A surface roller glue device and roller glue method

Abstract

The present invention discloses a skin roller glue device and a roller glue method. In the roller glue device, the skin to be rolled is fixed on a roller glue component, and the roller glue component drives the skin to reciprocate; the limit component is arranged on the roller glue component and monitors the size and position of the skin, and sends the monitoring result to the central control component; the central control component can send a roller glue instruction to the roller glue component when the skin reaches a preset position according to a preset roller glue area, and the roller glue component can perform a roller glue operation at a preset position on the surface of the skin according to the roller glue instruction. Through the technical solution of the present invention, accurate intelligent roller glue control and precise intermittent roller glue process are realized, and the roller glue coating quality and efficiency are maximized.

Description

Technical Field

[0001] This invention relates to the field of post-processing technology for molded products, and more particularly to a skin roller coating device and a skin roller coating method. Background Technology

[0002] In traditional reciprocating roller coating machine operation, positioning is usually achieved by drawing reference lines at designated locations on the roller coating platform. For surface positioning, simply aligning the edge of the surface with these reference lines completes the accurate positioning operation. However, the roller coating process is continuous, requiring application from the first roller to the last, making intermittent roller coating operations impossible.

[0003] Currently, the line-drawing positioning method relies on manual alignment and drawing of reference lines. This is not only time-consuming but also prone to errors due to its reliance on visual positioning, thus affecting accuracy and production efficiency. This method has certain limitations in practical operation, especially in production environments with high precision requirements, where positioning errors can lead to unstable product quality. Furthermore, the glue-rolling process must be continuous, making intermittent glue-rolling impossible. However, in actual production, the area requiring glue application for a single skin is often only a localized area, not the entire skin, resulting in glue waste. Summary of the Invention

[0004] To address the aforementioned problems, this invention provides a coating roller device and method. The device automatically aligns the coating surface using a mechanical limiting component, eliminating the need for visual alignment; simply pushing the coating surface to the limiting position is sufficient. The parameters of the roller component are automatically adjusted based on the size and position information of the coating surface. This dynamically combines the real-time position information of the coating surface with the roller path planning, achieving precise intelligent roller control and accurate intermittent roller coating, thereby maximizing the quality and efficiency of roller coating.

[0005] To achieve the above objectives, the present invention provides a skin roller coating device, comprising: a roller coating assembly, a limiting assembly, and a central control assembly;

[0006] The rubber coating is fixed onto the rubber roller assembly, and the rubber roller assembly drives the coating to reciprocate.

[0007] The limiting component is disposed on the roller assembly and monitors the size and position of the skin, and sends the monitoring results to the central control component;

[0008] The central control component can send a rolling instruction to the rolling component when the surface reaches a preset position according to the preset rolling area, and the rolling component can perform the rolling operation at the preset position on the surface of the surface according to the rolling instruction.

[0009] In the above technical solution, preferably, the limiting component includes a sensor, a first servo motor, and an adaptive controller;

[0010] The sensor is located at the edge of the roller assembly and is used to monitor the position of the skin. The first servo motor is used to drive the skin to move.

[0011] The adaptive controller is connected to both the sensor and the servo motor. Based on the monitoring results fed back by the sensor, the adaptive controller sends an adaptive control command to the first servo motor, causing the skin to reach a specified position and angle.

[0012] In the above technical solution, preferably, the roller assembly includes a rubber roller and a second servo motor. The second servo motor is connected to the rubber roller and drives the rubber roller to perform lifting and horizontal movements. The rubber roller moves horizontally relative to the surface along a preset roller path trajectory, or the rubber roller is raised or lowered relative to the surface by a preset distance at a predetermined time or position.

[0013] In the above technical solution, preferably, the skin roller coating device further includes a display and an alarm component. The display and the alarm component are respectively connected to the central control component. The display is used to display the parameter interface and system status, and the alarm component is used to issue an audible and visual alarm signal when the sensor detects an abnormality in the roller coating path.

