Adhesive clamping device and method for thin-wall part machining

Abstract

The invention belongs to the related technical field of machining, and discloses a gluing clamping device and method for thin-wall part machining, the device comprises a supporting base, a supporting head and functional units, the supporting base is connected to the tail end of a mechanical arm, the supporting head is connected to the supporting base and used for supporting a workpiece, and the multiple functional units are arranged on the supporting base and located around the supporting head; the plurality of functional units comprise a dispensing unit, a curing unit and a degumming unit, the dispensing unit is used for coating light curing glue, the curing unit is used for providing curing light, and the degumming unit is used for coating degumming solvent; when the mechanical arm drives the supporting head to reach a preset supporting point on the workpiece, the dispensing unit and the curing unit sequentially work to clamp and fix the workpiece, and when machining is completed, the glue removing unit works. The dispensing unit, the curing unit and the glue removing unit are additionally arranged around the supporting head at the tail end of the mechanical arm, the adaptability of the supporting head is high, automatic gluing clamping can be achieved, labor force is reduced, and the production efficiency and the safety coefficient are improved.

Description

Technical Field

[0001] The present invention belongs to the technical field related to mechanical processing, and more specifically, relates to an adhesive clamping device and method for processing thin-walled parts. Background Art

[0002] For thin-walled workpieces, the manufacturing site usually needs to design special tooling for each part model before processing, which greatly increases production time and production costs; before processing, the tooling and the mounting surface of the part need to be fixed by gluing. Due to manual clamping, problems such as poor gluing quality and waste of labor will occur. Due to the continuity of the machine tool processing process, traditional manual gluing will have problems such as high risk factor, waste of labor, and low production efficiency in processing processes such as thin-walled workpiece processing that requires gluing and clamping.

[0003] Therefore, how to provide a quick clamping device and method with high efficiency and safety factor is a technical problem that technical personnel in this field need to solve urgently. Summary of the invention

[0004] In view of the above defects or improvement needs of the prior art, the present invention provides a gluing and clamping device and method for processing thin-walled parts, which is used to solve the problems of high risk factor, waste of labor and difficulty in ensuring production efficiency in the current gluing and clamping process.

[0005] To achieve the above-mentioned purpose, according to one aspect of the present invention, there is provided a gluing clamping device for processing thin-walled parts, comprising a support seat, a support head and a functional unit, wherein the support seat is used to be connected to the end of a robot arm, the support head is connected to the support seat and is used to support a workpiece, a plurality of functional units are arranged around the support head on the support seat, and the plurality of functional units are respectively arranged toward the end portion of the support head, and the plurality of functional units include a glue dispensing unit, a curing unit and a glue removal unit, the glue dispensing unit is used to apply light-curing glue, the curing unit is used to provide curing light, and the glue removal unit is used to apply a glue removal solvent; When the robotic arm drives the support head to reach a preset support point on the workpiece, the gluing unit and the curing unit work in sequence to clamp and fix the workpiece. When the processing of the preset support point is completed, the gluing unit works to enable the support head to leave the preset support point and move to the next preset support point.

[0006] According to the adhesive clamping device for processing thin-walled parts provided by the present invention, a pressure sensor is connected between the support head and the support seat, and the mechanical arm drives the support head to move according to the detection result of the pressure sensor to control the support pressure; And / or, the support head is in the shape of a spherical surface, a conical surface or a flat surface.

[0007] According to the adhesive clamping device for processing thin-walled parts provided by the present invention, any of the functional units is connected to the support seat via an installation component, the installation component includes an adapter block, a fixed seat is provided on the support seat corresponding to any of the functional units, the functional unit is connected to the adapter block, and the adapter block can be rotatably connected to the fixed seat.

[0008] According to the adhesive clamping device for processing thin-walled parts provided by the present invention, the installation assembly also includes a first connecting member, a second connecting member and a movable guide rod, one side of the adapter block is rotatably connected to the fixed seat through the first connecting member, the other side of the adapter block is rotatably connected to one end of the movable guide rod through the second connecting member, the other end of the movable guide rod passes through the support seat, and the support seat is provided with fixing members corresponding to the plurality of functional units on the side away from the support head, and the other end of the movable guide rod is detachably connected to the fixing member.

