Air spring controller rear cover gluing equipment and gluing method thereof

Abstract

The invention discloses air spring controller rear cover gluing equipment and a gluing method thereof.The air spring controller rear cover gluing equipment comprises a workbench (1), a gluing station (2) and a conveying belt mechanism (3) are arranged on the workbench (1), a multi-direction moving assembly (10) is arranged on the gluing station (2), a lifting plate (11) is arranged at the moving end of the multi-direction moving assembly (10), a mixed glue pipe (12) is arranged on the lifting plate (11), and the conveying belt mechanism (3) is arranged on the conveying belt mechanism (3). A glue spraying nozzle (13) is arranged at the discharging end of the mixed glue pipe (12); a conveying surface of the conveying belt mechanism (3) is provided with a transfer disc (6) for placing an air spring controller shell; and a transfer disc jacking mechanism (7) is arranged at the bottom of the conveying belt mechanism (3) and is positioned at the station of the gluing station (2). According to the gluing device, the rear cover of the controller is stably positioned and placed, so that the gluing stability and the gluing uniformity are improved.

Description

Technical Field

[0001] The invention relates to the field of controller housing assembly equipment, and in particular to a gluing device and a gluing method for a rear cover of an air spring controller. Background Art

[0002] The air spring controller is a key electrical component in the entire air spring shock absorber. Therefore, the entire shell needs to be relatively stable and reliable during assembly, which is particularly important in the gluing process of the cover body. The existing gluing equipment includes a frame, and also includes: a feeding mechanism, which is connected to the frame and is used to transport and feed the packaging shell in the posture to be glued; a mechanical turntable: corresponding to the discharge end of the feeding mechanism, the mechanical turntable is rotatably set on the frame, and the mechanical turntable is also circumferentially distributed with a ring glue base along its rotation direction, and the ring glue base can be rotatably connected to the mechanical turntable to limit and fix the packaging shell; a buffer frame, which is located between the feeding mechanism and the mechanical turntable, and the frame corresponds to the buffer frame and is provided with a sealant that can be used for sealing An optical inspection mechanism for performing appearance inspection on the packaged shell; a loading robot arm is provided on one side of the discharge end of the loading mechanism, and is used to clamp the packaged shell on the buffer rack to the glue ring base of the mechanical turntable, and at the same time clamp the packaged shell on the loading mechanism to the buffer rack; in addition, the docking point between the mechanical turntable and the buffer rack is set as the starting position, and the stations adjacent to the starting position of the frame are provided with a laser roughening mechanism for roughening the glue coating of the packaged shell, a laser detection mechanism for detecting the roughening treatment, a gluing mechanism for gluing the roughening treatment, a glue quantity detection mechanism for detecting the glue coating, and a sorting unloading robot arm for sorting qualified and unqualified packaged shells. In this type of gluing equipment, multiple packaged shells are arranged in a row, and the loading robot arm clamps the shell to the mechanical turntable. There is no fixing device to fix the shell when it is placed on the mechanical turntable, which will reduce the stability of the entire shell during gluing and affect the uniformity of applying the sealant. Summary of the invention

[0003] The purpose of the present invention is to provide a device for gluing the back cover of an air spring controller and a method for gluing the back cover of the air spring controller. The present invention improves the stability and uniformity of gluing by stably positioning the back cover of the controller.

[0004] The technical solution of the present invention: The gluing equipment for the back cover of an air spring controller comprises a workbench, on which a gluing station and a conveyor belt mechanism are provided, on which a multi-directional moving component is provided, the moving end of the multi-directional moving component has a lifting plate, on which a mixing hose is provided, and on which a glue spray nozzle is provided at the discharge end of the mixing hose; a transfer tray for placing the air spring controller shell is provided on the conveying surface of the conveyor belt mechanism, and a transfer tray lifting mechanism is provided at the bottom of the conveyor belt mechanism and at the gluing station.

[0005] In the above-mentioned air spring controller back cover gluing equipment, the gluing station includes a gluing support frame arranged on the workbench, and the multi-directional moving component is arranged on the gluing support frame; the tail end of the lifting plate is provided with a glue nozzle fixing seat, and a fixing plate is hinged on the glue nozzle fixing seat; the mixing rubber hose is fixed between the glue nozzle fixing seat and the fixing plate; a threaded rod is movable at one end of the glue nozzle fixing seat, and a knob for stabilizing the fixing plate is connected to the threaded rod.

