An automatic gluing device and method for circular metal pieces, control system

Abstract

This invention relates to an automated adhesive coating equipment, method, and control system for circular metal parts, belonging to the field of adhesive coating technology. The invention includes a frame, a six-axis robot, a servo rotary chuck, and a servo dispensing machine. The servo rotary chuck is configured to operate alternately between various workstations. During adhesive coating, the servo rotary chuck drives the workpiece to rotate, and the servo dispensing machine moves along a preset trajectory to uniformly coat the workpiece's surface, sides, and circumference. This invention, through the trajectory planning of the six-axis robot and the master-slave linkage of the servo dispensing machine, as well as the self-centering gripping of the three jaws of the servo rotary chuck and the attitude correction of the positioning column, ensures uniform adhesive coverage of the workpiece's front, inner, and outer sides, overcoming the process blind spots of traditional equipment that cannot handle multi-sided adhesive coating. This invention achieves simultaneous coating of the entire circumference and sides of the workpiece in one operation, completely solving the pain points of existing technologies that require step-by-step operations and cumbersome processes.

Description

Technical Field

[0001] This invention relates to an automated adhesive coating equipment, adhesive coating method, and control system for circular metal parts, belonging to the field of adhesive coating technology. Background Technology

[0002] Traditional adhesive coating processes for round metal parts (such as bearings, gaskets, and sealing rings) mainly employ manual coating or spraying methods. Manual coating suffers from low production efficiency, poor coating consistency, high labor costs, and high labor intensity. While spraying is more efficient, its adhesive utilization rate is extremely low (typically below 5%), resulting in significant material waste and the generation of exhaust fumes and paint mist, causing environmental pollution and health risks to workers. Existing technology, patent application number CN202410782882.5, discloses a dual-station automated equipment for coating the outer wall of bearings, including a feeding and transferring mechanism, a coating station, and a coating mechanism. The adhesive injection mechanism injects adhesive towards the material; a scraper assembly removes excess adhesive from the material surface; the projected distance between the feeding and transferring mechanism and the coating mechanism on the same plane is equal to the horizontal straight-line distance between two adjacent connecting arms. This solution not only improves the efficiency and uniformity of adhesive coating but also enhances production efficiency. However, for workpieces that require side coating, existing equipment cannot complete the simultaneous coating of the front and sides in one go. It requires step-by-step operation, which is cumbersome and has low coating efficiency. Summary of the Invention

[0003] The present invention aims to provide an automated glue application equipment and method that is compact in structure, has high glue application efficiency, high glue utilization rate, strong adaptability, and can achieve simultaneous glue application on multiple surfaces.

[0004] The technical solution adopted in this invention is an automated adhesive coating device for circular metal parts, comprising: The frame is equipped with a material feeding station, an adjustment station, and a material receiving station. A six-axis robot, mounted on a frame, is used to achieve three-dimensional spatial positioning and trajectory control of a servo-driven rotary chuck; Servo rotary chuck, used to hold and drive a circular metal part to be coated with glue to rotate around a central axis; Servo dispensing machine, fixed on a frame, is used to dispense adhesive onto the surface of a workpiece; The glue pretreatment unit includes a magnetic heating stirrer and a temperature controller. The temperature controller monitors the glue dispensing temperature of the servo dispensing machine. The magnetic heating stirrer is used to stir and preheat the glue at a constant temperature, and supplies the glue to the servo dispensing machine through a peristaltic pump. The control unit is electrically connected to the six-axis robot, servo rotary chuck, servo dispensing machine and glue pretreatment unit respectively, to complete the coordinated control between the components; The servo rotary chuck is configured to work alternately between different workstations. During adhesive application, the servo rotary chuck drives the workpiece to rotate, and the servo dispensing machine moves along a preset trajectory to complete the uniform coating of the workpiece surface, sides, and the entire circumference.

[0005] As a further embodiment of the present invention, the output end of the six-axis robot is connected to a servo rotary chuck via a quick-change connector, and the feeding station, adjustment station and receiving station are arranged in a multi-station layout.

[0006] As a further aspect of the present invention, the servo dispensing machine includes a dual-path independent control structure, wherein the dual paths are used to store the primer adhesive and the topcoat adhesive respectively, so as to realize the composite coating operation.