[0009] According to the adhesive clamping device for processing thin-walled parts provided by the present invention, an adapter plate is provided on the side of the fixing member away from the support seat, the adapter plate is connected to the support seat or the fixing member, and the adapter plate is connected to the end of the robot arm.

[0010] According to the adhesive clamping device for processing thin-walled parts provided by the present invention, the adapter block is provided with a plurality of mounting holes in the axial direction and / or radial direction of the support seat, and the functional unit is detachably connected to the adapter block at the mounting holes.

[0011] According to the adhesive clamping device for processing thin-walled parts provided by the present invention, the curing unit is provided with a plurality of units along the circumference of the support seat; And / or, the support head is configured as a transparent structure.

[0012] According to another aspect of the present invention, there is provided a method for adhesive clamping of thin-walled parts processing, based on any one of the above-mentioned light-curing adhesive clamping devices, the clamping method comprising: Positioning process: Control the end of the robot arm to move to the vicinity of the preset support point of the workpiece, reduce the speed of the end of the robot arm to make the support head reach the preset support point, and drive the support head to move through the robot arm to adjust the support force between the support head and the workpiece to reach the preset support force range; Gluing process: after positioning is completed, the glue dispensing unit is controlled to start spraying light-curing glue between the end of the support head and the workpiece, and then the curing unit is turned on to wait for the light-curing glue to be completely cured, and the workpiece is glued and clamped; Glue removal process: when the adhesive area of ​​the workpiece is processed, the glue removal unit is turned on, and the glue removal solvent is sprayed onto the support head and the workpiece surface to remove the glue; Control the end of the robotic arm to move to the next support point and repeat the above steps.

[0013] The adhesive clamping method for processing thin-walled parts provided by the present invention further comprises, before the positioning process: Adjust the relative position relationship between each functional unit and the support head: debug the relative position between the dispensing unit and the support head, and the degumming unit and the support head, adjust the irradiation point of the curing unit, fix each functional unit after the test position, and fix the clamping device to the end of the robotic arm.

[0014] According to the gluing clamping method for processing thin-walled parts provided by the present invention, the gluing process further includes: in the process of controlling the glue dispensing unit to open and spray the light-curing glue between the end of the support head and the workpiece, rotating the end of the mechanical arm so that the glue dispensing unit sprays the light-curing glue uniformly around the support head; The degumming process also includes: after the degumming unit sprays the degumming solvent onto the support head and the workpiece surface, the end of the robotic arm is rotated to remove the adhesive solids between the support head and the workpiece through the torsional force between the robotic arm and the workpiece and the degumming solvent.

[0015] In general, compared with the prior art, the above technical solutions conceived by the present invention provide a gluing clamping device and method for processing thin-walled parts: 1. By installing a dispensing unit, a curing unit and a degumming unit around the support head at the end of the robot arm, the dispensing unit is used to apply shadowless glue in the local area around the contact between the support head and the workpiece, and the curing unit on the device is used to irradiate the shadowless glue to achieve rapid light-cured adhesive clamping. The degumming unit is set to release the adhesive fixation by spraying a degumming solvent when the processing is completed, so as to facilitate the clamping processing of the next part. The adhesive clamping device can realize automatic adhesive clamping, reduce labor, and improve production efficiency and safety factor; 2. By using a mechanical arm to support the workpiece and realize the quick clamping method of automatic gluing, all functional units can realize automatic operation, which not only saves the need to make separate tooling for workpieces of different models, but also saves a lot of economic, time and labor costs. At the same time, the end support head point support method can well adapt to various curved surface workpieces and also reduce the amount of glue used; 3. The light-curing adhesive has an extremely fast adhesive speed, and curing can be achieved in just a few seconds. Therefore, the production efficiency is significantly improved in the processing scene, and the multi-workpiece production process can be quickly clamped, or in the follow-up support environment such as mirror milling, this adhesive solution can also be used to achieve pseudo follow-up support, greatly improving production efficiency; 4. During clamping and positioning, the piezoelectric force sensor is used to provide feedback on the precise positioning of the end support head and the workpiece; the adapter block is assembled with each functional unit, and the relative position is adjusted by moving the guide rod to ensure the safety and reliability of the light curing point, and can also adapt to the interference problems caused by the subsequent replacement of different functional module components. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 It is an overall schematic diagram of the adhesive clamping device for processing thin-walled parts provided by the present invention.

