An adhesive clamping device and method for machining thin-walled parts

Abstract

The present invention belongs to the technical field related to machining. It discloses an adhesive clamping device and method for machining thin-walled parts. The device includes a support base, a support head, and functional units. The support base is connected to the end of a robotic arm, and the support head is connected to the support base for supporting the workpiece. A plurality of functional units are provided around the support head on the support base. The plurality of functional units include a dispensing unit, a curing unit, and a debonding unit. The dispensing unit is used for applying photocurable adhesive, the curing unit is used for providing curing light, and the debonding unit is used for applying a debonding solvent. When the robotic arm drives the support head to reach a preset support point on the workpiece, the dispensing unit and the curing unit work in sequence to clamp and fix the workpiece. When the machining is completed, the debonding unit works. By adding a dispensing unit, a curing unit, and a debonding unit around the support head at the end of the robotic arm, the support head has strong adaptability, and automatic adhesive clamping can be realized, reducing labor, improving production efficiency and safety factor.

Description

Technical Field

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

[0002] For thin-walled workpieces, on the manufacturing site, it is usually necessary to design special tooling for each part model before machining, which greatly increases the production time and production cost; before machining, it is also necessary to fix the installation surfaces of the tooling and the parts by means of adhesive. Since it is manual clamping, problems such as poor adhesive quality and waste of labor will occur. In machining processes that require adhesive clamping such as the machining of thin-walled workpieces, due to the continuity of the machine tool machining process, traditional manual glue application will have problems such as high risk coefficient of glue application, waste of labor, and low production efficiency.

[0003] Therefore, how to provide a quick clamping device and method with high efficiency and safety factor is a technical problem that those skilled in the art urgently need to solve. Summary of the Invention

[0004] In view of the above defects or improvement requirements of the prior art, the present invention provides an adhesive clamping device and method for machining thin-walled parts, which are used to solve the problems of high risk coefficient, waste of labor, and difficult guarantee of production efficiency in the current adhesive clamping process.

[0005] To achieve the above object, according to one aspect of the present invention, there is provided an adhesive clamping device for machining thin-walled parts, including a support base, a support head, and functional units. The support base is used to be connected to the end of a robotic arm. The support head is connected to the support base and is used to support a workpiece. A plurality of functional units are arranged around the support head on the support base. The plurality of functional units are respectively arranged towards the end part of the support head. The plurality of functional units include a glue dispensing unit, a curing unit, and a glue removing unit. The glue dispensing unit is used to apply a photocurable glue. The curing unit is used to provide curing light. The glue removing unit is used to apply a glue removing solvent.

[0006] When the robotic arm drives the support head to reach a preset support point on the workpiece, the glue dispensing unit and the curing unit work in sequence to clamp and fix the workpiece. When the machining at this preset support point is completed, the glue removing unit works so that the support head can leave this preset support point and move to the next preset support point.

[0007] According to the adhesive clamping device for machining thin-walled parts provided by the present invention, a pressure sensor is connected between the support head and the support base. The robotic arm drives the support head to move according to the detection result of the pressure sensor to control the support pressure.

[0008] And / or, the shape of the support head is a spherical surface, a conical surface, or a flat surface.

[0009] According to the adhesive clamping device for thin-walled part machining provided by the present invention, any one of the functional units is connected to the support base through a mounting assembly. The mounting assembly includes an adapter block. A fixed base is provided on the support base corresponding to any one of the functional units. The functional unit is connected to the adapter block, and the adapter block is rotatably connected to the fixed base.

[0010] According to the adhesive clamping device for thin-walled part machining provided by the present invention, the mounting assembly further includes a first connecting member, a second connecting member and a moving guide rod. One side of the adapter block is rotatably connected to the fixed base through the first connecting member, and the other side of the adapter block is rotatably connected to one end of the moving guide rod through the second connecting member. The other end of the moving guide rod passes through the support base. Fixing members are provided on the side of the support base facing away from the support head corresponding to the plurality of functional units one by one. The other end of the moving guide rod is detachably connected to the fixing member.

