator moving, which greatly saves manpower; when the upper cover has completed cleaning, the lifting drive member 51 drives the rotating frame 53 to descend again, so that the upper cover returns to the conveying mechanism 1.

[0081] It should be noted that the auxiliary cleaning mechanism 5 also includes a travel switch and an indicator light. The workpiece 200 includes a starting position and a completion position. The workpiece 200 can be moved from the starting position to the completion position through the rotating frame 53. The travel switch can detect whether the workpiece 200 is in the completion position. The travel switch is set to assist in detecting whether the workpiece 200 is rotated to the completion position. Before the workpiece 200 rotates, the workpiece 200 is in the starting position. As the workpiece 200 rotates, the operator cleans the periphery of the workpiece 200. After the workpiece 200 rotates a preset angle, the workpiece 200 moves from the starting position to the completion position. At this time, the workpiece 200 will contact the travel switch and trigger the travel switch. If the travel switch is triggered, it means that the workpiece 200 has been rotated to the position, which means that the operator has completed the cleaning operation of the workpiece 200. In addition, by setting a travel switch to detect the position of the workpiece 200 after rotation, the workpiece 200 can be rotated to the specified position after cleaning is completed to facilitate subsequent operations, thereby avoiding the phenomenon that the subsequent positioning and gluing of the workpiece 200 are difficult due to the workpiece 200 not being in the completed position; for example, if the workpiece 200 needs to be positioned after cleaning is completed, the original positioning device must contact the specified position of the workpiece 200 to position it, but if the position of the workpiece 200 changes after cleaning is completed, the orientation of the specified position will also be offset, resulting in the positioning device being unable to contact the specified position smoothly, which may cause the positioning device to be unable to smoothly position the workpiece 200.

[0082] It should also be noted that the auxiliary cleaning mechanism 5 also includes a workpiece detection component, a start button, a finish button and a suction cup assembly 55, wherein the start button and the finish button are both communicatively connected to the lifting drive component 51, the workpiece detection component is used to detect whether the workpiece 200 is located at the cleaning position 15, and the suction cup assembly 55 is arranged on the rotating frame 53 for adsorbing the workpiece 200. Taking the workpiece 200 as an upper cover plate as an example, the cleaning process of the upper cover plate is roughly as follows: the upper cover plate is moved to the cleaning position 15. After the workpiece detection part detects that there is an upper cover plate in the cleaning position 15, the indicator light is on, and the operator presses the start button. The lifting drive part 51 drives the rotating frame 53 to slide and rise relative to the fixed frame 52, and the suction cup assembly 55 adsorbs the upper cover plate. The operator takes the cleaning agent, and then the operator rotates the upper cover plate while cleaning the outer periphery of the upper cover plate. When the upper cover plate rotates to a preset angle, the upper cover plate triggers the travel switch, the indicator light flashes, and the operator presses the completion button. The lifting drive part 51 drives the rotating frame 53 to descend, and the suction cup assembly 55 releases the adsorption of the upper cover plate, so that the upper cover plate descends to the conveying mechanism 1, so that the conveying mechanism 1 can move the cleaned upper cover plate to the gluing position 14. It should be noted that the workpiece detection part can be a proximity switch or a photoelectric detection part.

[0083] It should be further explained that the rotating frame 53 is connected to the fixed frame 52 through a bearing, the bearing is arranged on the fixed frame 52, the inner ring of the bearing realizes sliding cooperation with the rotating frame 53 through spline cooperation or cooperation between a slide groove and a slide rail, and can make the rotating frame 53 rotate relative to the fixed frame 52, and the part of the rotating frame 53 extending into the inner ring of the bearing can also have a clearance cooperation relationship with the inner ring of the bearing. It should also be explained that the bearing can be a one-way bearing 54 or a ball bearing.

