Robot feeding, rubberizing path coordination rubberizing equipment and control method

Abstract

The application relates to the technical field of automatic gluing equipment, in particular to a robot feeding and gluing path collaborative gluing equipment and a control method. The equipment comprises a conveying line and a gluing device. The conveying line is used for conveying materials; the gluing device is used for gluing paper on the materials on the conveying line; the gluing device comprises a rack, a mounting frame, a lifting driving part and a gluing assembly; the gluing assembly comprises a unwinding roller, a pressing roller, a winding roller and a traction driving part; the unwinding roller is used for unwinding adhesive tape; the adhesive tape comprises release paper and adhesive paper; the adhesive tape is wound below the pressing roller after being led out from the unwinding roller; the release paper is wound on the winding roller after passing through the pressing roller; the traction driving part is used for traction moving of the adhesive tape; the pressing roller is located above the supporting track; in the gluing process, the pressing roller abuts against the upper surface of the material, and the moving direction of the adhesive tape below the pressing roller is the same as that of the pushing part; thereby the problem that the adhesive layer cannot be accurately glued on the specified area of the material is solved.

Description

Technical Field

[0001] This application relates to the field of automated adhesive application equipment technology, and more specifically, to a robot-feeding adhesive application path collaborative adhesive application device and control method. Background Technology

[0002] In the field of industrial automation production, automated assembly line operations are widely adopted for material loading, conveying, and adhesive application processes to improve production efficiency and reduce manual labor intensity. This operation mode mainly consists of four core components: a loading robot, a material conveyor line, dedicated adhesive application equipment, and a post-adhesion loading robot. The loading robot picks up materials to be processed from the material storage station and places them at the feed end of the material conveyor line, achieving automated material loading and ensuring the continuity and stability of the loading process. The material conveyor line, as the core carrier of material flow, smoothly transports the materials to be adhesiveed from the feed end to the corresponding workstation of the dedicated adhesive application equipment through preset operating speeds and start / stop rhythms, providing an orderly material supply for the adhesive application process. The dedicated adhesive application equipment is installed at a designated position on the material conveyor line to perform adhesive application on the surface of the materials arriving at the workstation, completing the adhesive application process. The post-application loading robot is located on the discharge side of the dedicated adhesive application equipment. It is used to grab the materials that have completed the adhesive application process and transfer them to the feeding end of the next processing equipment, thus realizing the automated connection between the preceding and following processes.

[0003] In the aforementioned automated adhesive application process, achieving precise adhesive application presents significant technical challenges. During the material's transport on the conveyor line, it is susceptible to positional deviations due to conveyor vibration, initial placement errors, and transport inertia. This results in a substantial discrepancy between the material's actual position upon arrival at the adhesive application station and the preset application reference position. Furthermore, the motion positioning accuracy of the dedicated adhesive application equipment's actuators is easily constrained by the equipment's own mechanical backlash, speed fluctuations, and the physical properties of the adhesive material, making it impossible to ensure accurate adhesion of the adhesive layer to the designated area on the material. This severely impacts the processing quality of subsequent steps and the final performance of the product. Summary of the Invention

[0004] To address the problem of not being able to ensure that the adhesive layer is accurately adhered to the designated area of ​​the material, this application provides a robotic feeding and adhesive application path collaborative adhesive bonding device and control method.

[0005] In a first aspect, this application provides a robot-assisted adhesive feeding path device, the adhesive device comprising:

[0006] A conveyor line for conveying materials; the conveyor line includes a support rail, a pusher, and a feeding drive; the support rail is horizontally arranged; the support rail is used to support the materials; the pusher is slidably arranged along the length of the support rail; the feeding drive is used to drive the pusher to slide; the pusher is used to push the materials to move.

[0007] An adhesive applicator is used to apply adhesive tape to materials on a conveyor line. The adhesive applicator includes a frame, a mounting frame, a lifting drive unit, and an adhesive applicator assembly. The mounting frame is connected to the frame. The lifting drive unit drives the mounting frame to move vertically up and down. The adhesive applicator assembly is connected to the mounting frame. The adhesive applicator assembly includes an unwinding roller, a pressure roller, a take-up roller, and a traction drive unit. The unwinding roller unwinds the adhesive tape. The adhesive tape includes release paper and the adhesive tape. The adhesive tape is drawn from the unwinding roller and wound around the pressure roller. The release paper is wound onto the take-up roller after passing through the pressure roller. The traction drive unit traction the adhesive tape. The pressure roller is located above a support rail. During the adhesive applicator process, the pressure roller abuts against the upper surface of the material, and the direction of movement of the adhesive tape below the pressure roller is the same as the direction of movement of the pushing part.

