Automatic sealing and gluing device and method of use

Abstract

The application provides an automatic sealing and gluing device and a use method. The automatic sealing and gluing device comprises a rotating platform, multiple positioning discs of different sizes, a double-component glue supply mechanism, a single-component glue supply mechanism, a robot and a glue gun head. The rotating platform is used for driving a to-be-glued carrier rocket riveting cabin to rotate. The multiple positioning discs of different sizes are fixedly installed on the rotating platform and are respectively used for positioning riveting cabins of corresponding sizes. The glue gun head is arranged on the robot and is used for directly gluing the riveting cabin. The double-component glue supply mechanism is used for supplying double-component glue, and the single-component glue supply mechanism is used for supplying single-component glue. The glue of the two glue supply mechanisms is delivered to the glue gun head through pipelines. The application sets multiple size positioning discs, so that the device has wide adaptability to riveting cabins of different diameters. The application sets a robot lifting platform, so that the device has wide adaptability to riveting cabins of different heights.

Description

Technical Field

[0001] This invention belongs to the field of launch vehicle cabin manufacturing technology, specifically, it relates to an automatic sealing and gluing device and its usage method, and in particular, it relates to an automatic sealing and gluing device for riveted launch vehicle cabins. Background Technology

[0002] Currently, launch vehicles need to meet the requirements for launch missions under moderate rainfall conditions to cope with all-weather environmental conditions and improve adaptability. Therefore, the airtightness of launch vehicles is becoming increasingly important. The XX-12 launch vehicle (H5 state) requires rain protection from the moment it is transferred from the technical area to the launch area until ignition and launch. This launch vehicle adopts a towerless, fully flat launch configuration, with no rotating platform for protection in the launch area. It needs to be stored in the open environment for at least 3 days. To ensure the safety of the internal environment and onboard equipment, rain protection treatment is necessary.

[0003] Because the structural dimensions of the seams and gaps between the main structures such as the skin and end frames of the launch vehicle body are larger than those at standard component installation points, the sealing work in these areas is carried out during the production stage of the vehicle body section. Therefore, the rainproof sealant for the rocket body structure of various models uses HM108 rainproof sealant or D05 silicone rubber. The areas to be sealed include the joints between the end frames and skin, the joints between the mouth frame and skin, and the skin overlap joints. The sealing structure is mainly an external sealing filler type.

[0004] Currently, adhesive mixing is done manually by contacting air, with a processing time of only 4 hours. Manual application cannot guarantee uniformity and stability, resulting in poor consistency in the adhesive application path and amount. Furthermore, this manual application method is no longer sufficient to meet production capacity demands. There is also no automated sealing adhesive application device capable of handling the riveting of launch vehicle hulls of different diameters and heights. Therefore, an automated sealing adhesive application device and its operating method are needed.

[0005] A search of existing technologies both domestically and internationally revealed patent document CN219356748U, which discloses an automatic adhesive application device for the inner blades. This device relates to the field of wind power equipment technology and aims to solve the problem of the lack of an automatic adhesive application device for applying adhesive to the inner blades of existing wind turbines, resulting in laborious and time-consuming manual application and significantly reduced efficiency. The technical solution includes a mounting base, a control panel, and a limiting rod. A screw is rotatably connected inside the mounting base, with one end of the screw fixedly connected to a first guide wheel on the outside of the mounting base. A motor is fixedly connected to one side of the mounting base, and a second guide wheel is fixedly connected to the motor's output end. A transmission belt is sleeved on the outside of the first and second guide wheels. A platform is provided outside the limiting rod, with a robotic arm and a material box fixedly connected to the upper end of the platform, achieving convenient operation and automated adhesive application.

[0006] However, the patent document CN219356748U is a blade coating device, which cannot achieve automatic sealing and coating of riveting compartments of different heights and diameters. It is not equipped with both a two-component adhesive supply mechanism and a single-component adhesive supply mechanism at the same time, so it cannot achieve automatic coating of two-component adhesive liquid, nor can it achieve rapid switching between the two-component adhesive supply mechanism and the single-component adhesive supply mechanism.