[0084] See also Figure 1 , Figure 6 and Figure 7 As shown, in one embodiment, the conveying mechanism 1 includes a frame 11, a conveying drive member 12 and a flat conveyor chain 13, a conveying plane 131 is arranged on the outer side of the flat conveyor chain 13, the conveying plane 131 is used to place the workpiece 200, the conveying drive member 12 and the flat conveyor chain 13 are both arranged on the frame 11, the conveying drive member 12 is connected with the flat conveyor chain 13 to drive the workpiece 200 located on the flat conveyor chain 13 to move, and the frame 11 is provided with a gluing position 14. The existing conveyor line of the upper cover plate is generally through a mechanical chain or belt. The use of a mechanical chain for transportation is likely to scratch the surface of the upper cover plate, causing quality problems with the appearance of the upper cover plate; when a belt is used for transportation, the belt will be slowly stretched as the belt is used for a longer time. After the belt is stretched, the upper cover plate will slip on the belt, resulting in the upper cover plate being unable to be transported normally, resulting in a longer production cycle; the present application transports the upper cover plate through a flat conveyor chain 13. Since the flat conveyor chain 13 is provided with a transport plane 131, it is convenient for transporting the upper cover plate and effectively reduces the occurrence of surface scratches on the upper cover plate caused by transportation. The material of the flat conveyor chain 13 can be an anti-static nylon sheet base belt, or a POM (polyformaldehyde) material, or a PP (polypropylene) material, so that the flat conveyor chain 13 is not easy to deform or stretch during the transportation process, has a high service life, and is not prone to slipping when transporting the upper cover plate.

[0085] According to one embodiment of the present invention, the gluing device 100 also includes a flipping mechanism 6 and a loading mechanism 7, wherein the flipping mechanism 6 is used to flip the glue-coated workpiece 200 180°, and the loading mechanism 7 is used to load the flipped upper cover plate onto the lower cover plate of the battery pack.

[0086] See also Figure 8 , Figure 8This is a flow chart of the first embodiment of the gluing method provided by the present application. The present application also proposes a gluing method, which is applied to the above-mentioned gluing device. Since the gluing method adopts all the technical solutions of all the above-mentioned embodiments, it at least has all the beneficial effects brought by the technical solutions of the above-mentioned embodiments, which will not be described one by one here; the gluing device also includes a positioning mechanism, and the gluing method includes the following steps:

[0087] S100, controlling the conveying mechanism to transport the workpiece to the gluing position;

[0088] The workpiece is automatically transported to the gluing position through the conveying mechanism, eliminating the need for manual handling and thus effectively saving manpower.

[0089] S200, controlling the positioning mechanism to position the workpiece and obtaining model information of the workpiece;

[0090] While positioning the workpiece through the positioning mechanism, the model information of the workpiece can also be obtained, which enriches the functionality of the positioning mechanism.

[0091] S300, controlling the first visual recognition device to obtain position image information of the reference point on the workpiece;

[0092] The first visual recognition device is controlled to shoot the reference point on the workpiece, so as to obtain the position image information corresponding to the reference point. The first visual recognition device can be a camera or a video camera.

[0093] S400, controlling the master control mechanism to obtain glue coating path information according to the position image information and the model information;

[0094] The gluing path information that matches the model of the current workpiece and the current position of the workpiece is obtained according to the position image information and the model information, so as to perform more accurate gluing on the workpiece.

[0095] S500, controlling the driving device to drive the glue discharging device to move and apply glue according to the glue coating path information;

[0096] The control driving device drives the glue discharging device to move and apply glue along the path corresponding to the glue coating path information according to the glue coating path information, thereby effectively improving the glue coating quality.

[0097] S600, controlling the second visual recognition device to obtain contour scanning information of the colloid;

[0098] The colloid is scanned by a second visual recognition device to obtain the contour scanning information of the colloid, wherein the second visual recognition device may be a camera with a laser scanning function or a laser scanner.

[0099] S700, controlling the master control mechanism to obtain colloid profile information according to the profile scanning information;

[0100] The master control mechanism presets an algorithm, and performs calculations according to the preset algorithm based on the contour scanning information, so as to obtain the colloid contour information, and then convert the scanned information into numerical information in order to understand the contour shape of the colloid.

[0101] S800, controlling the master control mechanism to determine whether the size of the colloid is qualified according to the colloid profile information.

[0102] The colloid profile information is then compared with the preset colloid size information to determine whether the size of the colloid is qualified, thereby reducing the probability of unqualified colloid flowing to the next workstation.

[0103] The present application uses a conveying mechanism to transport the workpiece to the gluing position, and then obtains the position image information of the workpiece through the first visual recognition device. The master control mechanism obtains the gluing path information according to the position image information, and then the driving device drives the gluing device to move and apply glue according to the gluing path information. Since the gluing path information is obtained based on the position of the existing workpiece, it is more accurate than gluing according to a preset path, thereby effectively reducing the phenomenon of poor sealing of the battery pack. The workpiece can be the upper cover of the battery pack.

