Multi-sleeve continuous automatic gluing device based on servo motor and gluing method thereof

Abstract

The invention relates to a multi-sleeve continuous automatic gluing device based on a servo motor and a gluing method thereof. The invention discloses a multi-sleeve continuous automatic gluing device based on a servo motor. The multi-sleeve continuous automatic gluing device comprises a gluing mechanism and a workbench which are arranged up and down, the gluing mechanism comprises a glue gun and a three-axis linear sliding table mechanism capable of performing three-dimensional motion, and the three-axis linear sliding table mechanism drives the glue gun to perform three-dimensional motion; the workpiece table comprises a supporting seat, a sleeve containing base is detachably installed on the supporting seat, and sleeve containing holes distributed in a rectangular mode are formed in the sleeve containing base. The electric servo motor is adopted to drive the glue gun to do three-dimensional motion, and continuous and automatic gluing can be conducted on a plurality of sleeves. And a plurality of sleeves can be coated at one time in single operation.

Description

Technical Field

[0001] This invention relates to the field of mechanical technology, specifically to an adhesive application device and an adhesive application method. Background Technology

[0002] Currently, most sleeve adhesive application equipment uses the following method: First, fix the fixture and adjust the glue gun to the sleeve application position. Then, control the rotary cylinder on the fixture to rotate the sleeve. While the sleeve is rotating, the glue gun dispenses glue at a uniform speed. Adjust the opening and closing time of the rotary cylinder to achieve uniform glue application. When the operator is working, place the sleeve on the adhesive application fixture, start the adhesive application equipment, and after the glue gun has evenly applied glue to the sleeve, remove the sleeve.

[0003] In practice, employees need to pick up the sleeves one by one. For safety reasons, the glue gun needs to be raised and lowered for each operation so that employees can pick up the sleeves, which undoubtedly increases the time cost significantly. Summary of the Invention

[0004] To address the problems existing in the prior art, the present invention provides a multi-sleeve continuous automatic glue application device and glue application method based on a servo motor, so as to solve at least one of the above technical problems.

[0005] To achieve the above objectives, the present invention provides a multi-sleeve continuous automatic glue application device based on a servo motor, characterized in that it includes a glue application mechanism arranged vertically and a worktable.

[0006] The glue application mechanism includes a glue gun and a three-axis linear slide mechanism capable of three-dimensional movement, wherein the three-axis linear slide mechanism drives the glue gun to move in three dimensions.

[0007] The workpiece stage includes a support base, on which a sleeve placement base is detachably mounted, and the sleeve placement base is provided with rectangularly arranged sleeve placement holes.

[0008] More preferably, the sleeve placement base is provided with a needle-shaped base for positioning the origin.

[0009] More preferably, the sleeve placement base is provided with two needle-shaped bases arranged on the left and right sides.

[0010] More preferably, the glue gun includes a mounting base, on which a bracket for limiting the AB glue tubes and a glue tube fixing bracket for fixing the AB glue tubes are mounted.

[0011] The mounting base is also equipped with a pushing assembly for extruding the AB rubber cylinder. The pushing assembly includes a screw jack, on which a slider is rotatably connected. Two push rods are mounted side by side on the slider for synchronously pushing the piston inside the AB rubber cylinder.

[0012] More preferably, the mounting base is equipped with a guide rod whose guiding direction is vertical;

[0013] The mounting base is equipped with an upper mounting frame and a lower base plate for supporting the guide rod. The slider is located between the upper mounting frame and the lower base plate, and a guide sleeve that slidably connects to the guide rod is mounted on the slider.

[0014] The lower base plate has a clearance hole for the push rod to pass through;

[0015] The upper mounting frame is connected to a protective cover with an opening at one end, and the lead screw extends and retracts within the protective cover.

[0016] The glue application method of the multi-sleeve continuous automatic glue application device based on a servo motor is characterized by comprising the following steps:

[0017] Step 1: Place the sleeve into the matrix-arranged sleeve placement holes on the sleeve placement base;

[0018] Step 2: The sleeve placement base is equipped with a needle-shaped base. The movement of the three-axis linear slide mechanism is controlled to align the tip of the glue gun with the tip of the needle-shaped base, and the current position is used as the origin position to record the three-dimensional position information.

[0019] Step 3: Control the movement of the three-axis linear slide mechanism to move the glue gun to the starting position of the first sleeve and take the current position as the first glue application position. Control the glue gun to move to the other three points that divide the sleeve circle into four equal parts in turn, which are respectively taken as the second glue application position, the third glue application position, and the fourth glue application position. Record the three-dimensional position information of each glue application position.