[0007] Patent document CN108461664B discloses a fully automated glue application and installation system for battery pack covers. This system includes a workbench for supporting various components; a stationary material rack; a glue application robot; a glue application tower; an A-glue supply component; a B-glue supply component; a trolley pallet positioning component; and a tightening robot. The tightening robot is used to tighten the bolts on the battery pack cover to be glued, which has been pressed by the trolley pallet positioning component. The system provided in this application has a high degree of automation, directly preventing damage to the cover and the already applied glue, thus preventing defective products. Automatic bolt feeding and tightening reduce errors. The glue application is uniform, consistent, and smooth. It effectively reduces manpower, lowers costs, and increases production capacity. Reliable stability facilitates management and reduces the defect rate.

[0008] However, patent document CN108461664B lacks a robotic lifting platform, which is not conducive to applying adhesive along the workpiece axis and is not widely adaptable to workpieces of different heights. Furthermore, since it does not have positioning plates of various sizes, it cannot achieve rapid installation and positioning of workpieces of various sizes. Summary of the Invention

[0009] In view of the deficiencies in the prior art, the purpose of this invention is to provide an automatic sealing and gluing device and its usage method.

[0010] An automatic sealing and gluing device according to the present invention includes: a rotating platform, multiple positioning discs of different sizes, a two-component glue supply mechanism, a single-component glue supply mechanism, a robot, and a glue gun head;

[0011] The rotating platform is used to drive the riveting compartment of the launch vehicle to be coated with adhesive to rotate.

[0012] Multiple positioning discs of different sizes are fixedly installed on the rotating platform, each used to position the riveting compartment of the corresponding size;

[0013] The glue gun head is mounted on the robot and is used to apply glue directly to the riveting chamber.

[0014] The two-component glue supply mechanism is used to supply two-component glue, and the one-component glue supply mechanism is used to supply one-component glue. Both glue supply mechanisms deliver the glue to the glue gun head through pipelines.

[0015] Preferably, the robot includes: a six-axis robot and a robot end effector quick-change disc;

[0016] The robot end effector quick-change disc is mounted on the end effector of a six-axis robot and is used to switch between a two-component glue supply mechanism and a single-component glue supply mechanism.

[0017] The glue gun head is mounted on the robot's end-effector quick-change disc.

[0018] Preferably, the robot further includes: a laser positioner;

[0019] The laser positioner is mounted on the robot's end effector quick-change disc;

[0020] The laser positioner can scan the adhesive application position to confirm the positional offset and work with the robot to automatically generate a motion path for the adhesive application trajectory.

[0021] Preferably, the two-component adhesive supply mechanism is used to supply HM108 two-component adhesive liquid, and the one-component adhesive supply mechanism is used to supply D05 adhesive liquid.

[0022] Preferably, it also includes: a robot lifting platform;

[0023] The six-axis robot is mounted on a robot lifting platform;

[0024] The robot lifting platform is used to lift and lower a six-axis robot along the height direction, thereby achieving axial adhesive application to the riveting chamber.

[0025] Preferably, the two-component glue supply mechanism uses a dual-liquid screw dynamic mixing valve to control the glue quantity of components A and B. The mixing valve controls the glue dispensing quantity by adjusting the speed of the servo motor.

[0026] Both the two-component and single-component adhesive supply mechanisms are equipped with raised platforms at their bottom.

[0027] Both the two-component and single-component adhesive supply mechanisms are equipped with automatic adhesive supply pumps.

[0028] Both two-component and one-component adhesive dispensing mechanisms use an insulating liquid to prevent air from entering the adhesive.

[0029] Preferably, it further includes: a zero-point calibration mechanism;

[0030] The zero-point calibration mechanism is located on the robot's lifting platform and is used to check the verticality and height of the newly installed needle after each replacement of the mixing tube and needle in the glue gun.