[0104] See also Fig. 9 , Fig. 9 This is a flow chart of the second embodiment of the gluing method provided by the present application. In one embodiment, the second visual recognition device includes a plurality of cameras, each of which is capable of laser scanning the colloid to obtain the contour scanning information, and the contour information of the colloid includes height information, width information and volume information; the step of S400 includes:

[0105] S410, controlling the master control mechanism to obtain actual coordinate information of the reference point according to the position image information;

[0106] S420, controlling the master control mechanism to obtain preset coordinate information and preset path information according to the model information, and obtaining position change information according to the actual coordinate information and the preset coordinate information;

[0107] S430, controlling the master control mechanism to obtain the gluing path information according to the position change information and the preset path information;

[0108] The steps of S600 include:

[0109] S610, controlling each of the cameras to perform laser scanning on the colloid and obtain the contour scanning information;

[0110] The steps of S700 include:

[0111] S710, controlling the master control mechanism to obtain the height information, the width information, and the volume information of the colloid according to the contour scanning information.

[0112] The technical solution of the present application uses a conveying mechanism to transport the workpiece to the gluing position, and then obtains the position image information of the workpiece through the first visual recognition device. The general control mechanism obtains the gluing path information according to the position image information, and then the driving device drives the gluing device to move and apply glue according to the gluing path information. Since the gluing path information is obtained according to the position of the existing workpiece, that is, the actual coordinate information of the reference point on the workpiece is obtained through the existing position image information, and then the preset path information is corrected according to the position change between the actual coordinate information and the preset coordinate information to obtain the gluing path information that matches the actual position of the workpiece, compared with gluing according to the preset path, the present application applies glue to the workpiece according to the gluing path information, which has higher accuracy, effectively improves the gluing quality, and effectively reduces the phenomenon of poor sealing of the battery pack. The workpiece can be the upper cover of the battery pack.

[0113] This application uses a second visual recognition device to scan the colloid formed by the coating to obtain the contour scanning information of the colloid, and then the main control mechanism calculates the colloid contour information based on the contour scanning information. The colloid contour information includes the height information, width information and volume information of the colloid, and then determines whether this information is qualified. If it is unqualified, an alarm is issued to the staff to notify the staff to come and handle it, thereby improving the quality and efficiency of the coating equipment; if it is qualified, the workpiece will continue to move to the next station; by adding a second visual recognition device, the personnel used for detection are eliminated, thereby saving manpower. It should be noted that by setting up multiple cameras to emit lasers to perform laser scanning on the colloid, the accuracy and reliability of the contour scanning information are effectively improved.

[0114] See also Fig.10 , Fig.10The schematic diagram of the flow chart of the third embodiment of the gluing method provided in the present application, in one embodiment, the gluing equipment further comprises an auxiliary cleaning mechanism, the conveying mechanism is further provided with a cleaning position, the cleaning position and the gluing position are sequentially arranged at intervals along the transmission direction of the conveying mechanism, the auxiliary cleaning mechanism comprises a lifting driving member, a fixed frame, a rotating frame, a travel switch and an indicator light, the travel switch is communicatively connected with the indicator light, the lifting driving member is arranged on the fixed frame, the rotating frame is rotatably installed on the fixed frame, the workpiece comprises a starting position and a finishing position, the workpiece can be moved from the starting position to the finishing position by the rotating frame, the travel switch can detect whether the workpiece is located at the finishing position, the rotating frame is slidably matched with the fixed frame, the rotating frame is transmission-connected with the lifting driving member, so that the lifting driving member can drive the rotating frame to rise and fall in the vertical direction relative to the fixed frame, and the step S100 includes:

[0115] S10, placing the workpiece on the rotating frame;

[0116] S20, controlling the lifting drive member to drive the rotating frame to rise;

[0117] S30, rotating the rotating frame and cleaning the outer periphery of the workpiece;

[0118] S40, controlling the travel switch to determine whether the workpiece is located at the completion position;

[0119] S41, if yes, control the indicator light to flash;

[0120] S42, stop rotating the rotating frame;

[0121] S43, controlling the lifting drive member to drive the rotating frame to descend, so that the workpiece contacts the conveying mechanism.

