A gluing robot with automatic feeding mechanism for automobile

Abstract

The application discloses a gluing robot with an automatic feeding mechanism for an automobile and relates to the technical field of gluing robots. The gluing robot comprises a base, a mechanical arm installed on the base, a mounting plate connected to the mechanical arm, a guide groove arranged on the mounting plate, a glue valve connected to the mounting plate and sliding along the guide groove, a gun head inserted into a glue outlet end of the glue valve, a plug-in cylinder connected to the mounting plate, a supporting plate connected to the mounting plate, a flow pipe connected to the supporting plate, a screw rod slidingly connected to the flow pipe, a control plate slidingly connected to the mounting plate and a guide rod connected to the glue valve. The gun head on the glue valve is quickly replaced by rotating the plug-in cylinder. The screw rod is extended into the inside of the replaced gun head by the cleaning liquid. The screw rod forms a turbulent flow to clean the gun head. The gun head is dried by compressed gas. The glue liquid is prevented from solidifying in the inside of the gun head. The guide rod moves along the guide groove to push the control plate, so that the flow pipe is automatically avoided. The gun replacement and the cleaning are cooperatively matched. No independent cleaning equipment is needed. The gluing robot occupies a small space.

Description

Technical Field

[0001] This invention relates to the field of adhesive application robot technology, and more particularly to an automotive adhesive application robot with an automatic feeding mechanism. Background Technology

[0002] Automotive adhesive application is a key process in automobile manufacturing, with main functions including: first, sealing to prevent water, dust, and air from entering the vehicle body; second, shock absorption and noise reduction to improve ride comfort; third, structural reinforcement to increase the strength of sheet metal connections; and fourth, corrosion protection to extend the vehicle body's lifespan. The quality of adhesive application directly affects the overall vehicle safety, durability, and user experience. When using robots for adhesive application, high-precision trajectory control can be achieved, ensuring consistent glue line position, width, and thickness, avoiding the instability of manual operation. It can flexibly adapt to the adhesive application needs of different vehicle models and workstations, and quickly switch process parameters.

[0003] However, in practical applications, traditional glue-applying robot technologies still have some problems: 1. In the existing technology, the gun head is usually stored on a separately set up rack. When changing the gun, the robot needs to be driven to move to this position to perform the insertion and removal operation, which not only increases the movement path and time cost, but also occupies additional working space; 2. Residual adhesive may remain inside the removed nozzle. If not cleaned in time, it may solidify and cause blockage, affecting subsequent use. Most current equipment does not have online cleaning function and requires manual disassembly and offline cleaning. The operation is cumbersome and inefficient. Incomplete cleaning may shorten the service life of the nozzle. After cleaning, it must be reinstalled on the rack, which further increases the complexity of the operation. 3. The gun changing mechanism and cleaning mechanism of existing glue-applying robots are usually independent of each other, and there is a lack of coordination between their actions. This results in a complex overall structure of the equipment, a large space occupation, and difficulty in automatically cleaning the old gun head in a timely manner after gun changing, which affects the efficiency and automation level of continuous operation. Summary of the Invention

[0004] The purpose of this invention is to overcome the shortcomings of the existing technology by proposing an integrated, collaborative automotive glue-applying robot with an automatic feeding mechanism that facilitates nozzle replacement and cleaning.

[0005] To achieve the above objectives, the present invention adopts the following technical solution: An automotive adhesive applicator robot with an automatic feeding mechanism includes a base, a robotic arm mounted on the base, an adhesive applicator connected to the end of the robotic arm, and an adhesive applicator including a connecting plate. The connecting plate is fixedly connected to the connecting plate, and the mounting plate has a guide groove consisting of two staggered parallel grooves and a middle inclined groove. An adhesive valve that slides along the guide groove is connected to the mounting plate, and a gun head is inserted into the dispensing end of the adhesive valve. A barrel shell is mounted on the mounting plate at an extension of one end of the guide groove, and an axially sliding insert is connected inside the barrel shell. The insert has a through hole for inserting the gun head. A cleaning mechanism is connected to the mounting plate. The cleaning mechanism includes a support plate. A support plate perpendicular to the sliding direction of the insert is slidably connected to the mounting plate. A flow tube is connected to the support plate. The flow tube is used to insert into the nozzle on the insert. A screw is slidably connected inside the flow tube. The screw is used to movably insert into the nozzle. A waste liquid pipe communicating with the bottom end of the insert is connected to the barrel shell. A control plate is slidably connected to the mounting plate, the control plate is fixedly connected to the support plate, a first spring is installed between the control plate and the mounting plate, a guide rod is connected to the glue valve, and the end of the control plate near the guide rod is inclined.