[0014] The present invention also proposes a skin roller coating method, applied to the skin roller coating apparatus disclosed in any of the above technical solutions, comprising:

[0015] Based on the location detected by the sensor, the skin is driven to the designated position by the first servo motor;

[0016] The second servo motor is controlled to drive the glue roller to press down on the skin, while simultaneously moving horizontally relative to the skin according to a preset glue roller path trajectory.

[0017] The roller coating of the skin is achieved by dynamically adjusting the roller path trajectory and the downward pressure distance of the roller relative to the skin using a PID control method.

[0018] In the above technical solution, preferably, the step of driving the skin to a designated position via a first servo motor based on the position detected by the sensor includes the following specific process:

[0019] Based on the position of the epidermis detected by the sensor, the first servo motor is controlled to move the epidermis.

[0020] Based on a preset designated position for the skin, an adaptive control algorithm is used to control the first servo motor to adjust the movement process so that the skin reaches the preset designated position.

[0021] In the above technical solution, preferably, the specific process of adjusting the movement process by controlling the first servo motor through the adaptive control algorithm includes:

[0022] Measure the actual position of the epidermis and calculate the error between the actual position and the target position;

[0023] The control output is calculated based on the PID control principle, and the PID gain is adjusted through an adaptive algorithm based on the dynamic response of the system. The PID parameters are optimized by continuously monitoring the system performance.

[0024] The first servo motor is driven by the control signal output by the adaptive PID algorithm to adjust the position of the skin.

[0025] In the above technical solution, preferably, the control of the second servo motor to drive the glue roller to press down on the skin, while simultaneously moving horizontally relative to the skin according to a preset glue roller path trajectory, specifically includes:

[0026] According to the preset roller path trajectory, the second servo motor is controlled to drive the roller to the starting point of the roller path trajectory, and at the same time drive the roller to press down on the skin;

[0027] The pressure of the rubber roller on the surface is adjusted by controlling the downward pressing distance of the rubber roller relative to the surface;

[0028] After the rubber roller is stably pressed down relative to the skin, the second servo motor drives the rubber roller to move horizontally along the rubber roller path trajectory;

[0029] According to the roller path trajectory, the second servo motor is controlled to drive the roller to lift in the section where roller rolling is not required, and then press down when it reaches the next roller path trajectory.

[0030] In the above technical solution, preferably, the method for planning the roller adhesive path trajectory includes:

[0031] The skin is classified into areas requiring coating and areas not requiring coating based on the pre-input glue application area;

[0032] Based on the real-time position and size information of the epidermis collected by the sensor, the collected contour coordinates are converted into a standard geometric model;

[0033] The adhesive coating area is mapped to the transformed coordinate system, the path command is adjusted according to the actual gap, and the roller adhesive path trajectory is generated according to the coordinate planning.

[0034] The roller path trajectory is smoothed using a spline interpolation algorithm, and then converted into control commands for the second servo motor.

[0035] In the above technical solution, preferably, the process of dynamically adjusting the roller path trajectory of the rubber roller and the downward pressure distance of the rubber roller relative to the surface through the PID control method specifically includes:

[0036] Based on the coating path of the rubber roller on the surface monitored by the sensor and the action code of the encoder in the second servo motor, the deviation of the actual coating path relative to the roller path trajectory and the deviation of the actual pressing distance between the rubber roller and the surface relative to the preset pressing distance are determined.

[0037] The PID control method is used to adjust the coating path of the rubber roller relative to the skin to reduce the deviation of the actual coating path from the roller path trajectory. The PID control method is also used to adjust the pressing distance of the rubber roller relative to the skin to reduce the deviation of the actual pressing distance from the preset pressing distance.

[0038] Compared with the prior art, the beneficial effects of the present invention are as follows: the surface position is automatically aligned by the mechanical limiting component, eliminating the need for visual alignment and requiring only the surface to be pushed to the limiting position. The parameters of the roller coating component are automatically adjusted according to the size and position information of the surface, and the real-time position information of the surface and the path planning of the roller coating are dynamically combined to achieve precise intelligent roller coating control and precise intermittent roller coating process, thereby maximizing the quality and efficiency of roller coating. Attached Figure Description

[0039] Figure 1 This is a schematic diagram of the overall structure of the skin roller adhesive device disclosed in one embodiment of the present invention;

[0040] Figure 2 for Figure 1 An enlarged schematic diagram of the roller assembly and the limiting assembly disclosed in the illustrated embodiment.