[0020] Step 4: Generate adhesive application path information with a circular trajectory based on the three-dimensional position information of the four adhesive application points. The adhesive application path information passes through the first adhesive application point, the second adhesive application point, the third adhesive application point, and the fourth adhesive application point in sequence.

[0021] Step 5: Repeat steps 3 and 4 to generate adhesive application path information for other sleeves.

[0022] Step 6: After the glue application path information for all sleeves is generated, when an un-glueed sleeve is placed on the sleeve placement base, the three-axis linear slide mechanism applies glue according to the trajectory of the set glue application path information.

[0023] In a further preferred embodiment, during step six when applying adhesive, the unadhesive sleeve is placed into the sleeve placement holes arranged in a matrix on another sleeve placement base;

[0024] After the glue application is complete, remove the glued sleeve placement base and place a new sleeve placement base filled with un-glueed sleeves.

[0025] In step five, the adhesive application path information includes the motion speed information and motion direction information of the three servo motors of the three-axis linear slide mechanism based on time-varying motion.

[0026] More preferably, the sleeve placement base is provided with two needle-shaped bases arranged on the left and right sides;

[0027] In step two, control the movement of the three-axis linear slide mechanism to align the tip of the glue gun with the tip of a needle-shaped base, and record the three-dimensional position information using the current position as the origin.

[0028] Control the movement of the three-axis linear slide mechanism to align the tip of the glue gun with the tip of another needle-shaped base, and use the current position as the calibration point to record the three-dimensional position information;

[0029] Generate the X-axis baseline and the Y-axis baseline for adhesive application by using the origin and calibration point positions;

[0030] The X-axis baseline for adhesive application is a line trajectory parallel to the origin position and the calibration point position;

[0031] The X-axis baseline for adhesive application is a line trajectory perpendicular to the origin position and the calibration point position.

[0032] More preferably, when the position information of the glue application X-axis baseline matches the X-axis position information of the three-axis linear slide mechanism, and the position information of the glue application Y-axis baseline matches the Y-axis position information of the three-axis linear slide mechanism, it is determined that the sleeve placement base is correctly positioned.

[0033] Conversely, if the placement is determined to be tilted, an alarm will be triggered.

[0034] More preferably, the height of the top of the needle-shaped base is taken as the height of the glue gun when applying glue.

[0035] It facilitates the rapid determination of the height of three-dimensional position information.

[0036] Further preferably, if the position of the glue application changes, the glue gun is moved to the needle base to reposition the origin.

[0037] Because the needle base is fixed on the sleeve placement base, the relative position of the needle base and the sleeve is fixed. After the origin is repositioned, the difference in the XY direction between the repositioned origin and the initial origin is calculated, and all the glue application path information is adjusted to generate calibrated glue application path information.

[0038] Compared with the prior art, the beneficial effects of the present invention are:

[0039] The glue gun is driven by an electric servo motor to perform three-dimensional motion, enabling continuous and automatic glue application to multiple sleeves. Multiple sleeves can be coated in a single operation, which greatly reduces the frequency and time of manual loading, improves work efficiency, reduces the burden on employees, and increases the output of each workstation.

[0040] Employing electric servo control, the glue application position is more controllable and precise, and adjustments are more convenient and quick. Furthermore, for model changes, only one calibration is required; subsequent changes only require replacing the base and the program. This improves product quality, speeds up the production cycle, increases capacity, reduces employee workload, and decreases equipment failure rates. Attached Figure Description

[0041] Figure 1 This is a schematic diagram of a multi-sleeve continuous automatic glue application device based on a servo motor, according to a specific embodiment 1 of the present invention.

[0042] Figure 2 This is a schematic diagram of a multi-sleeve continuous automatic glue application device based on a servo motor, according to a specific embodiment 1 of the present invention.

[0043] Figure 3 This is a schematic diagram of a multi-sleeve continuous automatic glue application device based on a servo motor, according to a specific embodiment 1 of the present invention.

[0044] Figure 4 This is a schematic diagram of the glue gun according to a specific embodiment 1 of the present invention;

[0045] Figure 5 This is a schematic diagram of the structure of the glue gun when removing the AB glue cartridge in specific embodiment 1 of the present invention;

[0046] Figure 6 This is a schematic diagram of four equally divided points in the adhesive application method of a specific embodiment 1 of the present invention.

