Automatic packaging and gluing device

Abstract

The invention discloses an automatic packaging and gluing device which comprises a part tool, a moving track, a multi-coordinate moving mechanism, a mold library, a gluing assembly, a mold grabbing assembly, a visual positioning system and a control system. The moving track is arranged on one side of the part tool, a multi-coordinate moving mechanism is arranged on the moving track, and a bearing piece is arranged at the far end of the multi-coordinate moving mechanism; the mold library is arranged on one side of the moving track; the gluing assembly is fixedly arranged on the bearing part and comprises a glue barrel, a glue injection pump, a mixing pipe and a glue cut-off valve; the mold grabbing assembly is fixedly arranged on the bearing part, the mold grabbing assembly is connected with the lower end of the gluing assembly, and the mold grabbing assembly comprises a glue injection nozzle and a piston; the visual positioning system is fixedly arranged on the bearing part; and the control system is arranged on the multi-coordinate moving mechanism. In conclusion, the device has the advantages that the sealant amount is accurately controlled, the sealant utilization rate is greatly improved, the package appearance is smooth, the quality is reliable, the gluing automation degree is high, and the working efficiency is high.

Description

Technical Field

[0001] The invention belongs to the technical field of packaging technology, and in particular relates to an automatic packaging glue coating device. Background Art

[0002] Packaging glue coating is a common process in industrial production, which is mainly used to evenly apply glue or other adhesives on the surface of the material to be packaged or packed to achieve the purpose of sealing, fixing, protecting or decorating. This process is used in many industries, including electronics, aviation, food, medicine, etc.

[0003] At present, the packaging and gluing of aerospace fasteners at home and abroad are all achieved by manual scraper scraping, manual glue injector glue injection, glue dipping and other methods. Not only is the efficiency low, the packaging is irregular in shape, different in size, there are quality problems such as bubbles and pinholes, the glue material is seriously wasted, and it will also cause the parts to be overweight. In the past ten years, related companies at home and abroad have been committed to the research and development of packaging automation equipment, but have not achieved ideal results. The packaging process has always been a pain point in the aircraft assembly industry, especially in the assembly of large aircraft wing panels. For example, a C919 aircraft has tens of thousands of fasteners on the wing panels alone that need to be packaged and sealed with glue. At present, all manual gluing processes are used, which are labor-intensive, inefficient, unstable in quality, and require a lot of rework. Summary of the invention

[0004] In view of the above-mentioned problems, the purpose of the present invention is to provide an automatic packaging and gluing device suitable for packaging and sealing of aerospace fasteners; a multi-coordinate motion mechanism is used in conjunction with a gluing assembly for automatic packaging and gluing, which can realize functions such as automatic positioning, mold taking, and glue injection, thereby improving the automation level of the overall aerospace assembly.

[0005] The technical solution of the present invention is: an automatic packaging and gluing device, comprising: Parts fixtures, used to fix parts; A moving track is arranged at one side of the part tooling, a multi-coordinate moving mechanism is movably arranged on the moving track, a bearing is arranged at the far end of the multi-coordinate moving mechanism, and the multi-coordinate moving mechanism is a multi-axis robot or other device capable of realizing multi-coordinate movement; A mold library is arranged on one side of the moving track, and a plurality of molds of different specifications are arranged on the mold library; A glue coating component, fixedly arranged on the carrier; A mold grabbing assembly is fixedly arranged on the carrier and is used to grab the mold on the mold library. The mold grabbing assembly is connected to the lower end of the glue coating assembly and is used to connect the grabbing mold with the glue coating assembly. A visual positioning system, fixedly arranged on the carrier, and used for locating the position of the parts and the position of the mold; A control system is arranged on the multi-coordinate moving mechanism, and the control system is respectively connected with the multi-coordinate moving mechanism, the gluing component, the mold grabbing component and the visual positioning system.

[0006] Furthermore, the glue coating component comprises: Two rubber cylinders are respectively fixedly arranged on the upper part of the carrier, and the base material and the catalyst are respectively injected into the two rubber cylinders; Two glue injection pumps are respectively arranged below the two glue cylinders, and the outlet end of each glue cylinder is connected to the inlet end of the corresponding glue injection pump; A mixing tube, the upper end of which is connected to the outlet ends of the two glue injection pumps, and the two glue injection pumps are used to inject the materials in the two glue cartridges into the mixing tube for mixing; The glue cut-off valve is arranged at the lower end of the mixing tube and is used to cut off the glue discharge of the mixing tube.

