Curved surface self-adaptive gluing device and use method

Abstract

The invention discloses a curved surface self-adaptive gluing device and a use method, and belongs to the technical field of gluing. In the device, a glue barrel penetrates through a fixed base plate in an up-down moving mode, the lower end of the glue barrel is provided with a glue opening enabling high-viscosity glue liquid to flow out smoothly, and a piston capable of moving up and down is arranged in the glue barrel; the guide wheels are arranged at the lower end of the glue barrel, distributed on the left and right sides of the glue opening and used for being in contact with a coated surface; the floating mechanism is fixed with the rubber sleeve and can be connected with the fixed substrate in an up-and-down floating manner; the glue scraping mechanism is fixed to the fixed base plate, located right behind the glue opening and used for scraping glue in constant-force fit contact with the coated surface. The gluing device is good in gluing quality, high in efficiency, free of damage to the coated surface of a coated component, convenient to use and particularly suitable for curved surface coating and plane coating.

Description

Technical Field

[0001] The present invention relates to the technical field of gluing, and in particular to a curved surface adaptive gluing device and a use method thereof. Background Art

[0002] Adhesive bonding technology is a technology that uses adhesives to connect two components without drilling holes in the components. Adhesive bonding technology can obtain sufficient connection strength without destroying the structure of the bonded material, has good fatigue resistance, uniform stress distribution, and has a lighter connection structure than mechanical connection methods. It is widely used in the connection of complex curved surface components in the aerospace field. Among them, high-viscosity glue is an important adhesive for bonding such components.

[0003] The coating method is the core content of the adhesive coating process. The coating method determines the overall design of the coating system and directly affects the quality of the adhesive layer and coating. For the existing coating methods, due to large and complex curved components and irregular surfaces, the adhesive film paper method, roller coating method, and spin coating method are not suitable for the coating of adhesive on the surface of structural plates; although the coating method has good coating quality and high efficiency, it is difficult to spray the adhesive liquid into atomization due to the poor fluidity of high-viscosity colloids and large pipeline transportation resistance, so it is not applicable. In order to ensure the thickness of the adhesive film, the scraping method requires the use of a scraper to scrape the glue, and there is a possibility that the scraper contacts the structure and causes damage to the structure. The screen printing method has good adhesive layer quality and high precision, but the structure size is large, and the large-size screen will be deformed. In addition, for components of non-uniform size, the cost of making screens corresponding to each structural plate one by one is too high, so it is not suitable for adhesive coating of large-scale structures.

[0004] An existing curved surface gluing device uses a multi-axis moving mechanism to drive the glue applicator to apply glue on the curved surface, and achieves curved surface coverage through path planning, but cannot guarantee uniform coverage of the glue. This is because the thickness of the glue layer is small, the precision requirement is high, and the cumulative error of the end motion of the multi-axis moving mechanism is large. It is difficult to rely on the motion accuracy of the multi-axis moving mechanism to achieve the requirement of uniform and equal thickness coverage of the curved surface with glue.

[0005] An existing automated glue scraping system adopts a method of injecting glue while scraping glue. A robot grabs the glue scraping module to perform scraping operations to achieve the coating of glue. A scraper is used to scrape off excess glue on the workpiece, but the scraper contacts the glue coating hard and is easy to scratch the glue surface of the coated surface. Moreover, the scraper is only suitable for flat parts and is difficult to meet the needs of uniform glue coating on curved parts. The dispensing valve is difficult to achieve rapid and large-scale extrusion of high-viscosity glue.

[0006] In summary, the current high-viscosity glue scraping method is mainly used for flat parts and is difficult to apply to curved surface coating; the uniform coating of high-viscosity glue on curved surfaces mainly adopts manual scraping, which has problems such as low efficiency and poor consistency of glue coating quality. Summary of the invention

[0007] The present invention aims to solve at least one of the technical problems existing in the prior art. To this end, one purpose of the present invention is to provide a curved surface adaptive glue coating device, which has good glue coating quality, high efficiency, does not cause damage to the coated surface of the coated component, is easy to use, and is particularly suitable for curved surface coating, and is also suitable for flat surface coating.