[0006] Preferably, a base plate is slidably connected to the mounting plate, the glue valve is mounted on the base plate, the guide rod is fixedly connected to the base plate, the guide rod is connected to the glue valve through the base plate, the guide rod extends into the guide groove, and the guide rod is slidably connected to the mounting plate through the guide groove.

[0007] Preferably, a slider is slidably connected to the mounting plate, a first lead screw is rotatably connected to the mounting plate, the first lead screw is threadedly connected to the slider, a first motor is mounted on the mounting plate, the output shaft of the first motor is connected to the end of the first lead screw through a coupling, the slider is provided with a sliding groove, the guide rod extends into the sliding groove, and the guide rod is slidably connected to the slider through the sliding groove.

[0008] Preferably, the mounting plate is connected to a guide mechanism, the guide mechanism includes a moving groove, the mounting plate is provided with a moving groove, the moving groove is parallel to the axis of the insert, the mounting plate is slidably connected to a moving block through the moving groove, a sliding rod is slidably connected to the moving block, the end of the sliding rod is fixedly connected to the base plate, and the sliding rod is perpendicular to the moving groove.

[0009] Preferably, a flow-disrupting mechanism is connected to the flow tube, the flow-disrupting mechanism includes a connecting block, the connecting block is slidably connected inside the flow tube, the screw is rotatably connected to the connecting block, a coaxial impeller is installed on the screw, the blades of the impeller are inclined in the opposite direction to the thread direction of the screw, an end ring is installed at the top of the flow tube, and a third spring is installed between the end ring and the connecting block.

[0010] Preferably, a sliding cylinder is slidably connected inside the barrel shell, a second lead screw is rotatably connected to the barrel shell, the sliding cylinder is threadedly connected to the second lead screw, a third motor is installed on the barrel shell, the output shaft of the third motor is connected to the end of the second lead screw through a coupling, the insert is rotatably connected inside the sliding cylinder, a second motor is installed at the bottom of the sliding cylinder, the output shaft of the second motor is fixedly connected to the insert, the waste liquid pipe is slidably connected to the barrel shell, the waste liquid pipe is fixed at the bottom of the sliding cylinder, and the waste liquid pipe communicates with the bottom end inside the sliding cylinder.

[0011] Preferably, the insert has multiple through holes arranged in a circular array, and the top of each through hole has a chamfer.

[0012] Preferably, a three-way solenoid valve is installed on the support plate, the flow tube is screwed onto the output end of the three-way solenoid valve, a liquid supply pipe and a gas supply pipe are respectively installed on the two input ends of the three-way solenoid valve, a fixing rod is fixedly connected to the support plate, a closing cover is fixedly connected to the bottom end of the fixing rod, the bottom end of the closing cover is used to abut against the top of the insert, the closing cover is inserted into the sliding cylinder, the bottom end of the flow tube passes through the closing cover, and a protective shell is installed on the outside of the mounting plate of the connecting plate.

[0013] Preferably, the glue valve is connected to a limiting mechanism, which includes a second electric push rod. The glue valve is equipped with the second electric push rod and a contact rod is rotatably connected to the glue valve. A connecting rod is rotatably connected between the telescopic end of the second electric push rod and the contact rod. A push ring is slidably connected to the glue outlet tube of the glue valve. An installation ring is installed on the glue valve. A second spring is installed between the installation ring and the push ring. The end of the push ring abuts against the top of the gun head. The gun head has a "T" shaped cross-section. The contact rod abuts against the "T" shaped end of the gun head. An iron contact ring is fixedly connected to the gun head. A magnetic block is installed at each through hole of the insert.

[0014] Preferably, a glue supply pipe is installed at the glue valve inlet, a feeding mechanism is connected to the base, the feeding mechanism includes a bracket, a glue tank is installed on the bracket, a first solenoid valve is installed at the bottom of the glue tank, the other end of the glue supply pipe is installed at the outlet of the first solenoid valve, a first electric push rod is installed on the bracket, the telescopic end of the first electric push rod extends into the glue tank, and a controller is installed on the bracket.

[0015] Compared with the prior art, the present invention provides an automotive adhesive application robot with an automatic feeding mechanism, which has the following advantages: 1. This automotive glue-applying robot features an automatic feeding mechanism. During operation, the robotic arm controls the glue valve and nozzle position, using a computer program to set a trajectory for glue application to automotive workpieces. When changing nozzles for different workpiece positions, the first lead screw rotates, causing the slider to move the guide rod upwards, which in turn moves the base plate. This moves the glue valve to the top of the insert, driving the insert to rotate so that one of the through holes aligns with the nozzle on the glue valve. The insert then moves upwards, inserting the nozzle into the through hole. Releasing the nozzle, the insert moves the nozzle downwards, rotating it to bring other nozzle sizes below the glue valve. The insert then moves upwards again, inserting the nozzle onto the glue valve. The glue valve then resets, allowing for re-applying. By arranging different nozzle sizes near the glue valve, quick replacement is possible, eliminating the need for a dedicated nozzle holder and saving space.