[0006] In the aforementioned air spring controller back cover gluing equipment, the transfer plate includes a plate frame arranged on a conveyor belt mechanism, a straight plate is provided on the plate frame, and both sides of the upper surface of the straight plate are respectively formed with a front cover fixing area and a rear cover fixing area through a plurality of fixing blocks, and positioning holes are diagonally arranged at the bottom of the plate frame.

[0007] In the aforementioned air spring controller back cover gluing equipment, the transfer plate lifting mechanism includes a lifting base plate arranged on the workbench, the lifting base plate is provided with a lifting cylinder, the protruding end of the lifting cylinder is connected to a lifting frame, support bars are provided on both sides of the lifting frame, and positioning columns cooperating with the positioning holes are diagonally arranged on the lifting frame; lifting limit plates cooperating with the lifting cylinder are provided on the workbench and on both sides of the conveyor belt mechanism.

[0008] In the aforementioned air spring controller back cover gluing equipment, a glue wiping mechanism for cleaning the glue nozzle is provided in the gluing station; the glue wiping mechanism includes a fixed table arranged in the gluing station, a first pulley and a second pulley are respectively provided on the fixed table via a motor, and symmetrically arranged vertical blocks are also provided on the fixed table, and a plurality of fixed rods for winding cloth belts are provided on the fixed table and around the vertical blocks; a waste bucket is also provided in the fixed table.

[0009] According to the aforementioned gluing method of the air spring controller rear cover gluing device, the steps are as follows:

[0010] Step 1: The transfer plate moves to the gluing station, and the gluing path of the mixing hose is obtained according to the contour of the rear cover. The mixing hose starts to run from the starting point of the gluing path, and glue starts to flow out of the mixing hose;

[0011] Step 2: The glue spray nozzle moves in a straight line at a constant speed along the set glue coating path. The glue coating trajectory at the corner end of the rear cover is a curve. The glue is evenly coated by changing the discharge amount of the mixing hose and the moving speed of the mixing hose.

[0012] Step 3: The mixing hose returns to the starting point of the gluing path, and glue is applied to the path section that does not meet the glue coating amount. Finally, the mixing hose is lifted to complete the gluing of the rear cover.

[0013] In the aforementioned method for gluing the rear cover of the air spring controller, in step 2, the relationship between the gluing process and the glue output of the mixing hose and the moving speed of the mixing hose is as follows:

[0014]

[0015] In the formula, V is the displacement speed of the mixing hose, l is the cross-sectional width of the glue coating, h is the cross-sectional height; M is the glue output of the mixing hose when moving in a uniform straight line.

[0016] In the aforementioned method for controlling the glue coating of the rear cover of the air spring controller, when the mixing hose passes through the curved section of the glue coating path, the relationship between the glue coating process, the glue output of the mixing hose, and the moving speed of the mixing hose is as follows:

[0017]

[0018] M′ is the glue output of the mixing hose in the curved section, k is the weighting coefficient, r is the radius of the sealant contour close to the center of the circle, and R is the radius of the sealant contour away from the center of the circle.

[0019] In the aforementioned method for controlling the glue coating of the rear cover of the air spring controller, when the mixed rubber hose passes through the curved segment glue coating path, the time when the mixed rubber hose glue output changes and the factors of the change in the speed and position of the X and Y axes when the multi-directional moving component drives the mixed rubber hose to move are considered. After adding the two factors for analysis, the relationship between the glue output of the mixed rubber hose and the moving speed of the mixed rubber hose during the curved segment is as follows:

[0020]

[0021] M″ is the glue output of the mixing hose when adding the time of changing the glue output and the speed of the mixing hose, v x is the speed of the mixing hose moving along the x-axis, v y is the speed of the mixing hose moving along the y-axis.

[0022] Compared with the prior art, the present invention has the following advantages:

[0023] 1. In the present invention, the transfer plate is moved to the gluing station by the conveyor belt mechanism, the transfer plate lifting mechanism lifts the transfer plate, the transfer plate is separated from the conveyor belt mechanism, the back cover of the controller is fixed on the transfer plate, and then the multi-directional moving component drives the mixing hose to move, and the glue spray nozzle applies sealant on the inner side along the contour of the back cover; the back cover of the controller is positioned by the transfer plate structure, and there is no need to move the back cover when entering the gluing station, which can ensure the stability of the gluing during gluing and help improve the uniformity of the gluing.