[0008] The curved surface adaptive gluing device according to an embodiment of the present invention comprises:

[0009] Fixed base plate;

[0010] A rubber cylinder, the rubber cylinder can move up and down through the fixed base plate, the lower end of the rubber cylinder has a rubber port for allowing high-viscosity glue to flow out smoothly, and a piston that can move up and down is provided in the rubber cylinder;

[0011] A guide wheel, which is arranged at the lower end of the rubber cylinder and distributed on the left and right sides of the rubber port, and is used to contact the coated surface;

[0012] A floating mechanism, the floating mechanism is fixed to the rubber cylinder and is connected to the fixed base plate in a manner that it can float up and down;

[0013] The glue scraping mechanism is fixed on the fixed base plate and is located directly behind the glue port, and is used for scraping glue in constant force contact with the coated surface.

[0014] According to the curved surface adaptive glue coating device of the embodiment of the present invention, when in use, the glue cylinder filled with high-viscosity glue is installed on the floating mechanism, and the fixed base plate is fixed on the moving mechanism through the quick-release connection; the moving mechanism drives the curved surface adaptive glue coating device to apply glue on the coated surface according to the set trajectory, wherein during the glue coating process, the guide wheel moves in close contact with the coated surface under the action of the floating mechanism, and at the same time, the glue port is opened, and the piston moves downward under the action of the piston driver, so that the high-viscosity glue in the glue cylinder flows from the glue port to the coated surface, and the high-viscosity glue flowing on the coated surface is scraped evenly by the subsequent scraping mechanism in close contact with the coated surface. By rationally planning the glue coating path, uniform coating of the entire coated surface can be achieved.

[0015] The curved surface adaptive gluing device of the embodiment of the present invention has the following advantages: adaptive and rapid gluing can be achieved by setting a glue port for smoothing the flow of high-viscosity glue and a piston for driving the high-viscosity glue in the glue cylinder; the high-viscosity glue is in adaptive contact with the coated surface such as a curved surface or a flat surface at the glue outlet, thereby achieving adaptability to the curvature of the coated surface; the glue outlet amount is controlled by adjusting the glue port moving speed and the pressure on the top of the piston in the glue cylinder based on the curvature characteristics of the coated surface, thereby achieving control of the glue layer thickness and achieving adaptability to the curvature of the coated surface; by setting a floating Mechanism and guide wheel, during the gluing process, the guide wheel can always keep in contact with the coated surface under the action of the floating mechanism, overcoming the problem of inaccurate relative position of the gluing device and the coated surface caused by the transmission error of the moving mechanism, so that there is a certain gap between the glue port and the coated surface, avoiding the glue port from scratching the coated surface, and also facilitating the high-viscosity glue to flow out from the glue port; by setting the scraping mechanism, during the gluing process, the high-viscosity glue applied by the front glue cylinder on the coated surface will be evenly scraped by the scraping mechanism that passes subsequently, so as to achieve uniform coating of the glue layer on the coated surface, which is also conducive to controlling the thickness of the glue layer.

[0016] In summary, the curved surface adaptive gluing device of the embodiment of the present invention can adaptively and evenly apply glue to the coated surface such as a curved surface or a flat surface, has good gluing quality, high efficiency, does not cause damage to the coated surface of the coated component, and is easy to use.

[0017] In some embodiments, the width of the glue port in the left-right direction is smaller than the distance between the guide wheel located on the left side and the guide wheel located on the right side in the left-right direction.

[0018] In some embodiments, the floating mechanism includes a floating connecting plate and a plurality of floating compression springs, wherein the floating connecting plate is located below the fixed base plate and is detachably fixed to the rubber cylinder, and the plurality of floating compression springs are distributed at intervals along the outer circumference of the rubber cylinder and are arranged between the floating connecting plate and the fixed base plate.

[0019] In some embodiments, the scraper mechanism includes a scraper plate and a force control unit, the scraper plate is fixed to the fixed substrate through the force control unit, and the scraper plate is used to scrape the glue in constant force contact with the coated surface.

[0020] In some embodiments, the width of the scraper plate in the left-right direction is greater than the distance between the guide wheel located on the left side and the guide wheel located on the right side in the left-right direction.

[0021] In some embodiments, a lifting mechanism is also included, which supports the floating mechanism and is installed on the fixed base plate to drive the rubber cylinder to rise and fall.

[0022] In some embodiments, the lifting mechanism includes a lifting plate and a lifting drive; the lifting plate is located below the floating connecting plate and supports the floating connecting plate, and the lifting drive is fixed on the fixed base plate to drive the lifting plate to move up and down.

[0023] In some embodiments, a sealing mechanism is also included, and the sealing mechanism is used to open and close the glue port.