[0041] The correspondence between the components and the reference numerals in the diagram is as follows:

[0042] 1. Limiting component, 2. Roller assembly, 3. Main control cabinet, 4. Central control component, 5. Display, 6. Surface, 7. Glue roller, 8. Second servo motor. Detailed Implementation

[0043] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0044] The present invention will now be described in further detail with reference to the accompanying drawings:

[0045] like Figure 1 and Figure 2 As shown, a skin roller coating device provided by the present invention includes: a roller coating assembly 2, a limiting assembly 1, and a central control assembly 4;

[0046] The rubber coating 6 is fixed on the rubber roller assembly 2, and the rubber roller assembly 2 drives the coating 6 to reciprocate.

[0047] The limiting component 1 is set on the roller assembly 2 and monitors the size and position of the skin 6, and sends the monitoring results to the central control component 4;

[0048] The central control component 4 can send a rolling instruction to the rolling component 2 when the surface 6 reaches the preset position according to the preset rolling area. The rolling component 2 can perform the rolling operation at the preset position on the surface of the surface 6 according to the rolling instruction.

[0049] In this embodiment, the mechanical limiting component 1 automatically aligns the skin 6, eliminating the need for visual alignment. The skin 6 is simply pushed to the limiting position. The parameters of the roller coating component 2 are automatically adjusted based on the size and position information of the skin 6. The real-time position information of the skin 6 and the roller coating path planning are dynamically combined to achieve precise intelligent roller coating control and accurate intermittent roller coating process, thereby maximizing the quality and efficiency of roller coating.

[0050] In the above embodiments, preferably, the limiting component 1 includes a sensor, a first servo motor, and an adaptive controller;

[0051] The sensor is located at the edge of the roller assembly 2. The sensor is used to monitor the position of the skin 6. The first servo motor is used to drive the skin 6 to move on the roller platform.

[0052] The adaptive controller is connected to both the sensor and the servo motor. Based on the monitoring results fed back by the sensor, the adaptive controller sends adaptive control commands to the first servo motor, so that the skin 6 reaches the specified position and angle.

[0053] Specifically, the limit component 1 adjusts the control strategy based on real-time feedback to accurately and flexibly position the skin 6. A displacement sensor is used to monitor the position information of the skin 6 in real time, and a first servo motor is used as an actuator to move the skin 6 according to the control signal, thereby adjusting the position of the skin 6.

[0054] Adaptive controllers automatically adjust control parameters based on the dynamic characteristics of the system. During implementation, adaptive PID control methods can be used to adjust PID parameters to cope with different working environments and product changes.

[0055] The roller platform has extremely high requirements for levelness, with the levelness of the entire platform within ±0.05mm.

[0056] The displacement sensor employs a high-precision laser displacement sensor with a sampling frequency set to a high frequency (above 500Hz) to ensure the capture of motion details. The position information is transmitted in real-time to the data processing module via an industrial communication network (CAN bus). The sensor's output position information is filtered (using Kalman filtering) to remove noise, and an algorithm is used to analyze the real-time position, velocity, and direction of motion of the skin 6, extracting key positions (start and end points) and gap ranges of the skin 6.

[0057] In the above embodiments, preferably, the roller assembly 2 includes a rubber roller 7 and a second servo motor 8. The second servo motor 8 is connected to the rubber roller 7 and drives the rubber roller 7 to perform lifting and horizontal movements. The rubber roller 7 moves horizontally relative to the surface 6 along a preset roller path trajectory, or the rubber roller 7 is raised or lowered relative to the surface 6 by a preset distance at a predetermined time or position.

[0058] Specifically, the second servo motor 8 drives the rubber roller 7 to move up and down and horizontally relative to the surface 6. The up and down movement can press the rubber roller 7 down onto the surface 6 to perform the rubber rolling operation, and the horizontal movement can drive the rubber roller 7 to perform the rubber rolling operation relative to the surface 6 along a preset rubber rolling path.