[0017] Figure 2 It is an exploded schematic diagram of the adhesive clamping device for processing thin-walled parts provided by the present invention.

[0018] Figure 3 It is a schematic diagram of the arrangement of the movable guide rod provided by the present invention.

[0019] Throughout the drawings, the same reference numerals are used to denote the same elements or structures, wherein: 1-adapter plate; 2-three-hole connector; 3-support seat; 31-fixed seat; 32-fixed piece; 4-moving guide rod; 5-adapter block; 6-dispensing valve; 7-two-hole connector; 8-glue removal nozzle; 9-support head; 10-pressure sensor; 11-ultraviolet curing lamp; 12-fixed pin; 13 and 14-bolts. DETAILED DESCRIPTION

[0020] In order to make the purpose, technical solutions and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention. In addition, the technical features involved in the various embodiments of the present invention described below can be combined with each other as long as they do not conflict with each other.

[0021] See also Figure 1 and Figure 2 The present embodiment provides a gluing clamping device for processing thin-walled parts, the gluing clamping device comprises a support seat 3, a support head 9 and a functional unit, the support seat 3 is used to be connected to the end of the robot arm, the support head 9 is connected to the support seat 3 and is used to support the workpiece, the support seat 3 is provided with a plurality of functional units around the support head 9, the plurality of functional units are respectively arranged toward the end portion of the support head 9, the plurality of functional units comprise a dispensing unit, a curing unit and a degumming unit, the dispensing unit is used to apply light-curing glue, the curing unit is used to provide curing light, and the degumming unit is used to apply a degumming solvent; When the robot arm drives the support head 9 to reach the preset support point on the workpiece, the gluing unit and the curing unit work in sequence to clamp and fix the workpiece. When the processing of the preset support point is completed, the gluing unit works to enable the support head 9 to leave the preset support point and move to the next preset support point.

[0022] The clamping area of ​​the adhesive clamping device provided in this embodiment is a local contact adhesive clamping, which is used to provide local adhesive support and fixation for the workpiece. For example, it can be used to provide local support and fixation for the corresponding part of the workpiece as the processing part changes in mirror milling. That is, the mirror milling process is performed by using a robot arm to provide auxiliary support. The auxiliary support device for the mirror milling process takes the form of a support head 9 at the end of the robot arm, thereby greatly improving the stiffness of the thin-walled parts at this point. The adhesive clamping device provided in this embodiment can also be used in other processing techniques, with the purpose of being able to provide local support clamping and the support part being changeable, and the specific application process is not limited.

[0023] This embodiment further takes into account that the thin-walled parts can still deviate to the unsupported side when supported by the support head 9. In order to further reduce the deflection at this point, it is proposed to use gluing to bond the support head 9 to the support point of the weakly rigid thin-walled parts, and remove the glue before processing to the next support point and move the end tool of the robot arm to the next support point for clamping again.

[0024] Specifically, the glue dispensing unit includes a glue dispensing valve 6, a glue dispensing pipeline and a glue injector. The glue dispensing valve 6 can be connected to the support seat 3 and move integrally with the end of the robot arm. The glue dispensing valve 6 is connected to the glue injector through the glue dispensing pipeline. The glue dispensing pipeline can be a hose. The glue injector can be placed on the ground near the robot arm. The glue is a light-curing glue. The curing unit can be an ultraviolet curing lamp 11. The glue removal unit includes a glue removal nozzle 8, a glue removal pipeline and a glue removal agent container. The glue removal nozzle 8 can be connected to the support seat 3 and move integrally with the end of the robot arm. The glue removal nozzle 8 is connected to the glue removal agent container through the glue removal pipeline. The glue removal pipeline can be a hose. The glue removal agent container can be placed on the ground near the robot arm.