[0024] In some embodiments, a sealing groove is provided on the side wall of the glue port; the sealing mechanism includes a sealing drive assembly and a sealing plate; the sealing drive assembly is arranged on the fixed base plate and is connected to the sealing plate, and is used to drive the sealing plate to be inserted into the sealing groove and moved out of the sealing groove to close and open the glue port accordingly.

[0025] The invention also provides a method for using the curved surface adaptive gluing device.

[0026] The method for using the curved surface adaptive gluing device according to an embodiment of the present invention comprises the following steps:

[0027] S1: Install the rubber cylinder filled with high-viscosity glue on the floating mechanism, and fix the fixed base plate on the moving mechanism through a quick-release connection;

[0028] S2: The moving mechanism drives the curved surface adaptive gluing device to apply glue on the coated surface according to the set trajectory, wherein during the gluing process, the guide wheel moves in close contact with the coated surface under the action of the floating mechanism, and at the same time, the glue port is opened, and the piston moves downward under the action of the piston driver, so that the high-viscosity glue in the glue cylinder flows from the glue port to the coated surface, and the high-viscosity glue flowing on the coated surface is scraped evenly by the subsequent glue scraping mechanism in close contact with the coated surface with constant force.

[0029] Since the method for using the curved surface adaptive gluing device of the embodiment of the present invention adopts the curved surface adaptive gluing device of the embodiment of the present invention, the method for using the curved surface adaptive gluing device of the embodiment of the present invention has the same technical effect as the curved surface adaptive gluing device of the embodiment of the present invention, and will not be repeated here.

[0030] Additional aspects and advantages of the present invention will be given in part in the following description and in part will be obvious from the following description, or will be learned through practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] The above and / or additional aspects and advantages of the present invention will become apparent and easily understood from the description of the embodiments in conjunction with the following drawings, in which:

[0032] Figure 1It is a schematic diagram of the curved surface adaptive gluing device of the present invention;

[0033] Figure 2 A schematic diagram of a rubber cylinder of the curved surface adaptive glue coating device of the present invention;

[0034] Figure 3 It is a schematic diagram of the sealing mechanism of the curved surface adaptive gluing device of the present invention;

[0035] Figure 4 It is a schematic diagram of an application scenario of the curved surface adaptive gluing device of the present invention.

[0036] Reference numerals:

[0037] Surface adaptive gluing device 1000; fixed base plate 10; glue cylinder 20; glue port 201; sealing groove 2011; piston 202; latch 203; guide wheel 30; floating mechanism 40; floating connecting plate 401; latch groove 4011; floating compression spring 402; floating guide column 403; glue scraping mechanism 50; glue scraping plate 501; force control unit 502; lifting mechanism 60; lifting plate 601; lifting drive 602; lifting guide column 603; sealing mechanism 70; sealing plate 701; sealing drive assembly 702; fixed base 7021; pull rod shaft 7022; sealing guide column 7023; pre-compression spring 7024; sealing drive 7025; guide pulley 7026; moving mechanism 2000. DETAILED DESCRIPTION

[0038] Embodiments of the present invention are described in detail below, examples of which are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention, and cannot be understood as limiting the present invention.

[0039] Combine the following Figures 1 to 4 Detailed description of the curved surface adaptive gluing device 1000 according to an embodiment of the present invention.

[0040] like Figures 1 to 4 As shown, the curved surface adaptive glue coating device 1000 according to an embodiment of the present invention includes a fixed base plate 10, a glue cylinder 20, a guide wheel 30, a floating mechanism 40 and a glue scraping mechanism 50.

[0041] The fixed base plate 10 is mainly used to provide installation functions for other functional components of the curved surface adaptive glue coating device 1000, such as the glue cylinder 20, the floating mechanism 40, the glue scraping mechanism 50, etc. At the same time, the fixed base plate 10 can also be fixed to the quick-release clamping part so as to be connected to the mobile mechanism 2000 such as a robot arm (such as Figure 4As shown) a quick-release reliable connection is achieved, thereby enabling the curved surface adaptive gluing device 1000 to be quickly and reliably installed at the end of the mobile mechanism 2000.

