Adhesive tape laying device based on infrared positioning

Abstract

The invention relates to the technical field of adhesive tape laying, in particular to an adhesive tape laying device based on infrared positioning. The adhesive tape laying device based on infrared positioning comprises an equipment body, a moving mechanism, an adhesive tape bearing and conveying mechanism, an adhesive tape pressing system, an infrared positioning system and a control system. The adhesive tape laying path can be visually and accurately indicated through the reference light spot or light band emitted by the infrared positioning system, the manual marking error is remarkably reduced, the laying precision is improved, the method is particularly suitable for scenes with complex surfaces or high-precision requirements, visual path guidance is provided for infrared positioning, the operation process is simplified, and the production efficiency is improved. The requirement for skills of operators is lowered, and meanwhile the reworking cost caused by human factors is reduced.

Description

Technical Field

[0001] This invention relates to the field of tape laying technology, and in particular to a tape laying device based on infrared positioning. Background Technology

[0002] Currently, the industry commonly uses manual methods for applying hot melt adhesive tape. The typical process is as follows: First, the operator aligns, lays flat, and secures the two pieces of fabric to be joined on a fabric receiving platform. Then, relying on experience and visual estimation, the cut hot melt adhesive tape is placed in the approximate bonding position. Finally, it is ensured to be straight on the fabric surface. The entire process depends heavily on the worker's feel and experience.

[0003] The existing manual fabric splicing method has the following main problems and disadvantages: 1. Poor positioning accuracy and inability to guarantee the straightness of the fabric splice: Relying entirely on human eyes and experience to judge the position and straightness of the tape makes it very easy for problems such as skewed tape application and inconsistent distance from the fabric edge to occur. This leads to uneven stress at the fabric splice, which, under the high-speed tension of the production line, can easily cause tearing starting from the skewed point, resulting in fabric breakage and production stoppage, seriously affecting production efficiency and fabric quality.

[0004] 2. Unstable bonding quality, posing a safety hazard: Uneven adhesion: The pressure, temperature, and movement speed of the hand-held iron cannot be kept constant, resulting in uneven heating and pressure on different areas of the tape. Some areas may be damaged by overheating, while other areas may not adhere properly due to insufficient pressure or temperature, resulting in a weak bond.

[0005] Air bubbles can form, or cause wrinkles in the tape and fabric. These defects are also weak points on the production line.

[0006] 3. Low level of automation restricts production efficiency: Manual fabric splicing is a "breakpoint" in the entire continuous production process. The operation is cumbersome and time-consuming, and it does not match the level of automation of the preceding and following processes, becoming a bottleneck to improving overall production efficiency. This problem is particularly prominent in processes that require frequent fabric splicing.

[0007] 4. High labor intensity and harsh working environment: Operators need to be in close proximity to a high-temperature iron and molten adhesive, posing a risk of burns. Additionally, the hot melt adhesive may produce fumes when heated, posing a potential threat to worker health. The repetitive, high-intensity concentration and delicate operations also easily lead to fatigue.

[0008] 5. High dependence on skilled workers: High-quality fabric splicing requires long-term experience accumulation, which is difficult for novice workers to master quickly, resulting in high personnel training costs. In addition, the work quality of different operators varies greatly, which is not conducive to standardized production management. Summary of the Invention

[0009] The purpose of this invention is to provide an infrared positioning-based tape laying device, which can solve the problem of poor accuracy in manual tape laying; This invention provides an infrared positioning-based tape laying device, which includes: an equipment body, a moving mechanism, a tape carrying and conveying mechanism, a tape pressing system, an infrared positioning system, and a control system; The tape carrying and conveying mechanism is installed on the main body of the equipment. The tape carrying and conveying mechanism is used to carry the tape roll and controllably release the tape. The moving mechanism is located below the main body of the equipment and is used to move the main body of the equipment. An infrared positioning system is used to emit at least one reference infrared spot or band to the surface to be laid, the reference infrared spot or band being used to indicate the predetermined laying path of the tape; A tape pressing mechanism is located at a subsequent station of the tape carrying and conveying mechanism and is used to press and adhere the released tape to the surface to be laid. The control system is connected to the moving mechanism, the tape carrying and conveying mechanism, the tape release paper recycling device, the tape pressing system, and the infrared positioning system to receive operating instructions and coordinate the actions of each mechanism.

[0010] Preferably, the infrared positioning system includes a laser generator.