[0008] Optionally, multiple adhesive applicators are provided; the multiple adhesive applicators are arranged sequentially along the conveyor line.

[0009] Optionally, the adhesive applicator further includes a horizontal drive unit; the horizontal drive unit is used to drive the mounting bracket to move in a direction parallel to the support track.

[0010] Optionally, the traction drive unit includes a traction roller and an abutment roller; the release paper passes through the pressure roller and then between the traction roller and the abutment roller; the release paper exits from between the traction roller and the abutment roller and is then wound up by the take-up roller;

[0011] The release paper between the pressure roller and the traction roller is the first paper segment; during the adhesive application process, the angle between the first paper segment and the adhesive paper on the material is the peel angle; the peel angle is greater than or equal to 90°.

[0012] Optionally, the release paper between the traction roller and the take-up roller is a second paper segment; the angle between the first paper segment and the second paper segment is the traction angle; during the process of the take-up roller winding the release paper, the maximum value of the traction angle does not exceed 120°.

[0013] Optionally, the adhesive application assembly further includes a timing belt and a tension roller; the timing belt is sleeved between the traction roller and the take-up roller; the tension roller is connected to the mounting frame; the timing belt is wound around the underside of the tension roller; the timing belt between the tension roller and the take-up roller is a first belt segment; the timing belt between the tension roller and the traction roller is a second belt segment; the included angle between the first belt segment and the second belt segment is less than 150°.

[0014] Optionally, there is a vertical height difference between the traction roller and the take-up roller; the adhesive application assembly further includes a tensioning drive unit; the tensioning drive unit is used to adjust the position of the tensioning roller along a first horizontal direction, the first horizontal direction being parallel to the length direction of the supporting track.

[0015] Secondly, this application provides a control method for a robot feeding and adhesive application path collaborative bonding device, applied to the robot feeding and adhesive application path collaborative bonding device described in any one of the first aspects; the control method includes:

[0016] Control the conveyor line to transport materials along the feeding direction;

[0017] When the material reaches the adhesive application position, the adhesive application device is lowered until the pressure roller of the adhesive application device abuts against the upper surface of the material;

[0018] The adhesive applicator is controlled to move relative to the material along the feeding direction, so as to reduce the distance between the push part of the conveyor line and the pressure roller;

[0019] When the adhesive tape adhering to the material reaches a preset distance, the adhesive applicator is controlled to rise so that the pressure roller is detached from the material.

[0020] Optionally, controlling the adhesive applicator to move relative to the material along the feeding direction, so as to reduce the distance between the pushing part of the conveyor line and the pressure roller, includes:

[0021] The adhesive applicator is controlled to move along the adhesive application direction; the adhesive application direction is opposite to the feeding direction, so as to reduce the distance between the push part of the conveyor line and the pressure roller.

[0022] Optionally, the control method further includes:

[0023] The winding diameter of the release paper on the winding roller is obtained in real time;

[0024] The contact force of the tension roller against the synchronous belt is adjusted according to the winding diameter; the contact force is negatively correlated with the winding diameter.

[0025] To address the problem of not being able to ensure that the adhesive layer adheres accurately to the designated area of ​​the material, this application has the following advantages:

[0026] The lifting drive unit of the adhesive applicator drives the mounting frame to move vertically, moving the adhesive applicator assembly to the adhesive applicator station, so that the pressure roller abuts against the upper surface of the material. The traction drive unit pulls the adhesive tape, so that the tape is drawn from the unwinding roller and wound under the pressure roller. The release paper of the tape passes through the pressure roller and is wound onto the take-up roller. At the same time, the direction of movement of the tape under the pressure roller is the same as the direction of movement of the pusher. This allows the adhesive on the material to adhere from the position away from the pusher during the application process, and then extend towards the pusher. While performing the adhesive application operation, the traction force of the tape can be used to bring the material closer to the pusher, so that the pusher can continuously provide stable lateral restraint for the material. This ultimately solves the problem of the difficulty in achieving precise adhesive application in existing technologies and effectively improves the accuracy and consistency of the adhesive application position. Attached Figure Description

[0027] Figure 1 A simplified schematic diagram of the robot feeding and adhesive application path collaborative adhesive device of Embodiment 1 is shown;

[0028] Figure 2 An isometric view of the conveyor belt of the robot feeding and adhesive application path collaborative adhesive bonding device of Embodiment 1 is shown;

[0029] Figure 3 A simplified schematic diagram of the traction drive unit, synchronous belt, and tension roller of the robot feeding and adhesive application path collaborative adhesive bonding device of Embodiment 1 is shown.