[0042] The rubber cartridge 20 is mainly used to store high-viscosity glue. The rubber cartridge 20 can move up and down through the fixed substrate 10. Specifically, the fixed substrate 10 is provided with a through hole. The rubber cartridge 20 passes through the through hole and can move up and down smoothly relative to the fixed substrate 10. The lower end of the rubber cartridge 20 has a glue port 201 for smooth flow of high-viscosity glue. The glue port 201 is mainly used for the high-viscosity glue in the rubber cartridge 20 to flow out. In order to make the high-viscosity glue flow out smoothly and quickly, ensure that the path through which the glue port 201 passes corresponds to the surface parts that need to be coated are all adaptively covered with high-viscosity glue. The glue port 201 adopts a large-sized glue port 201. The large-sized glue port 201 can be understood as being larger than the glue port size of a conventional glue cartridge. The large-sized glue port 201 can utilize the fluidity of the high-viscosity glue to automatically cover the coated surface below, such as a curved surface or a flat surface, to adapt to changes in the curvature of the coated surface, and automatically fill in the pits on the coated surface of the adhered component; according to the curvature of the coated surface below the glue port 201, the moving speed of the glue port 201 and the pressure on the top of the piston 202 in the glue cartridge 20 are adjusted to achieve precise control of the glue thickness of the glue port 201 and achieve self-adaptation to the curvature of the coated surface. The inner cavity of the rubber cylinder 20 is directly connected to the large-sized rubber port 201, realizing large-capacity adaptive rapid glue supply, meeting the requirements of uniform and efficient coating of large-area curved surfaces with high-viscosity glue; the glue port 201 can also be used to inject high-viscosity glue into the rubber cylinder 20; the rubber cylinder 20 is provided with a piston 202 that can move up and down, and the piston 202 is mainly used to push the high-viscosity glue in the rubber cylinder 20 downward under the action of the piston driver, so that the high-viscosity glue can flow out of the rubber port 201 more smoothly, so as to ensure that the path passed by the rubber port 201 corresponds to the surface area that needs to be coated with high-viscosity glue. It should be noted that the upper end of the rubber cylinder 20 is provided with an opening, which can allow the piston 202 to be placed in the rubber cylinder 20, and then the upper end opening of the rubber cylinder 20 is sealed; the piston driver can be pneumatically driven, or it can be replaced with a cylinder, an electric push rod, a spring, etc.

[0043] The guide wheel 30 is arranged at the lower end of the glue cylinder 20 and distributed on the left and right sides of the glue port 201, and is used to contact the coated surface; by setting the guide wheel 30, during the glue coating process, the guide wheel 30 always keeps in contact with the coated surface, overcoming the problem of inaccurate relative position between the glue coating device and the coated surface caused by the transmission error of the moving mechanism 2000, so that there is a certain gap between the glue port 201 and the coated surface, avoiding the glue port 201 from scratching the coated surface, and also facilitating the high viscosity glue to flow out of the glue port 201. At the same time, the friction between the guide wheel 30 and the coated surface is small, and the coated surface will not be damaged. Preferably, the guide wheel 30 adopts a flexible guide wheel 30, which can better avoid the guide wheel 30 from damaging the coated surface.

[0044] The floating mechanism 40 is detachably fixed to the glue cylinder 20, which facilitates the replacement and installation of the glue cylinder 20; the floating mechanism 40 is connected to the fixed base plate 10 in a floating manner up and down. During the glue coating process, the guide wheel 30 can always maintain contact with the coated surface under the action of the floating mechanism 40, overcoming the problem of inaccurate relative position between the glue coating device and the coated surface caused by the transmission error of the moving mechanism 2000, so that a certain gap is created between the glue port 201 and the coated surface, avoiding the glue port 201 from scratching the coated surface, and also facilitating the high-viscosity glue to flow out from the glue port 201.

[0045] The scraping mechanism 50 is fixed on the fixed substrate 10 and is located directly behind the glue port 201, and is used to scrape the glue with constant force contact with the coated surface, that is, the scraping mechanism 50 is always in constant force contact with the coated surface during the scraping process. During the glue coating process, the high-viscosity glue liquid applied by the front glue cylinder 20 on the coated surface will be scraped evenly by the scraping mechanism 50 passing later, so as to achieve uniform coating of the glue layer, which is also conducive to controlling the thickness of the glue layer.

[0046] According to the curved surface adaptive glue coating device 1000 of the embodiment of the present invention, when in use, the glue cylinder 20 filled with high-viscosity glue is installed on the floating mechanism 40, and the fixed base plate 10 is fixed on the moving mechanism 2000 through the quick-release connection part; the moving mechanism 2000 drives the curved surface adaptive glue coating device 1000 to apply glue on the coated surface according to the set trajectory, wherein during the glue coating process, the guide wheel 30 moves in contact with the coated surface under the action of the floating mechanism 40, and at the same time, the glue port 201 is opened, and the piston 202 moves downward under the action of the piston driver, so that the high-viscosity glue in the glue cylinder 20 flows from the glue port 201 to the coated surface, and the high-viscosity glue flowing on the coated surface is scraped evenly by the subsequent scraping mechanism 50 in contact with the coated surface with constant force. By rationally planning the glue coating path, uniform coating of the entire coated surface can be achieved.