[0024] 2. The transfer tray is lifted with the help of the transfer tray lifting mechanism. The lifting of the transfer tray mainly relies on the positioning columns diagonally arranged on the lifting frame, which can ensure the stability during lifting, and both sides of the transfer tray are lifted at the same time.

[0025] 3. In the gluing method, when the mixing hose passes through the curved section of the gluing path, the glue output and moving speed of the mixing hose are changed to improve the gluing effect of the curved section and ensure the uniformity of the gluing of the curved section. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] Figure 1 It is a structural schematic diagram of the present invention;

[0027] Figure 2 is a schematic diagram of a glue spray nozzle fixing seat;

[0028] Figure 3 is a schematic diagram of a transfer tray;

[0029] Figure 4 It is a schematic diagram of the transfer plate lifting mechanism;

[0030] Figure 5 is a schematic diagram of the eraser mechanism;

[0031] Figure 6 It is a flow chart of the gluing control method of the present invention;

[0032] Figure 7 is a schematic diagram of the glue coating path;

[0033] Figure 8 This is a schematic diagram of the change in the amount of glue discharged from the mixing hose under ideal conditions;

[0034] Fig. 9 It is a schematic diagram of differential division of the curve segment of the glue coating path;

[0035] Fig.10 It is a schematic diagram of the modified path of the curve segment of the glue coating path;

[0036] Fig.11 It is a schematic diagram of the coordinates of the curve segment of the glue coating path;

[0037] Fig.12 It is a schematic diagram of the attachment trajectory of the glue coating path after adding variables;

[0038] Fig.13 It is a schematic diagram of the change of the glue output of the mixing hose after adding variables;

[0039] Fig.14 It is the variation curve of displacement speed of the mixing hose;

[0040] Fig.15 This is a schematic diagram of the difference compensation at the end of the start;

[0041] Fig.16 This is the control flow chart for feedback regulation.

[0042] Explanation of the marks in the accompanying drawings: 1-workbench, 2-glue coating station, 3-conveyor belt mechanism, 5-glue detection station, 6-transfer plate, 7-transfer plate lifting mechanism, 8-glue wiping mechanism, 9-glue coating support frame, 10-multi-directional moving component, 11-lifting plate, 12-mixing hose, 13-glue nozzle, 14-glue nozzle fixing seat, 15-fixed plate, 16-threaded rod, 17-knob, 61-disc frame, 62-straight plate, 63-fixed block, 64-front cover fixing area, 65-rear cover fixing area, 66-positioning hole, 71-lifting bottom plate, 72-lifting cylinder, 73-lifting frame, 74-support bar, 75-positioning column, 76-lifting limit plate, 81-fixed table, 82-first pulley, 83-second pulley, 84-vertical block, 85-fixed rod, 86-waste barrel. DETAILED DESCRIPTION

[0043] The present invention will be further described below in conjunction with the accompanying drawings and embodiments, but they are not intended to limit the present invention.