[0030] Figure 4 A simplified schematic diagram of the movement of the robot feeding and adhesive application path in Embodiment 1, along with the adhesive application equipment, is shown.

[0031] Figure 5 A flowchart of the control method for the robot feeding and adhesive application path collaborative adhesive bonding device of Embodiment 2 is shown.

[0032] Reference numerals: Material 10; Adhesive tape 20; Release paper 21; Adhesive paper 22; First paper segment 23; Second paper segment 24; Conveyor line 30; Supporting track 31; Pushing part 32; Feeding drive part 33; Adhesive application device 40; Mounting frame 41; Adhesive application assembly 42; Unwinding roller 421; Pressure roller 422; Rewinding roller 423; Traction drive part 424; Traction roller 4241; Abutting roller 4242; Synchronous belt 425; Tensioning roller 426; First belt segment 427; Second belt segment 428. Detailed Implementation

[0033] The present disclosure will now be discussed with reference to several exemplary embodiments. It should be understood that these embodiments are discussed only to enable those skilled in the art to better understand and thus implement the present disclosure, and are not intended to imply any limitation on the scope of the disclosure.

[0034] As used herein, the term "comprising" and its variations are to be interpreted as open-ended terms meaning "including but not limited to". The term "based on" is to be interpreted as "at least partially based on". The terms "one embodiment" and "an embodiment" are to be interpreted as "at least one embodiment". The term "another embodiment" is to be interpreted as "at least one other embodiment". The terms "upper", "lower", "left", "right", "front", "rear", "top", "bottom", "inner", "outer", "vertical", "horizontal", "lateral", "longitudinal", etc., indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings. These terms are primarily for the purpose of better describing this application and its embodiments and are not intended to limit the indicated devices, elements, or components to having a specific orientation or being constructed and operated in a specific orientation. Furthermore, some of the above terms may be used to indicate other meanings besides orientations or positional relationships; for example, the term "upper" may in some cases indicate a dependency or connection relationship. Those skilled in the art can understand the specific meaning of these terms in this application according to the specific circumstances. In addition, the terms "installed", "set up", "equipped with", "connected", and "linked" should be interpreted broadly. For example, it can be a fixed connection, a detachable connection, or an integral structure; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, or an internal connection between two devices, elements, or components. Those skilled in the art can understand the specific meaning of the above terms in this application according to the specific circumstances. Furthermore, the terms "first," "second," etc., are mainly used to distinguish different devices, elements, or components (the specific types and structures may be the same or different), and are not used to indicate or imply the relative importance or quantity of the indicated devices, elements, or components. Unless otherwise stated, "a plurality of" means two or more.

[0035] In the application of existing robotic feeding and adhesive application path collaborative bonding equipment, there is a technical problem that makes it difficult to achieve accurate adhesive application. When material 10 is conveyed on the support track 31, the lack of a continuous and stable lateral limiting structure makes it susceptible to lateral or longitudinal positional shifts due to mechanical vibrations during conveying, equipment inertia, and initial placement deviations of material 10. This results in a significant error between the actual position of material 10 upon arrival at the adhesive application station and the preset adhesive application reference position. During the adhesive application process, if the movement direction of the adhesive tape 20 does not match the conveying direction of material 10 when the pressure roller 422 abuts against the upper surface of material 10, it will generate additional lateral force on material 10, further exacerbating the positional shift. Simultaneously, the existing technology lacks a real-time correction mechanism for the position of material 10 during adhesive application, making it impossible to adjust the offset state of material 10 while the adhesive tape 22 is being applied. Ultimately, this makes it difficult for the adhesive tape 22 to be accurately applied to the designated area of ​​material 10, and the accuracy and consistency of the adhesive application position cannot be effectively guaranteed.