[0011] According to the adhesive clamping device for thin-walled part machining provided by the present invention, a transfer plate is provided on the side of the fixing member away from the support base. The transfer plate is connected to the support base or the fixing member, and the transfer plate is connected to the end of the robotic arm.

[0012] According to the adhesive clamping device for thin-walled part machining provided by the present invention, a plurality of mounting holes are provided on the adapter block in the axial direction and / or the radial direction of the support base. The functional unit is detachably connected to the adapter block at the mounting holes.

[0013] According to the adhesive clamping device for thin-walled part machining provided by the present invention, a plurality of curing units are provided along the circumferential direction of the support base;

[0014] And / or, the support head is provided as a transparent structure.

[0015] According to another aspect of the present invention, an adhesive clamping method for thin-walled part machining is provided. Based on the clamping device based on light-curing adhesive described in any one of the above, the clamping method includes:

[0016] Positioning process: Control the end of the robotic arm to move near the preset support point of the workpiece, reduce the speed of the end of the robotic arm to make the support head reach the preset support point, and drive the support head to move through the robotic arm to adjust the support force between the support head and the workpiece to make it reach the preset support force range;

[0017] Adhesive process: After positioning is completed, control the dispensing unit to spray the light-curing adhesive between the end facing the support head and the workpiece, and then turn on the curing unit. Wait until the light-curing adhesive is completely cured to complete the adhesive clamping of the workpiece;

[0018] Debonding process: When the adhesive area of the workpiece is processed, turn on the debonding unit, and spray the debonding solvent onto the surface of the support head and the workpiece for debonding;

[0019] Control the end of the robotic arm to move to the next support point, and repeat the above steps.

[0020] According to the adhesive clamping method for thin-walled part machining provided by the present invention, before the positioning process, it further includes:

[0021] Adjust the relative position relationship between each of the functional units and the support head: adjust the relative positions of the dispensing unit and the support head, and the debonding unit and the support head, and adjust the irradiation position of the curing unit. After testing the positions, fix each of the functional units, and fix the clamping device to the end of the robotic arm.

[0022] According to the adhesive clamping method for thin-walled part machining provided by the present invention, the adhesive process further includes: during the process of controlling the dispensing unit to spray the photo-curing adhesive between the end of the support head facing the workpiece, rotate the end of the robotic arm so that the dispensing unit evenly sprays the photo-curing adhesive around the support head;

[0023] The debonding process further includes: after the debonding unit sprays the debonding solvent onto the surface of the support head and the workpiece, rotate the end of the robotic arm, and use the torsional force between the robotic arm and the workpiece and the debonding solvent to make the adhesive solid between the support head and the workpiece fall off.

[0024] Generally speaking, compared with the prior art by the above technical solutions conceived by the present invention, the adhesive clamping device and method for thin-walled part machining provided by the present invention:

[0025] 1. By installing a dispensing unit, a curing unit, and a debonding unit around the support head at the end of the robotic arm, apply the invisible glue through the dispensing unit in the local area around the contact between the support head and the workpiece, and realize rapid photo-curing adhesive clamping by irradiating the invisible glue with the curing unit on the device. And set the debonding unit to release the adhesive fixation by spraying the debonding solvent when the processing is completed, so as to facilitate the clamping and processing of the next part. This adhesive clamping device can realize automatic adhesive clamping, reduce labor, and improve production efficiency and safety factor;

[0026] 2. By adopting the robotic arm to support the workpiece and realizing the rapid clamping method of automatic adhesion, all the functional units used can realize automatic operation, which not only saves the separate tooling for workpieces of different models, but also greatly saves economic, time, and labor costs. At the same time, the point support method of the end support head can well adapt to various curved workpieces and also reduces the amount of glue used;

[0027] 3. The light-curing adhesive cures extremely fast and can be cured in just a few seconds. Therefore, the production efficiency is significantly improved in the processing scenario. It can quickly clamp during the production of multiple workpieces, or adopt this adhesive solution in a follow-up support environment such as mirror milling to achieve pseudo-follow-up support, greatly improving the production efficiency.