[0031] Preferably, an absolute encoder is installed at the center of the rotating platform, and the robotic arm determines the starting position for applying adhesive based on the encoder position value;

[0032] The axis of the positioning disk coincides with the axis of rotation of the rotating platform.

[0033] A method of using an automatic sealing adhesive applicator according to the present invention includes:

[0034] S1: Move the riveting chamber to the positioning plate of the corresponding size and connect it with the positioning pin to make the riveting chamber concentric with the positioning plate;

[0035] S2: Determine the starting position for applying adhesive to the robotic arm based on the absolute encoder at the center of the rotating platform;

[0036] S3: Use a laser positioner to collect position information of the glued seam on the riveted cabin, calculate the deviation, and feed the deviation data back to the robot's control system.

[0037] S4: The six-axis robot drives the glue gun head to correct the original taught trajectory position, realizing automatic position tracking during the glue application process;

[0038] S5: When applying the circumferential adhesive trajectory, drive the rotating platform to rotate the riveting chamber, and use the two-component adhesive supply mechanism to control the adhesive to be applied to the corresponding joint of the riveting chamber through the glue gun head.

[0039] S6: When applying adhesive along the axial path, the robot lifting platform drives the six-axis robot to move along the axial direction of the riveting chamber, and the two-component adhesive supply mechanism controls the adhesive to be applied to the corresponding joint of the riveting chamber through the glue gun head.

[0040] S7: After the adhesive is applied, move the riveted compartment to the turnover area.

[0041] Preferably, in step S5, the servo motor in the two-component glue supply mechanism controls the HM108 glue liquid to flow evenly out of the glue gun head and be applied to the seam between the skin and the end frame of the riveting chamber.

[0042] In S6, the servo motor in the two-component glue supply mechanism controls the HM108 glue to flow evenly from the glue gun head and be applied to the skin and skin joint of the riveting chamber.

[0043] Compared with the prior art, the present invention has the following beneficial effects:

[0044] 1. By setting a positioning plate of φ3350~φ4370mm, the device has a wide adaptability to riveting chambers of different diameters;

[0045] 2. This invention, through a robotic lifting platform and a six-axis robot, enables the device to have wide adaptability to riveting cabins with heights ranging from 1330 to 4070 mm;

[0046] 3. This invention improves the efficiency of sealing and coating, the accuracy of coating trajectory, and realizes the acquisition of coating process parameter data, making product quality traceable. It has a simple and reliable structure and good stability in use.

[0047] 4. The automatic sealing and gluing device provided by the present invention has a simple structure and can safely and reliably complete the automatic sealing and gluing of the riveted cabin of the launch vehicle. It improves the efficiency of automatic sealing and gluing of the riveted cabin of the launch vehicle, the accuracy of the gluing trajectory, and realizes the acquisition of gluing process parameter data, making the product quality traceable and the assembly method stable. Attached Figure Description

[0048] Other features, objects, and advantages of the present invention will become more apparent from the following detailed description of non-limiting embodiments with reference to the accompanying drawings:

[0049] Figure 1 This is a front view of the device of the present invention;

[0050] Figure 2 This is a side view of the device of the present invention;

[0051] Figure 3 This is a top view of the device of the present invention.

[0052] The diagram shows:

[0053] Detailed Implementation

[0054] The present invention will now be described in detail with reference to specific embodiments. These embodiments will help those skilled in the art to further understand the present invention, but do not limit the invention in any way. It should be noted that those skilled in the art can make several changes and improvements without departing from the concept of the present invention. These all fall within the protection scope of the present invention.

[0055] The following is in conjunction with the appendix Figures 1 to 3 The present invention will be described in detail below.