[0011] Preferably, the infrared positioning system further includes an image acquisition unit; The image acquisition unit is used to capture the relative position of the reference infrared spot or band and the preset mark on the surface to be laid; The deviation calculation unit is used to calculate the deviation between the current laying path and the predetermined laying path based on the information captured by the image acquisition unit, and to feed the deviation signal back to the control system; The control system controls the running trajectory of the moving mechanism based on the received deviation signal.

[0012] Preferably, the moving mechanism is a wheel set with independent drive and steering functions; The control system controls the direction and / or speed of the moving mechanism based on the deviation signal to achieve automatic correction of the laying path.

[0013] Preferably, the tape carrying and conveying mechanism; The belt carrying and conveying mechanism includes a rotating wheel, a damped tension controller, and a set of guide wheels. The rotating wheel is mounted on the main body of the equipment for mounting the tape roll, and the damping tension controller is connected to the rotating wheel and is used to apply constant resistance to the rotating shaft. The guide wheel assembly is located at the discharge port of the belt carrying and conveying mechanism.

[0014] Preferably, the tape pressing mechanism includes at least one pressure roller and a pressure device for driving the pressure roller.

[0015] Preferably, the pressurizing device is a pneumatic cylinder, a hydraulic cylinder, or an electric push rod.

[0016] Preferably, the tape pressing mechanism further includes a heating device, which is disposed on the pressure roller.

[0017] Preferably, the control system integrates a wireless communication module for receiving data of the predetermined laying path sent by an external terminal or a high-precision positioning system.

[0018] Preferably, it also includes a tape release paper recycling device, which is installed on the assembly body and is used for recycling the tape release paper.

[0019] Beneficial effects: The reference light spot or light strip emitted by the infrared positioning system can intuitively and accurately indicate the tape laying path, significantly reducing manual marking errors and improving laying accuracy. It is especially suitable for complex surfaces or high-precision scenarios. Infrared positioning provides visual path guidance, simplifies the operation process, reduces the skill requirements of operators, and reduces rework costs caused by human factors. Attached Figure Description

[0020] To more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the specific embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0021] Figure 1 A schematic diagram of the structure of the tape laying device based on infrared positioning provided for a specific embodiment of the present invention; Explanation of reference numerals in the attached figures: 1: Main body of equipment; 2: Moving mechanism; 3: Belt carrying and conveying mechanism; 4: Belt pressing system; 5: Infrared positioning system; 6: Control system; 7: Belt release paper recycling device. 31: Rotary wheel; 32: Guide wheel assembly; 51: Laser generator; 52: Image acquisition unit. Detailed Implementation

[0022] The technical solution of the present invention will be clearly and completely described below with reference to the embodiments. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0023] In the description of this invention, it should be understood that the terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," and "counterclockwise," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing this invention 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 limiting this invention.

[0024] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the stated features. In the description of this invention, "a plurality of" means two or more, unless otherwise explicitly specified. Furthermore, the terms "installed," "connected," and "linked" should be interpreted broadly; for example, they may refer to a fixed connection, a detachable connection, or an integral connection; they may refer to a mechanical connection or an electrical connection; they may refer to a direct connection or an indirect connection through an intermediate medium; and they may refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0025] like Figure 1 As shown, this embodiment provides an infrared positioning-based tape laying device, which includes: equipment body 1, moving mechanism 2, tape carrying and conveying mechanism 3, tape pressing system 4, infrared positioning system 5 and control system 6.

[0026] The tape carrying and conveying mechanism 3 is installed on the main body 1 of the equipment. The tape carrying and conveying mechanism 3 is used to carry the tape roll and release the tape in a controllable manner.

[0027] The moving mechanism 2 is located below the equipment body 1 and is used to move the equipment body 1.

[0028] The infrared positioning system 5 is used to emit at least one reference infrared spot or band to the surface to be laid, which is used to indicate the predetermined laying path of the tape.

[0029] The tape pressing system is located at a subsequent station of the tape carrying and conveying mechanism 3 and is used to press and adhere the released tape to the surface to be laid.

[0030] The control system 6 is connected to the moving mechanism 2, the tape carrying and conveying mechanism 3, the tape release paper recycling device 7, the tape pressing system 4, and the infrared positioning system 5, and is used to receive operating instructions and coordinate the actions of each mechanism.

[0031] The reference light spot or light band emitted by the infrared positioning system 5 can intuitively and accurately indicate the tape laying path, significantly reducing manual marking errors and improving laying accuracy. It is especially suitable for complex surfaces or high-precision scenarios. Infrared positioning provides visual path guidance, simplifies the operation process, reduces the skill requirements of operators, and reduces rework costs caused by human factors.