[0122] The present application places the upper cover plate on the rotating frame, and then drives the rotating frame to slide and rise relative to the fixed frame through the lifting drive, so as to avoid the subsequent upper cover plate from interfering with other parts during the rotation process; when the upper cover plate is completely raised, since the rotating frame can be rotatably installed on the fixed frame, the upper cover plate can be rotated by rotating the rotating frame, so that the cleaning of the periphery of the upper cover plate can be completed without the operator moving, which greatly saves manpower. When the upper cover plate is completely cleaned, the lifting drive drives the rotating frame to descend again, so that the upper cover plate returns to the conveying mechanism. It should be noted that a travel switch is set to assist in detecting whether the workpiece is rotated to the completion position. Before the workpiece rotates, the workpiece is in the starting position. As the workpiece rotates, the operator cleans the periphery of the workpiece. After the workpiece rotates a preset angle, the workpiece moves from the starting position to the completion position. At this time, the workpiece will contact the travel switch and trigger the travel switch. If the travel switch is triggered, it means that the workpiece has been rotated to the position, which means that the operator has completed the cleaning operation of the workpiece. And by setting a travel switch to detect the position of the workpiece after rotation, the workpiece can be rotated to the specified position after cleaning is completed, so that subsequent operations can be carried out, avoiding the phenomenon that the subsequent positioning and gluing of the workpiece are difficult to carry out because the workpiece is not in the completed position; for example, if the workpiece needs to be positioned after cleaning, the original positioning device must contact the specified position of the workpiece to position it, but if the position of the workpiece changes after cleaning, the orientation of the specified position will also be offset, causing the positioning device to fail to contact the specified position smoothly, which may cause the positioning device to fail to position the workpiece smoothly. By setting an indicator light to light up after the workpiece is rotated to the completed position, the operator is visually informed that the current workpiece has been rotated by a preset angle. Among them, the preset angle is generally 360°.

[0123] See also Fig.11 , Fig.11A flow chart of a fourth embodiment of the gluing method provided in the present application, in one embodiment, the gluing equipment further comprises a positioning mechanism, the positioning mechanism is arranged corresponding to the gluing position, the positioning mechanism comprises a mounting frame, a first positioning device and a second positioning device, the first positioning device comprises two first positioning components arranged relatively to each other along a first direction, the two first positioning components can drive the workpiece to move along the first direction to position the workpiece in the first direction; the second positioning device comprises a stopper and a second positioning component arranged relatively to each other along a second direction, the second positioning component can drive the workpiece to move along the second direction so that the workpiece abuts against the stopper, the second positioning component comprises a servo electric cylinder, a connecting frame, a positioning member and a force sensor, the output shaft of the servo electric cylinder is connected to the connecting frame, the force sensor is arranged on the connecting frame, and the positioning member is connected to the force sensor so that the sensor can obtain the force information of the workpiece acting on the positioning member; the step of S200 comprises:

[0124] S210, controlling the two first positioning components to position the workpiece;

[0125] S220, controlling the servo electric cylinder to push the workpiece through the positioning member until the workpiece abuts against the stopper, and obtaining in real time the stroke information of the output shaft of the servo electric cylinder and the force information of the force sensor;

[0126] S230, determining whether the force information reaches a preset pressure value;

[0127] S231, if yes, control the servo electric cylinder to drive the positioning member to reset, and control the master control mechanism to obtain the model information of the workpiece according to the stroke information and the force information.

[0128] The present application adds a force sensor and a servo electric cylinder, so that when the servo electric cylinder drives the positioning member to position the workpiece, after the workpiece contacts the stopper, the servo electric steel will continue to increase the force on the workpiece through the positioning member because it does not have a fixed stroke design. The magnitude of the reaction force of the workpiece on the positioning member can be known through the force sensor. When the force sensor detects that the force is greater than the preset threshold, the servo electric cylinder is controlled to drive the positioning member to reset to prevent the deformation of the workpiece due to excessive force. Therefore, no matter what size of workpiece, the servo electric cylinder can ensure that it can complete the positioning, and the design of the force sensor can also effectively reduce the deformation probability of the workpiece. Therefore, by adding a servo electric cylinder and a force sensor, workpieces of different sizes can be positioned, and the occurrence of deformation caused by positioning of the workpiece is effectively reduced. The present application can also be used to identify the model of the workpiece by adding a servo electric cylinder and a force sensor, so as to obtain the model information of the workpiece. Since there are differences in the sizes of different workpieces, the stroke of the servo electric cylinder when positioning the workpiece will also be different. Therefore, the model information of the workpiece can be obtained through the stroke of the servo electric cylinder and the force of the force sensor. Thereby, the model information of the workpiece is obtained without the need for manual confirmation, thus eliminating the manual confirmation process; compared with the prior art of obtaining model information by scanning a code, the scanning equipment is omitted, thus reducing the cost of the gluing equipment.