[0056] like Figure 1 This invention proposes an automatic sealing and gluing device and its usage method, including a rotating platform 1, a φ4370 positioning plate 2, a φ3800 positioning plate 3, a φ3350 positioning plate 4, a two-component glue supply mechanism 5, a zero-point calibration mechanism 6, a single-component glue supply mechanism 7, an electrical cabinet 8, a control cabinet 9, a robot lifting platform 10, a six-axis robot 11, a robot end effector quick-change plate 12, a glue gun head 13, and a laser positioner 14.

[0057] The rotating platform 1 is used to drive the riveting chamber to rotate circumferentially, thereby achieving circumferential adhesive application to the riveting chamber; the φ4370 positioning plate 2 is mounted on the rotating platform 1 and is used to position the φ4370 riveting chamber; the φ3800 positioning plate 3 is mounted on the rotating platform 1 and is used to position the φ3800 riveting chamber; the φ3350 positioning plate 4 is mounted on the rotating platform 1 and is used to position the φ3350 riveting chamber.

[0058] The two-component adhesive supply mechanism 5 is used to supply HM108 two-component adhesive; the zero-point calibration mechanism 6 is used to detect the verticality and height of the needle after each replacement of the mixing tube and needle, as there will be some error in the needle height and verticality. The robot automatically offsets according to the measurement data; the single-component adhesive supply mechanism 7 is used to supply D05 adhesive.

[0059] Electrical cabinet 8 is used to provide electrical circuit control for the automatic sealing and gluing device; control cabinet 9 is used to operate the automatic sealing and gluing device using a CNC system.

[0060] The robot lifting platform 10 is used to lift and lower the six-axis robot 11 along the height direction, thereby realizing axial adhesive application to the riveting chamber; the six-axis robot 11 is used to provide support and control for the glue gun head 13 and the laser positioner 14; the robot end effector quick-change disc 12 is mounted on the end of the six-axis robot 11 and is used for switching between two-component and one-component adhesives. The adhesives from both the two-component adhesive supply mechanism 5 and the one-component adhesive supply mechanism 7 are delivered to the glue gun head 13 through pipelines.

[0061] The six-axis robot 11 has a payload capacity of 50kg, an arm span radius of 2509mm, and a repeatability of ±0.08mm. The robot end effector quick-change disc 12 has a repeatability of ±0.015mm.

[0062] The glue gun head 13 is mounted on the robot's end effector quick-change disc 12 to achieve precise mixing and uniform dispensing of HM108 glue. The laser positioner 14, also mounted on the robot's end effector quick-change disc 12, provides high-precision and high-efficiency identification of product features, feeding back deviation data to the robot control system. This allows the robot to correct the offline trajectory program by moving the glue gun head 13, achieving automatic position tracking during the glue application process. The laser positioner 14 also features rapid guidance capabilities, enabling it to automatically generate motion paths for the glue application trajectory in conjunction with the robot.

[0063] An absolute encoder is installed at the center of the rotating platform 1, and the system determines the starting position for applying adhesive based on the encoder position value.

[0064] The laser positioner 14 scans the glue application position to confirm the position offset, which enables the six-axis robot 11 to drive the glue gun head 13 to correct the original taught trajectory position, thereby realizing automatic position tracking during the glue application process.

[0065] Both the two-component glue supply mechanism 5 and the one-component glue supply mechanism 7 are equipped with automatic glue supply pumps and are suitable for 5-gallon glue tanks. Furthermore, both glue supply mechanisms can be equipped with an internal liquid barrier to prevent air from entering the glue. In addition, both glue supply mechanisms can be equipped with a raised platform of approximately 1m at the bottom to shorten the glue supply pipeline length and ensure glue quality and efficiency.

[0066] Optionally, the two-component glue supply mechanism 5 uses a dual-liquid screw dynamic mixing valve to control the glue quantity of components A and B. The glue quantity of the screw valve is controlled by the speed of the servo motor. The glue dispensing rate of the two-component glue supply mechanism 5 and the single-component glue supply mechanism 7 can be from 0.005 ml / s to 5 ml / s.