[0028] 4. When clamping and positioning, the accurate positioning feedback between the end support head and the workpiece is realized through the piezoelectric force sensor; the adapter block is assembled with each functional unit, and the relative position is adjusted through the moving guide rod to ensure the safety and reliability of the light-curing points, and it can also adapt to the interference problems brought by replacing different functional module components later. Description of the Drawings

[0029] Figure 1 is the overall schematic diagram of the adhesive clamping device for thin-walled part processing provided by the present invention.

[0030] Figure 2 is the exploded schematic diagram of the adhesive clamping device for thin-walled part processing provided by the present invention.

[0031] Figure 3 is the schematic diagram of the setting of the moving guide rod provided by the present invention.

[0032] In all the drawings, the same reference numerals are used to represent the same elements or structures, where:

[0033] 1 - adapter plate; 2 - three-hole connecting piece; 3 - support seat; 31 - fixed seat; 32 - fixing piece; 4 - moving guide rod; 5 - adapter block; 6 - dispensing valve; 7 - two-hole connecting piece; 8 - glue removing nozzle; 9 - support head; 10 - pressure sensor; 11 - ultraviolet curing lamp; 12 - fixing pin; 13 and 14 - bolts. Detailed Embodiments

[0034] In order to make the objectives, technical solutions and advantages of the present invention clearer, the present invention will be further described in detail below with reference to the drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not used 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.

[0035] Please refer to Figure 1 and Figure 2, this embodiment provides an adhesive clamping device for machining thin-walled parts. The adhesive clamping device includes a support base 3, a support head 9, and functional units. The support base 3 is used to be connected to the end of a robotic arm. The support head 9 is connected to the support base 3 and is used to support the workpiece. A plurality of functional units are provided around the support head 9 on the support base 3. The plurality of functional units are respectively arranged towards the end part of the support head 9. The plurality of functional units include a dispensing unit, a curing unit, and a debonding unit. The dispensing unit is used to apply photocurable glue. The curing unit is used to provide curing light. The debonding unit is used to apply a debonding solvent;

[0036] When the robotic arm drives the support head 9 to reach a preset support point on the workpiece, the dispensing unit and the curing unit work in sequence to clamp and fix the workpiece. When the machining at this preset support point is completed, the debonding unit works so that the support head 9 can leave this preset support point to move to the next preset support point.

[0037] The adhesive clamping device provided in this embodiment has a local contact adhesive clamping area, 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 machining part changes in mirror milling. That is, the mirror milling process is carried out by using the robotic arm to provide auxiliary support. The auxiliary support device for mirror milling takes the form of the support head 9 at the end of the robotic arm, thus greatly improving the stiffness of the thin-walled part at this point. The adhesive clamping device provided in this embodiment can also be used in other machining processes, with the purpose of being able to provide local support clamping and the support position can be changed. The specific application process is not limited.

[0038] This embodiment further considers that the thin-walled part can still deflect towards the un-supported side under the support mode of the support head 9. In order to further reduce the deflection at this point, it is proposed to use an adhesive method to bond the support head 9 to the support point of the weakly rigid thin-walled part, and remove the glue before machining to the next support point that needs to be supported, and move the tool at the end of the robotic arm to the next support point to carry out clamping again.

[0039] Specifically, the dispensing unit includes a dispensing valve 6, a dispensing pipeline, and a glue injector. The dispensing valve 6 can be connected to the support base 3 and move integrally with the end of the robotic arm. The dispensing valve 6 is connected to the glue injector through the dispensing pipeline. The dispensing pipeline can be a flexible hose. The glue injector can be placed on the ground near the robotic arm; the glue is photocurable glue. The curing unit can be an ultraviolet curing lamp 11. The debonding unit includes a debonding spray head 8, a debonding pipeline, and a debonding agent container. The debonding spray head 8 can be connected to the support base 3 and move integrally with the end of the robotic arm. The debonding spray head 8 is connected to the debonding agent container through the debonding pipeline. The debonding pipeline can be a flexible hose. The debonding agent container can be placed on the ground near the robotic arm.

[0040] 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.

[0041] 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.

[0042] 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;

[0043] This photocuring method does not have strict requirements on the transparency of the supporting material; the dispensing valve 6, the glue removal 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.

[0044] 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.

[0045] 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.