[0016] 2. This automotive glue-applying robot with an automatic feeding mechanism pumps cleaning fluid into the flow tube for replaced nozzles. Under liquid pressure, the connecting block moves downward, and the screw extends into the nozzle to be cleaned. The cleaning fluid passes through the through-hole on the connecting block, driving the impeller to rotate, which in turn drives the screw to rotate. The impeller blades are tilted in the opposite direction to the screw thread. As the screw rotates, it gives the cleaning fluid an upward tendency to move. Under water pressure, the cleaning fluid impacts the outer spiral wall of the screw and rebounds towards the inner wall of the nozzle, thus flushing the inner wall of the nozzle and increasing the cleaning effect on residual glue inside the nozzle. After cleaning, compressed air is pumped into the flow tube to dry the residual cleaning fluid, and the waste liquid is discharged through the waste liquid pipe. Timely cleaning of the nozzles effectively prevents the internal glue from solidifying, increasing the service life of the nozzles. No manual nozzle transfer is required, making operation convenient.

[0017] 3. This automotive glue-applying robot with an automatic feeding mechanism moves along the guide rail, causing the base plate and glue valve to move above the insert. When the guide rail reaches the inclined groove of the guide rail, it will contact the control plate and push the control plate to slide laterally. The first spring will be stretched, and the control plate will drive the support plate to slide, moving the support plate and flow tube away from the base plate, providing space for the base plate and glue valve. The support plate will drive the closing cover to one side. When the base plate and glue valve slide down to reset, the guide rail moves downward, and the first spring will pull the control plate to slide back to reset, moving the support plate and closing cover above the insert for easy cleaning. The guide rail and guide rail achieve coordinated operation of changing and cleaning the gun head, eliminating the need for separate cleaning equipment. It is integrated into one unit and occupies little space. Attached Figure Description

[0018] Figure 1 This is a perspective view of an automotive adhesive applicator with an automatic feeding mechanism, as proposed in this invention. Figure 2 This is a view of the connecting disk connection structure of the present invention; Figure 3 This is a view of the barrel shell connection structure of the present invention; Figure 4 This is a view of the connection structure of the three-way solenoid valve of the present invention; Figure 5 This is a view of the slider connection structure of the present invention; Figure 6 This is a view of the abutting plug connection structure of the present invention; Figure 7 This is a view of the base plate connection structure of the present invention; Figure 8 This is a view of the sliding cylinder connection structure of the present invention; Figure 9 This is a view of the closed cover connection structure of the present invention; Figure 10 This is a view of the screw connection structure of the present invention; Figure 11 This is a view of the interconnecting block structure of the present invention; Figure 12 This is a view of the control board connection structure of the present invention.

[0019] In the diagram: 1. Base; 2. Feeding mechanism; 21. Controller; 22. Bracket; 23. First electric push rod; 24. First solenoid valve; 25. Glue bucket; 3. Robotic arm; 4. Glue application mechanism; 41. Protective shell; 42. Connecting plate; 43. Gun head; 44. Glue supply pipe; 45. Mounting plate; 46. Glue valve; 47. Base plate; 48. Guide rod; 49. Guide groove; 410. First lead screw; 411. First motor; 412. Slider; 413. Slide groove; 5. Cleaning mechanism; 51. Bucket shell; 52. Waste liquid pipe; 53. Liquid supply pipe; 54. Air supply pipe; 55. Three-way solenoid valve; 56. Flow pipe; 57. Support plate; 58. 8. Control panel; 59. Second lead screw; 510. Second motor; 511. Closing cover; 512. Sliding cylinder; 513. Third motor; 514. Fixed rod; 515. First spring; 516. Insert cylinder; 517. Through hole; 6. Limiting mechanism; 61. Second electric push rod; 62. Connecting rod; 63. Abutting rod; 64. Abutting ring; 65. Push ring; 66. Second spring; 67. Mounting ring; 68. Magnetic block; 7. Turbulence mechanism; 71. Impeller; 72. Connecting block; 73. Screw; 74. Third spring; 75. End ring; 8. Guide mechanism; 81. Slide rod; 82. Moving groove; 83. Moving block. Detailed Implementation

[0020] The technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments.

[0021] In the description of this invention, it should be understood that the terms "upper", "lower", "front", "rear", "left", "right", "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 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 limitations on this invention.