[0047] In the figure: 1 is a three-axis linear slide mechanism, 11 is an X-axis linear sliding module, 12 is a Y-axis linear sliding module, 2 is a sleeve placement base, 21 is a sleeve placement hole, and 22 is a needle-type base.

[0048] 41 is the drive motor, 42 is the slider, 43 is the push rod, 44 is the glue tube fixing frame, 45 is the bracket, 46 is the glue dispensing head, and 47 is the AB glue tube. Detailed Implementation

[0049] The present invention will now be further described with reference to the accompanying drawings.

[0050] See Figures 1 to 6Specific Embodiment 1: A multi-sleeve continuous automatic glue application device based on a servo motor includes a glue application mechanism arranged vertically and a worktable; the glue application mechanism includes a glue gun and a three-axis linear slide mechanism 1 capable of three-dimensional movement, the three-axis linear slide mechanism 1 driving the glue gun in three-dimensional movement; the worktable includes a support base, on which a sleeve placement base 2 is detachably installed, and the sleeve placement base 2 is provided with rectangularly arranged sleeve placement holes 21. The sleeve placement base 2 is provided with needle-type bases 22 for positioning the origin. Two needle-type bases 22 are arranged horizontally on the sleeve placement base 2.

[0051] The three-axis linear slide mechanism 1 includes three servo motor-driven X-axis linear sliding modules 11, Y-axis linear sliding modules 12, and Z-axis linear sliding modules.

[0052] See Figure 4 as well as Figure 5 The glue gun includes a mounting base, on which are mounted a bracket 45 for limiting the position of the AB glue cartridge 47 and a cartridge fixing bracket 44 for fixing the AB glue cartridge 47. The mounting base also includes a pushing assembly for extruding the AB glue cartridge 47. The pushing assembly includes a screw lifting mechanism, which includes a drive motor 41 and a screw. The screw is rotatably connected to a slider 42. Two push rods 43, arranged side-by-side, are mounted on the slider 42 for synchronously pushing the piston inside the AB glue cartridge 47. The bracket 45 has a limiting groove for laterally sliding and inserting the AB glue cartridge 47. The end of the screw is rotatably connected to the slider 42 via a bearing. The cartridge fixing bracket 44 is a clamping mechanism for holding and fixing the AB glue cartridge 47. The clamping mechanism includes a first clamping member and a second clamping member, one end of which is hinged to each other and the other end is detachably connected. A mixing tube is detachably connected to the outlet of the AB glue cartridge 47, and a glue dispensing head 46 is connected to the bottom of the mixing tube. A valve is installed at the connection between the mixing tube and the dispensing head 46.

[0053] The mounting base is equipped with a guide rod that is vertically oriented; the mounting base is equipped with an upper mounting frame and a lower base plate for supporting the guide rod; the slider 42 is located between the upper mounting frame and the lower base plate; the slider 42 is equipped with a guide sleeve that slides and connects to the guide rod; the lower base plate is provided with a clearance hole for the push rod to pass through; the upper mounting frame is connected with a protective cover with an opening at one end; the lead screw extends and retracts within the protective cover.

[0054] The glue application method based on a servo motor-driven multi-sleeve continuous automatic glue application device is characterized by the following steps:

[0055] Step 1: Place the sleeve into the sleeve placement holes 21 arranged in a matrix on the sleeve placement base 2;

[0056] Step 2: A needle-shaped base 22 is provided on the sleeve placement base 2. The movement of the three-axis linear slide mechanism 1 is controlled to align the tip of the glue gun with the tip of the needle-shaped base 22, and the current position is used as the origin position to record the three-dimensional position information.

[0057] Step 3: Control the movement of the three-axis linear slide mechanism 1 to move the glue gun to the starting position of the first sleeve, and take the current position as the first glue application point. Control the glue gun to move sequentially to the other three quarter points 31 where the sleeve circle is divided into four equal parts, see [reference]. Figure 6 These are successively used as the second, third, and fourth glue application points, and the three-dimensional position information of each glue application point is recorded.

[0058] Step 4: Generate adhesive application path information with a circular trajectory based on the three-dimensional position information of the four adhesive application points. The adhesive application path information passes through the first adhesive application point, the second adhesive application point, the third adhesive application point, and the fourth adhesive application point in sequence.

[0059] Step 5: Repeat steps 3 and 4 to generate adhesive application path information for other sleeves.

[0060] Step 6: After the glue application path information of all sleeves is generated, when an un-glueed sleeve is placed on the sleeve placement base 2, the three-axis linear slide mechanism 1 applies glue according to the trajectory of the set glue application path information.