[0007] Furthermore, the mold grabbing assembly comprises: A glue injection nozzle is fixedly arranged below the glue cut-off valve, and a pipeline communicating with the mixing tube is arranged in the glue injection nozzle; The piston is embedded in the injection nozzle through a retaining spring, and the piston is used to cooperate with the retaining spring to grab and fix the mold and make the mold and the pipeline sealed and connected.

[0008] Furthermore, an exhaust pipe and an air inlet pipe are provided on the side of the glue injection nozzle, and the exhaust pipe and the air inlet pipe are respectively connected to the interior of the glue injection nozzle. The exhaust pipe is connected to an external negative pressure component to vacuum the inside of the glue injection nozzle, and the air inlet pipe is connected to an external air inlet component to restore the standard atmospheric pressure in the glue injection nozzle.

[0009] Furthermore, a pressure sensor is provided between the retaining spring and the glue injection nozzle, and the pressure sensor is connected to the control system.

[0010] Furthermore, a collection box is movably provided on the side of the mold library for collecting used molds.

[0011] The working method of the present invention comprises the following steps: fixing a part on a part fixture, calibrating the part and identifying and positioning the target point through a visual positioning system, transmitting the identified target point information to a control system, and controlling a multi-coordinate moving mechanism to move on a moving track, and moving a glue injection nozzle to above a mold matching the target point of the part on a mold library, and then controlling the glue injection nozzle to descend so that the upper end of the mold is clamped into a retaining spring in the glue injection nozzle, judging whether the mold is successfully grasped and fixed through a pressure sensor, and then controlling the multi-coordinate moving mechanism to move the glue injection nozzle above the target point, and two glue injection pumps respectively inject the base material and the catalyst in the two glue cartridges in proportion. Pour the mixture into the mixing tube, mix the base material and the catalyst evenly in the mixing tube for later use, control the injection nozzle to descend through the multi-coordinate moving mechanism, set the mold sealing cover at the target point, start the external negative pressure component, evacuate the inside of the injection nozzle through the vacuum pipe, then open the shut-off valve to perform quantitative injection of glue to the target point to complete the packaging and forming, after the injection is completed, close the shut-off valve to ensure that the sealant has no wire drawing, then close the external negative pressure component, open the external air intake component, restore the standard atmospheric pressure in the injection nozzle through the air intake pipe, control the injection nozzle to separate from the target point through the multi-coordinate moving mechanism, repeat the above steps to complete the packaging of the remaining target points on the part.

[0012] Compared with the prior art, the beneficial effects of the present invention are as follows: the automatic packaging and gluing device provided by the present invention can accurately locate the target point position of the part and the corresponding matching mold by setting a visual positioning system on the multi-coordinate moving mechanism, and a glue injection nozzle capable of grabbing the mold is set on the multi-coordinate moving mechanism, and the glue injection nozzle is controlled by the multi-coordinate moving mechanism to move to the top of the corresponding mold, and the mold can be grabbed by pressing down, which can meet the packaging and gluing use of different parts; and a glue cut-off valve is set to ensure that the sealant has no wire drawing phenomenon, and an exhaust pipe and an air inlet pipe are also set on the side of the glue injection nozzle, which can vacuum the glue injection nozzle during glue injection, improve the sealing between the glue injection nozzle and the part, and reduce the formation of bubble pinholes in the sealant. In short, the present invention has the advantages of accurate control of the amount of sealant, greatly improved utilization rate of sealant, smooth packaging appearance, reliable quality, high degree of automation of gluing, and high work efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] Figure 1 It is a schematic diagram of the overall structure of the present invention; Figure 2 It is a schematic diagram of the structure of the glue coating assembly of the present invention; Figure 3 It is a schematic diagram of the structure of the mold grabbing assembly of the present invention.

[0014] Among them, 1. Parts tooling; 2. Moving track; 3. Multi-coordinate moving mechanism; 31. Carrying parts; 4. Mold library; 5. Glue coating assembly; 51. Glue cylinder; 52. Glue injection pump; 53. Mixing tube; 54. Glue cut-off valve; 6. Mold grabbing assembly; 61. Glue injection nozzle; 62. Pipeline; 63. Piston; 64. Retaining spring; 65. Exhaust pipe; 66. Intake pipe; 67. Pressure sensor; 7. Visual positioning system; 8. Control system; 9. Collection box. DETAILED DESCRIPTION

[0015] The following is combined with Figure 1 To the attached Figure 3 , the specific embodiments of the present invention are described in detail. In the description of the present invention, it should be understood that the terms "center", "upper", "lower", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention.

[0016] The terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include one or more of the features; in the description of the present invention, unless otherwise specified, "plurality" means two or more.

[0017] It should be noted that the circuit connections involved in the present invention all adopt conventional circuit connection methods and do not involve any innovation.