[0036] Example 1:

[0037] In this embodiment, a robotic feeding and adhesive application path collaborative bonding device is provided, such as... Figure 1 , Figure 2 , Figure 3 , Figure 4 As shown, the adhesive application equipment includes a conveyor line 30 and an adhesive applicator.

[0038] The conveyor line 30 is used to transport material 10, realizing the automated flow of material 10 and ensuring the continuity of the production process. The conveyor line 30 includes a support rail 31, a pushing part 32, and a feeding drive part 33. The support rail 31 is horizontally arranged and is used to support material 10, providing a stable support plane for material 10 and preventing material 10 from tilting during the conveying process. The pushing part 32 is slidably arranged along the length of the support rail 31. The feeding drive part 33 is used to drive the pushing part 32 to slide, and the pushing part 32 is used to push material 10 to move, realizing the directional conveying of material 10 along the support rail 31 and ensuring the consistency of material 10 conveying.

[0039] The adhesive applicator 40 is used to apply adhesive tape 22 to the material 10 on the conveyor line 30. The adhesive applicator 40 includes a frame, a mounting frame 41, a lifting drive unit, and an adhesive applicator assembly 42. The mounting frame 41 is connected to the frame, providing a stable mounting base for the adhesive applicator assembly 42. The lifting drive unit drives the mounting frame 41 to move vertically up and down, causing the adhesive applicator assembly 42 to move up and down to accommodate adhesive application needs for materials 10 of different thicknesses. The adhesive applicator assembly 42 is connected to the mounting frame 41. The adhesive applicator assembly 42 includes an unwinding roller 421, a pressure roller 422, a take-up roller 423, and a traction drive unit 424. The unwinding roller 421 unwinds the adhesive tape 20, providing continuous adhesive material for the adhesive application process. The tape 20 includes release paper 21 and adhesive tape 22. After being drawn from the unwinding roller 421, the tape 20 is wound below the pressure roller 422. The release paper 21 passes through the pressure roller 422 and is then wound onto the take-up roller 423, achieving automatic separation of the release paper 21 and adhesive tape 22, allowing the adhesive tape 22 to be smoothly adhered to the surface of the material 10. The traction drive unit 424 is used to traction the tape 20, providing stable power for its conveying. The pressure roller 422 is located above the support rail 31. During the adhesive application process, the pressure roller 422 abuts against the upper surface of the material 10, ensuring the adhesive tape 22 adheres tightly to the surface of the material 10, improving the adhesion strength. The direction of movement of the tape 20 below the pressure roller 422 is the same as the direction of movement of the pushing part 32. It should be understood that through this structure, while applying adhesive to the material 10, the material 10 can be brought closer to the pushing part 32, thereby limiting the material 10 by the pushing part 32, and finally completing the precise application of adhesive, thus solving the problem of difficulty in achieving precise application of adhesive.

[0040] It should be understood that this application uses the traction drive unit 424 to move the tape 20, causing the tape 20 to be drawn out from the unwind roller 421 and wound around the pressure roller 422. The release paper 21 of the tape 20 is wound onto the take-up roller 423 after passing the pressure roller 422. Simultaneously, the movement direction of the tape 20 under the pressure roller 422 is the same as the movement direction of the pusher 32. This ensures that during the application process, the adhesive paper 22 on the material 10 first adheres from a position away from the pusher 32 and then extends towards the pusher 32. Therefore, while performing the adhesive application operation on the material 10, the traction force of the tape 20 can be used to move the material 10 towards the pusher 32, allowing the pusher 32 to continuously provide stable lateral restraint for the material 10, ultimately solving the problem of precise adhesive application in the prior art. This embodiment ensures the accuracy of the adhesive application position and the efficiency of adhesive application by controlling the coordinated control of the adhesive application direction and the feeding direction along the path.

[0041] Furthermore, multiple adhesive application devices 40 are provided, enabling the application of adhesive tape 22 to multiple different areas of the same material 10, thus adapting to the processing of materials 10 with multiple adhesive application requirements. Multiple adhesive application devices 40 are arranged sequentially along the conveyor line 30, allowing the adhesive application operation to be completed sequentially during the continuous conveying of the material 10 along the conveyor line 30. This reduces interruptions to the material 10 conveying process, improves overall production efficiency, and thus meets the adhesive application needs of the material 10.