[0025] The 6 nozzles of the dispensing valve adjust the glue spraying speed through the dispensing machine control box, replacing the manual gluing operation, making the gluing process safer, more uniform and reliable, saving labor, and solving the problem of being unable to apply glue in dangerous processing scenarios.

[0026] Furthermore, a pressure sensor 10 is connected between the support head 9 and the support seat 3 , and the robot arm drives the support head 9 to move according to the detection result of the pressure sensor 10 to control the support pressure.

[0027] The support head 9 is in the shape of a sphere, a cone or a plane. The support head 9 provides local support to the surface of the workpiece. The support head 9 can be in the shape of a sphere, a cone, a small plane, etc. The workpiece can be a plane or a complex curved part. The clamping device is highly versatile and can be applied to any process that requires local support and fixation. Shadowless glue is applied to the local area around the contact between the support head 9 and the workpiece through the dispensing valve 6, and the shadowless glue is irradiated by the ultraviolet curing lamp 11 on the device to achieve rapid light-curing adhesive clamping; This photocuring method does not have strict requirements on the transparency of the supporting material; the dispensing valve 6, the degumming nozzle 8 and the ultraviolet curing lamp 11 are assembled around the supporting head 9, and the relative positions of the components can be adjusted. The clamping method is local micro-area gluing. The glue application area is the gap between the supporting head 9 and the local area of ​​the workpiece. The filled glue is photocured by irradiating the ultraviolet lamp installed around the side. It is not required that at least one side of the photocurable material is transparent. If the supporting head 9 is made of transparent material, the curing lamp can be installed in a more preferred position, such as directly behind the supporting head 9, to reduce the number of ultraviolet curing lamps 11 and enhance the photocuring effect. The photocuring gluing speed of this scheme is extremely fast, and the clamping can be completed in just a few seconds.

[0028] Specifically, any of the functional units is connected to the support seat 3 via an installation component, the installation component includes an adapter block 5, a fixed seat 31 is provided on the support seat 3 corresponding to any of the functional units, the functional unit is connected to the adapter block 5, and the adapter block 5 can be rotatably connected to the fixed seat 31.

[0029] Specifically, refer to Figure 3 The installation assembly also includes a first connecting member, a second connecting member and a movable guide rod 4. One side of the adapter block 5 is rotatably connected to the fixed seat 31 through the first connecting member, and the other side of the adapter block 5 is rotatably connected to one end of the movable guide rod 4 through the second connecting member. The other end of the movable guide rod 4 passes through the support seat 3. The support seat 3 is provided with a fixing member 32 corresponding to a plurality of the functional units on the side away from the support head 9. The other end of the movable guide rod 4 is detachably connected to the fixing member 32.

[0030] In this embodiment, one side of the adapter block 5 can be rotatably connected to the first connecting member through a pin shaft or a hinge, and the first connecting member is rotatably connected to the fixed seat 31 at the same time; the other side of the adapter block 5 is rotatably connected to the second connecting member, and the second connecting member is rotatably connected to one end of the movable guide rod 4 at the same time; the movable guide rod 4 passes through the support seat 3 and can slide and move relative to the support seat 3, and the sliding of the movable guide rod 4 can push the adapter block 5 and the functional unit to rotate relative to the support seat 3, so that the angle of the functional unit can be adjusted to ensure the effect of gluing, curing and degumming, and improve the applicability. The fixing member 32 is set in a one-to-one correspondence with the movable guide rod 4, and a plurality of mounting holes or a long strip mounting hole can be set on the fixing member 32, so that after the functional unit adjusts the angle, the movable guide rod 4 is connected and fixed to the fixing member 32 at the mounting hole by the bolt 13.