[0044] Embodiment: Air spring controller back cover glue coating equipment, including a workbench 1, as shown in the attached Figure 1 As shown, the workbench 1 has a gluing station 2 and a glue detection station 5 from left to right, and a conveyor belt mechanism 3 is installed on the workbench 1. The conveyor belt mechanism 3 is arranged in the gluing station 2 and the glue detection station 5. After the back cover is glued, the back cover needs to be inspected for the gluing area to detect whether the sealant is complete and whether there is any leakage or overflow of glue; a transfer tray 6 for placing the air spring controller housing is placed on the conveying surface of the conveyor belt mechanism 3. The main function of the conveyor belt mechanism is to circulate the transfer tray to move the transfer tray to different stations. The bottom of the conveyor belt mechanism 3 and the corresponding stations are installed It is equipped with a transfer plate lifting mechanism 7; the gluing station 2 is equipped with a glue wiping mechanism 8 for cleaning the glue nozzle; the gluing station 2 includes a gluing support frame 9 arranged on the workbench 1, and a multi-directional moving component 10 is installed on the gluing support frame 9. The moving end of the multi-directional moving component 10 has a lifting plate 11, and a mixing hose 12 is installed on the lifting plate 11. The upper end of the mixing hose has two feeding pipes, and the mixing hose has a spiral channel. The sealant raw materials on both sides are mixed in the spiral channel. The discharge end of the mixing hose 12 has a glue spray nozzle 13, and the multi-directional moving component is mainly used to control the walking path of the mixing hose during gluing. The tail end of the lifting plate 11 has a glue spray nozzle fixing seat 14, and a fixing plate 15 is hinged on the glue spray nozzle fixing seat 14. A threaded rod 16 is movable at one end of the glue spray nozzle fixing seat 14, as shown in the attached Figure 2As shown, the threaded rod 16 is connected with a knob 17 for stabilizing the fixing plate. The glue spray nozzle is a replaceable structure. The new glue spray nozzle is connected to the mixing hose. At the same time, the glue spray nozzle is stuck in the glue spray nozzle fixing seat. The fixing plate is rotated to fit with the glue spray nozzle fixing seat. The threaded rod is stuck in one end of the fixing plate. The knob is rotated and fits the fixing plate to achieve the installation of the glue spray nozzle. The glue wiping mechanism 8 includes a fixing table 81 arranged in the glue coating station 2, as shown in the attached Figure 5 As shown, a first pulley 82 and a second pulley 83 are respectively provided on the fixed platform 81 through a motor, and a symmetrically arranged vertical block 84 is also provided on the fixed platform 81. A plurality of fixed rods 85 for winding cloth tape are provided on the fixed platform 81 and around the vertical block 84; a waste bucket 86 is also provided in the fixed platform 81; the material tape is wound around the first pulley and the second pulley, and a material tape is provided between the vertical blocks on both sides through the fixed rod on one side of the vertical block. The first pulley is used for unloading the material, and the second pulley is used for collecting the material. The first pulley is for a new material tape, and the second pulley is for an old material tape. The glue spray nozzle moves between the two vertical blocks, and the two pulleys rotate to clean the glue spray nozzle quickly; the main function of the waste bucket is: there will be a step before gluing, and a part of the sealant should be squeezed out appropriately to avoid the sealant solidifying due to the shutdown of the production line or other factors that may affect the sealing effect, so as to ensure that the extruded sealant is qualified, and the waste bucket is located under the two vertical blocks.

[0045] The transfer tray 6 comprises a tray frame 61 arranged on the conveyor belt mechanism 3, as shown in the attached Figure 3 As shown, a straight plate 62 is installed on the disc frame 61, and the two sides of the upper surface of the straight plate 62 are formed by multiple fixing blocks 63 to form a front cover fixing area 64 and a rear cover fixing area 65. The air spring controller is mainly composed of a front cover and a rear cover. When applying glue, the glue is mainly applied on the rear cover. The two covers are placed in corresponding areas respectively, and the area enclosed by the fixing blocks can effectively fix the cover body. Positioning holes 66 are diagonally arranged at the bottom of the disc frame 61.

[0046] The transfer tray lifting mechanism 7 includes a lifting bottom plate 71 arranged on the workbench 1, as shown in the attached Figure 4As shown, the lifting base plate 71 is equipped with a lifting cylinder 72, and the protruding end of the lifting cylinder 72 is connected to a lifting frame 73. The bottom of the lifting frame is provided with a guide rod, and the bottom of the lifting base plate is provided with a fixed sleeve. The guide rod is arranged in the fixed sleeve to ensure the stability of the lifting of the lifting frame. Support bars 74 are arranged on both sides of the lifting frame 73, and positioning columns 75 cooperating with positioning holes 66 are arranged diagonally on the lifting frame 73; lifting limit plates 76 cooperating with the lifting cylinder 72 are arranged on the workbench 1 and on both sides of the conveyor belt mechanism 3. The lifting cylinder lifts the lifting frame, and the support bars of the lifting frame are in conflict with the bottom of the disc frame. At the same time, the positioning columns are stuck in the positioning holes to achieve the accuracy of positioning when the transfer disc is lifted. The transfer disc is lifted to the lifting limit plate, and the upper side of the transfer disc is limited by the lifting limit plate. At the same time, combined with the lifting effect of the lifting cylinder 72, the transfer disc is fixed. An infrared sensor is installed in the gluing station and close to the side of the transfer plate to detect whether the back cover remains level when placed in the back cover fixing area.