[0061] In step five, adhesive application trajectory information is generated sequentially for all sleeves on sleeve placement base 2 according to the required adhesive application sequence. Each adhesive application trajectory information contains a sleeve sequence number.

[0062] The motion trajectory during the glue application process is as follows: the current glue application sleeve starts from the first glue application position point, rotates clockwise back to the first glue application position point, and the glue application of the current sleeve ends.

[0063] After the glue application is completed on one sleeve, the three-axis linear slide mechanism 1 rises to position X and moves directly above the first glue application position point of the next sleeve corresponding to the sleeve number. After the three-axis linear slide mechanism 1 descends to position X, it applies glue to the current sleeve in a circular trajectory.

[0064] In step six, when applying adhesive, place the unadhesive sleeves into the sleeve placement holes 21 arranged in a matrix on another sleeve placement base 2; after the adhesive application is completed, remove the sleeve placement base 2 with the adhesive applied, and place a new sleeve placement base 2 filled with unadhesive sleeves.

[0065] In step five, the adhesive application path information includes the motion speed information and motion direction information of the three servo motors of the three-axis linear slide mechanism 1 based on time-varying motion.

[0066] The three-dimensional position information includes X-axis, Y-axis, and Z-axis position values. During the X-axis linear motion of the three-axis linear slide mechanism, the X-axis position value changes from 0 to its X-axis limit value. During the Y-axis linear motion of the three-axis linear slide mechanism, the Y-axis position value changes from 0 to its Y-axis limit value. During the Z-axis linear motion of the three-axis linear slide mechanism, the Z-axis position value changes from 0 to its Z-axis limit value. The motion attitude of the three-axis linear slide mechanism is determined through the three-dimensional position information.

[0067] Two needle-shaped bases 22 are arranged left and right on the sleeve placement base 2. In step two, the three-axis linear slide mechanism 1 is controlled to move, aligning the tip of the glue gun with the tip of one needle-shaped base 22, and the current position is used as the origin position to record the three-dimensional position information. The three-axis linear slide mechanism 1 is controlled to move, aligning the tip of the glue gun with the tip of the other needle-shaped base 22, and the current position is used as the calibration point position to record the three-dimensional position information. Through the origin position and the calibration point position, the glue application X-axis baseline and the glue application Y-axis baseline are generated. The glue application X-axis baseline is a line trajectory parallel to the origin position and the calibration point position. The glue application X-axis baseline is a line trajectory perpendicular to the origin position and the calibration point position.

[0068] When the position information of the glue application X-axis baseline matches the X-axis position information of the three-axis linear slide mechanism 1, and the position information of the glue application Y-axis baseline matches the Y-axis position information of the three-axis linear slide mechanism 1, it is determined that the sleeve placement base 2 is correctly placed; otherwise, it is determined that the placement is tilted and an alarm is triggered.

[0069] The height of the glue gun during glue application is determined by the height of the top of the needle-shaped base 22. This facilitates the rapid determination of the height of the three-dimensional position information.

[0070] If the glue application position changes, move the glue gun to the needle base 22 and reposition the origin.

[0071] Because the needle base 22 is fixed on the sleeve placement base 2, the relative position of the needle base 22 and the sleeve is fixed. After the origin is repositioned, the difference in the XY direction between the repositioned origin and the initial origin is calculated, and all the glue application path information is adjusted to generate calibrated glue application path information.

[0072] The above are merely preferred embodiments of the present invention. It should be noted that those skilled in the art can make various improvements and modifications without departing from the principle of the present invention, and these improvements and modifications should also be considered within the scope of protection of the present invention.

Claims

1. A multi-sleeve continuous automatic glue application device based on a servo motor, characterized in that, Includes an adhesive application mechanism and a worktable, both positioned vertically; The glue application mechanism includes a glue gun and a three-axis linear slide mechanism capable of three-dimensional movement, wherein the three-axis linear slide mechanism drives the glue gun to move in three dimensions. The workpiece stage includes a support base, on which a sleeve placement base is detachably mounted, and the sleeve placement base is provided with rectangularly arranged sleeve placement holes.

2. The multi-sleeve continuous automatic glue application device based on a servo motor according to claim 1, characterized in that: The sleeve placement base is equipped with a needle-shaped base for positioning the origin.