[0007] As a further aspect of the present invention, the glue dispensing head of the servo dispensing machine has a built-in back suction valve, which is configured to generate negative pressure at the end of glue dispensing to prevent glue dripping.

[0008] As a further embodiment of the present invention, the adjustment station includes a base plate, a positioning post fixed on the base plate, and a positioning sensor connected to the control unit. The positioning sensor is used to detect the position of the workpiece on the positioning post. The outer surface of the positioning post is adapted to the inner hole of the workpiece. The positioning post is used to abut against the inner edge of the workpiece to correct the eccentricity.

[0009] As a further embodiment of the present invention, the magnetic heating stirrer is connected to the feed port of the servo dispensing machine, and the servo dispensing machine controls the amount of glue dispensed and the timing of glue dispensing under the drive of the control unit.

[0010] This invention discloses an automated adhesive application control system, applied to the aforementioned adhesive application equipment, specifically comprising: The trajectory planning module is used to generate the end effector motion path of the six-axis robot; The rotation speed synchronization module is used to synchronously adjust the rotational angular velocity of the servo rotary chuck according to the linear velocity of the adhesive application trajectory, so as to maintain a constant amount of adhesive applied per unit area. The temperature control closed-loop module is used to adjust the heating power of the magnetic heating stirrer according to the adhesive characteristic curve.

[0011] This invention discloses an automated adhesive application method, implemented using the aforementioned adhesive application equipment, comprising the following steps: S1 Workpiece loading: First, place the workpiece to be coated with glue in the feeding station. The six-axis robot drives the servo rotating chuck to hold the workpiece and transfer it to the adjustment station. S2 Posture Correction: By inserting the workpiece into the positioning column, the workpiece's eccentricity error is corrected, and the servo rotating chuck re-clamps the workpiece and transfers it to a position close to the servo dispensing machine. S3 Collaborative Coating: The magnetic heating stirrer is activated to maintain the adhesive within the preset viscosity range; the control unit drives the dispensing head to move along the preset trajectory, the servo dispensing machine dispenses adhesive synchronously, and the servo rotary chuck drives the workpiece to rotate at the set speed. In conjunction with the movement of the six-axis robot, uniform coating is achieved on the surface, sides and circumference of the workpiece. S4 Pre-curing and Unloading: The glued workpiece is transferred to the receiving station, the servo rotating chuck releases the workpiece, and constant temperature pre-curing is performed before unloading.

[0012] As a further aspect of the present invention, in step S3, the amount of glue dispensed by the servo dispensing machine is controlled by adjusting the output pulse frequency of the servo motor through the control unit.

[0013] As a further embodiment of the present invention, in step S2, after the workpiece is inserted into the positioning column, its position is adaptively adjusted, and the position data of the workpiece edge is detected and fed back to the control unit to drive the servo rotating chuck to clamp the workpiece.

[0014] This invention discloses an automated adhesive coating equipment, method, and control system for circular metal parts. Its advantages, compared to existing technologies, lie in its ability to precisely correct workpiece eccentricity errors through six-axis robot trajectory planning, master-slave linkage with a servo dispensing machine, and self-centering clamping with a three-jaw servo rotary chuck and posture correction of the positioning column. Combined with the multi-angle posture adjustment capabilities of the six-axis robot, even for circular metal parts with complex curved surfaces, deep holes, or irregular cross-sections, it ensures uniform adhesive coverage of the front, inner, and outer surfaces of the workpiece, overcoming the limitations of traditional equipment in handling multi-sided adhesive coating. This invention achieves simultaneous coating of the entire circumference and sides of the workpiece in a single operation, completely resolving the pain points of existing technologies that require step-by-step operations and cumbersome processes. Attached Figure Description

[0015] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the 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 based on these drawings without creative effort.

[0016] Figure 1 This is a schematic diagram of the structure of the present invention; Figure 2 This is a schematic diagram of the material feeding station or material receiving station in this invention; Figure 3 This is a schematic diagram of the workstation adjustment in this invention; Figure 4 This is a schematic diagram of the servo dispensing machine in this invention; Figure 5This is a schematic diagram of the workpiece structure to be coated with adhesive in Example 1.