[0022] Example 1: Refer to Figures 1-12 An automotive adhesive application robot with an automatic feeding mechanism includes a base 1, on which a six-axis robotic arm 3 is mounted. The robotic arm 3 is controlled by an external control cabinet and a computer. The computer program controls the operation of various components during adhesive application and cleaning. An adhesive application mechanism 4 is connected to the end of the robotic arm 3. The adhesive application mechanism 4 includes a connecting plate 42, which is mounted on the end of the robotic arm 3. A mounting plate 45 is fixedly connected to the connecting plate 42. The mounting plate 45 has a guide groove 49, which consists of two staggered parallel grooves and a slanted groove in the middle section. The groove 49 connects two misaligned parallel grooves through the inclined groove in the middle section. The mounting plate 45 is connected to a glue valve 46 that slides along the guide groove 49. The glue outlet end of the glue valve 46 is inserted into a gun head 43. The glue is squeezed out from the end of the gun head 43 through the glue valve 46. The mounting plate 45 is installed at the extension line of one end of the guide groove 49. The barrel shell 51 is connected inside the barrel shell 51 and slides along the axis. The gun head 43 is inserted into the gun head 43 through the through hole 517. The gun head 43 of different specifications is inserted into the gun head 43 through the through hole 517. The gun head 43 can be replaced by the glue valve 46 through the gun head 43.

[0023] In this invention, a base plate 47 is slidably connected to the mounting plate 45, a glue valve 46 is mounted on the base plate 47, a guide rod 48 is connected to the glue valve 46, the guide rod 48 is fixedly connected to the base plate 47, the guide rod 48 is connected to the glue valve 46 through the base plate 47, the guide rod 48 extends into the guide groove 49, and the guide rod 48 is slidably connected to the mounting plate 45 through the guide groove 49. The guide rod 48 moves along the guide groove 49 to facilitate the guidance of the base plate 47.

[0024] In this invention, a slider 412 is slidably connected to a mounting plate 45, and a first lead screw 410 is rotatably connected to the mounting plate 45. The first lead screw 410 is threadedly connected to the slider 412. A first motor 411 is mounted on the mounting plate 45. The output shaft of the first motor 411 is connected to the end of the first lead screw 410 through a coupling. The slider 412 is provided with a sliding groove 413. A guide rod 48 extends into the sliding groove 413 and is slidably connected to the slider 412 through the sliding groove 413. The first motor 411 drives the first lead screw 410 to rotate, thereby causing the slider 412 to slide. The guide rod 48 slides through the sliding groove 413, thereby driving the base plate 47 and the rubber valve 46 to move.

[0025] In this invention, a guide mechanism 8 is connected to the mounting plate 45. The guide mechanism 8 includes a moving groove 82. The mounting plate 45 is provided with the moving groove 82, which is parallel to the axis of the insert 516. The mounting plate 45 is slidably connected to a moving block 83 through the moving groove 82. A sliding rod 81 is slidably connected to the moving block 83. The end of the sliding rod 81 is fixedly connected to the base plate 47. The sliding rod 81 is perpendicular to the moving groove 82 and is used to limit the swing of the base plate 47.

[0026] In this invention, a limiting mechanism 6 is connected to the glue valve 46. The limiting mechanism 6 includes a second electric push rod 61. The second electric push rod 61 is mounted on the glue valve 46. An abutment rod 63 is rotatably connected to the glue valve 46. A connecting rod 62 is rotatably connected between the telescopic end of the second electric push rod 61 and the abutment rod 63. A push ring 65 is slidably connected to the glue outlet tube of the glue valve 46. An installation ring 67 is mounted on the glue valve 46. A second spring 66 is installed between the installation ring 67 and the push ring 65. The end of the push ring 65 abuts against the top of the gun head 43. The gun head 43 has a "T" shaped cross-section. The abutment rod 63 abuts against the "T" shaped end of the gun head 43. The end of the abutment rod 63 is "C" shaped. The "C"-shaped end of the abutment rod 63 facilitates insertion with the gun head 43. After the abutment rod 63 rotates, it presses the "T"-shaped end of the gun head 43 to achieve a tight fit and prevent the gun head 43 from detaching. When disassembling the gun head 43, after the abutment rod 63 detaches from the gun head 43, the compressed second spring 66 extends and pushes the gun head 43 off through the push ring 65. An iron abutment ring 64 is fixedly connected to the gun head 43. A magnetic block 68 is installed at each through hole 517 of the insert 516. The magnetic block 68 and the abutment ring 64 attract each other, thereby restricting the sliding of the gun head 43 on the insert 516. At the same time, when the gun head 43 and the glue valve 46 are separated, it is prevented that the glue valve 46 will lift the gun head 43.