[0032] The integrated control system 6 coordinates the moving mechanism 2 and the tape conveying and pressing mechanism to automate the entire process of tape release, positioning, and pressing, reducing manual intervention and significantly improving laying efficiency. It is suitable for batch or continuous operation needs. The tape carrying and conveying mechanism 3 controls the release of the tape, which, combined with the pressing mechanism, ensures that the tape adheres tightly to the surface to be laid, preventing wrinkles or detachment and improving construction quality and durability.

[0033] The infrared positioning system 5 includes a laser generator 51. The infrared positioning system 5 also includes an image acquisition unit 52. The image acquisition unit 52 is used to capture the relative position of the reference infrared spot or band and the preset mark on the surface to be laid; The deviation calculation unit is used to calculate the deviation between the current laying path and the predetermined laying path based on the information captured by the image acquisition unit 52, and feeds back the deviation signal to the control system 6.

[0034] The control system 6 controls the running trajectory of the moving mechanism 2 based on the received deviation signal.

[0035] The infrared positioning system 5 and the image acquisition system are set up independently of the main equipment 1 and do not move with the main equipment.

[0036] The laser generator 51 integrates a single-line infrared laser emitter, a CMOS image sensor, and an embedded image processing unit into a protective housing and is mounted on the front of the main body of the device via an adjustable bracket.

[0037] The specific functions of the laser generator 51 and the image acquisition system are as follows: Reference establishment: The laser emitter projects a clear, continuous visible or invisible infrared reference light band onto the surface to be laid, which precisely marks the predetermined laying path of one edge of the tape.

[0038] Deviation detection: The CMOS image sensor continuously acquires images containing the reference light band and working surface reference objects (such as pre-drawn lines or pasted marks).

[0039] Signal processing: The image processing unit performs real-time analysis on the acquired images. Through algorithms such as edge detection and template matching, it calculates the lateral position deviation (ΔX) and angular deviation (Δθ) between the current reference light band and the actual reference path, and converts this deviation signal into a digital quantity and transmits it to the central control system 6.

[0040] Technical problem solved: This module directly replaces human eye observation and manual alignment, realizing real-time, digital, and high-precision monitoring of the laying path, fundamentally solving the problems of "low accuracy and poor consistency".

[0041] The moving mechanism 2 is a wheel set with independent drive and steering functions.

[0042] This module serves as the mobile platform for the equipment, comprising a rigid chassis and two independently driven wheel units mounted on it. Each unit consists of a servo motor, a reducer, and a drive controller.

[0043] Function and principle: This module receives speed and steering commands from control system 6.

[0044] By precisely controlling the differential speed of the two side wheel sets (which can be Mecanum wheels), the equipment can move forward, backward, turn, and move laterally with precision (for Mecanum wheels).

[0045] When the infrared positioning module detects a path deviation, the control system 6 will immediately send a correction command to the module, and achieve dynamic automatic correction during the journey by adjusting the speed difference between the two sides.

[0046] Technical problem solved: This module transforms manual pushing into autonomous navigation and forms a closed-loop control with the positioning system, realizing "automated laying", which greatly improves efficiency and ensures path accuracy.

[0047] The control system 6 controls the traveling direction and / or speed of the moving mechanism according to the deviation signal, so as to realize the automatic correction of the laying path.

[0048] 3. Belt carrying and conveying mechanism.

[0049] The belt carrying and conveying mechanism 3 includes a rotating wheel 31, a damped tension controller, and a set of guide wheels 32.

[0050] The rotating wheel 31 is mounted on the equipment body 1 for mounting the tape roll, and the damping tension controller is connected to the rotating wheel 31 and is used to apply constant resistance to the rotating shaft.

[0051] The guide wheel assembly 32 is located at the discharge port of the belt carrying and conveying mechanism 3.

[0052] Damped constant tension controllers (such as magnetic powder brakes or friction dampers) apply a constant resistance torque to the mandrel to ensure that the tape maintains a preset, constant tension throughout the release process.

[0053] The guide wheel assembly 32 is driven by a servo motor. According to the instructions of the control system 6, it actively "feeds" the tape at a linear speed that is strictly synchronized with the equipment's travel speed, rather than being passively pulled out.

[0054] Technical problem solved: This module effectively avoids the stretching deformation, loosening or breakage of the tape caused by uneven tension through constant tension control and synchronous conveying, ensuring the stability of the tape shape and solving the problem of uneven tension and material deformation in "difficulty in controlling the laying quality".