[0067] Specifically, the φ4370 positioning plate 2, φ3800 positioning plate 3, and φ3350 positioning plate 4 of this invention are positioned according to the positioning pin holes of different riveting chambers, so that the riveting chambers are concentric with the positioning plates and the relative position of the riveting chambers on the positioning plates is consistent each time. Positioning pin holes of φ10.2 and φ14.5 can be opened on the positioning plates to ensure the positioning of riveting chambers of φ3350 to φ4370 mm.

[0068] The present invention further provides a method for using the automatic sealing and adhesive application device, comprising the following steps:

[0069] S1: Lift the φ3800 riveting compartment onto the rotating platform 1 and the φ3800 positioning plate 3, and connect them with positioning pins to make the φ3800 riveting compartment concentric with the φ3800 positioning plate 3, and ensure that the relative position of the same riveting compartment on the turntable is consistent each time.

[0070] S2: The system determines the starting position for applying adhesive based on the absolute encoder at the center of the rotating platform 1.

[0071] S3: The laser positioner 14 collects the position information of the glued seam on the φ3800 riveted cabin body. After the control host processes the data, it obtains the deviation of the position in the horizontal direction (X / Y) and vertical direction (Z) and feeds the deviation data information back to the robot's control system.

[0072] S4: The six-axis robot 11 drives the glue gun head 13 to correct the original taught trajectory position, realizing automatic position tracking during the glue application process;

[0073] S5: When applying adhesive to the circumferential path of the φ3800 riveting chamber, the rotating platform 1 drives the φ3800 riveting chamber to rotate, and the servo motor in the two-component adhesive supply mechanism 5 controls the HM108 adhesive to flow out evenly from the glue gun head 13 to apply to the joint between the skin and the end frame of the riveting chamber.

[0074] S6: When applying adhesive along the axial path of the φ3800 riveting chamber, the robot lifting platform 10 drives the six-axis robot 11 to move along the axial direction of the riveting chamber. The servo motor in the two-component adhesive supply mechanism 5 controls the HM108 adhesive to flow out evenly from the glue gun head 13 and apply it to the skin and skin joint of the riveting chamber.

[0075] S7: Lift the φ3800 riveted cabin to the turnover area;

[0076] The automatic sealing and gluing device, by setting up φ3350 positioning plate 4, φ3800 positioning plate 3, and φ4370 positioning plate 2, enables the device to adapt to riveting chambers of different diameters. The present invention, through the robot lifting platform 10 and the six-axis robot 11, enables the device to adapt to riveting chambers of different heights.

[0077] Tests have shown that the application of the device and assembly method of this invention improves the efficiency of automatic sealing and gluing of the riveted cabin of the launch vehicle by 40%.

[0078] In the description of this application, it should be understood that the terms "upper", "lower", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this application.

[0079] Specific embodiments of the present invention have been described above. It should be understood that the present invention is not limited to the specific embodiments described above, and those skilled in the art can make various changes or modifications within the scope of the claims, which do not affect the essence of the present invention. Unless otherwise specified, the embodiments and features described in this application can be arbitrarily combined with each other.