[0027] In this invention, a glue supply pipe 44 is installed at the inlet of the glue valve 46, and a feeding mechanism 2 is connected to the base 1. The feeding mechanism 2 includes a bracket 22, on which a glue tank 25 is installed. A first solenoid valve 24 is installed at the bottom of the glue tank 25, and the other end of the glue supply pipe 44 is installed at the outlet of the first solenoid valve 24. A first electric push rod 23 is installed on the bracket 22, and the telescopic end of the first electric push rod 23 extends into the glue tank 25. A controller 21 is installed on the bracket 22. When the glue is put into the glue tank 25, the glue is squeezed out from the outlet of the first solenoid valve 24 by the first electric push rod 23, so that it enters the glue supply pipe 44 and automatically supplies the glue to the glue valve 46.

[0028] Example 2: Based on Example 1, an automotive adhesive applicator robot with an automatic feeding mechanism is provided. A cleaning mechanism 5 is connected to a mounting plate 45. The cleaning mechanism 5 includes a support plate 57. The support plate 57, which is perpendicular to the sliding direction of the insert 516, is slidably connected to the mounting plate 45. A flow tube 56 is connected to the support plate 57. The flow tube 56 is used to insert into the nozzle 43 on the insert 516. A screw 73 is slidably connected inside the flow tube 56. The screw 73 is used to movably insert into the nozzle 43. A waste liquid pipe 52, which communicates with the bottom end of the insert 516, is connected to the barrel shell 51. During cleaning, the cleaning liquid pushes the screw 73 in the flow tube 56 to slide, so that it extends into the nozzle 43. The cleaning liquid can rebound to the inner wall of the nozzle 43 through contact with the threaded inclined surface of the screw 73, thereby increasing the rinsing effect on the inner wall of the nozzle 43.

[0029] In this invention, a flow-disrupting mechanism 7 is connected to the flow tube 56. The flow-disrupting mechanism 7 includes a connecting block 72. The connecting block 72 is slidably connected inside the flow tube 56. A screw 73 is rotatably connected to the connecting block 72. A coaxial impeller 71 is installed on the screw 73. The blades of the impeller 71 are tilted in the opposite direction to the thread direction of the screw 73. Thus, when the impeller 71 drives the screw 73 to rotate, the screw 73 gives the cleaning fluid and compressed gas an upward tendency, thereby better rebounding the cleaning fluid and compressed gas. An end ring 75 is installed at the top of the flow tube 56. A third spring 74 is installed between the end ring 75 and the connecting block 72. When the cleaning fluid and air pressure are lost, the third spring 74 can pull the screw 73 to reset, causing it to disengage from the nozzle 43.

[0030] In this invention, a sliding cylinder 512 is slidably connected inside the barrel shell 51, and a second lead screw 59 is rotatably connected to the barrel shell 51. The sliding cylinder 512 is threadedly connected to the second lead screw 59. A third motor 513 is installed on the barrel shell 51, and the output shaft of the third motor 513 is connected to the end of the second lead screw 59 through a coupling. The insert 516 is rotatably connected inside the sliding cylinder 512. A second motor 510 is installed at the bottom end of the sliding cylinder 512, and the output shaft of the second motor 510 is fixedly connected to the insert 516. The waste liquid pipe 52 is slidably connected to the barrel shell 51 and fixed to the bottom end of the sliding cylinder 512. The waste liquid pipe 52 communicates with the bottom end inside the sliding cylinder 512. The second lead screw 59 facilitates driving the sliding cylinder 512 to move up and down, and the second motor 510 facilitates controlling the rotation of the insert 516, thus facilitating the switching of the position of the nozzle 43.

[0031] In this invention, the insert 516 is provided with a plurality of through holes 517, which are arranged in a ring array to facilitate the placement of gun heads 43 of different specifications. The top of the through hole 517 is chamfered to facilitate the insertion of the gun head 43.

[0032] In this invention, a three-way solenoid valve 55 is installed on the support plate 57, and a flow pipe 56 is screwed onto the output end of the three-way solenoid valve 55. A liquid supply pipe 53 and a gas supply pipe 54 are respectively installed on the two input ends of the three-way solenoid valve 55. A fixing rod 514 is fixedly connected to the support plate 57, and a closing cover 511 is fixedly connected to the bottom end of the fixing rod 514. The bottom end of the closing cover 511 is used to abut against the top of the insert 516. The closing cover 511 is inserted into the sliding cylinder 512. The bottom end of the flow pipe 56 passes through the closing cover 511. A protective shell 41 is installed on the connecting plate 42 outside the mounting plate 45. The three-way solenoid valve 55 can switch the entry of cleaning liquid or compressed gas. When the closing cover 511 contacts the insert 516, it can increase the sealing and prevent the cleaning liquid from splashing out.

[0033] Example 3: Based on Example 2, an automotive adhesive applicator robot with an automatic feeding mechanism is provided. A control plate 58 is slidably connected to a mounting plate 45. The control plate 58 is fixedly connected to a tray 57. A first spring 515 is installed between the control plate 58 and the mounting plate 45. The end of the control plate 58 near the guide rod 48 is inclined. When changing the nozzle 43, the tray 57 and the flow tube 56 are automatically driven to move to one side for standby. During adhesive application, the tray 57 and the flow tube 56 automatically reset to the cleaning state, realizing the coordinated operation of changing the nozzle 43 and cleaning the nozzle 43. The cleaning and nozzle changing are integrated into one unit, making it more convenient to use.