[0129] The above description is only an exemplary embodiment of the present application and does not limit the patent scope of the present application. All equivalent structural changes made by using the contents of the present application specification and drawings under the technical concept of the present application, or directly / indirectly applied in other related technical fields are included in the patent protection scope of the present application.

Claims

1. A glue coating device, characterized in that: include: A conveying mechanism, wherein the conveying mechanism is provided with a gluing station; A gluing mechanism, the gluing mechanism is arranged corresponding to the gluing position, and the gluing mechanism comprises a driving device and a gluing device connected in a transmission manner; A master control mechanism, the master control mechanism being communicatively connected with the driving device; Auxiliary gluing mechanism, the auxiliary gluing mechanism includes a first visual recognition device and a second visual recognition device, the first visual recognition device and the second visual recognition device are both communicatively connected to the master control mechanism; the first visual recognition device and the second visual recognition device are both arranged corresponding to the gluing position, the first visual recognition device can obtain position image information of the workpiece located at the gluing position, the master control mechanism can obtain gluing path information according to the position image information, and the driving device can drive the gluing device to move according to the gluing path information; the second visual recognition device is used to obtain contour scanning information of the colloid coated on the workpiece, the master control mechanism can obtain colloid contour information according to the contour scanning information, and the master control mechanism can also judge whether the size of the colloid is qualified according to the colloid contour information.

2. The gluing device according to claim 1, characterized in that: The first visual recognition device includes a visual camera, and the visual camera is used to photograph the reference point of the workpiece to obtain the position image information; And / or, the second visual recognition device includes a plurality of cameras, each of which is capable of performing laser scanning on the colloid to obtain the contour scanning information.

3. The gluing device according to claim 1, characterized in that: The gluing equipment also includes a positioning mechanism, which is arranged corresponding to the gluing position. The positioning mechanism includes a mounting frame and a first positioning device and a second positioning device arranged on the mounting frame. The first positioning device includes two first positioning components arranged relatively along a first direction, and the two first positioning components can drive the workpiece to move along the first direction to position the workpiece in the first direction; the second positioning device includes a stopper and a second positioning component arranged relatively along a second direction, and the second positioning component can drive the workpiece to move along the second direction so that the workpiece abuts against the stopper. The first direction is perpendicular to the second direction.

4. The gluing device according to claim 3, characterized in that: The second positioning assembly includes a servo electric cylinder, a connecting frame, a positioning member and a force sensor. The output shaft of the servo electric cylinder is connected to the connecting frame, the force sensor is arranged on the connecting frame, and the positioning member is connected to the force sensor so that the force sensor can obtain the force information of the workpiece acting on the positioning member.

5. The gluing device according to any one of claims 1 to 4, characterized in that: The gluing device also includes an auxiliary cleaning mechanism, and the conveying mechanism is also provided with a cleaning position, the cleaning position and the gluing position are arranged in sequence along the transmission direction of the conveying mechanism, and the auxiliary cleaning mechanism is arranged corresponding to the cleaning position. The auxiliary cleaning mechanism includes a lifting drive member, a fixed frame and a rotating frame, the lifting drive member is arranged on the fixed frame, the rotating frame is rotatably installed on the fixed frame, and the rotating frame is slidably matched with the fixed frame, and the rotating frame is transmission-connected to the lifting drive member so that the lifting drive member can drive the rotating frame to rise and fall in the vertical direction relative to the fixed frame.

6. The gluing device according to any one of claims 1 to 4, characterized in that: The conveying mechanism includes a frame, a conveying drive and a flat conveyor chain. A conveying plane is arranged on the outer side of the flat conveyor chain, and the conveying plane is used to place the workpiece. The conveying drive and the flat conveyor chain are both arranged on the frame. The conveying drive is connected to the flat conveyor chain to drive the workpiece on the flat conveyor chain to move. The frame is provided with the gluing position.