[0017] As shown in the figure: 1. Frame; 2. Feeding station; 3. Adjustment station; 4. Receiving station; 5. Six-axis robot; 6. Servo rotary chuck; 7. Servo dispensing machine; 8. Magnetic heating stirrer; 9. Peristaltic pump; 10. Control unit; 11. Bucket A; 12. Bucket B; 13. Dispensing head; 14. Positioning column; 15. Base plate; 16. Control panel; 17. Pause button; 18. Power control box; 20. Front of workpiece; 21. Inner side of workpiece; 22. Outer side of workpiece. Detailed Implementation

[0018] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. The following description of at least one exemplary embodiment is merely illustrative and is in no way intended to limit the present invention or its application or use. 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.

[0019] To further understand the invention, the technical solution will be further described below in conjunction with specific embodiments.

[0020] Example 1: As Figures 1-5 As shown, this embodiment provides an automated adhesive coating device for circular metal parts, including a frame 1, a six-axis robot 5, a servo rotary chuck 6, a servo dispensing machine 7, an adhesive pretreatment unit, and a control unit 10.

[0021] The frame 1 is equipped with a feeding station 2, an adjustment station 3, and a receiving station 4; the feeding station 2, adjustment station 3, and receiving station 4 are located on three sides of the platform of the frame 1, respectively. The adjustment station 3 includes a base plate 15, a positioning post 14 fixed on the base plate 15, and a positioning sensor connected to the control unit 10. The positioning sensor is used to detect the position of the workpiece on the positioning post 14. The outer surface of the positioning post 14 is adapted to the inner hole of the workpiece, and the positioning post 14 is used to abut against the inner edge of the workpiece to correct eccentricity. The feeding station 2 and the receiving station 4 are used to store the workpiece to be coated with glue and the workpiece already coated with glue, respectively.

[0022] The bottom of the six-axis robot 5 is bolted to the center of the table of the frame 1 to realize the three-dimensional spatial positioning and trajectory control of the servo rotary chuck 6. The output end of the six-axis robot 5 is connected to the servo rotary chuck 6 through a quick-change connector. The control unit of the six-axis robot 5 interacts with the servo dispensing machine 7 and the servo rotary chuck 6 through an industrial bus (such as EtherCAT). The six-axis robot 5 receives trajectory commands issued by the control unit 10 to realize high-precision positioning and closed-loop control of motion trajectory in three-dimensional space. During the glue application process, the glue application angle and speed can be adjusted in real time to adapt to the glue application requirements of different workpiece surfaces.

[0023] The servo rotary chuck 6 is used to clamp and drive the circular metal part to be coated with glue to rotate around its central axis. The servo motor is connected to the spindle of the servo rotary chuck 6 via a coupling, and the control unit 10 achieves closed-loop control of the speed and angle through the servo rotary chuck 6. The servo rotary chuck 6 adopts a three-jaw self-centering structure to clamp and fix the circular metal part to be coated with glue, and drives the workpiece to rotate around its central axis through the servo motor. During the glue coating process, it is linked with the motion of the six-axis robot 5 to achieve continuous and uniform glue coating on the front 20, inner side 21, outer side 22, curved surface, and the entire circumference of the workpiece, solving the problem of cumbersome step-by-step glue coating process.

[0024] The servo dispensing machine 7 is fixed on the frame 1 and is used to output adhesive to the surface of the workpiece. The control unit 10 is linked with the controller of the servo dispensing machine 7 through I / O signals. By adjusting the speed and pulse signals, it can precisely control the amount of adhesive dispensed, the dispensing speed, and the dispensing sequence. The servo dispensing machine 7 includes a dual-path independent control structure, specifically including a tank A11 containing primer adhesive and a tank B12 containing topcoat adhesive. The two tanks are connected to the dispensing head 13 through dispensing pipes to achieve composite coating operations. The dispensing head 13 of the servo dispensing machine 7 has a built-in back suction valve, which is configured to generate negative pressure at the end of the dispensing process and automatically back suction after the dispensing is completed to prevent dripping and stringing, and ensure the quality of the dispensing.