[0042] Furthermore, the adhesive applicator 40 also includes a horizontal drive unit. The horizontal drive unit drives the mounting frame 41 to move in a direction parallel to the support rail 31. It should be understood that this allows for flexible adjustment of the working position of the adhesive applicator 42 in the material 10 conveying direction, adapting to the adhesive application position requirements of materials 10 of different specifications. Since the operating frequency of the adhesive applicator is preset based on the spacing and conveying speed of the materials 10 on the conveyor line 30, the spacing of the materials 10, determined by the spacing of the pushers 32, is usually difficult to adjust, while the conveying speed of the conveyor line 30 is adjustable. When there are multiple adhesive applicators 40, if the adhesive application position of one of the adhesive applicators 40 deviates, the conventional method is to adjust the conveying speed of the conveyor line 30 for calibration. However, when the conveying speed changes, the adhesive application positions of multiple adhesive applicators all change, thus making adhesive application position calibration quite difficult. This application sets the adhesive applicator 40 to be horizontally movable, so that if the adhesive applicator position of a single adhesive applicator needs to be adjusted, the horizontal drive unit can achieve independent control of the horizontal position of the individual adhesive applicator 40, avoiding the impact on the adhesive applicator position calibration of other adhesive applicators, and reducing the cost and cycle of equipment modification or debugging.

[0043] Furthermore, the traction drive unit 424 includes a traction roller 4241 and an abutment roller 4242. Through their cooperation, a stable clamping force is formed on the release paper 21, ensuring the uniformity and stability of the traction force during the conveying of the release paper 21. After passing through the pressure roller 422, the release paper 21 passes between the traction roller 4241 and the abutment roller 4242, allowing it to be reliably clamped and providing a power basis for the continuous traction of the release paper 21. After exiting between the traction roller 4241 and the abutment roller 4242, the release paper 21 is wound onto the take-up roller 423, thereby achieving automatic and orderly winding of the release paper 21 and preventing the release paper 21 from accumulating and interfering with the adhesive application process.

[0044] The release liner 21 between the pressure roller 422 and the traction roller 4241 is the first paper segment 23. During the adhesive application process, the angle between the first paper segment 23 and the adhesive paper 22 on the material 10 is the peel angle, which is greater than or equal to 90°. This peel angle allows sufficient separation force to be generated between the adhesive paper 22 and the release liner 21, enabling the adhesive on the adhesive paper 22 to adhere better to the material 10, while simultaneously allowing the release liner 21 to detach more easily from the adhesive paper 22, effectively preventing the adhesive paper 22 from being carried away with the release liner 21.

[0045] Furthermore, the release liner 21 between the traction roller 4241 and the take-up roller 423 is the second paper segment 24, and the angle between the first paper segment 23 and the second paper segment 24 is the traction angle. During the process of the take-up roller 423 winding the release liner 21, the maximum value of the traction angle does not exceed 120°. It should be understood that by ensuring that the maximum value of the traction angle does not exceed 120°, it is possible to ensure that the contact area between the release liner 21 and the traction drive unit 424 is large, that is, the wrap angle between the release liner 21 and the traction roller 4241, or between the release liner 21 and the abutment roller 4242 is large enough, thereby ensuring that the traction force of the traction roller 4241 and the abutment roller 4242 can be stably and evenly transmitted to the release liner 21, reducing the risk of slippage and deviation of the release liner 21 during the conveying process, and ensuring the continuous and smooth process of the release liner 21 winding and the peeling of the adhesive paper 22.

[0046] Furthermore, the adhesive application assembly 42 also includes a synchronous belt 425 and a tension roller 426. The synchronous belt 425 is sleeved between the traction roller 4241 and the take-up roller 423, thereby achieving synchronous rotation of the traction roller 4241 and the take-up roller 423, ensuring the consistency of the traction speed and take-up speed of the release paper 21, and preventing stretching or slack in the release paper 21. The tension roller 426 is connected to the mounting frame 41, providing a stable mounting base for the tension roller 426, ensuring that the tension roller 426 can reliably apply tension to the synchronous belt 425. The synchronous belt 425 is wound around the underside of the tension roller 426, enabling the tension roller 426 to apply downward tension to the synchronous belt 425, effectively eliminating any slack in the synchronous belt 425. The synchronous belt 425 between the tension roller 426 and the take-up roller 423 is the first belt segment 427, and the synchronous belt 425 between the tension roller 426 and the traction roller 4241 is the second belt segment 428. The angle between the first belt segment 427 and the second belt segment 428 is less than 150°. This allows the tensioning force of the tensioning roller 426 on the synchronous belt 425 to be distributed more evenly, resulting in better tension and effectively preventing slippage of the synchronous belt 425 during operation, thus ensuring the reliability of the synchronous transmission between the traction roller 4241 and the take-up roller 423.