[0034] Working principle: When the robotic arm 3 is working, it controls the position of the glue valve 46 and the gun head 43. Through computer program settings, the gun head 43 moves along a fixed path to apply glue to the automotive workpiece. During the glue application process, different models of gun heads 43 can be used for different workpiece positions to improve the glue application quality and efficiency. When the gun head 43 needs to be changed, the first motor 411 is started. The first motor 411 drives the first lead screw 410 to rotate, which drives the slider 412 to slide. The slide groove 413 is perpendicular to the axis of the first lead screw 410. The slider 412 drives the guide rod 48 to move upward through the slide groove 413. The guide rod 48 moves along the guide groove 413. 9. Sliding: Guide rod 48 drives base plate 47 and glue valve 46 to slide. When base plate 47 slides, it drives slide rod 81 to slide. Slide rod 81 drives moving block 83 to slide along moving groove 82. Slide rod 81 is used to maintain the sliding balance of base plate 47 when base plate 47 slides, restricting base plate 47 rotation, so that base plate 47 drives glue valve 46 to move to the top of insert 516. Start second motor 510 to drive insert 516 to rotate, so that one of the through holes 517 is aligned with gun head 43 on glue valve 46. Start third motor 513 to drive sliding cylinder 512 to move upward through second lead screw 59, so that insert cylinder 516 moves upward, so that... The nozzle 43 on the glue valve 46 is inserted into the through hole 517. At this time, the contact rod 63 and the nozzle 43 are in contact. The contact ring 64 on the nozzle 43 will attract the magnetic block 68. The second electric push rod 61 is activated, pulling the connecting rod 62, which causes the contact rod 63 to disengage from the nozzle 43, thereby releasing the nozzle 43. The insert cylinder 516 is driven to move down and reset, and the insert cylinder 516 is driven to rotate. Multiple through holes 517 are used to accommodate nozzles 43 of different specifications respectively, so that other nozzles 43 of different specifications on the insert cylinder 516 are rotated to below the glue valve 46. The insert cylinder 516 is driven to move up again, so that the required nozzle 43 is in contact with the glue valve 46. When the glue outlet of 6 is plugged in, the second electric push rod 61 is activated, driving the abutment rod 63 to rotate so that it abuts against the gun head 43, thereby limiting the gun head 43 and driving the glue valve 46 to move down and reset, so that glue can be applied again. The glue is put into the glue tank 25 and squeezed by the first electric push rod 23, so that the glue liquid is discharged from the first solenoid valve 24. The glue liquid is fed in by the controller 21 and the first solenoid valve 24. The glue liquid enters the glue supply tube 44 and then enters the glue valve 46. It is sprayed out from the end of the gun head 43 through the glue valve 46, thereby applying glue. It is convenient to replace the gun head 43 and there is no need to configure a special gun head 43 placement rack. The removed nozzle 43 contains undischarged adhesive. The drive tube 516 is moved upwards until its top end contacts the closed cover 511. The bottom end of the flow tube 56 is inserted into the top of the nozzle 43. The three-way solenoid valve 55 is activated. The two inlets of the three-way solenoid valve 55 are respectively equipped with a liquid supply pipe 53 and an air supply pipe 54. The liquid supply pipe 53 is equipped with a liquid pump to pump the cleaning solution into it. The cleaning solution is acetone solution, which is supplied preferentially. The cleaning solution enters the flow tube 56. In the process, under the action of liquid pressure, the connecting block 72 is pushed down, causing the third spring 74 to be stretched, and the screw 73 to move down. The screw 73 extends into the nozzle 43 that needs to be cleaned. The cleaning fluid passes through the through hole on the connecting block 72, pushing the impeller 71 to rotate, which in turn drives the screw 73 to rotate. After the cleaning fluid enters the nozzle 43, it flows over the outside of the screw 73. There is a gap between the screw 73 and the inner wall of the nozzle 43. The blades of the impeller 71 are tilted in the opposite direction to the thread direction of the screw 73. The screw 73 rotates... When in motion, the cleaning fluid is given an upward tendency to move. Under water pressure, the cleaning fluid impacts the spiral outer wall of the screw 73 and rebounds towards the inner wall of the nozzle 43, thereby flushing the inner wall of the nozzle 43 with the cleaning fluid, increasing the cleaning effect on the residual adhesive inside the nozzle 43. When the supply of cleaning fluid is turned off, the screw 73 is reset under the action of the third spring 74, controlling the three-way solenoid valve 55 to connect the air supply pipe 54 and the flow pipe 56. The air supply pipe 54 is equipped with a compressor, which pumps compressed air into the flow pipe 56, pushing the screw 73 downward again. Similarly, the compressed air will flush the inner wall of the nozzle 43 to remove the cleaning fluid. Acetone cleaning fluid is volatile, and flushing with compressed air can increase the discharge speed of residual liquid and volatile gas. The sliding cylinder 512 is used to collect waste liquid. The waste liquid is discharged through the waste liquid pipe 52 at the bottom of the sliding cylinder 512. The waste liquid pipe 52 is equipped with a special collection device. By cleaning the nozzle 43 in a timely manner, the solidification of the internal adhesive is effectively prevented, increasing the service life of the nozzle 43. As the guide rod 48 moves along the guide groove 49, causing the base plate 47 and the glue valve 46 to move above the insert 516, when the guide rod 48 moves to the inclined groove of the guide groove 49, the guide rod 48 will contact the control plate 58 and push the control plate 58 to slide laterally. The first spring 515 will be stretched, and the control plate 58 will drive the support plate 57 to slide, moving the support plate 57 away from the base plate 47, providing space for the base plate 47 to be placed. The support plate 57 will drive the closing cover 511 to move to one side. When the base plate 47 and the glue valve 46 slide down to reset, the guide rod 48 moves downward, and the first spring 515 will pull the control plate 58 to slide back to reset, causing the support plate 57 and the closing cover 511 to move above the insert 516, facilitating cleaning. The guide rod 48 and the guide groove 49 achieve coordinated operation of the gun head changing 43 and the cleaning gun head 43, eliminating the need for independent cleaning equipment and saving space.