[0046] In this embodiment, one side of the adapter block 5 can be rotatably connected to the first connecting member by a pin shaft, a hinge, or the like. The first connecting member is simultaneously rotatably connected to the fixed seat 31. The other side of the adapter block 5 is rotatably connected to the second connecting member, and the second connecting member is simultaneously rotatably connected to one end of the movable guide rod 4. The movable guide rod 4 passes through the support seat 3 and can slide relative to the support seat 3. By sliding the movable guide rod 4, the adapter block 5 and the functional unit can be pushed to rotate relative to the support seat 3, so that the angle of the functional unit can be adjusted to ensure the glue application, curing, and glue removal effects and improve the applicability. The fixing members 32 are provided in one-to-one correspondence with the movable guide rods 4. Multiple mounting holes or elongated mounting holes can be provided on the fixing members 32, so that after the functional unit is adjusted to the proper angle, the movable guide rod 4 can be connected and fixed to the fixing member 32 through the bolts 13 at the mounting holes.

[0047] Further, a transfer plate 1 is provided on the side of the fixing member 32 away from the support seat 3. The transfer plate 1 is connected to the support seat 3 or the fixing member 32, and the transfer plate 1 is connected to the end of the robotic arm. The transfer 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. The support seat 3, the fixing member 32, and the transfer plate 1 can also be integrally formed, and the specific connection structure is not limited. The transfer plate 1 can be connected to the end of the robotic arm, so as to realize the installation and fixation of the support seat 3 at the end of the robotic arm.

[0048] Further, a plurality of mounting holes are provided on the adapter block 5 in the axial direction and / or the radial direction of the support seat 3. 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 through the bolts 14 at one mounting hole. A plurality of mounting holes can be provided on the adapter block 5 along the axial direction of the support seat 3 to facilitate adjusting 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 adjusting 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 the radial direction of the support seat 3 at the same time to facilitate adjusting the relative distance between the functional unit and the support head 9 along the axial direction and the radial direction at the same time. Thus, the functional unit has adjustment spaces in multiple directions relative to the support head 9, which is convenient for adjusting the position of the functional unit to more smoothly realize clamping. The axial direction of the support seat 3 is the extending 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.

[0049] In some other embodiments, when the functional unit is connected and fixed to the adapter block 5 through the mounting holes, after adjusting the angle of the functional unit, it can also be directly connected and fixed to the adapter block 5 through the bolts 14, and the angle can also be adjusted.

[0050] Furthermore, a plurality of curing units are provided along the circumferential direction of the support base 3; this is beneficial for more uniformly irradiating the periphery of the end of the support head 9 with light, so as to better achieve the curing of the optical curing adhesive. The curing unit includes an ultraviolet curing lamp 11, and the shape of the ultraviolet curing lamp 11 can be arc-shaped to facilitate better achieving the curing effect.

[0051] And / or, the support head 9 is provided as a transparent structure.

[0052] In some specific embodiments, an automated optical curing adhesive mounting and clamping device and a mounting and clamping method integrated at the end of a robotic arm are provided. An automatic optical curing adhesive device integrated at the end of a robotic arm includes an adapter plate 1, a fixing member 32, a support base 3, a moving guide rod 4, an adapter block 5, a dispensing valve 6, a deburring 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 base 3 are connected by screws, and the dispensing valve 6, the deburring nozzle 8, and the ultraviolet curing lamp 11 form their respective functional units through bolts 14 and the adapter block 5. Each functional unit is respectively assembled to the support base 3 through a three-hole connector 2, that is, a first connector, and to the moving guide rod 4 through a two-hole connector 7, that is, a second connector. The pose adjustment of each functional unit is realized through the moving guide rod 4, so as to meet the conditions for the smooth optical curing adhesion of each functional unit and the support head 9. The three-hole connector 2 can be rotatably connected to the adapter block 5 through a fixing pin 12 at one hole, and rotatably connected to the fixed seat 31 through a fixing pin 12 at another hole or two holes. The two-hole connector 7 can be rotatably connected to the adapter block 5 through a fixing pin 12 at one hole, and rotatably connected to the moving guide rod 4 through a fixing pin 12 at another hole.