[0055] The tape pressing system includes at least one pressure roller and a pressure device for driving the pressure roller. The pressure device is a cylinder, a hydraulic cylinder, or an electric push rod. The tape pressing system also includes a heating device disposed on the pressure roller.

[0056] The tape pressing system is located at the end of the tape conveyor and includes one or more silicone or steel pressure rollers, a pressure device (such as a cylinder or electric push rod) to drive the pressure rollers, and a heating device (such as an infrared heating tube or hot air gun) integrated inside or in front of the pressure rollers. It also includes a bottom paper winding mechanism driven by a stepper motor.

[0057] Function and principle of tape pressing system: Heating activation: Before pressing, the heating device moderately heats the adhesive backing and / or working surface of the tape to soften and activate the pressure-sensitive adhesive, significantly improving the initial tack.

[0058] Firm pressing: The pressure device presses the pressure roller tightly against the working surface with constant pressure. With the synergistic effect of heating, the tape is pressed onto the working surface completely and without air bubbles.

[0059] Waste recycling: The bottom paper winding mechanism simultaneously and neatly winds up the peeled release paper, keeping the working surface clean.

[0060] Technical problem solved: This module uses a "heating and constant pressure" process to ensure that the tape adheres tightly to the working surface from all directions, eliminating air bubbles and wrinkles, significantly improving the bonding strength, and solving the core quality problem of "poor adhesion and air bubbles".

[0061] The control system 6 integrates a wireless communication module for receiving data of the predetermined laying path sent by an external terminal or a high-precision positioning system.

[0062] The control system 6 uses an industrial-grade PLC (Programmable Logic Controller) and / or an embedded industrial computer as its core, and integrates servo drives, I / O modules, and wireless communication modules (such as 4G / 5G or Wi-Fi).

[0063] Function and working principle: The control system 6 is the "brain" of the equipment. It receives laying path data (such as coordinate information converted from CAD drawings) from an external tablet or the cloud via a wireless communication module.

[0064] It reads the path deviation signal sent by the infrared positioning and guidance module in real time.

[0065] Based on this deviation signal, the control system 6 runs PID and other control algorithms to generate correction commands and sends them to the walking and motion control module.

[0066] At the same time, it synchronously controls the belt feeding speed of the belt carrying and conveying module, as well as the heating temperature and pressing pressure of the belt pressing and processing module, based on the real-time travel speed.

[0067] Technical problems solved: This module realizes centralized coordination and closed-loop intelligent control of all functional modules, integrating the originally scattered processes that relied on manual judgment into a smooth automated process, and ultimately comprehensively solving all technical problems such as accuracy, efficiency, quality and labor intensity.

[0068] The infrared-based tape laying device also includes a tape release paper recycling device, which is installed on the assembly body and is used for recycling the tape release paper.

[0069] To further illustrate the infrared-based tape laying device described above, this embodiment also provides the specific working process of the tape laying device: Step 1: Initialization and Positioning The operator imports the CAD design of the laying path via a handheld terminal (such as a tablet, connected to the control system 6 via Wi-Fi) or manually sets a straight path. The equipment is then moved to the laying starting point. The equipment is activated, and the linear laser emitter of the infrared positioning system 5 begins operation, projecting a bright red reference light band onto the work surface. The operator fine-tunes the equipment position to ensure that the reference light band perfectly aligns with the starting mark or designed path on the ground.

[0070] Step Two: Threading and Preparation The tape roll is manually installed onto the rotating shaft, the tape head is pulled out, passed around the guide roller, and passed under the pressing mechanism, while the peeled backing paper is fixed on the winding shaft of the backing paper winding mechanism.

[0071] Step 3: Automatic Laying The operator clicks the "Start" button on the handheld terminal. Control system 6 executes the following automation sequence: 1. Movement and monitoring: The control system 6 drives the servo motor of the moving mechanism, enabling the equipment to move forward at a constant speed in a predetermined direction.

[0072] 2. Real-time correction: During the journey, the CMOS image sensor continuously captures images of the reference light band and path markings on the working surface. The image data is transmitted in real-time to the deviation calculation unit of the control system 6. This unit uses an image recognition algorithm to calculate the lateral deviation (ΔX) and angular deviation (Δθ) between the current reference light band and the actual path.

[0073] 3. Closed-loop control: The control system 6 generates correction commands based on the calculated deviation (ΔX, Δθ), and dynamically adjusts the speed difference between the two wheel sets (for example, making the left wheel set slightly faster than the right wheel set to achieve right turn correction), forming a closed-loop automatic guidance system to ensure that the equipment always travels accurately along the predetermined path.