[0018] Example: Figure 1 As shown, an automatic packaging and gluing device includes a part tooling 1, a moving track 2, a multi-coordinate moving mechanism 3, a mold library 4, a gluing component 5, a mold grabbing component 6, a visual positioning system 7 and a control system 8. Among them: Part tooling 1 is used to fix parts; The moving track 2 is arranged at one side of the part fixture 1, and a multi-coordinate moving mechanism 3 is movably arranged on the moving track 2, and a bearing 31 is arranged at the far end of the multi-coordinate moving mechanism 3; The mold library 4 is arranged on one side of the moving track 2. A plurality of molds of different specifications are arranged on the mold library 4. A collecting box 9 is movably arranged on the side of the mold library 4 for collecting used molds. like Figure 2As shown, the glue coating assembly 5 is fixedly arranged on the carrier 31, and the glue coating assembly 5 includes a glue cartridge 51, a glue injection pump 52, a mixing tube 53 and a glue cut-off valve 54; the two glue cartridges 51 are respectively fixedly arranged on the upper part of the carrier 31, and the base material and the catalyst are respectively injected into the two glue cartridges 51; the two glue injection pumps 52 are respectively arranged below the two glue cartridges 51, and the outlet end of each glue cartridge 51 is connected to the inlet end of the corresponding glue injection pump 52; the upper end of the mixing tube 53 is connected to the outlet ends of the two glue injection pumps 52, and the two glue injection pumps 52 are used to inject the materials in the two glue cartridges 51 into the mixing tube 53 for mixing; the glue cut-off valve 54 is arranged at the lower end of the mixing tube 53, and is used to cut off the glue output of the mixing tube 53; The mold grabbing assembly 6 is fixedly arranged on the carrier 31, and is used to grab the mold on the mold library 4. The mold grabbing assembly 6 is connected to the lower end of the glue coating assembly 5, and is used to connect the grabbed mold with the glue coating assembly 5. The mold grabbing assembly 6 includes a glue injection nozzle 61 and a piston 63; the glue injection nozzle 61 is fixedly arranged below the glue cut-off valve 54, and a pipeline 62 connected to the mixing tube 53 is arranged in the glue injection nozzle 61; the piston 63 is embedded in the glue injection nozzle 61 through a retaining spring 64, and the piston 63 is used to cooperate with the retaining spring 64 to The mold is grabbed and fixed, and the mold is sealed and connected with the pipeline 62. An exhaust pipe 65 and an air inlet pipe 66 are provided on the side of the glue injection nozzle 61. The exhaust pipe 65 and the air inlet pipe 66 are respectively connected with the inside of the glue injection nozzle 61. The exhaust pipe 65 is connected to the external negative pressure component to evacuate the inside of the glue injection nozzle 61. The air inlet pipe 66 is connected to the external air inlet component to restore the standard atmospheric pressure in the glue injection nozzle 61. A pressure sensor 67 is provided between the retaining spring 64 and the glue injection nozzle 61. The pressure sensor 67 is connected to the control system 8. The visual positioning system 7 is fixedly arranged on the carrier 31. The visual positioning system 7 is used to locate the position of the parts and the mold. The visual positioning system 7 can complete the workpiece calibration, clamping the mold, and the target point identification and positioning. The visual positioning system 7 uses precise positioning technology to ensure the accurate completion of the workpiece calibration and target point identification and positioning during the gluing process; using digital measurement technology and measuring equipment, in the gluing process, the coordination relationship between the tooling, parts, and sections is established, the generation and processing of data in the assembly process is recorded, and the multi-coordinate motion mechanism is combined to accurately reach the target position; The control system 8 is arranged on the multi-coordinate moving mechanism 3 , and the control system 8 is respectively connected to the multi-coordinate moving mechanism 3 , the gluing component 5 , the mold grabbing component 6 and the visual positioning system 7 .

[0019] The working method of the above embodiment is as follows: fix the part on the part fixture 1, perform part calibration and target point recognition and positioning through the visual positioning system 7, transmit the recognized target point information to the control system 8, the control system 8 controls the multi-coordinate moving mechanism 3 to move on the moving track 2, and moves the glue injection nozzle 61 to the top of the mold matching the part target point on the mold library 4, and then controls the glue injection nozzle 61 to descend, so that the upper end of the mold is stuck in the retaining spring 64 in the glue injection nozzle 61, and determines whether the mold is successfully grasped and fixed through the pressure sensor 67, and then controls the multi-coordinate moving mechanism 3 to move the glue injection nozzle 61 to the top of the target point, and the two glue injection pumps 52 respectively press the base material and the catalyst in the two glue cartridges 51. The base material and the catalyst are evenly mixed in the mixing tube 53 for later use. The glue injection nozzle 61 is controlled to descend by the multi-coordinate moving mechanism 3 so that the mold sealing cover is set on the target point. The external negative pressure component is started to evacuate the inside of the glue injection nozzle 61 through the exhaust pipe 65, and then the glue cut-off valve 54 is opened to quantitatively inject glue to the target point to complete the packaging. After the glue injection is completed, the glue cut-off valve 54 is closed to ensure that the sealant has no wire drawing phenomenon, and then the external negative pressure component is closed, and the external air intake component is opened to restore the standard atmospheric pressure in the glue injection nozzle 61 through the air intake pipe 66. The glue injection nozzle 61 is controlled to separate from the target point by the multi-coordinate moving mechanism 3, and the above steps are repeated to complete the packaging of the remaining target points on the part.