[0047] Furthermore, there is a vertical height difference between the traction roller 4241 and the take-up roller 423. Since the diameter of the release paper 21 wound on the take-up roller 423 gradually increases, in this embodiment, the height of the take-up roller 423 is higher than the height of the traction roller 4241, providing sufficient space for the winding operation of the release paper 21. The adhesive application assembly 42 also includes a tensioning drive unit. The tensioning roller 426 can move along a first horizontal direction, allowing the tensioning roller 426 to change the tension state of the synchronous belt 425 through horizontal displacement, achieving continuous adjustment of the tension force. Thus, when the tensioning roller 426 moves horizontally, it can effectively change the wrap angle of the synchronous belt 425, improving the sensitivity and adjustment range of the tension adjustment. The first horizontal direction is parallel to the length direction of the supporting track 31, and the first horizontal direction is as follows: Figure 1 As shown in the left and right directions, the tensioning drive unit is used to adjust the position of the tensioning roller 426 along the first horizontal direction to adjust the tension of the synchronous belt 425. This allows the tension to be adjusted in real time according to the actual operating state of the synchronous belt 425, ensuring that the synchronous belt 425 is always kept in the optimal tension state, effectively extending the service life of the synchronous belt 425, and ensuring the stability and reliability of the synchronous transmission between the traction roller 4241 and the take-up roller 423.

[0048] Since the peel angle in this application is at least 90°, the release paper 21 between the pressure roller 422 and the traction roller 4241 extends vertically upward or in a direction away from the take-up roller 423, while the traction angle does not exceed 120° and the take-up roller 423 is located above the traction roller 4241. This results in a large horizontal distance between the traction roller 4241 and the take-up roller 423, which allows sufficient space for the horizontal movement of the tension roller 426, making it easy to adjust the tension of the synchronous belt 425 according to the winding state.

[0049] Example 2:

[0050] In this embodiment, a control method for a robot-assisted feeding and adhesive application path collaborative bonding device is provided, applied to a robot-assisted feeding and adhesive application path collaborative bonding device in Embodiment 1. For example... Figure 5 As shown, the control method includes steps S10 to S40. The control method executes steps S10, S20, S30, and S40 sequentially.

[0051] In step S10, the conveyor line 30 is controlled to transport the material 10 along the feeding direction. This achieves automated directional conveying of the material 10, providing an orderly supply of material 10 for the subsequent adhesive application process.

[0052] In step S20, when the material 10 reaches the adhesive application position, the adhesive application device 40 is controlled to descend until the pressure roller 422 of the adhesive application device 40 abuts against the upper surface of the material 10, so that the pressure roller 422 can make close contact with the surface of the material 10, providing the necessary pressure for the adhesive tape 22 to be pasted, and ensuring that the adhesive tape 22 can be firmly pasted on the material 10.

[0053] In step S30, the adhesive applicator 40 and the material 10 are moved relative to each other along the feeding direction to reduce the distance between the pusher 32 of the conveyor line 30 and the pressure roller 422. This causes the adhesive tape 22 on the material 10 to initially adhere to the material 10 from a position away from the pusher 32, and then gradually extend towards the pusher 32. Simultaneously, the traction force of the tape 20 during the adhesive application process pulls the material 10 towards the pusher 32, providing a stable lateral limit for the material 10 and ensuring the accuracy of the adhesive application position.

[0054] In step S40, when the adhesive tape 22 pasted on the material 10 reaches the preset distance, the adhesive applicator 40 is controlled to rise so that the pressure roller 422 is detached from the material 10, thereby completing the adhesive tape 22 pasting operation of the specified length, while avoiding the pressure roller 422 from continuously contacting the material 10, which would cause the adhesive tape 22 to be over-pasted or the surface of the material 10 to be damaged.

[0055] This embodiment ensures the accuracy of the adhesive application position and the efficiency of the adhesive application by controlling the coordinated control of the adhesive application direction and the feeding direction along the path.

[0056] Furthermore, step S30 includes step S31, which is executed after step S20. Step S31 is a further optimization of step S30.