[0047] According to the aforementioned gluing method of the air spring controller rear cover gluing device, the specific steps are as follows:

[0048] Step 1: Move the transfer tray to the gluing station and obtain the gluing path of the mixing hose according to the rear cover contour, as shown in the attached figure. Figure 7 As shown, the sealant density is 1.5g / cc, the mixing hose glue speed is 90g / s, and the mixing hose glue speed in the curve section is 100g / s 2 , the mixing hose starts running from the starting point of the glue coating path, glue starts to flow out of the mixing hose and the mixing in the hose is accelerated, and the cross-sectional area of ​​the sealant is a sector with a width of 3.2 mm and a height of 1 mm;

[0049] Step 2: The glue spray nozzle moves in a straight line at a constant speed along the set glue coating path. The glue coating trajectory at the corner end of the rear cover is a curve. The glue is evenly coated by changing the discharge amount of the mixing hose and the moving speed of the mixing hose.

[0050] Step 3: The mixing hose returns to the starting point of the glue coating path, and glue is applied to the path section that does not meet the glue coating amount. Finally, the mixing hose is lifted up to complete the glue coating of the rear cover. The entire control process is shown in the attached figure. Figure 6 shown.

[0051] The formation of the sealant is mainly related to the amount of glue discharged from the mixing hose and the displacement speed of the mixing hose. The change of the amount of glue discharged from the mixing hose is shown in the attached figure. Figure 8 As shown in the figure, under ideal conditions, the relationship between the amount of glue discharged from the mixing hose and the displacement speed of the mixing hose is obtained as follows:

[0052] M×t=S×L;

[0053] in,

[0054] In the formula, S is the cross-sectional area of ​​the sealant, M is the amount of glue discharged from the mixing hose, L is the total length of the sealant, t is the time for the sealant to be discharged, and v is the displacement speed of the mixing hose;

[0055] Since the cross-sectional shape is not a complete arc, the area of ​​the circle cannot be directly used for calculation. Therefore, the coefficient product of the similar quantity is designed to obtain the following formula:

[0056]

[0057] In the formula, l is the cross-sectional width and h is the cross-sectional height. Based on the above, the relationship between the glue coating process and the glue output of the mixing hose and the moving speed of the mixing hose is as follows:

[0058]

[0059] Where M is the amount of glue discharged from the mixing hose when it moves in a straight line at a uniform speed, and V is the displacement speed of the mixing hose.

[0060] When the mixing hose passes through the curved section of the gluing path, a jump error will occur at the corner of the gluing path. Therefore, the weighted coefficient of the glue output needs to be set according to the radius of the corner. The calculation process is as follows:

[0061] First, the curve segment on the glue coating path is differentiated, as shown in the attached figure. Fig. 9 As shown in the figure, the glue output of the mixed rubber hose in the divided straight path is calculated, and the following formula is obtained:

[0062] dm = dx × l × h;

[0063] dm is the glue output of the straight line segment glue coating path, and dx is the distance the mixing hose moves in the straight line segment.

[0064] Calculate the glue output of the mixed rubber hose on the divided curve path, and get the following formula:

[0065]

[0066] Where dm′ is the glue output of the curved gluing path, is the amount of sealant discharged from the inner diameter part of the sealant. The glue output of the outer diameter part of the sealant;

[0067] Under the same gluing displacement trajectory, the mixing hose moves a distance of dx in the curved segment of the gluing path, and the gluing path sweeps over an arc of angle θ, and the following formula can be obtained:

[0068]

[0069] In the formula, r′ is the trajectory radius of the curved segment of the gluing path, and the following formula is obtained by calculation:

[0070]

[0071] When the mixing hose is in a curved path, the inner area of ​​the glue application path is different from the outer area. When applying sealant, the side close to the center of the circle is prone to glue overflow, and the side away from the center of the circle is prone to glue leakage. Therefore, the curved path of the mixing hose needs to be replanned.