[0047] The curved surface adaptive gluing device 1000 of the embodiment of the present invention has the following advantages: adaptive and rapid gluing can be achieved by setting a glue port 201 for smoothing the flow of high-viscosity glue and a piston 202 for driving the high-viscosity glue in the glue cylinder 20. The high-viscosity glue is in adaptive contact with the coated surface such as a curved surface or a flat surface at the glue port 201, thereby achieving adaptability to the curvature of the coated surface; the glue output of the glue port 201 is controlled by adjusting the moving speed of the glue port 201 and the pressure on the top of the piston 202 in the glue cylinder 20 based on the curvature characteristics of the coated surface, thereby achieving control of the thickness of the glue layer and achieving adaptability to the curvature of the coated surface; by setting a floating Mechanism 40 and guide wheel 30, during the gluing process, the guide wheel 30 can always keep in contact with the coated surface under the action of the floating mechanism 40, overcoming the problem of inaccurate relative position between the gluing device and the coated surface caused by the transmission error of the moving mechanism 2000, so that there is a certain gap between the glue port 201 and the coated surface, avoiding the glue port 201 from scratching the coated surface, and also facilitating the high-viscosity glue to flow out from the glue port 201; by setting the scraping mechanism 50, during the gluing process, the high-viscosity glue applied by the front glue cylinder 20 on the coated surface will be scraped evenly by the scraping mechanism 50 that passes subsequently, so as to achieve uniform coating of the glue layer on the coated surface, which is also conducive to controlling the thickness of the glue layer.

[0048] In summary, the curved surface adaptive gluing device 1000 of the embodiment of the present invention can adaptively and evenly apply glue to the coated surface such as a curved surface or a flat surface, has good gluing quality and high efficiency, does not cause damage to the coated surface of the coated component, is easy to use, and is particularly suitable for curved surface coating, and is also suitable for flat surface coating.

[0049] In some embodiments, there are four guide wheels 30, two of which are symmetrically distributed with the other two guide wheels 30 on the left and right sides of the glue port 201. During the glue coating process, the four guide wheels 30 are always in contact with the coated surface such as a curved surface or a flat surface under the action of the floating mechanism 40, so that the glue cylinder 20 is always perpendicular to the coated surface and a certain gap is maintained between the glue port 201 and the coated surface, thereby overcoming the problem of inaccurate relative position between the glue coating device and the coated surface caused by the transmission error of the moving mechanism 2000, avoiding the glue port 201 from scratching the coated surface, and also facilitating the high-viscosity glue to flow out of the glue port 201.

[0050] In some embodiments, the width of the glue port 201 in the left-right direction is smaller than the distance between the guide wheel 30 located on the left and the guide wheel 30 located on the right. In this way, during the glue coating process, the high-viscosity glue flowing from the glue port 201 to the coated surface will not be stained by the guide wheel 30.

[0051] In some embodiments, the floating mechanism 40 includes a floating connecting plate 401 and a plurality of floating compression springs 402. The floating connecting plate 401 is located below the fixed base plate 10 and is detachably fixed to the rubber cylinder 20, so as to facilitate replacement and installation of the rubber cylinder 20. The plurality of floating compression springs 402 are spaced along the outer circumference of the rubber cylinder 20 and are arranged between the floating connecting plate 401 and the fixed base plate 10. In this way, the floating compression springs 402 exert elastic force on the guide wheel 30 through the floating connecting plate 401 and the rubber cylinder 20, so that the guide wheel 30 can always maintain contact with the coated surface during the gluing process, so that the guide wheel 30 can adapt to the coated surface such as a curved surface or a plane, so that the rubber cylinder 20 is always perpendicular to the coated surface and the glue port 201 maintains a certain gap with the coated surface, thereby overcoming the problem of inaccurate relative position of the glue coating device and the coated surface caused by the transmission error of the moving mechanism 2000, avoiding the glue port 201 from scratching the coated surface, and also facilitating the high viscosity glue to flow out from the glue port 201.