[0053] The movable guide rod 4 can be adjusted to adjust and fix the positions of the respective functional units;

[0054] The dispensing valve 6, the dispensing valve 6 is connected to a glue injection machine through a hose, and the dispensing valve 6 has the characteristics of high precision, uniform glue application, strong suction force, and can be replaced with nozzles of different models;

[0055] The deburring nozzle 8, the rear end of the deburring nozzle 8 is connected to a deburring solvent through a hose;

[0056] The ultraviolet curing lamp 11, the ultraviolet curing lamp 11 is bolted to the support base 3 through the adapter block 5, and ultraviolet light irradiation is performed on the invisible glue applied by the dispensing valve 6 to achieve optical curing;

[0057] The support head 9, the support head 9 can adopt a ball universal joint and can roll on the surface of the workpiece, thereby reducing scratches on the surface of the workpiece. It can also adopt a conical small plane to provide local support for the workpiece. The support head 9 is threadedly connected to the bottom piezoelectric force sensor;

[0058] A piezoelectric force sensor, which is connected to the middle of the support head 9 and the support seat 3 through threads to ensure the precise positioning of the support head 9;

[0059] Furthermore, a heating fan or a scraper can be additionally installed on the adapter block 5 to further improve the efficiency of glue removal; that is, the functional unit can also include a heating fan unit and a scraper unit.

[0060] Furthermore, this embodiment provides a gluing and clamping method for thin-walled part machining. This gluing and clamping method is based on the clamping device based on photocurable glue described in any one of the above. The clamping method includes:

[0061] Positioning process: Control the end of the robotic arm to move near the preset support point of the workpiece, move the end of the robotic arm at a reduced speed so that the support head 9 reaches the preset support point, and drive the support head 9 to move through the robotic arm to adjust the support force between the support head 9 and the workpiece to make it reach the preset support force range;

[0062] Gluing process: After positioning is completed, control the dispensing unit to start spraying photocurable glue between the end facing the support head 9 and the workpiece, and then start the curing unit. Wait for the photocurable glue to be completely cured to complete the gluing and clamping of the workpiece;

[0063] Glue removal process: When the gluing area of the workpiece is processed, turn on the glue removal unit and spray the glue removal solvent onto the surfaces of the support head 9 and the workpiece for glue removal;

[0064] Control the end of the robotic arm to move to the next support point and repeat the above steps.

[0065] Before the positioning process, it also includes:

[0066] Adjust the relative position relationship between each of the functional units and the support head 9: Adjust the relative positions of the dispensing unit and the support head 9, and the glue removal unit and the support head 9, and adjust the irradiation point of the curing unit. After testing the positions, fix each of the functional units and fix the clamping device to the end of the robotic arm.

[0067] The gluing process also includes: During the process of controlling the dispensing unit to start spraying photocurable glue between the end facing the support head 9 and the workpiece, rotate the end of the robotic arm so that the dispensing unit evenly sprays photocurable glue around the support head 9;

[0068] When the adhesive clamping device is used in mirror machining processes such as mirror milling, the adhesive process further includes: after the control point glue application unit is turned on to spray photocurable glue between the end facing the support head 9 and the workpiece, rotate the end of the robotic arm so that the glue removal unit is located above the support head 9, and then turn on the curing unit to perform light curing on the glue. Thus, when the local part of the clamping is completed, turn on the glue removal unit. The glue removal unit can spray the glue removal solvent downward from above the support head 9, effectively utilizing the gravitational force of the solvent to increase the contact time between the solvent and the glued part, which is beneficial to improving the glue removal efficiency and ensuring the glue removal effect.

[0069] The glue removal process further includes: after the glue removal unit sprays the glue removal solvent onto the surface of the support head 9 and the workpiece, rotate the end of the robotic arm, and use the torsional force between the robotic arm and the workpiece and the glue removal solvent to make the glued solid between the support head 9 and the workpiece fall off.