[0059] In the above embodiment, preferably, the skin roller coating device further includes a display 5 and an alarm component. The display 5 and the alarm component are respectively connected to the central control component 4. The display 5 is used to display the parameter interface and system status, and the alarm component is used to issue an audible and visual alarm signal when the sensor detects an abnormality in the roller coating path.

[0060] In the above embodiments, the skin roller coating device also includes a main control cabinet 3, which is used for system control and electrical control of the main body.

[0061] The present invention also proposes a skin roller coating method, applied to the skin roller coating apparatus disclosed in any of the above embodiments, comprising:

[0062] Based on the position detected by the sensor, the first servo motor drives the skin 6 to the designated position;

[0063] The second servo motor 8 is controlled to drive the rubber roller 7 to press down on the skin 6, while simultaneously moving horizontally relative to the skin 6 according to the preset rubber roller path trajectory.

[0064] By dynamically adjusting the roller path trajectory of the rubber roller 7 and the downward pressure distance of the rubber roller 7 relative to the skin 6 through PID control, the roller coating of the skin 6 is achieved.

[0065] In this embodiment, the mechanical limiting component 1 automatically aligns the skin 6, eliminating the need for visual alignment. The skin 6 is simply pushed to the limiting position. The parameters of the roller coating component 2 are automatically adjusted based on the size and position information of the skin 6. The real-time position information of the skin 6 and the roller coating path planning are dynamically combined to achieve precise intelligent roller coating control and accurate intermittent roller coating process, thereby maximizing the quality and efficiency of roller coating.

[0066] In the above embodiment, preferably, based on the position detected by the sensor, the skin 6 is driven to a designated position by the first servo motor. The specific process includes:

[0067] Based on the position of the skin 6 detected by the sensor, the first servo motor is controlled to move the skin 6.

[0068] Based on the preset designated position for the skin 6, the first servo motor is controlled by an adaptive control algorithm to adjust the movement process so that the skin 6 reaches the preset designated position.

[0069] In the above embodiments, preferably, the specific process of adjusting the movement process by controlling the first servo motor through an adaptive control algorithm includes:

[0070] Measure the actual position of the epidermis 6 and calculate the error between the actual position and the target position;

[0071] The control output is calculated based on the PID control principle, and the PID gain is adjusted through an adaptive algorithm based on the dynamic response of the system. The PID parameters are optimized by continuously monitoring the system performance.

[0072] The control signal output by the adaptive PID algorithm drives the first servo motor to adjust the position of the outer skin 6. In the PID parameters, the proportional gain (P) is used for rapid response to changes in position signal, the integral gain (I) is used to eliminate accumulated deviations and stabilize the roller motion, and the derivative gain (D) is used to suppress oscillations caused by excessively rapid position changes. The basic implementation process is as follows:

[0073] (1) Obtain error signal: measure the actual position of the current product in real time and calculate the error between the actual position and the target position.

[0074] e(t) = x target (t)-x actual (t)

[0075] Where e(t) is the error, x target (t) is the target position, x actual (t) represents the current actual position.

[0076] (2) Control Law Design: Based on the PID control principle, design the control law to calculate the control output.

[0077] u(t) = K p e(t)+K i ∫e(t)dt+K d d e (t) / dt

[0078] Among them, K p K i K d These are the proportional, integral, and derivative gain coefficients, respectively. The system adjusts these three parameters based on the feedback of the current error.

[0079] (3) Adaptive PID parameter adjustment: Based on the system's dynamic response, the PID gain is automatically adjusted using an adaptive algorithm. The PID parameters are optimized by continuously monitoring system performance. We use an algorithm that dynamically adjusts the PID gain based on error:

[0080]

[0081] Where, γ p γ i γ d It is the learning rate, the adaptive rate that controls the PID gain.

[0082] (4) Execute control commands: Drive the actuator to adjust the product position according to the control signal u(t) output by the adaptive PID.

[0083] In the above embodiment, preferably, the second servo motor 8 is controlled to drive the rubber roller 7 to press down on the surface 6, while simultaneously moving horizontally relative to the surface 6 according to a preset roller path trajectory. The specific process includes:

[0084] According to the preset roller path trajectory, the second servo motor 8 is controlled to drive the rubber roller 7 to the starting point of the roller path trajectory, and at the same time, the rubber roller 7 is driven to press down on the skin 6.