7. A method for coating glue, characterized in that: The gluing method is applied to the gluing device according to any one of claims 1 to 6, the gluing device further comprises a positioning mechanism, and the gluing method comprises the following steps: Control the conveying mechanism to transport the workpiece to the gluing position; Controlling the positioning mechanism to position the workpiece and obtaining model information of the workpiece; Controlling the first visual recognition device to obtain position image information of the reference point on the workpiece; The control main control mechanism obtains the gluing path information according to the position image information and the model information; The control driving device drives the glue discharging device to move and apply glue according to the glue coating path information; Controlling the second visual recognition device to obtain contour scanning information of the colloid; Controlling the master control mechanism to obtain colloid profile information according to the profile scanning information; The master control mechanism is controlled to judge whether the size of the colloid is qualified according to the colloid profile information.

8. The gluing method according to claim 7, characterized in that: The second visual recognition device includes a plurality of cameras, each of which is capable of performing laser scanning on the colloid to obtain the contour scanning information, and the contour information of the colloid includes height information, width information and volume information; The step of the master control mechanism acquiring the gluing path information according to the position image information and the model information comprises: Controlling the master control mechanism to obtain actual coordinate information of the reference point according to the position image information; Control the master control mechanism to obtain preset coordinate information and preset path information according to the model information, and obtain position change information according to the actual coordinate information and the preset coordinate information; Controlling the master control mechanism to obtain the gluing path information according to the position change information and the preset path information; The step of controlling the second visual recognition device to obtain the contour scanning information of the colloid comprises: Controlling each of the cameras to perform laser scanning on the colloid and obtain the contour scanning information; The step of controlling the master control mechanism to obtain colloid profile information according to the profile scanning information comprises: The master control mechanism is controlled to obtain the height information, the width information and the volume information of the colloid according to the contour scanning information.

9. The gluing method according to claim 7, characterized in that: The gluing device also includes an auxiliary cleaning mechanism, the conveying mechanism is also provided with a cleaning position, the cleaning position and the gluing position are arranged in sequence along the transmission direction of the conveying mechanism, the auxiliary cleaning mechanism includes a lifting drive, a fixed frame, a rotating frame, a travel switch and an indicator light, the travel switch is communicatively connected with the indicator light, the lifting drive is arranged on the fixed frame, the rotating frame is rotatably installed on the fixed frame, the workpiece includes a starting position and a completion position, the workpiece can be moved from the starting position to the completion position by the rotating frame, the travel switch can detect whether the workpiece is located at the completion position, the rotating frame is slidably matched with the fixed frame, and the rotating frame is transmission-connected to the lifting drive so that the lifting drive can drive the rotating frame to rise and fall in the vertical direction relative to the fixed frame. The step of controlling the conveying mechanism to transport the workpiece to the gluing position includes: placing the workpiece on the rotating frame; Controlling the lifting drive member to drive the rotating frame to rise; rotating the rotating frame and cleaning the outer periphery of the workpiece; Controlling the travel switch to determine whether the workpiece is located at the completion position; If yes, control the indicator light to flash; stopping the rotation of the rotating frame; The lifting drive member is controlled to drive the rotating frame to descend, so that the workpiece contacts the conveying mechanism.

10. The gluing method according to any one of claims 7 to 9, characterized in that: The gluing equipment also includes a positioning mechanism, which is arranged corresponding to the gluing position, and the positioning mechanism includes a mounting frame, a first positioning device and a second positioning device, the first positioning device includes two first positioning components arranged relatively along a first direction, and the two first positioning components can drive the workpiece to move along the first direction to position the workpiece in the first direction; the second positioning device includes a stopper and a second positioning component arranged relatively along a second direction, and the second positioning component can drive the workpiece to move along the second direction so that the workpiece abuts against the stopper, and the second positioning component includes a servo electric cylinder, a connecting frame, a positioning member and a force sensor, the output shaft of the servo electric cylinder is connected to the connecting frame, the force sensor is arranged on the connecting frame, and the positioning member is connected to the force sensor so that the sensor can obtain the force information of the workpiece acting on the positioning member; The step of controlling the positioning mechanism to position the workpiece and obtaining the model information of the workpiece includes: Controlling the two first positioning components to position the workpiece; Controlling the servo electric cylinder to push the workpiece through the positioning member until the workpiece abuts against the stopper, and obtaining the stroke information of the output shaft of the servo electric cylinder and the force information of the force sensor in real time; Determining whether the force information reaches a preset pressure value; If so, the servo electric cylinder is controlled to drive the positioning member to reset, and the master control mechanism is controlled to obtain the model information of the workpiece according to the stroke information and the force information.

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