[0025] The adhesive pretreatment unit includes a magnetic heating stirrer 8 and a temperature controller. The temperature controller monitors the dispensing temperature of the servo dispensing machine 7. The control unit 10 collects temperature data in real time and controls the magnetic heating stirrer 8 to adjust the heating power and stirring speed to stir and preheat the adhesive at a constant temperature. This ensures that the adhesive maintains a uniform viscosity and fluidity before coating, avoiding uneven coating caused by adhesive sedimentation or temperature fluctuations. The unit also supplies material to the servo dispensing machine 7 via a peristaltic pump 9.

[0026] The control unit 10 is electrically connected to the six-axis robot 5, the servo rotary chuck 6, the servo dispensing machine 7, and the adhesive pretreatment unit, respectively, to achieve coordinated control between the components. The servo rotary chuck 6 is configured to alternate between workstations. During adhesive application, the servo rotary chuck 6 drives the workpiece to rotate, and the servo dispensing machine 7 moves along a preset trajectory to uniformly coat the workpiece surface, sides, and circumference. The control unit 10 is a PLC controller. The frame 1 is equipped with a control panel 16, a pause button 17, and a power control box 18 for power supply. The operator issues commands through the control panel 16 to control the operation of each component. When it is necessary to stop or halt the operation of the equipment, the operator presses the pause button 17 to ensure safety.

[0027] Example 2: Figures 1-5 As shown, this embodiment provides a control system for an automated adhesive coating equipment for circular metal parts, applied to the adhesive coating equipment, specifically including: The trajectory planning module is used to generate the end effector motion path of the six-axis robot 5. The rotation speed synchronization module is used to synchronously adjust the rotational angular velocity of the servo rotary chuck 6 according to the linear velocity of the adhesive application trajectory, so as to maintain a constant amount of adhesive applied per unit area. The temperature control closed-loop module is used to adjust the heating power of the magnetic heating stirrer 8 according to the adhesive characteristic curve.

[0028] Example 3: As Figures 1-5 As shown, this embodiment provides an automated adhesive coating method for circular metal parts, implemented based on the aforementioned adhesive coating equipment and control system, including the following steps: S1 Workpiece loading: First, place the workpiece to be coated with glue in the feeding station 2. The six-axis robot 5 drives the servo rotating chuck 6 to clamp the workpiece and transfer it to the adjustment station 3. S2 Posture Correction: By inserting the workpiece into the positioning post 14, the positioning sensor detects the posture and angle of the workpiece and feeds the data back to the control unit 10. The servo rotating chuck 6 re-clamps the workpiece and transfers it to a position close to the servo dispensing machine 7, thus completing the posture correction. S3 Collaborative Coating: The magnetic heating stirrer 8 is activated, and the control unit 10 adjusts the stirring speed and heating temperature according to preset parameters to maintain the adhesive within the preset viscosity and temperature range; the control unit 10 drives the dispensing head 13 to move along a preset trajectory, the servo dispensing machine 7 dispenses adhesive synchronously, and the servo rotating chuck 6 drives the workpiece to rotate at a set speed, coordinating with the movement of the six-axis robot 5 to achieve uniform coating on the surface, sides, and circumference of the workpiece; the amount of adhesive dispensed by the servo dispensing machine 7 is controlled by the control unit 10 by adjusting the output pulse frequency of the servo motor. S4 Pre-curing and unloading: Transfer the glued workpiece to receiving station 4, the servo rotating chuck 6 releases the workpiece, performs constant temperature pre-curing, and then unloads it into the finished product box.

[0029] 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. An automated adhesive coating device for circular metal parts, characterized in that, include: The frame (1) is equipped with a material feeding station (2), an adjustment station (3) and a material receiving station (4). A six-axis robot (5) is mounted on a frame (1) to realize the three-dimensional spatial positioning and trajectory control of the servo rotating chuck (6); Servo rotary chuck (6) is used to clamp and drive the circular metal part to be coated to rotate around the central axis; Servo dispensing machine (7), fixed on frame (1), is used to dispense glue onto the surface of workpiece; The glue pretreatment unit includes a magnetic heating stirrer (8) and a temperature controller. The temperature controller monitors the glue dispensing temperature of the servo dispensing machine (7). The magnetic heating stirrer (8) is used to stir and preheat the glue at a constant temperature, and supplies the glue to the servo dispensing machine (7) through a peristaltic pump (9). The control unit (10) is electrically connected to the six-axis robot (5), the servo rotary chuck (6), the servo dispensing machine (7) and the glue pretreatment unit respectively, to complete the coordinated control between the components; The servo rotary chuck (6) is configured to work alternately between each station. When applying glue, the servo rotary chuck (6) drives the workpiece to rotate, and the servo dispensing machine (7) moves along a preset trajectory to complete the uniform coating of the workpiece surface, side and circumference.