[0031] Furthermore, an adapter plate 1 is provided on the side of the fixing member 32 away from the support seat 3, and the adapter plate 1 is connected to the support seat 3 or the fixing member 32, and the adapter plate 1 is connected to the end of the robot arm. The adapter plate 1 can be fixedly connected to the support seat 3 by long screws or the like, or can be connected to the fixing member 32 to achieve connection. The support seat 3, the fixing member 32 and the adapter plate 1 can also be integrally formed, and the specific connection structure is not limited. The adapter plate 1 can be connected to the end of the robot arm, so as to realize the installation and fixation of the support seat 3 at the end of the robot arm.

[0032] Further, the adapter block 5 is provided with a plurality of mounting holes in the axial direction and / or radial direction of the support seat 3, and the functional unit is detachably connected to the adapter block 5 at the mounting holes. That is, the functional unit can be connected and fixed to the adapter block 5 by bolts 14 at one mounting hole, and a plurality of mounting holes can be provided on the adapter block 5 along the axial direction of the support seat 3 to facilitate the adjustment of the relative distance between the functional unit and the support head 9 along the axial direction; a plurality of mounting holes can also be provided on the adapter block 5 along the radial direction of the support seat 3 to facilitate the adjustment of the relative distance between the functional unit and the support head 9 along the radial direction; a plurality of mounting holes can also be provided on the adapter block 5 along the axial direction and radial direction of the support seat 3 to facilitate the adjustment of the relative distance between the functional unit and the support head 9 along the axial direction and radial direction at the same time. Thus, the functional unit has adjustment space in multiple directions relative to the support head 9, which is convenient for adjusting the position of the functional unit so as to facilitate smoother clamping. The axial direction of the support seat 3 is the extension direction of the support head 9, and the radial direction of the support seat 3 is the direction of the support head 9 relative to the fixed seat 31.

[0033] In other embodiments, when the functional unit is connected and fixed to the adapter block 5 through the mounting hole, it can also be directly connected and fixed to the adapter block 5 through the bolts 14 after the angle of the functional unit is adjusted, so that the angle can be adjusted.

[0034] Furthermore, the curing unit is provided with a plurality of units along the circumference of the support seat 3, which is conducive to more uniform illumination of the periphery of the end of the support head 9, so as to better achieve the curing of the light-curing adhesive. The curing unit includes an ultraviolet curing lamp 11, and the shape of the ultraviolet curing lamp 11 can be arc-shaped, so as to achieve a better curing effect.

[0035] And / or, the support head 9 is configured as a transparent structure.

[0036] In some specific embodiments, an automated light-curing adhesive clamping device and clamping method integrated at the end of a robot arm are provided. An automated light-curing adhesive device integrated at the end of a robot arm includes an adapter plate 1, a fixing member 32, a support seat 3, a movable guide rod 4, an adapter block 5, a dispensing valve 6, a degumming nozzle 8, an ultraviolet curing lamp 11, a support head 9, and a pressure sensor 10; the adapter plate 1, the fixing member 32, and the support seat 3 are connected by screws, and the dispensing valve 6, the degumming nozzle 8, and the ultraviolet curing lamp 11 are connected to the adapter block 5 by bolts 14 to form respective functional units, and each functional unit is respectively assembled with the support seat 3 through a three-hole connector 2, i.e., a first connector, and with the movable guide rod 4 through a two-hole connector 7, i.e., a second connector, and the movable guide rod 4, and the position adjustment of each functional unit is achieved through the movable guide rod 4, thereby satisfying the conditions for smooth light-curing adhesive bonding of each functional unit and the support head 9. The three-hole connector 2 can be rotatably connected to the adapter block 5 at one hole through a fixing pin 12, and rotatably connected to the fixing seat 31 at another hole or two holes through a fixing pin 12. The double-hole connector 7 can be rotatably connected to the adapter block 5 at one hole through a fixing pin 12 , and can be rotatably connected to the movable guide rod 4 at the other hole through a fixing pin 12 .