[0072] Assuming that the radius of the trajectory at the corner is r′, the following formula is obtained according to the differential calculus formula:

[0073]

[0074] In the formula, r is the radius of the sealant contour close to the center of the circle, and R is the radius of the sealant contour away from the center of the circle. Combined with the above formula, the following formula can be obtained:

[0075]

[0076] It can be seen from the formula that the value of r′ depends on r and R. Therefore, the gluing trajectory at the corner changes in real time according to the corner radius. The glue output of the mixing hose in the curved path is recalculated to obtain the following formula:

[0077]

[0078] Where dm′ is the glue output of the recalculated curved segment glue coating path.

[0079] Weighting coefficient of the mixing hose in the curved path The weighted coefficient changes in real time according to the sealant profile. The relationship between the weighted glue output and speed is as follows:

[0080]

[0081] Where M′ is the glue output of the mixing hose in the curve segment, k is the weighting coefficient, r is the radius of the sealant contour close to the center of the circle, and R is the radius of the sealant contour away from the center of the circle.

[0082] The revised glue coating path curve segment is shown in the attached figure. Fig.10 shown.

[0083] In this embodiment, as a further preference, when the mixing hose passes through the curved gluing path, it is necessary to consider the time of the change in glue output and the factors of the change in the speed position of the X and Y axes when the multi-directional moving component drives the mixing hose to move. Therefore, these two factors need to be added for calculation and analysis.

[0084] Since the change acceleration of the glue output of the mixing hose has only one value, namely a m =100g / s2, so the displacement and speed of the mixing hose are nonlinear, and the best approach point is found through the function. Take the upper right arc as an example, and bring in detailed data for analysis:

[0085] There is a point Q(x0, y0) in the rectangular coordinate system, and its current initial velocity is v x0 , v y0 , it is known that the displacement trajectory of this point is in the positive direction of the x and y axes, and the acceleration in the x and y directions is a v =-100~100mm / s 2 , this is a variable acceleration motion, let the coordinates of point Q after it starts moving be (x, y), and the speed be v x , v y Since point Q is moving, it will have a new (x', y') coordinate and a new velocity v relative to the previous moment after starting from the starting point. x ′,v y ′, the obtained curve segment coordinates of the glue coating path are shown in the attached figure. Fig.11 As shown, the following formula is obtained:

[0086]

[0087] As attached Fig.11 As shown, the arc with its center at (x0-1.65-r, y0) and radius r′ is located in the first quadrant.

[0088] There is a limit to the time dt, which is related to the glue output of the mixing hose. Since the coordinates are changing, the corresponding glue output also needs to change. However, since the acceleration of the glue output is a constant, the glue output adjustment speed needs to be coordinated with the displacement speed to achieve the best effect. According to the above formula:

[0089]

[0090] The glue coating path is divided into straight segments and curved segments. In the straight segment, the glue output M of the mixing hose begins to change, and its change value changes from 90g / s. The calculation formula of the straight segment path is as follows:

[0091]

[0092] a m is the acceleration of the mixing hose’s glue output, i.e. a m =100g / s 2 .

[0093] When approaching the curved arc section, the amount of glue discharged from the mixing hose is different at every moment, so it is necessary to perform real-time analysis based on the speed, position and amount of glue discharged. At each moment, the change in M' from the previous moment is not constant, so it is necessary to calculate it from the beginning of the attachment trajectory process, in coordination with the speed variable and position variable. The calculation formula is as follows:

[0094]

[0095] The attachment trajectory of the glue coating path is as follows Fig.12 As shown above, the calculation for entering the upper right arc trajectory is the same as for moving out of the arc trajectory, except that x and y need to be swapped. When calculating the two larger arcs below, only the data needs to be changed to complete the appropriate gluing process. After that, the relationship between the amount of glue and the speed after entering the preset trajectory is:

[0096]

[0097] Where, M″ is the glue output of the mixing hose when adding the glue output change time and the mixing hose position speed change curve section, v x is the speed of the mixing hose moving along the x-axis, v y is the speed of the mixing hose moving along the y-axis.

[0098] In order to ensure a smooth route in the curved arc section, the design The value of is equal to the velocity V(v y0 ).

[0099] As attached Fig.13 As shown in the figure, it is a graph of the change in glue output during the entire gluing process. We do not know whether the gluing change trend at the arc section of the curve is increasing or decreasing, so it is shown in the figure. The figure only shows three stages: "starting" "straight line" → "corner" → "straight line" and "ending", and the straight line and corner parts are only partially shown.