[0020] An automatic packaging and gluing device provided in Example 1 is applied to the wing wall panels of the C919 aircraft. The packaging and gluing efficiency can be improved by more than 50%, and the glue material can be saved by more than 30%.

[0021] The specific models of the above electronic components are not specially specified, and ordinary products available on the market can be selected as long as they can meet the use requirements of the present invention.

[0022] The specific embodiments described above further illustrate the objectives, technical solutions and beneficial effects of the present invention in detail. It should be understood that the above description is only a specific embodiment of the present invention and does not limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention are included in the protection scope of the present invention.

Claims

1. An automatic packaging and gluing device, characterized in that: include: Parts fixture (1), used for fixing parts; A movable track (2) is arranged on one side of the part tooling (1), a multi-coordinate movable mechanism (3) is movably arranged on the movable track (2), and a bearing member (31) is arranged at the far end of the multi-coordinate movable mechanism (3); A mold library (4) is arranged on one side of the movable track (2), and a plurality of molds of different specifications are arranged on the mold library (4); A glue coating component (5) fixedly arranged on the carrier (31); a mold grabbing assembly (6) fixedly arranged on the carrier (31) and used for grabbing the mold on the mold library (4); and the mold grabbing assembly (6) is connected to the lower end of the glue coating assembly (5) and is used for connecting the grabbing mold with the glue coating assembly (5); A visual positioning system (7) fixedly arranged on the carrier (31), the visual positioning system (7) being used to locate the position of the part and the position of the mold; A control system (8) is arranged on the multi-coordinate moving mechanism (3), and the control system (8) is respectively connected to the multi-coordinate moving mechanism (3), the gluing component (5), the mold grabbing component (6) and the visual positioning system (7).

2. The automatic packaging and gluing device according to claim 1, characterized in that: The glue coating component (5) comprises: Two rubber cylinders (51) are respectively fixedly arranged on the upper part of the carrier (31); Two glue injection pumps (52) are respectively arranged below the two glue cylinders (51), and the outlet end of each glue cylinder (51) is connected to the inlet end of the corresponding glue injection pump (52); A mixing tube (53), the upper end of which is connected to the outlet ends of the two glue injection pumps (52), and the two glue injection pumps (52) are used to inject materials in the two glue cartridges (51) into the mixing tube (53) for mixing; A glue cut-off valve (54) is arranged at the lower end of the mixing tube (53) and is used to cut off the glue output of the mixing tube (53).

3. The automatic packaging and gluing device according to claim 2, characterized in that: The mold grabbing assembly (6) comprises: A glue injection nozzle (61) is fixedly arranged below the glue cut-off valve (54), and a pipeline (62) communicating with the mixing tube (53) is provided in the glue injection nozzle (61); The piston (63) is embedded in the glue injection nozzle (61) via a retaining spring (64). The piston (63) is used to cooperate with the retaining spring (64) to grasp and fix the mold and to seal the mold to the pipeline (62).

4. The automatic packaging and gluing device according to claim 3, characterized in that: An air extraction pipe (65) and an air intake pipe (66) are provided on the side of the glue injection nozzle (61); the air extraction pipe (65) and the air intake pipe (66) are respectively connected to the interior of the glue injection nozzle (61); the air extraction pipe (65) is connected to an external negative pressure component and is used to evacuate the interior of the glue injection nozzle (61); the air intake pipe (66) is connected to an external air intake component and is used to restore the interior of the glue injection nozzle (61) to a standard atmospheric pressure.

5. The automatic packaging and gluing device according to claim 3, characterized in that: A pressure sensor (67) is provided between the clamping spring (64) and the glue injection nozzle (61), and the pressure sensor (67) is connected to the control system (8).

6. The automatic packaging and gluing device according to claim 1, characterized in that: A collection box (9) is movably provided on the side of the mold library (4) for collecting used molds.

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