[0052] In some embodiments, Figure 2 As shown, a clamping protrusion 203 is provided on the outer circumference of the rubber cartridge 20, a mounting hole for the rubber cartridge 20 to pass through is provided on the floating connecting plate 401, a clamping groove 4011 is provided on the side wall of the mounting hole, the clamping groove 4011 is clamped with the clamping protrusion 203, and the floating connecting plate 401 and the clamping protrusion 203 are fixed by a fixing member 404, for example, the fixing member 404 is a pull ring pin and fixes the floating connecting plate 401 and the clamping protrusion 203 in the radial direction. Therefore, the replacement and installation of the rubber cartridge 20 are convenient.

[0053] In some embodiments, the floating mechanism 40 further includes a plurality of floating guide posts 403, which are spaced apart along the outer circumference of the rubber tube 20 and the lower ends of the plurality of floating guide posts 403 are fixed with the floating connecting plate 401 on top, and the plurality of floating guide posts 403 can slide up and down through the fixed base plate 10, and the upper ends of the plurality of floating guide posts 403 are fixed with anti-slip parts. The provision of the floating guide posts 403 facilitates the rubber tube 20 to move up and down smoothly, and the rubber tube 20 shakes, which helps to improve the quality of glue coating.

[0054] In some implementations, the scraper mechanism 50 includes a scraper plate 501 and a force control unit 502. The scraper plate 501 is fixed to the fixed substrate 10 through the force control unit 502, and the scraper plate 501 is used to scrape the glue in constant force contact with the coated surface. During the gluing process, the scraper plate 501 is in constant force contact with the coated curved surface under the action of the force control unit 502, ensuring that the scraper plate 501 and the coated surface remain in contact; during the gluing movement, the glue cylinder 201 is located in the front to achieve gluing on the coated surface, and the scraper plate 501 is located in the back to achieve uniform coating of the glue layer. Preferably, the scraper plate 501 is a flexible scraper plate 501 to avoid scratching the coated surface.

[0055] In some embodiments, the width of the scraper 501 in the left-right direction is greater than the left-right distance between the guide wheel 30 on the left and the guide wheel 30 on the right. In this way, the scraper 501 can scrape the high-viscosity glue to the place where the guide wheel 30 rolls.

[0056] In some embodiments, a lifting mechanism 60 is further included, which supports the floating mechanism 40 and is installed on the fixed base plate 10, and is used to drive the rubber cylinder 20 to rise and fall. For example, on the coated surface, when it is not necessary to apply glue to the coated surface and only allow the scraping operation, the rubber cylinder 20 can be driven to rise and lift by the lifting mechanism 60, so that the guide wheel 30 is separated from the coated surface, and only the scraping mechanism 50 is allowed to scrape glue on the coated surface. When it is necessary to apply glue to the coated surface again, the rubber cylinder 20 is driven to fall by the lifting mechanism 60, so that the guide wheel 30 contacts the coated surface. In other words, by setting the lifting mechanism 60, it is allowed to perform only the scraping operation on certain areas of the coated surface.

[0057] In some embodiments, the lifting mechanism 60 includes a lifting plate 601 and a lifting driver 602; the lifting plate 601 is located below the floating connecting plate 401 and supports the floating connecting plate 401, and the lifting driver 602 is fixed on the fixed base plate 10 and is used to drive the lifting plate 601 to move up and down. By setting the lifting mechanism 60, the rubber cylinder 20 can be lifted and lowered, and only the scraping operation can be performed on certain areas of the coated surface.

[0058] In some embodiments, the lifting mechanism 60 further includes a lifting guide column 603, which is disposed on the fixed base plate 10 and the lifting plate 601, so as to facilitate the rubber cylinder 20 to move up and down smoothly without shaking. Specifically, the lower end of the lifting guide column 603 is fixed on the lifting plate 601, and the lifting guide column 603 can be connected to the fixed base plate 10 by sliding up and down, for example, by a linear bearing. The number of the lifting guide columns 603 can be multiple, for example, four, and can be distributed at intervals around the lifting plate 601.

[0059] In some embodiments, a sealing mechanism 70 is further included, and the sealing mechanism 70 is used to open and close the glue port 201. By setting the sealing mechanism 70, the glue port 201 can be conveniently closed and opened. When the glue port 201 is closed, the high-viscosity glue in the glue cylinder 20 can be prevented from flowing out. When the glue port 201 is opened, glue can be applied to the coated surface.