[0037] The movable guide rod 4 can be adjusted to adjust and fix the position of each functional unit; A dispensing valve 6, which is connected to the glue injection machine through a hose, and has the characteristics of high precision, uniform glue coating, strong back suction force, and replaceable nozzles of different models; A degumming nozzle 8, wherein the rear end of the degumming nozzle 8 is connected to the degumming solvent through a hose; An ultraviolet curing lamp 11, wherein the ultraviolet curing lamp 11 is bolted to the support seat 3 via the adapter block 5, and performs ultraviolet light irradiation on the shadowless glue applied by the dispensing valve 6 to achieve light curing; The support head 9 may be a universal ball bearing, which can roll on the surface of the workpiece to reduce scratches on the surface of the workpiece, or a conical facet may be used to provide local support for the workpiece. The support head 9 is connected to the bottom piezoelectric force sensor through a thread; A piezoelectric force sensor, which is connected to the middle of the support head 9 and the support seat 3 through a thread, to ensure accurate positioning of the support head 9; Furthermore, the adapter block 5 may be further equipped with a heating fan or a scraper to further improve the efficiency of glue removal; that is, the functional unit may also include a heating fan unit and a scraper unit.

[0038] Furthermore, this embodiment provides a gluing clamping method for processing thin-walled parts. The gluing clamping method is based on any of the above-mentioned light-curing gluing based clamping devices. The clamping method includes: Positioning process: Control the end of the robot arm to move to the vicinity of the preset support point of the workpiece, reduce the speed of the end of the robot arm to make the support head 9 reach the preset support point, and drive the support head 9 to move through the robot arm to adjust the support force between the support head 9 and the workpiece to reach the preset support force range; Gluing process: After positioning is completed, the glue dispensing unit is controlled to start spraying light-curing glue between the end of the support head 9 and the workpiece, and then the curing unit is turned on to wait for the light-curing glue to be completely cured, and the workpiece gluing and clamping is completed; Glue removal process: when the adhesive area of ​​the workpiece is processed, the glue removal unit is turned on, and the glue removal solvent is sprayed onto the support head 9 and the workpiece surface to remove the glue; Control the end of the robotic arm to move to the next support point and repeat the above steps.

[0039] Before the positioning process also includes: Adjust the relative position relationship between each functional unit and the support head 9: debug the relative position between the dispensing unit and the support head 9, and the glue removal unit and the support head 9, adjust the irradiation point of the curing unit, fix each functional unit after the test position, and fix the clamping device to the end of the robotic arm.

[0040] The gluing process further includes: in the process of controlling the glue dispensing unit to open and spray the light-curing glue between the end of the support head 9 and the workpiece, rotating the end of the mechanical arm so that the glue dispensing unit sprays the light-curing glue evenly around the support head 9; When the gluing clamping device is used in mirror processing such as mirror milling, the gluing process also includes: after the glue dispensing unit is controlled to open and spray light-curing glue between the end of the support head 9 and the workpiece, the end of the mechanical arm is rotated so that the glue removal unit is located above the support head 9, and then the curing unit is turned on to light-cure the glue. Therefore, when the processing of the local part of the clamping is completed, the glue removal unit is turned on, and the glue removal unit can spray the glue removal solvent from the top of the support head 9 downward, which can effectively utilize the gravity of the solvent and increase the contact time between the solvent and the adhesive part, which is conducive to improving the glue removal efficiency and ensuring the glue removal effect.

[0041] The degumming process also includes: after the degumming unit sprays the degumming solvent onto the support head 9 and the workpiece surface, the end of the robotic arm is rotated to remove the adhesive solids between the support head 9 and the workpiece through the torsional force between the robotic arm and the workpiece and the degumming solvent.