[0057] Step S31: Control the adhesive applicator 40 to move along the applicating direction. The applicating direction is opposite to the feeding direction to reduce the distance between the pusher part 32 of the conveyor line 30 and the pressure roller 422. The active movement of the adhesive applicator 40 achieves relative displacement with the material 10, eliminating the need to adjust the operating speed or start / stop status of the conveyor line 30 and avoiding interference with the normal operation of other equipment on the conveyor line 30. Simultaneously, by utilizing the opposite applicating direction to the feeding direction, the adhesive applicator 40 moves closer to the pusher part 32, thereby reducing the distance between the pusher part 32 and the pressure roller 422. In this way, the material 10 can be continuously and tightly adhered to the pusher part 32 during the applicating process, allowing the pusher part 32 to stably provide lateral restraint for the material 10, further improving the accuracy and consistency of the applicating position.

[0058] Furthermore, the control method also includes steps S50 and S60.

[0059] Step S50: The winding diameter of the release paper 21 on the winding roller 423 is acquired in real time. This allows for dynamic monitoring of the diameter change of the release paper 21 during the winding process, providing accurate data for subsequent tension adjustment.

[0060] In step S60, the contact force between the tension roller 426 and the synchronous belt 425 is adjusted according to the winding diameter. The contact force is negatively correlated with the winding diameter.

[0061] It should be understood that the winding speed of the take-up roller 423 in winding the release paper 21 is related to the winding diameter of the release paper 21 on the take-up roller 423. As the winding diameter gradually increases, the winding speed will gradually increase while the rotation speed of the take-up roller 423 remains constant. However, the adhesive application speed remains constant. Therefore, the tension of the release paper 21 will increase with the increase of the winding diameter. When the tension of the release paper 21 exceeds its own limit, it will break.

[0062] Therefore, the contact force between the tension roller 426 and the synchronous belt 425 is also the tension force of the synchronous belt 425. Figure 1 Taking the indicated orientation as an example, when the tension roller 426 moves to the right, the tension of the synchronous belt 425 increases; when the tension roller 426 moves to the left, the tension of the synchronous belt 425 decreases. The contact force between the tension roller 426 and the synchronous belt 425 can be obtained by a force sensor or calibrated based on the horizontal movement distance of the tension roller 426.

[0063] In this embodiment, step S60 means that when the take-up roller 423 is in the initial stage of winding, the winding diameter is small, and the winding speed of the take-up roller 423 is slow. This allows for greater contact force between the tension roller 426 and the synchronous belt 425, utilizing the greater friction between the synchronous belt 425 and the take-up roller 423 to achieve stable winding. When the take-up roller 423 is in the final stage of winding, the winding diameter is large. At this time, the winding speed is faster, allowing for less contact force between the tension roller 426 and the synchronous belt 425. This makes it easier for the synchronous belt 425 to slip, reducing the risk of the release paper 21 breaking due to excessively fast winding. In other words, the technical principle of step S60 is to control the frequency of slippage between the take-up roller 423 and the synchronous belt 425 based on the winding diameter. The larger the winding diameter, the greater the slippage frequency needs to be, thus ensuring orderly winding.

[0064] As the amount of release paper 21 wound on the take-up roller 423 increases and the winding diameter increases, the contact force of the tension roller 426 is reduced accordingly. This avoids excessive pressure on the synchronous belt 425 due to excessive contact force, thereby reducing wear on the synchronous belt 425. Reducing the tension in advance can effectively prevent the release paper 21 from breaking due to excessive tension, and further reduce frictional losses among the synchronous belt 425, the take-up roller 423, and the traction roller 4241, ensuring the smoothness of the release paper 21 winding process, and thus ensuring the smooth progress of the subsequent adhesive application process.

[0065] Those skilled in the art will understand that the above embodiments are specific examples of implementing this disclosure, and in practical applications, various changes can be made in form and detail without departing from the scope of this disclosure.