[0035] The above are merely preferred embodiments of the present invention, but the scope of protection of the present invention is not limited thereto. Any equivalent substitutions or modifications made by those skilled in the art within the scope of the technology disclosed in the present invention, based on the technical solution and inventive concept of the present invention, should be covered within the scope of protection of the present invention.

Claims

1. An automotive adhesive applicator robot with an automatic feeding mechanism, comprising a base (1), characterized in that: A robotic arm (3) is mounted on the base (1). A glue applicator (4) is connected to the end of the robotic arm (3). The glue applicator (4) includes a connecting plate (42). A connecting plate (42) is mounted on the end of the robotic arm (3). A mounting plate (45) is fixedly connected to the connecting plate (42). A guide groove (49) is provided on the mounting plate (45). The guide groove (49) consists of two staggered parallel grooves and a middle section of inclined groove. A glue valve (46) that slides along the guide groove (49) is connected to the mounting plate (45). A gun head (43) is inserted into the glue outlet end of the glue valve (46). A barrel shell (51) is installed on the mounting plate (45) at the extension line of one end of the guide groove (49). An insert (516) that slides along the axial direction is connected inside the barrel shell (51). A through hole (517) for inserting the gun head (43) is provided on the insert (516). A cleaning mechanism (5) is connected to the mounting plate (45). The cleaning mechanism (5) includes a support plate (57). The support plate (57) is slidably connected to the mounting plate (45) and is perpendicular to the sliding direction of the insert (516). A flow tube (56) is connected to the support plate (57). The flow tube (56) is used to insert into the nozzle (43) on the insert (516). A screw (73) is slidably connected inside the flow tube (56). The screw (73) is used to movably insert into the nozzle (43). A waste liquid pipe (52) connected to the bottom end of the insert (516) is connected to the barrel shell (51). A control plate (58) is slidably connected to the mounting plate (45). The control plate (58) is fixedly connected to the support plate (57). A first spring (515) is installed between the control plate (58) and the mounting plate (45). A guide rod (48) is connected to the glue valve (46). The end of the control plate (58) near the guide rod (48) is inclined.

2. The automotive adhesive applicator robot with an automatic feeding mechanism according to claim 1, characterized in that, A base plate (47) is slidably connected to the mounting plate (45). The glue valve (46) is installed on the base plate (47). The guide rod (48) is fixedly connected to the base plate (47). The guide rod (48) is connected to the glue valve (46) through the base plate (47). The guide rod (48) extends into the guide groove (49). The guide rod (48) is slidably connected to the mounting plate (45) through the guide groove (49).

3. The automotive adhesive applicator robot with an automatic feeding mechanism according to claim 1, characterized in that, A slider (412) is slidably connected to the mounting plate (45), and a first lead screw (410) is rotatably connected to the mounting plate (45). The first lead screw (410) is threadedly connected to the slider (412). A first motor (411) is mounted on the mounting plate (45). The output shaft of the first motor (411) is connected to the end of the first lead screw (410) through a coupling. A sliding groove (413) is provided on the slider (412). A guide rod (48) extends into the sliding groove (413). The guide rod (48) is slidably connected to the slider (412) through the sliding groove (413).