[0085] The pressure of the rubber roller 7 on the surface 6 is adjusted by controlling the downward pressing distance of the rubber roller 7 relative to the surface 6;

[0086] After the rubber roller 7 is stably pressed down relative to the skin 6, the second servo motor 8 drives the rubber roller 7 to move horizontally along the rubber roller path trajectory;

[0087] According to the roller path trajectory, the second servo motor 8 is controlled to drive the rubber roller 7 to lift in the area where no roller is needed, and then press it down when it reaches the next roller path trajectory.

[0088] Specifically, the second servo motor 8 controls the lifting of the roller in the gap area to avoid wasting coating material. It then quickly falls onto the area to be coated while maintaining stable pressure to achieve uniform coating. In conjunction with roller path adjustment, the second servo motor 8 dynamically controls the distance between the roller 7 and the surface 6, thereby adjusting the pressure to ensure consistent coating amount. Pressure adjustment is controlled by another PID loop, with the goal of making the actual coating thickness close to the preset value.

[0089] In the above embodiments, preferably, the method for planning the roller path trajectory includes:

[0090] Based on the pre-input glue application area, the surface is classified into areas requiring coating and areas not requiring coating.

[0091] Based on the real-time position and size information of the epidermis 6 collected by the sensor, the collected contour coordinates are converted into a standard geometric model;

[0092] Map the glue application area to the transformed coordinate system, adjust the path instructions according to the actual gap, and generate the roller glue path trajectory according to the coordinate planning.

[0093] A spline interpolation algorithm is used to smooth the roller path trajectory, and the roller path trajectory is converted into control commands for the second servo motor 8.

[0094] In the above embodiments, preferably, the roller path trajectory of the rubber roller 7 and the downward pressure distance of the rubber roller 7 relative to the skin 6 are dynamically adjusted by a PID control method. The specific process includes:

[0095] Based on the coating path of the rubber roller 7 on the skin 6 monitored by the sensor and the action code of the encoder in the second servo motor 8, the deviation of the actual coating path from the roller path trajectory and the deviation of the actual pressing distance between the rubber roller 7 and the skin 6 from the preset pressing distance are determined.

[0096] The PID control method is used to adjust the coating path of the rubber roller 7 relative to the skin 6 to reduce the deviation of the actual coating path from the roller path trajectory. The PID control method is also used to adjust the pressing distance of the rubber roller 7 relative to the skin 6 to reduce the deviation of the actual pressing distance from the preset pressing distance.

[0097] The above are merely preferred embodiments of the present invention and are not intended to limit the present invention. Various modifications and variations can be made to the present invention by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. A skin roller glue device, characterized in that: include: Roller rubber assembly, limit assembly and central control assembly; The surface of the roller rubber to be used is fixed on the roller rubber assembly, and the roller rubber assembly drives the surface to reciprocate; The limit assembly is arranged on the roller rubber assembly and monitors the size and position of the skin, and sends the monitoring result to the central control assembly; The central control component can send a roller glue instruction to the roller glue component when the skin reaches a preset position according to a preset roller glue area, and the roller glue component can perform a roller glue operation at a preset position on the surface of the skin according to the roller glue instruction.

2. The skin roller glue device according to claim 1, characterized in that: The limit assembly includes a sensor, a first servo motor and an adaptive controller; The sensor is arranged at the edge of the roller rubber assembly, the sensor is used to monitor the position of the skin, and the first servo motor is used to drive the skin to move; The adaptive controller is connected to the sensor and the servo motor respectively. The adaptive controller sends an adaptive control instruction to the first servo motor according to the monitoring result fed back by the sensor, so that the epidermis reaches a specified position and angle.

3. The skin roller glue device according to claim 1, characterized in that: The rubber roller assembly includes a rubber roller and a second servo motor, which is transmission-connected to the rubber roller and drives the rubber roller to perform lifting and horizontal movements. The rubber roller moves horizontally relative to the skin along a preset rubber roller path trajectory, or the rubber roller is lifted or pressed down a preset distance relative to the skin at a predetermined time or position.