Claims

1. An automatic sealing and adhesive application device, characterized in that, include: Rotating platform (1), multiple positioning discs of different sizes, two-component glue supply mechanism (5), single-component glue supply mechanism (7), robot, glue gun head (13). The rotating platform (1) is used to drive the riveting compartment of the launch vehicle to be coated with glue to rotate; Multiple positioning discs of different sizes are fixedly installed on the rotating platform (1). Each size of positioning disc is used to position the riveted cabin of the launch vehicle with the same diameter specification. The positioning disks are all ring-shaped and spaced apart from each other; The glue gun head (13) is mounted on the robot and is used to apply glue directly to the riveting chamber. The two-component glue supply mechanism (5) is used to supply two-component glue liquid, and the single-component glue supply mechanism (7) is used to supply single-component glue liquid. The glue liquid from both glue supply mechanisms is delivered to the glue gun head (13) through a pipeline. The robot includes: a six-axis robot (11) and a robot end effector quick-change plate (12). The robot end quick-change plate (12) is mounted on the end of the six-axis robot (11) and is used to switch between the two-component glue supply mechanism (5) and the single-component glue supply mechanism (7). The glue gun head (13) is mounted on the robot end quick-change disc (12); The robot also includes: a laser positioner (14). The laser positioner (14) is mounted on the robot end-effector quick-change plate (12). The laser position finder (14) can scan the glue application position to confirm the position offset and work with the robot to automatically generate the motion path of the glue application trajectory; The automatic sealing and gluing device further includes: a robot lifting platform (10). A six-axis robot (11) is mounted on a robot lifting platform (10); The robot lifting platform (10) is used to lift and lower the six-axis robot (11) along the height direction, thereby achieving axial adhesive application of the riveting chamber; An absolute encoder is installed at the center of the rotating platform (1), and the robotic arm of the six-axis robot (11) determines the starting position for applying glue based on the encoder position value. The axis of the positioning disk coincides with the axis of rotation of the rotating platform (1).

2. The automatic sealing and gluing device according to claim 1, characterized in that, The two-component adhesive supply mechanism (5) is used to supply HM108 two-component adhesive liquid, and the single-component adhesive supply mechanism (7) is used to supply D05 adhesive liquid.

3. The automatic sealing and gluing device according to claim 1, characterized in that, The two-component glue supply mechanism (5) adopts a dual-liquid screw dynamic mixing valve to control the amount of glue for components A and B. The mixing valve controls the amount of glue dispensed by adjusting the speed of the servo motor. The two-component glue supply mechanism (5) and the one-component glue supply mechanism (7) are equipped with raised platforms at the bottom; The two-component glue supply mechanism (5) and the single-component glue supply mechanism (7) are equipped with automatic glue supply pumps; The two-component glue supply mechanism (5) and the one-component glue supply mechanism (7) use an insulating liquid to prevent air from entering the glue.

4. The automatic sealing and gluing device according to claim 1, characterized in that, Also includes: Zero-point calibration mechanism (6); The zero-point calibration mechanism (6) is set on the robot lifting platform (10) and is used to detect the verticality and height of the replaced needle after each replacement of the mixing tube and needle of the glue gun head (13).

5. A method of using the automatic sealing and adhesive applicator according to any one of claims 1 to 4, characterized in that, include: S1: Move the riveting chamber to the positioning plate of the corresponding size and connect it with the positioning pin to make the riveting chamber concentric with the positioning plate; S2: Determine the starting position of the robotic arm for applying glue based on the absolute encoder at the center of the rotating platform (1); S3: Use the laser positioner (14) to collect the position information of the glued gap on the riveted cabin, calculate the deviation, and feed the deviation data back to the robot's control system; S4: Control the six-axis robot (11) to drive the glue gun head (13) to correct the original teaching trajectory position and realize automatic position tracking during the glue application process; S5: When applying the circumferential adhesive trajectory, drive the rotating platform (1) to rotate the riveting chamber, and use the two-component adhesive supply mechanism (5) to control the adhesive liquid to be applied to the corresponding joint of the riveting chamber through the glue gun head (13). S6: When applying adhesive along the axial path, drive the robot lifting platform (10) to move the six-axis robot (11) along the axial direction of the riveting chamber, and use the two-component adhesive supply mechanism (5) to control the adhesive to be applied to the corresponding joint of the riveting chamber through the glue gun head (13). S7: After the adhesive is applied, move the riveted compartment to the turnover area.

6. The method of use according to claim 5, characterized in that, In S5, the servo motor in the two-component glue supply mechanism (5) controls the HM108 glue to flow out of the glue gun head (13) evenly and apply it to the joint between the skin and the end frame of the riveted cabin. In S6, the servo motor in the two-component glue supply mechanism (5) controls the HM108 glue to flow evenly out of the glue gun head (13) and be applied to the skin and skin joint of the riveting chamber.

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