3. The multi-sleeve continuous automatic glue application device based on a servo motor according to claim 1, characterized in that: The glue gun includes a mounting base, on which a bracket for limiting the AB glue tubes and a glue tube fixing bracket for fixing the AB glue tubes are mounted. The mounting base is also equipped with a pushing assembly for extruding the AB rubber cylinder. The pushing assembly includes a screw jack, on which a slider is rotatably connected. Two push rods are mounted side by side on the slider for synchronously pushing the piston inside the AB rubber cylinder.

4. The multi-sleeve continuous automatic glue application device based on a servo motor according to claim 3, characterized in that: The mounting base is equipped with a guide rod whose guiding direction is vertical; The mounting base is equipped with an upper mounting frame and a lower base plate for supporting the guide rod. The slider is located between the upper mounting frame and the lower base plate, and a guide sleeve that slidably connects to the guide rod is mounted on the slider. The lower base plate has a clearance hole for the push rod to pass through; The upper mounting frame is connected to a protective cover with an opening at one end, and the lead screw extends and retracts within the protective cover.

5. The glue application method of a multi-sleeve continuous automatic glue application device based on a servo motor according to claim 1, characterized in that, Includes the following steps: Step 1: Place the sleeve into the matrix-arranged sleeve placement holes on the sleeve placement base; Step 2: The sleeve placement base is equipped with a needle-shaped base. The movement of the three-axis linear slide mechanism is controlled to align the tip of the glue gun with the tip of the needle-shaped base, and the current position is used as the origin position to record the three-dimensional position information. Step 3: Control the movement of the three-axis linear slide mechanism to move the glue gun to the starting position of the first sleeve and take the current position as the first glue application position. Control the glue gun to move to the other three points that divide the sleeve circle into four equal parts in turn, which are respectively taken as the second glue application position, the third glue application position, and the fourth glue application position. Record the three-dimensional position information of each glue application position. Step 4: Generate adhesive application path information with a circular trajectory based on the three-dimensional position information of the four adhesive application points. The adhesive application path information passes through the first adhesive application point, the second adhesive application point, the third adhesive application point, and the fourth adhesive application point in sequence. Step 5: Repeat steps 3 and 4 to generate adhesive application path information for other sleeves. Step 6: After the glue application path information for all sleeves is generated, when an un-glueed sleeve is placed on the sleeve placement base, the three-axis linear slide mechanism applies glue according to the trajectory of the set glue application path information.

6. The glue application method of a multi-sleeve continuous automatic glue application device based on a servo motor according to claim 5, characterized in that, In step six, when applying adhesive, place the unadhesive sleeve into the sleeve placement holes arranged in a matrix on another sleeve placement base; After the glue application is complete, remove the glued sleeve placement base and place a new sleeve placement base filled with un-glueed sleeves.

7. The glue application method of a multi-sleeve continuous automatic glue application device based on a servo motor according to claim 5, characterized in that, The sleeve placement base is provided with two needle-shaped bases arranged on the left and right sides; In step two, control the movement of the three-axis linear slide mechanism to align the tip of the glue gun with the tip of a needle-shaped base, and record the three-dimensional position information using the current position as the origin. Control the movement of the three-axis linear slide mechanism to align the tip of the glue gun with the tip of another needle-shaped base, and use the current position as the calibration point to record the three-dimensional position information; Generate the X-axis baseline and the Y-axis baseline for adhesive application by using the origin and calibration point positions; The X-axis baseline for adhesive application is a line trajectory parallel to the origin position and the calibration point position; The X-axis baseline for adhesive application is a line trajectory perpendicular to the origin position and the calibration point position.

8. The glue application method of a multi-sleeve continuous automatic glue application device based on a servo motor according to claim 7, characterized in that, When the position information of the glue application X-axis baseline matches the X-axis position information of the three-axis linear slide mechanism, and the position information of the glue application Y-axis baseline matches the Y-axis position information of the three-axis linear slide mechanism, it is determined that the sleeve placement base is correctly positioned. Conversely, if the placement is determined to be tilted, an alarm will be triggered.

9. The glue application method of a multi-sleeve continuous automatic glue application device based on a servo motor according to claim 5, characterized in that, The height of the top of the needle-shaped base is taken as the height of the glue gun when applying glue.

10. The glue application method of a multi-sleeve continuous automatic glue application device based on a servo motor according to claim 5, characterized in that, If the glue application location changes, move the glue gun to the needle base and reposition the origin point. Because the needle base is fixed on the sleeve placement base, the relative position of the needle base and the sleeve is fixed. After the origin is repositioned, the difference in the XY direction between the repositioned origin and the initial origin is calculated, and all the glue application path information is adjusted to generate calibrated glue application path information.

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