[0074] 4. Synchronous Conveying and Pressing: While the equipment is moving and correcting its course, the control system 6 ensures that the conveyor belt releases the belt at a speed synchronized with the moving speed. The belt is conveyed to the pressing mechanism under constant tension. A pressure cylinder drives the active pressure roller to press the belt against the ground with constant pressure, while an infrared heating tube heats the pressing area, achieving a firm bond between the belt and the surface.

[0075] 5. Paper recovery: The stepper motor of the paper recovery mechanism operates synchronously to neatly roll up the peeled paper.

[0076] Step 4: Completion and Stop When the equipment reaches the end of the laying path, or when the operator manually presses the stop button, the control system 6 stops the moving mechanism, the belt conveyor mechanism and the pressing mechanism in sequence to complete one laying operation.

[0077] Through the above specific implementation methods, this invention achieves full automation and high precision in tape laying. The infrared positioning and guiding system provides intuitive and accurate path guidance and automatic correction capabilities; constant tension conveying and heating pressing ensure uniform, firm, and bubble-free laying quality; the entire system is integrated and linked through the control system 6, greatly reducing the labor intensity and technical threshold for operators, and ultimately achieving precise, efficient, and high-quality tape laying operations.

[0078] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A tape laying device based on infrared positioning, characterized in that, include: The main body of the equipment, the moving mechanism, the belt carrying and conveying mechanism, the belt pressing system, the infrared positioning system, and the control system; The tape carrying and conveying mechanism is installed on the main body of the equipment. The tape carrying and conveying mechanism is used to carry the tape roll and controllably release the tape. The moving mechanism is located below the main body of the equipment and is used to move the main body of the equipment. An infrared positioning system is used to emit at least one reference infrared spot or band to the surface to be laid, the reference infrared spot or band being used to indicate the predetermined laying path of the tape; A tape pressing mechanism is located at a subsequent station of the tape carrying and conveying mechanism and is used to press and adhere the released tape to the surface to be laid. The control system is connected to the moving mechanism, the tape carrying and conveying mechanism, the tape release paper recycling device, the tape pressing system, and the infrared positioning system to receive operating instructions and coordinate the actions of each mechanism.

2. The tape laying device based on infrared positioning according to claim 1, characterized in that, The infrared positioning system includes a laser generator.

3. The tape laying device based on infrared positioning according to claim 1, characterized in that, The infrared positioning system also includes an image acquisition unit; The image acquisition unit is used to capture the relative position of the reference infrared spot or band and the preset mark on the surface to be laid; The deviation calculation unit is used to calculate the deviation between the current laying path and the predetermined laying path based on the information captured by the image acquisition unit, and to feed back the deviation signal to the control system. The control system controls the running trajectory of the moving mechanism based on the received deviation signal.

4. The tape laying device based on infrared positioning according to claim 3, characterized in that, The moving mechanism is a wheel set with independent drive and steering functions; The control system controls the direction and / or speed of the moving mechanism based on the deviation signal to achieve automatic correction of the laying path.

5. The tape laying device based on infrared positioning according to claim 1, characterized in that, The tape carrying and conveying mechanism; The belt carrying and conveying mechanism includes a rotating wheel, a damped tension controller, and a set of guide wheels. The rotating wheel is mounted on the main body of the equipment for mounting the tape roll, and the damping tension controller is connected to the rotating wheel and is used to apply constant resistance to the rotating shaft. The guide wheel assembly is located at the discharge port of the belt carrying and conveying mechanism.

6. The tape laying device based on infrared positioning according to claim 1, characterized in that, The tape pressing mechanism includes at least one pressure roller and a pressure application device for driving the pressure roller.

7. The tape laying device based on infrared positioning according to claim 6, characterized in that, The pressurizing device is a pneumatic cylinder, a hydraulic cylinder, or an electric push rod.

8. The tape laying device based on infrared positioning according to claim 6, characterized in that, The tape pressing mechanism also includes a heating device, which is disposed on the pressure roller.

9. The tape laying device based on infrared positioning according to claim 1, characterized in that, The control system integrates a wireless communication module for receiving data of the predetermined laying path sent by an external terminal or a high-precision positioning system.

10. The tape laying device based on infrared positioning according to claim 1, characterized in that, It also includes a tape release paper recycling device, which is installed on the assembly body and is used for recycling tape release paper.

Images