[0070] In some specific embodiments, a rapid clamping method for thin-walled parts based on photocurable adhesion is provided. The clamping process is automated and includes the following steps:

[0071] (1) Provide the described rapid automated adhesive clamping device for standby;

[0072] (2) Adjust the relative position relationship between each functional unit and the support head 9 by the moving guide rod 4 under the moving adapter block 5; check whether the relative positions of the dispensing valve 6 and the support head 9, and the glue removal nozzle 8 and the support head 9 are appropriate, and adjust whether the irradiation point of the ultraviolet curing lamp 11 is at the end of the support head 9. After testing that the position is correct, fix the moving guide rod 4 and fix the device to the end joint of the robotic arm, hereinafter referred to as the end tool of the robotic arm.

[0073] The positions of each functional unit can be: adjust the moving guide rod 4 so that the glue outlet of the dispensing valve 6, the port of the glue removal nozzle 8, and the light irradiation direction of the ultraviolet curing lamp 11 are located at the end of the support head 9.

[0074] (3) Positioning process: The end tool of the robotic arm moves to near the workpiece support point, slowly move the robotic arm closer to the support point, and the upper 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, stop the robotic arm.

[0075] (4) Photocuring process: After positioning is completed, the upper computer receives the force sensor signal and rotates the end joint of the robotic arm so that the dispensing valve 6 of the clamping device is located above the support head 9. The dispensing valve 6 automatically opens to spray glue, and the glue fully wraps the support head 9 and the support surface. Close the dispensing valve 6, and rotate the end joint of the robotic arm so that the glue removal nozzle 8 of the clamping device is located above the support head 9; automatically turn on the ultraviolet curing lamp 11, and wait for the glue to be completely cured to complete the adhesive clamping of the workpiece.

[0076] During the process of opening the dispensing valve 6 to spray glue, the rotation of the end of the robotic arm can also be controlled, so that the dispensing valve 6 can evenly spray glue around the support head 9 for one circle.

[0077] (5)During the glue removal process, when the machining of this area of the workpiece is completed, the glue removal nozzle 8 is automatically opened to evenly spray the glue removal solvent on the support head 9 and the surface of the workpiece, and the end joint of the robotic arm is rotated. Through the torsional force between the robotic arm and the workpiece and the glue remover, the adhesive solids on the robotic arm are shed.

[0078] The upper computer sends a signal to make the robotic arm automatically move to the next support point position, and repeat the above steps 3 to 6.

[0079] The present invention relates to a rapid clamping method for thin-walled parts based on photocuring adhesive. The purpose of the present invention is to provide a rapid clamping method, which is suitable for a processing production line to use a robot to replace workers to rapidly glue and clamp workpieces; it can be used for rapid clamping and rapid disassembly of follow-up supports for complex curved surface thin-walled parts, is suitable for rapid clamping of weakly rigid workpieces, is particularly suitable for clamping of curved surface thin-walled parts, and can also be used for rapid positioning and clamping of multiple parts in a processing production line. It aims to solve the problems that the current processing production line uses special tooling, which is time-consuming and laborious, and the manual glue application method has low safety factor, waste of labor, and difficult to guarantee the glue application quality. This automated clamping solution installs a glue clamping device on the robotic arm, uses the robotic arm and a force sensor to adjust the position of the glue clamping to achieve precise clamping positioning, and at the same time installs an ultraviolet curing lamp 11, a light-curing glue and a corresponding glue remover to achieve rapid curing and glue removal. During glue removal, the rotation of the end joint of the robotic arm makes the solid glue fall off quickly, and the end support head 9 can move and support along the original support track, greatly improving production efficiency.

[0080] Those skilled in the art can easily understand that the above are only the preferred embodiments of the present invention, and are not intended to limit the present invention. Any modifications, equivalent replacements, and improvements made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A glue bonding and clamping device for thin-walled part machining, characterized in that It includes a support base, a support head and functional units. The support base is used to be connected to the end of a robotic arm. The support head is connected to the support base and is used to support a workpiece. A plurality of functional units are arranged around the support head on the support base. The plurality of functional units are respectively arranged towards the end part of the support head. The plurality of functional units include a dispensing unit, a curing unit and a debonding unit. The dispensing unit is used to apply a photocurable adhesive. The curing unit is used to provide curing light. The debonding unit is used to apply a debonding solvent. When the robotic arm drives the support head to reach a preset support point on the workpiece, the dispensing unit and the curing unit work in sequence to clamp and fix the workpiece. When the processing at this preset support point is completed, the debonding unit works so that the support head can leave this preset support point to move to the next preset support point. The adhesive clamping device is used to provide local support and fixation for corresponding parts of the workpiece as the processing part changes during mirror milling.