Claims

1. A robotic feeding and adhesive application path collaborative bonding device, characterized in that, The adhesive device includes: A conveyor line for conveying materials; the conveyor line includes a support rail, a pusher, and a feeding drive; the support rail is horizontally arranged; the support rail is used to support the materials; the pusher is slidably arranged along the length of the support rail; the feeding drive is used to drive the pusher to slide; the pusher is used to push the materials to move. An adhesive applicator is used to apply adhesive tape to materials on a conveyor line. The adhesive applicator includes a frame, a mounting frame, a lifting drive unit, and an adhesive applicator assembly. The mounting frame is connected to the frame. The lifting drive unit drives the mounting frame to move vertically up and down. The adhesive applicator assembly is connected to the mounting frame. The adhesive applicator assembly includes an unwinding roller, a pressure roller, a take-up roller, and a traction drive unit. The unwinding roller unwinds the adhesive tape. The adhesive tape includes release paper and the adhesive tape. The adhesive tape is drawn from the unwinding roller and wound around the pressure roller. The release paper is wound onto the take-up roller after passing through the pressure roller. The traction drive unit traction the adhesive tape. The pressure roller is located above a support rail. During the adhesive applicator process, the pressure roller abuts against the upper surface of the material, and the direction of movement of the adhesive tape below the pressure roller is the same as the direction of movement of the pushing part.

2. The robotic feeding and adhesive application path collaborative bonding device according to claim 1, characterized in that, Multiple adhesive applicators are provided; the multiple adhesive applicators are arranged sequentially along the conveyor line.

3. The robotic feeding and adhesive application path collaborative bonding device according to claim 1, characterized in that, The adhesive applicator further includes a horizontal drive unit; the horizontal drive unit is used to drive the mounting frame to move in a direction parallel to the support track.

4. The robot feeding and adhesive application path collaborative bonding device according to claim 1, characterized in that, The traction drive unit includes a traction roller and an abutment roller; the release paper passes through the pressure roller and then between the traction roller and the abutment roller; the release paper exits from between the traction roller and the abutment roller and is then wound up by the take-up roller; The release paper between the pressure roller and the traction roller is the first paper segment; during the adhesive application process, the angle between the first paper segment and the adhesive paper on the material is the peel angle; the peel angle is greater than or equal to 90°.

5. The robotic feeding and adhesive application path collaborative bonding device according to claim 4, characterized in that, The release paper between the traction roller and the take-up roller is the second paper segment; the angle between the first paper segment and the second paper segment is the traction angle; during the process of the take-up roller winding the release paper, the maximum value of the traction angle does not exceed 120°.

6. The robotic feeding and adhesive application path collaborative bonding device according to claim 5, characterized in that, The adhesive application assembly further includes a timing belt and a tension roller; the timing belt is sleeved between the traction roller and the take-up roller; the tension roller is connected to the mounting frame; the timing belt is wound around the underside of the tension roller; the timing belt between the tension roller and the take-up roller is a first belt segment; the timing belt between the tension roller and the traction roller is a second belt segment; the included angle between the first belt segment and the second belt segment is less than 150°.

7. A robot-assisted feeding and adhesive application path bonding device according to claim 6, characterized in that, There is a vertical height difference between the traction roller and the take-up roller; the adhesive application assembly also includes a tensioning drive unit; the tensioning drive unit is used to adjust the position of the tensioning roller along a first horizontal direction, which is parallel to the length direction of the supporting track.

8. A control method for a robot feeding and adhesive application path collaborative gluing device, applied to the robot feeding and adhesive application path collaborative gluing device according to any one of claims 1-7; characterized in that, The control method includes: Control the conveyor line to transport materials along the feeding direction; When the material reaches the adhesive application position, the adhesive application device is lowered until the pressure roller of the adhesive application device abuts against the upper surface of the material; The adhesive applicator is controlled to move relative to the material along the feeding direction, so as to reduce the distance between the push part of the conveyor line and the pressure roller; When the adhesive tape adhering to the material reaches a preset distance, the adhesive applicator is controlled to rise so that the pressure roller is detached from the material.

9. The control method for a robot feeding and adhesive application path collaborative bonding device according to claim 8, characterized in that, The control of the adhesive applicator and the material to move relative to each other along the feeding direction, so as to reduce the distance between the pushing part of the conveyor line and the pressure roller, includes: The adhesive applicator is controlled to move along the adhesive application direction; the adhesive application direction is opposite to the feeding direction, so as to reduce the distance between the push part of the conveyor line and the pressure roller.

10. The control method for a robot feeding and adhesive application path collaborative bonding device according to claim 8, characterized in that, The control method further includes: The winding diameter of the release paper on the winding roller is obtained in real time; The contact force of the tension roller against the synchronous belt is adjusted according to the winding diameter; the contact force is negatively correlated with the winding diameter.

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