[0042] In some specific embodiments, a method for rapid clamping of thin-walled parts based on light-curing adhesive is provided, wherein the clamping process is automated, and the method comprises the following steps: (1) Providing the aforementioned rapid automated gluing and clamping device for standby use; (2) adjusting the relative position relationship between the functional units and the support head 9 by moving the movable guide rod 4 under the transfer block 5; debugging whether the relative positions of the dispensing valve 6 and the support head 9, and the degumming nozzle 8 and the support head 9 are appropriate, adjusting whether the irradiation point of the ultraviolet curing lamp 11 is the end of the support head 9, fixing the movable guide rod 4 after the test position is correct, and fixing the device to the end joint of the robot arm, hereinafter referred to as the robot arm end tool; The positions of the functional units can be as follows: the movable guide rod 4 is adjusted so that the glue outlet of the glue dispensing valve 6 , the glue removal nozzle 8 , and the light direction of the ultraviolet curing lamp 11 are located at the end of the support head 9 .

[0043] (3) During the positioning process, the end tool of the robot arm moves to the vicinity of the support point of the workpiece, and the robot arm is slowly moved close to the support point. The host computer reads the force sensor reading in real time. When the force sensor reading changes from zero to the preset support force range, that is, when the support head 9 successfully supports the workpiece, the robot arm stops; (4) During the light curing process, after the positioning is completed, the upper computer receives the force sensor signal and rotates the end joint of the robot arm so that the dispensing valve 6 of the clamping device is located above the support head 9. The dispensing valve 6 automatically starts to spray glue, and the glue fully wraps the support head 9 and the support surface. The dispensing valve 6 is closed and the end joint of the robot arm is rotated so that the glue removal nozzle 8 of the clamping device is located above the support head 9. The ultraviolet curing lamp 11 is automatically turned on, and the glue is completely cured to complete the workpiece gluing and clamping. When the dispensing valve 6 is opened to spray glue, the end of the robot arm can also be controlled to rotate, so that the dispensing valve 6 can evenly spray glue around the support head 9.

[0044] (5) Glue removal process: When the processing of this area of ​​the workpiece is completed, the glue removal nozzle 8 is automatically turned on to evenly spray the glue removal solvent on the support head 9 and the workpiece surface, and the end joint of the robot arm is rotated to remove the adhesive solids on the robot arm through the torsional force between the robot arm and the workpiece and the glue removal agent.

[0045] The host computer sends a signal to make the robot arm automatically move to the next support point and repeat the above steps 3 to 6.

[0046] The present invention relates to a method for fast clamping thin-walled parts based on light-curing adhesive. The purpose of the present invention is to provide a method for fast clamping, which is suitable for processing production lines to use robots instead of workers to perform fast adhesive clamping on workpieces; it can be used for fast clamping and fast disassembly of follow-up supports for complex curved thin-walled parts, suitable for fast clamping of weak rigidity workpieces, especially for clamping curved thin-walled parts, and can also be used for fast positioning and clamping of multiple parts in processing production lines. It aims to solve the problems of time-consuming and labor-intensive use of special tooling in current processing production lines, low safety factor, waste of labor, and difficulty in ensuring the quality of glue coating in the manual gluing method. The automated clamping scheme realizes precise clamping positioning by installing an adhesive clamping device on a mechanical arm, adjusting the position of the adhesive clamping by using the mechanical arm and a force sensor, and realizing fast curing and degumming by installing an ultraviolet curing lamp 11, shadowless glue and corresponding degumming agent at the same time. When degumming, the rotation of the end joint of the mechanical arm is used to make the solid glue fall off quickly, and the end support head 9 can move the support along the original support track, greatly improving production efficiency.

[0047] It will be easily understood by those skilled in the art that the above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A gluing and clamping device for processing thin-walled parts, characterized in that: It includes a support base, a support head and a functional unit, wherein the support base is used to be connected to the end of the robot arm, the support head is connected to the support base and is used to support the workpiece, and a plurality of functional units are arranged around the support head on the support base, and the plurality of functional units are respectively arranged toward the end of the support head, and the plurality of functional units include a dispensing unit, a curing unit and a degumming unit, wherein the dispensing unit is used to apply light-curing glue, the curing unit is used to provide curing light, and the degumming unit is used to apply a degumming solvent; When the robotic arm drives the support head to reach a preset support point on the workpiece, the gluing unit and the curing unit work in sequence to clamp and fix the workpiece. When the processing of the preset support point is completed, the gluing unit works to enable the support head to leave the preset support point and move to the next preset support point.