2. The adhesive clamping device for thin-walled part machining according to claim 1, wherein, A pressure sensor is connected between the support head and the support base. The robotic arm drives the support head to move according to the detection result of the pressure sensor to control the support pressure. And / or, the shape of the support head is a spherical surface, a conical surface or a flat surface.

3. The adhesive clamping device for thin-walled part machining according to claim 1 or 2, characterized in that, Any one of the functional units is connected to the support base through a mounting assembly. The mounting assembly includes an adapter block. A fixed seat is provided on the support base corresponding to any one of the functional units. The functional unit is connected to the adapter block. The adapter block is rotatably connected to the fixed seat.

4. The adhesive clamping device for thin-walled part machining according to claim 3, wherein, The mounting assembly further includes a first connecting piece, a second connecting piece and a moving guide rod. One side of the adapter block is rotatably connected to the fixed seat through the first connecting piece. The other side of the adapter block is rotatably connected to one end of the moving guide rod through the second connecting piece. The other end of the moving guide rod passes through the support base. Fixing pieces are provided on the side of the support base facing away from the support head corresponding to the plurality of functional units one by one. The other end of the moving guide rod is detachably connected to the fixing piece.

5. The adhesive clamping device for thin-walled part machining according to claim 4, characterized in that, A transfer plate is provided on the side of the fixing piece away from the support base. The transfer plate is connected to the support base or the fixing piece. The transfer plate is connected to the end of the robotic arm.

6. The adhesive clamping device for thin-walled part machining according to claim 3, characterized in that, A plurality of mounting holes are provided on the adapter block in the axial direction and / or the radial direction of the support base. The functional unit is detachably connected to the adapter block at the mounting holes.

7. The adhesive clamping device for thin-walled part machining according to claim 1 or 2, characterized in that, A plurality of the curing units are arranged along the circumferential direction of the support base. And / or, the support head is provided as a transparent structure.

8. A gluing and clamping method for machining thin-walled parts, characterized in that, Based on the clamping device based on photocurable adhesive according to any one of the above claims 1-7, the clamping method includes: Positioning process: Control the end of the robotic arm to move near the preset support point of the workpiece, reduce the speed of the end of the robotic arm to make the support head reach the preset support point, and drive the support head to move through the robotic arm to adjust the support force between the support head and the workpiece to make it reach the preset support force range. Adhesive process: After positioning is completed, control the dispensing unit to start spraying photocurable adhesive between the end of the support head and the workpiece, and then start the curing unit. Wait until the photocurable adhesive is completely cured to complete the adhesive clamping of the workpiece. Debonding process: When the processing of the adhesive area of the workpiece is completed, the debonding unit is turned on, and the debonding solvent is sprayed onto the surface of the support head and the workpiece for debonding; Control the movement of the end of the robotic arm to the next support point, and repeat the above steps.

9. The adhesive clamping method for thin-walled part machining according to claim 8, characterized in that, Before the positioning process, it also includes: Adjust the relative position relationship between each of the functional units and the support head: adjust the relative positions of the dispensing unit and the support head, and the debonding unit and the support head, and adjust the irradiation point of the curing unit. After testing the positions, fix each of the functional units, and fix the clamping device to the end of the robotic arm.

10. The adhesive clamping method for machining thin-walled parts according to claim 8, characterized in that The adhesive process also includes: During the process of controlling the dispensing unit to spray the photocurable adhesive between the end facing the support head and the workpiece, rotate the end of the robotic arm so that the dispensing unit evenly sprays the photocurable adhesive around the support head; The debonding process also includes: After the debonding unit sprays the debonding solvent onto the surface of the support head and the workpiece, rotate the end of the robotic arm, and use the torsional force between the robotic arm and the workpiece and the debonding solvent to make the adhesive solid between the support head and the workpiece fall off.

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