[0100] As attached Fig.14 As shown, it is a speed curve diagram of the glue discharge situation. Since the speed changes unpredictably when entering the corner curve trajectory and exiting the corner curve trajectory, the figure does not clearly show the speed change trend of these two stages.

[0101] As attached Fig.15 As shown, the difference compensation amount at the start and end of gluing, the horizontal axis is displacement, and the vertical axis is the glue output; since the glue output amount and the movement speed of the hose start from 0, there will inevitably be a period of glue application that does not meet the set amount at the beginning, so at the end, an additional difference compensation amount is required.

[0102] In this embodiment, when the gluing path begins to enter the curved track, it is bound to undergo a displacement to change the track. During this process, the tracking time may be too long, the path may be too long, or there may be a stall phenomenon.

[0103] Three feedback controls were made for the above problems:

[0104] 1. Detect the sweep angle θ between the tracking point and the center of the corner circle. When θ ≥ 3°, the path used for tracking is too long, which will affect the gluing effect. Directly approach the pre-rail in the fastest way;

[0105] 2. Detect the distance d between the tracking point and the pre-track. When d≤0.02mm, it is assumed that the pre-track is found and the pre-track is approached directly by the shortest path;

[0106] 3. Detect Vx and Vy. The total speed during pre-tracking can be consistent with that in the straight line. Therefore, according to the 3° tracking limit, the horizontal and vertical coordinate speeds of the minimum limit point are used as reference values, and the magnitude cannot exceed ±10%. If it is detected that it exceeds, the speed needs to be reduced so that it can quickly match the set speed when entering the pre-track.

[0107] According to the current speed position of the tracking point, the best way to approach the pre-rail is calculated. Therefore, the best ways of feedback 1 and feedback 2 are slightly different. Feedback 1 is far away from the pre-rail at this time, and directly enters the pre-rail according to the "shortest line segment between two points" method to ensure the normal progress of subsequent processes. Feedback 2 is very close to the pre-rail, so it is not necessary to approach the pre-rail completely with the shortest path. It only needs to adjust the current speed to Vx_max, Vy_max, and directly change the glue output to the preset value to enter the pre-rail.

[0108] To facilitate the calculation of d, an indirect method is used to calculate the distance from the new point to the center of the curve, that is:

[0109]

[0110] When entering a curve, we hope that the speed can be kept the same as when entering a straight line, so Vx_max and Vy_max are:

[0111] v x_max =V×sin3°

[0112] v y_max =V×cos3°;

[0113] As attached Fig.16 As shown, this is the control flow chart of feedback regulation.

[0114] The working principle of the present invention is as follows: the transfer tray is moved to the gluing station through the conveyor belt mechanism, the transfer tray lifting mechanism lifts the transfer tray, the transfer tray is separated from the conveyor belt mechanism, the back cover of the controller is fixed on the transfer tray, and then the multi-directional moving component drives the mixing hose to move, and the glue spray nozzle applies sealant on the inner side along the contour of the back cover; the back cover of the controller is positioned by the transfer tray structure, and there is no need to move the back cover when entering the gluing station, so the stability of the gluing can be guaranteed during gluing, and it helps to improve the uniformity of the gluing.

Claims

1. An air spring controller back cover gluing device, comprising a workbench (1), characterized in that: The workbench (1) is provided with a gluing station (2) and a conveyor belt mechanism (3); the gluing station (2) is provided with a multi-directional moving component (10); the moving end of the multi-directional moving component (10) has a lifting plate (11); the lifting plate (11) is provided with a mixing hose (12); the discharge end of the mixing hose (12) is provided with a glue spraying nozzle (13); the conveying surface of the conveyor belt mechanism (3) is provided with a transfer plate (6) for placing an air spring controller housing; the bottom of the conveyor belt mechanism (3) and located at the gluing station (2) is provided with a transfer plate lifting mechanism (7).

2. The air spring controller back cover gluing device according to claim 1, characterized in that: The gluing station (2) comprises a gluing support frame (9) arranged on a workbench (1), and the multi-directional moving component (10) is arranged on the gluing support frame (9); the tail end of the lifting plate (11) is provided with a glue nozzle fixing seat (14), and a fixing plate (15) is hinged on the glue nozzle fixing seat (14); the mixing hose (12) is fixed between the glue nozzle fixing seat (14) and the fixing plate (15); one end of the glue nozzle fixing seat (14) is movably provided with a threaded rod (16), and the threaded rod (16) is connected with a knob (17) for stabilizing the fixing plate.