[0060] In some embodiments, Figures 1 to 3A sealing groove 2011 is provided on the side wall of the glue port 201 shown; the sealing mechanism 70 includes a sealing drive assembly 702 and a sealing plate 701; the sealing drive assembly 702 is arranged on the fixed base plate 10 and is connected to the sealing plate 701, and is used to drive the sealing plate 701 to insert into the sealing groove 2011 and move out of the sealing groove 2011 to close and open the glue port 201 accordingly.

[0061] Specifically, the sealing drive assembly 702 includes a fixed base 7021 , a pull rod shaft 7022 , a sealing guide column 7023 , a pre-compression spring 7024 , a pull cable (not shown in the figure) and a sealing driver 7025 .

[0062] Among them, the fixed base 7021 is fixed on the fixed base plate 10, and the pull rod shaft 7022 is movably arranged on the fixed base 7021 up and down; the sealing guide column 7023 is arranged horizontally, one end of the sealing guide column 7023 is fixed to the fixed base 7021, and the other end of the sealing guide column 7023 is guided and slidably matched with the sealing plate 701; the pre-stressed spring 7024 is arranged between the sealing plate 701 and the fixed base 7021, and preferably, the pre-stressed spring 7024 is sleeved on the sealing guide column 7023; one end of the cable is connected to the sealing plate 701 and the other end is connected to the pull rod shaft 7022, and preferably, the cable passes around the guide pulley 7026 on the fixed base 7021, and the cable is located between the sealing plate 701 and the guide pulley 7026 The direction of the segment is consistent with the direction of the sealing guide column 7023, and the extension direction of the other end of the cable located between the guide pulley 7026 and the pull rod shaft 7022 is consistent with the direction of the pull rod shaft 7022; the sealing driver 7025 is connected to the pull rod shaft 7022, specifically, the output end of the sealing driver 7025 is connected to the pull rod shaft 7022 through the notch plate; when the glue port 201 needs to be closed, the sealing driver 7025 is in an initial state, and the sealing plate 701 closes the glue port 201 under the elastic force of the pre-compression spring 7024. When the glue port 201 needs to be opened, the sealing driver 7025 drives the pull rod shaft 7022 to move, thereby driving the cable to move, and the cable drives the sealing plate 701 to move out of the glue port 201, thereby realizing the opening of the glue port 201.

[0063] The present invention also provides a method for using the curved surface adaptive gluing device 1000 .

[0064] The method for using the curved surface adaptive gluing device 1000 according to an embodiment of the present invention comprises the following steps:

[0065] S1: Install the glue cartridge 20 filled with high-viscosity glue on the floating mechanism 40, and fix the fixed substrate 10 on the end of the moving mechanism 2000, such as a robot arm, through the quick-release connection. Before this step, the high-viscosity glue can be injected into the glue cartridge 20 through the glue port 201 of the glue cartridge 20. After the high-viscosity glue is injected, the glue port 201 is sealed to prevent the high-viscosity glue from flowing out of the glue port 201.

[0066] S2: The moving mechanism 2000 drives the curved surface adaptive gluing device 1000 to apply glue on the coated surface according to the set trajectory. During the gluing process, the guide wheel 30 moves in close contact with the coated surface under the action of the floating mechanism 40. At the same time, the glue port 201 is opened, and the piston 202 moves downward under the action of the piston driver, so that the high-viscosity glue in the glue cylinder 20 flows from the glue port 201 to the coated surface. The high-viscosity glue flowing on the coated surface is scraped evenly by the subsequent scraping mechanism 50 in close contact with the coated surface with constant force.

[0067] Specifically, by presetting the trajectory offset, the spring of the scraper 501 is compressed. Driven by the moving mechanism 2000, the scraper 501 and the guide wheel 30 are in contact with the coated surface during the movement, thereby overcoming the non-contact situation that may be caused by the movement error of the moving mechanism 2000. Then, the glue port 201 is opened to move the piston 202 downward. The piston 202 pushes the high-viscosity glue to be output through the glue port 201. At the glue outlet 201, the high-viscosity glue contacts and adaptively fits the coated curved surface to achieve coverage. At the same time, driven by the moving mechanism 2000, the scraper mechanism 50 moves relative to the coated surface to evenly scrape the high-viscosity glue that flows onto the coated surface. According to the curvature parameters of the coated surface, the moving speed of the curved surface adaptive glue coating device 1000 and the driving air pressure above the sliding plug are adjusted to achieve a constant glue output from the glue port 201. While the glue port 201 is moving, the scraper plate 501 on the rear side scrapes the high-viscosity glue flowing out of the glue port 201 with constant force to achieve uniform coating of the curved surface with the glue.