4. The surface roller glue device according to claim 1, characterized in that: It also includes a display and an alarm component, which are respectively connected to the central control component. The display is used to display the parameter interface and system status, and the alarm component is used to send out an audible and visual alarm signal when the sensor detects an abnormality in the roller rubber path.

5. A method for applying a skin roller glue, characterized in that: The skin roller glue device used in any one of claims 1 to 4 above comprises: According to the position detected by the sensor, the skin is driven to a designated position by a first servo motor; Control the second servo motor to drive the rubber roller to press down the skin, and at the same time move horizontally relative to the skin according to a preset roller rubber path trajectory; The roller rubber path trajectory of the rubber roller and the downward pressure distance of the rubber roller relative to the skin are dynamically adjusted through the PID control method to achieve roller rubber coating of the skin.

6. The method for applying a skin roller glue according to claim 5, characterized in that: According to the position detected by the sensor, the first servo motor drives the skin to reach the specified position, and the specific process includes: According to the position of the epidermis monitored by the sensor, controlling the first servo motor to drive the epidermis to move; According to the preset designated position of the epidermis, the first servo motor is controlled by an adaptive control algorithm to adjust the movement process so that the epidermis reaches the preset designated position.

7. The method for applying a skin roller glue according to claim 6, characterized in that: The specific process of controlling the first servo motor to adjust the movement process by using the adaptive control algorithm includes: measuring the actual position of the epidermis and calculating the error between the actual position and the target position; Calculate the control output according to the PID control principle, adjust the PID gain through an adaptive algorithm according to the dynamic response of the system, and optimize the PID parameters by continuously monitoring the system performance; The first servo motor is driven to adjust the position of the skin according to the control signal output by the adaptive PID algorithm.

8. The method for applying a skin roller glue according to claim 6, characterized in that: The controlling of the second servo motor to drive the rubber roller to press down the skin and move the rubber roller horizontally relative to the skin according to a preset roller rubber path trajectory includes: According to a preset roller rubber path trajectory, controlling the second servo motor to drive the rubber roller to reach the starting point of the roller rubber path trajectory, and at the same time driving the rubber roller to press down the epidermis; Adjusting the pressure of the rubber roller on the skin by controlling the downward pressing distance of the rubber roller relative to the skin; After the rubber roller is stably pressed downward relative to the skin, the rubber roller is driven by the second servo motor to move horizontally along the roller rubber path track; According to the roller rubber path trajectory, the second servo motor is controlled to drive the rubber roller to lift at the position where the roller rubber is not needed, and press it down when reaching the next roller rubber path trajectory.

9. The method for applying a skin roller glue according to claim 6, characterized in that: The planning method of the roller rubber path trajectory includes: Classifying the epidermis into an area to be coated and an area not to be coated according to a pre-input glue coating area; According to the real-time position and size information of the epidermis collected by the sensor, the collected contour coordinates are converted into a standard geometric model; Mapping the glue coating area to the converted coordinate system, adjusting the path instruction according to the actual gap, and generating the roller glue path trajectory according to the coordinate planning; A spline interpolation algorithm is used to smooth the roller rubber path trajectory, and the roller rubber path trajectory is converted into a control instruction for the second servo motor.

10. The method for applying a skin roller glue according to claim 6, characterized in that: The PID control method is used to dynamically adjust the roller rubber path trajectory of the rubber roller and the downward pressure distance of the rubber roller relative to the skin, and the specific process includes: According to the coating path of the rubber roller on the skin monitored by the sensor and the action code of the encoder in the second servo motor, the deviation of the actual coating path relative to the roller rubber path trajectory and the deviation of the actual pressing distance between the rubber roller and the skin relative to the preset pressing distance are determined; The coating path of the rubber roller relative to the skin is adjusted by the PID control method to reduce the deviation of the actual coating path relative to the roller rubber path trajectory, and the pressing distance of the rubber roller relative to the skin is adjusted by the PID control method to reduce the deviation of the actual pressing distance relative to the preset pressing distance.

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