4. The automotive adhesive applicator robot with an automatic feeding mechanism according to claim 2, characterized in that, The mounting plate (45) is connected to a guide mechanism (8), which includes a moving groove (82). The mounting plate (45) is provided with a moving groove (82), which is parallel to the axis of the insert (516). The mounting plate (45) is slidably connected to a moving block (83) through the moving groove (82). A sliding rod (81) is slidably connected to the moving block (83). The end of the sliding rod (81) is fixedly connected to the base plate (47), and the sliding rod (81) is perpendicular to the moving groove (82).

5. The automotive adhesive applicator robot with an automatic feeding mechanism according to claim 1, characterized in that, A flow-disrupting mechanism (7) is connected to the flow tube (56). The flow-disrupting mechanism (7) includes a connecting block (72). The connecting block (72) is slidably connected inside the flow tube (56). The screw (73) is rotatably connected to the connecting block (72). A coaxial impeller (71) is installed on the screw (73). The blades of the impeller (71) are inclined in the opposite direction to the thread direction of the screw (73). An end ring (75) is installed at the top of the flow tube (56). A third spring (74) is installed between the end ring (75) and the connecting block (72).

6. The automotive adhesive applicator robot with an automatic feeding mechanism according to claim 1, characterized in that, A sliding cylinder (512) is slidably connected inside the barrel shell (51). A second lead screw (59) is rotatably connected to the barrel shell (51). The sliding cylinder (512) is threadedly connected to the second lead screw (59). A third motor (513) is installed on the barrel shell (51). The output shaft of the third motor (513) is connected to the end of the second lead screw (59) through a coupling. The insert (516) is rotatably connected inside the sliding cylinder (512). A second motor (510) is installed at the bottom of the sliding cylinder (512). The output shaft of the second motor (510) is fixedly connected to the insert (516). The waste liquid pipe (52) is slidably connected to the barrel shell (51). The waste liquid pipe (52) is fixed at the bottom of the sliding cylinder (512). The waste liquid pipe (52) is connected to the bottom of the interior of the sliding cylinder (512).

7. The automotive adhesive applicator robot with an automatic feeding mechanism according to claim 1, characterized in that, The insert (516) is provided with a plurality of through holes (517), which are arranged in a ring array, and the top of the through holes (517) is provided with a chamfer.

8. The automotive adhesive applicator robot with an automatic feeding mechanism according to claim 6, characterized in that, A three-way solenoid valve (55) is installed on the tray (57). The flow tube (56) is screwed onto the output end of the three-way solenoid valve (55). A liquid supply tube (53) and a gas supply tube (54) are respectively installed on the two input ends of the three-way solenoid valve (55). A fixing rod (514) is fixedly connected to the tray (57). A closing cover (511) is fixedly connected to the bottom end of the fixing rod (514). The bottom end of the closing cover (511) is used to abut against the top of the insert (516). The closing cover (511) is inserted into the sliding cylinder (512). The bottom end of the flow tube (56) passes through the closing cover (511). A protective shell (41) is installed on the outside of the mounting plate (45) of the connecting plate (42).

9. The automotive adhesive applicator robot with an automatic feeding mechanism according to claim 1, characterized in that, The glue valve (46) is connected to a limiting mechanism (6), which includes a second electric push rod (61). The glue valve (46) is equipped with the second electric push rod (61), and an abutment rod (63) is rotatably connected to the glue valve (46). A connecting rod (62) is rotatably connected between the telescopic end of the second electric push rod (61) and the abutment rod (63). A push ring (65) is slidably connected to the glue outlet tube of the glue valve (46). The glue valve (46) is equipped with a... The device is equipped with an mounting ring (67), and a second spring (66) is installed between the mounting ring (67) and the push ring (65). The end of the push ring (65) abuts against the top of the gun head (43). The gun head (43) has a "T" shaped cross section. The abutting rod (63) abuts against the "T" shaped end of the gun head (43). An iron abutting ring (64) is fixedly connected to the gun head (43). A magnetic block (68) is installed at each through hole (517) of the insert (516).

10. An automotive adhesive applicator robot with an automatic feeding mechanism according to claim 1, characterized in that, A glue supply pipe (44) is installed at the inlet of the glue valve (46). A feeding mechanism (2) is connected to the base (1). The feeding mechanism (2) includes a bracket (22). A glue tank (25) is installed on the bracket (22). A first solenoid valve (24) is installed at the bottom of the glue tank (25). The other end of the glue supply pipe (44) is installed at the outlet of the first solenoid valve (24). A first electric push rod (23) is installed on the bracket (22). The telescopic end of the first electric push rod (23) extends into the glue tank (25). A controller (21) is installed on the bracket (22).

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