[0068] It should be noted that the two gluing paths can be set with a width such that the two gluing areas after scraping overlap; and gluing of the entire coated surface can be achieved by planning equidistant curved gluing paths.

[0069] Since the method for using the curved surface adaptive gluing device 1000 of the embodiment of the present invention adopts the curved surface adaptive gluing device 1000 of the embodiment of the present invention, the method for using the curved surface adaptive gluing device 1000 of the embodiment of the present invention has the same technical effect as the curved surface adaptive gluing device 1000 of the embodiment of the present invention, and will not be repeated here.

[0070] Although the embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the claims and their equivalents.

Claims

1. A curved surface adaptive gluing device, characterized in that: include: Fixed base plate; A rubber cylinder, the rubber cylinder can move up and down through the fixed base plate, the lower end of the rubber cylinder has a rubber port for allowing high-viscosity glue to flow out smoothly, and a piston that can move up and down is provided in the rubber cylinder; A guide wheel, which is arranged at the lower end of the rubber cylinder and distributed on the left and right sides of the rubber port, and is used to contact the coated surface; A floating mechanism, the floating mechanism is fixed to the rubber cylinder and is connected to the fixed base plate in a manner that it can float up and down; The glue scraping mechanism is fixed on the fixed base plate and is located directly behind the glue port, and is used for scraping glue in constant force contact with the coated surface.

2. The curved surface adaptive gluing device according to claim 1, characterized in that: The width of the glue port in the left-right direction is smaller than the distance between the guide wheel located on the left side and the guide wheel located on the right side in the left-right direction.

3. The curved surface adaptive gluing device according to claim 1, characterized in that: The floating mechanism includes a floating connecting plate and a plurality of floating compression springs. The floating connecting plate is located below the fixed base plate and is detachably fixed to the rubber cylinder. The plurality of floating compression springs are distributed at intervals along the outer circumference of the rubber cylinder and are arranged between the floating connecting plate and the fixed base plate.

4. The curved surface adaptive gluing device according to claim 2, characterized in that: The scraper mechanism comprises a scraper plate and a force control unit. The scraper plate is fixed to the fixed base plate through the force control unit. The scraper plate is used for scraping the glue in constant force contact with the coated surface.

5. The curved surface adaptive gluing device according to claim 4, characterized in that: The width of the scraper plate in the left-right direction is greater than the distance between the guide wheel located on the left side and the guide wheel located on the right side in the left-right direction.

6. The curved surface adaptive gluing device according to claim 3, characterized in that: It also includes a lifting mechanism, which supports the floating mechanism and is installed on the fixed base plate, and is used to drive the rubber cylinder to rise and fall.

7. The curved surface adaptive gluing device according to claim 6, characterized in that: The lifting mechanism comprises a lifting plate and a lifting driver; the lifting plate is located below the floating connecting plate and supports the floating connecting plate, and the lifting driver is fixed on the fixed base plate and is used for driving the lifting plate to move up and down.

8. The curved surface adaptive gluing device according to claim 1, characterized in that: It also includes a sealing mechanism, which is used to open and close the glue port.

9. The curved surface adaptive gluing device according to claim 8, characterized in that: A sealing groove is provided on the side wall of the glue port; the sealing mechanism includes a sealing drive assembly and a sealing plate; the sealing drive assembly is arranged on the fixed base plate and is connected to the sealing plate, and is used to drive the sealing plate to be inserted into the sealing groove and moved out of the sealing groove to close and open the glue port accordingly.

10. A method for using the curved surface adaptive gluing device according to any one of claims 1 to 9, characterized in that: The steps include: S1: Install the rubber cylinder filled with high-viscosity glue on the floating mechanism, and fix the fixed base plate on the moving mechanism through a quick-release connection; S2: The moving mechanism drives the curved surface adaptive gluing device to apply glue on the coated surface according to the set trajectory, wherein during the gluing process, the guide wheel moves in close contact with the coated surface under the action of the floating mechanism, and at the same time, the glue port is opened, and the piston moves downward under the action of the piston driver, so that the high-viscosity glue in the glue cylinder flows from the glue port to the coated surface, and the high-viscosity glue flowing on the coated surface is scraped evenly by the subsequent glue scraping mechanism in close contact with the coated surface with constant force.

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