2. The automated adhesive coating equipment for circular metal parts according to claim 1, characterized in that, The output end of the six-axis robot (5) is connected to a servo rotary chuck (6) via a quick-change connector. The feeding station (2), adjustment station (3) and receiving station (4) are arranged in a multi-station layout.

3. The automated adhesive coating equipment for circular metal parts according to claim 1, characterized in that, The servo dispensing machine (7) includes a dual-path independent control structure, with the dual paths used to store the base coat adhesive and the top coat adhesive respectively.

4. An automated adhesive coating device for circular metal parts according to claim 1, characterized in that, The dispensing head (13) of the servo dispensing machine (7) has a built-in back suction valve, which is configured to generate negative pressure at the end of dispensing.

5. An automated adhesive coating device for circular metal parts according to claim 1, characterized in that, The adjustment station (3) includes a base plate (15), a positioning post (14) fixed on the base plate (15), and a positioning sensor connected to the control unit (10). The positioning sensor is used to detect the position of the workpiece on the positioning post (14). The outer surface of the positioning post (14) is adapted to the inner hole of the workpiece. The positioning post (14) is used to abut against the inner edge of the workpiece to correct the eccentricity.

6. An automated adhesive coating device for circular metal parts according to claim 1, characterized in that, The magnetic heating stirrer (8) is connected to the feed port of the servo dispensing machine (7). The servo dispensing machine (7) controls the amount of glue dispensed and the timing of glue dispensing under the drive of the control unit (10).

7. An automated adhesive application control system, characterized in that, Using the adhesive application equipment according to any one of claims 1 to 6 specifically includes: The trajectory planning module is used to generate the end effector motion path of the six-axis robot (5); The rotation speed synchronization module is used to synchronously adjust the rotational angular velocity of the servo rotary chuck (6) according to the linear velocity of the adhesive application trajectory, so as to keep the amount of adhesive applied per unit area constant. The temperature control closed-loop module is used to adjust the heating power of the magnetic heating stirrer (8) according to the adhesive characteristic curve.

8. An automated adhesive application method, characterized in that, Using the adhesive application equipment according to any one of claims 1 to 6, the steps include: S1 Workpiece loading: First, place the workpiece to be coated with glue in the feeding station (2). The six-axis robot (5) drives the servo rotating chuck (6) to clamp the workpiece and transfer it to the adjustment station (3). S2 Posture Correction: By inserting the workpiece into the positioning column (14), the eccentricity error of the workpiece is corrected, and the servo rotating chuck (6) re-clamps the workpiece and transfers it to a position close to the servo dispensing machine (7). S3 Co-coating: Start the magnetic heating stirrer (8) to keep the glue in the preset viscosity range; the control unit (10) drives the dispensing head (13) to move along the preset trajectory, the servo dispensing machine (7) dispenses glue synchronously, and the servo rotating chuck (6) drives the workpiece to rotate at the set speed. With the movement of the six-axis robot (5), uniform coating of the workpiece surface, side and all circumference is achieved. S4 Pre-curing and unloading: Transfer the coated workpiece to the receiving station (4), servo rotating chuck (6) releases the workpiece, performs constant temperature pre-curing, and then unloads.

9. The method according to claim 8, characterized in that, In step S3, the amount of glue dispensed by the servo dispensing machine (7) is controlled by adjusting the output pulse frequency of the servo motor through the control unit (10).

10. The method according to claim 8, characterized in that, In step S2, after the workpiece is inserted into the positioning post (14), its position is adaptively adjusted. The position data of the workpiece edge is detected and fed back to the control unit (10) to drive the servo rotating chuck (6) to clamp the workpiece.

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