2. The adhesive clamping device for processing thin-walled parts according to claim 1, characterized in that: A pressure sensor is connected between the support head and the support seat, and the mechanical arm drives the support head to move according to the detection result of the pressure sensor to control the support pressure; And / or, the support head is in the shape of a spherical surface, a conical surface or a flat surface.

3. The adhesive clamping device for processing thin-walled parts according to claim 1 or 2, characterized in that: Any of the functional units is connected to the support seat via an installation component, the installation component includes an adapter block, a fixed seat is provided on the support seat corresponding to any of the functional units, the functional unit is connected to the adapter block, and the adapter block can be rotatably connected to the fixed seat.

4. The adhesive clamping device for processing thin-walled parts according to claim 3, characterized in that: The mounting assembly also includes a first connecting member, a second connecting member and a movable guide rod, one side of the adapter block is rotatably connected to the fixed seat via the first connecting member, the other side of the adapter block is rotatably connected to one end of the movable guide rod via the second connecting member, the other end of the movable guide rod passes through the support seat, and the support seat is provided with fixing members corresponding to the plurality of functional units on the side away from the support head, and the other end of the movable guide rod is detachably connected to the fixing member.

5. The adhesive clamping device for processing thin-walled parts according to claim 4, characterized in that: An adapter plate is provided on a side of the fixing member away from the supporting seat, the adapter plate is connected to the supporting seat or the fixing member, and the adapter plate is connected to the end of the robot arm.

6. The adhesive clamping device for processing thin-walled parts according to claim 3, characterized in that: The adapter block is provided with a plurality of mounting holes in the axial direction and / or radial direction of the support seat, and the functional unit is detachably connected to the adapter block at the mounting holes.

7. The adhesive clamping device for processing thin-walled parts according to claim 1 or 2, characterized in that: The curing unit is provided with a plurality of units along the circumference of the support seat; And / or, the support head is configured as a transparent structure.

8. A method for gluing and clamping thin-walled parts, characterized in that: Based on the clamping device based on light-curing adhesive according to any one of claims 1 to 7, the clamping method comprises: Positioning process: Control the end of the robot arm to move to the vicinity of the preset support point of the workpiece, reduce the speed of the end of the robot arm to make the support head reach the preset support point, and drive the support head to move through the robot arm to adjust the support force between the support head and the workpiece to reach the preset support force range; Gluing process: after positioning is completed, the glue dispensing unit is controlled to start spraying light-curing glue between the end of the support head and the workpiece, and then the curing unit is turned on to wait for the light-curing glue to be completely cured, and the workpiece is glued and clamped; Glue removal process: when the adhesive area of ​​the workpiece is processed, the glue removal unit is turned on, and the glue removal solvent is sprayed onto the support head and the workpiece surface to remove the glue; Control the end of the robotic arm to move to the next support point and repeat the above steps.

9. The adhesive clamping method for processing thin-walled parts according to claim 8, characterized in that: Before the positioning process also includes: Adjust the relative position relationship between each functional unit and the support head: debug the relative position between the dispensing unit and the support head, and the degumming unit and the support head, adjust the irradiation point of the curing unit, fix each functional unit after the test position, and fix the clamping device to the end of the robotic arm.

10. The adhesive clamping method for processing thin-walled parts according to claim 8, characterized in that: The gluing process further includes: in the process of controlling the glue dispensing unit to open and spray the light-curing glue between the end of the support head and the workpiece, rotating the end of the mechanical arm so that the glue dispensing unit sprays the light-curing glue evenly around the support head; The degumming process also includes: after the degumming unit sprays the degumming solvent onto the support head and the workpiece surface, the end of the robotic arm is rotated to remove the adhesive solids between the support head and the workpiece through the torsional force between the robotic arm and the workpiece and the degumming solvent.

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