3. The air spring controller back cover gluing device according to claim 1, characterized in that: The transfer plate (6) comprises a plate frame (61) arranged on the conveyor belt mechanism (3); a straight plate (62) is arranged on the plate frame (61); two sides of the upper surface of the straight plate (62) are connected by a plurality of fixing blocks (63) to form a front cover fixing area (64) and a rear cover fixing area (65), respectively; and positioning holes (66) are arranged diagonally at the bottom of the plate frame (61).

4. The air spring controller back cover gluing device according to claim 3, characterized in that: The transfer plate lifting mechanism (7) comprises a lifting base plate (71) arranged on the workbench (1), the lifting base plate (71) is provided with a lifting cylinder (72), the protruding end of the lifting cylinder (72) is connected to a lifting frame (73), support bars (74) are arranged on both sides of the lifting frame (73), and positioning columns (75) cooperating with positioning holes (66) are arranged diagonally on the lifting frame (73); lifting limit plates (76) cooperating with the lifting cylinder (72) are arranged on the workbench (1) and located on both sides of the conveyor belt mechanism (3).

5. The air spring controller back cover gluing device according to claim 1, characterized in that: The gluing station (2) is provided with a glue wiping mechanism (8) for cleaning the glue nozzle; the glue wiping mechanism (8) comprises a fixed platform (81), a first pulley (82) and a second pulley (83) are respectively provided on the fixed platform (81) via a motor, the fixed platform (81) is also provided with symmetrically arranged vertical blocks (84), a plurality of fixed rods (85) for winding cloth belts are provided on the fixed platform (81) and around the vertical blocks (84); a waste bucket (86) is also provided in the fixed platform (81).

6. The gluing method of the gluing device for the rear cover of the air spring controller according to any one of claims 1 to 5, characterized in that: The specific steps are as follows: Step 1: The transfer plate moves to the gluing station, and the gluing path of the mixing hose is obtained according to the contour of the rear cover. The mixing hose starts to run from the starting point of the gluing path, and glue starts to flow out of the mixing hose; Step 2: The glue spray nozzle moves in a straight line at a constant speed along the set glue coating path. The glue coating trajectory at the corner end of the rear cover is a curve. The glue is evenly coated by changing the discharge amount of the mixing hose and the moving speed of the mixing hose. Step 3: The mixing hose returns to the starting point of the gluing path, and glue is applied to the path section that does not meet the glue coating amount. Finally, the mixing hose is lifted to complete the gluing of the rear cover.

7. The method for gluing the rear cover of an air spring controller according to claim 6, characterized in that: In step 2, the relationship between the glue coating process, the glue output of the mixing hose, and the moving speed of the mixing hose is as follows: In the formula, V is the displacement speed of the mixing hose, l is the cross-sectional width of the glue coating, h is the cross-sectional height; M is the glue output of the mixing hose when moving in a uniform straight line.

8. The method for controlling the gluing of the rear cover of the air spring controller according to claim 7, characterized in that: When the mixing hose passes through the curved section of the gluing path, the relationship between the gluing process, the glue output of the mixing hose, and the moving speed of the mixing hose is as follows: Where M′ is the glue output of the mixing hose in the curve segment, k is the weighting coefficient, r is the radius of the sealant contour close to the center of the circle, and R is the radius of the sealant contour away from the center of the circle.

9. The method for controlling the gluing of the rear cover of the air spring controller according to claim 7, characterized in that: When the mixing hose passes through the curved section glue coating path, the time when the mixing hose glue output changes and the factors of the change in the speed position of the X and Y axes when the multi-directional moving component drives the mixing hose to move are considered. After adding these two factors for analysis, the relationship between the mixing hose glue output and the mixing hose moving speed during the curved section is as follows: Where, M″ is the glue output of the mixing hose when adding the glue output change time and the mixing hose position speed change curve section, v x is the speed of the mixing hose moving along the x-axis, v y is the speed of the mixing hose moving along the y-axis.

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