Execution terminal, manipulator and rubberizing equipment

Abstract

The utility model discloses an execution tail end, a manipulator and rubberizing equipment, the execution tail end comprises a rotating seat, at least one first rubberizing assembly and at least one second rubberizing assembly, the first rubberizing assembly is arranged on the rotating seat; the second rubberizing assembly is arranged on the rotating seat; wherein the first rubberizing assembly and the second rubberizing assembly are sequentially arranged around the circumferential direction of the rotating seat, and the rotating seat is configured to be capable of being rotated, so that one of the first rubberizing assembly and the second rubberizing assembly can be switched to a working position. The first adhesive tape pasting assembly and the second adhesive tape pasting assembly are sequentially arranged in the circumferential direction of the rotating base, so that the first adhesive tape pasting assembly and the second adhesive tape pasting assembly can be switched through rotation, and therefore short adhesive tape and long adhesive tape can be pasted to a product. The first rubberizing assembly and the second rubberizing assembly are both integrated on the rotating seat, in the specific application process, one mechanical arm can be omitted, the occupied space of the rubberizing equipment is reduced, and the cost is also reduced.

Description

Technical Field

[0001] The utility model relates to the technical field of automatic equipment, in particular to an execution terminal, a manipulator and a glue sticking device. Background Art

[0002] In the chassis production process, in order to ensure that the product meets the performance requirements, it is necessary to affix paint-masking high-temperature tape to specific locations before painting / spraying to prevent the ingestion of spray paint powder and affect product use.

[0003] In the related technology, the gluing equipment includes a first gluing device and a second gluing device, wherein the conveyor line transports the product to one position, and the first gluing device, under the control of its first robotic arm, attaches a long tape to the product; then, the conveyor line transports the product to another position, and the second gluing device, under the control of its second robotic arm, attaches a short tape to the product.

[0004] However, the gluing equipment uses a first gluing device and a second gluing device, which respectively attach a long tape and a short tape to the product. The overall equipment of the gluing equipment is relatively large and the manufacturing cost is relatively high. Utility Model Content

[0005] The utility model aims to solve at least one of the technical problems existing in the prior art, and can effectively reduce the occupied space of the glue sticking equipment and reduce the cost of the glue sticking equipment.

[0006] In a first aspect, an embodiment of the present application provides an execution terminal, including:

[0007] transposition;

[0008] At least one first adhesive tape assembly, disposed on the rotating seat, for grabbing and attaching a short adhesive tape;

[0009] At least one second adhesive tape assembly, disposed on the rotating seat, for grabbing and attaching the long adhesive tape;

[0010] The first rubber component and the second rubber component are arranged in sequence around the circumferential direction of the rotating seat, and the rotating seat is configured to be rotatable so that one of the first rubber component and the second rubber component can be switched to a working position.

[0011] According to some embodiments of the present utility model, the first adhesive component includes:

[0012] A first connecting seat, connected to the rotating seat and extending radially;

[0013] A film sticking chuck connected to the first connecting seat, the film sticking chuck is radially arranged outward to be able to clamp a short adhesive tape;

[0014] The pressing head is connected to the first connecting seat and is axially arranged toward the area facing the film sticking clamp.

[0015] According to some embodiments of the utility model, the pressing head includes a first driving member, a second driving member and a pressing member, wherein the first driving member is connected to the first connecting seat, the second driving member is connected to the first driving member, and the pressing member is connected to the second driving member, wherein one of the first driving member and the second driving member is used to drive the pressing member along the radial direction of the rotating seat, and the other is used to drive the pressing member along the axial direction of the rotating seat, and the pressing member is used to be pressed on the back side of the short tape.

[0016] According to some embodiments of the present invention, the second adhesive component includes:

[0017] A second connecting seat is connected to the rotating seat and extends radially;

[0018] The suction cup is connected to the second connecting seat and is used for absorbing the long adhesive tape.

[0019] According to some embodiments of the present invention, the second adhesive assembly further includes an elastic member, and the suction cup is elastically connected to the second connecting seat via the elastic member.

[0020] According to some embodiments of the present invention, the swivel seat is provided with at least three connection parts spaced in sequence around the circumferential direction thereof, and the first rubber component and the second rubber component can be assembled on the swivel seat through the connection parts.

[0021] According to some embodiments of the present invention, the connecting portion is a positioning groove opened at the end of the rotating seat, and each of the positioning grooves passes through the circumference of the rotating seat.

[0022] According to some embodiments of the utility model, the swivel seat includes a connecting rod, a first flange and a second flange, one end of the connecting rod is connected to the first flange, the other end is connected to the second flange, and the first rubber component and the second rubber component are both connected to the second flange.

[0023] In a second aspect, an embodiment of the present application provides a manipulator, comprising:

[0024] A mechanical arm, wherein the end fixture of the mechanical arm is provided with a driving module;

[0025] In the above-mentioned execution end, the driving module is connected to the execution end and is used to drive the execution end to rotate around the central axis of the rotating seat.

[0026] In a third aspect, an embodiment of the present application provides a glue sticking device, including the above-mentioned robot.

[0027] It can be seen from the above technical solution that the embodiment of the present application has the following advantages: the first glue sticking component and the second glue sticking component are arranged in sequence around the circumferential direction of the rotating seat. In this way, the first glue sticking component and the second glue sticking component can be switched by rotation, so that short tape and long tape can be attached to the product respectively. The first glue sticking component and the second glue sticking component are both integrated on the rotating seat. The glue sticking device adopts such a setting. In specific applications, a mechanical arm can be saved, the space occupied by the glue sticking device is reduced, and the cost is also reduced. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] Figure 1 This is a schematic diagram of an angle structure of the execution end of an embodiment of the utility model;

[0029] Figure 2 It is a structural schematic diagram of a product of an embodiment of the utility model;

[0030] Figure 3 This is another perspective structural diagram of the execution end of an embodiment of the utility model;

[0031] Figure 4 This is a schematic structural diagram of a first adhesive component of an embodiment of the utility model;

[0032] Figure 5 The figure is a schematic diagram of the overall structure of the manipulator according to an embodiment of the utility model.

[0033] The meanings of the reference numerals are as follows:

[0034] 10. Product; 11. Long tape; 12. Short tape; 100. Execution end; 110. First glue sticking component; 111. First connecting seat; 112. Film sticking chuck; 113. Pressing head; 1131. First driving member; 1132. Second driving member; 1133. Pressing member; 120. Second glue sticking component; 121. Second connecting seat; 122. Suction cup; 123. Elastic member; 130. Rotating seat; 131. Connecting rod; 132. First flange; 133. Second flange; 1331. Connecting part; 200. Robot; 210. Robot arm; 211. Driving module. DETAILED DESCRIPTION

[0035] The embodiments of the present invention are described in detail below, and examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention, and cannot be understood as limiting the present invention.

[0036] In the description of the present invention, it should be understood that descriptions involving orientations, such as up, down, front, back, upper, lower, etc., indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention.

[0037] In the description of the present utility model, "several" means more than one, "many" means more than two, "greater than", "less than", "exceed" etc. are understood to exclude the number itself, and "above", "below", "within" etc. are understood to include the number itself. If there is a description of "first" or "second", it is only used to distinguish the technical features, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features or implicitly indicating the order of the indicated technical features.

[0038] In the description of the present invention, unless otherwise clearly defined, terms such as setting, installing, connecting, etc. should be understood in a broad sense, and technicians in the relevant technical field can reasonably determine the specific meanings of the above terms in the present invention based on the specific content of the technical solution.

[0039] In the description of the utility model, the description with reference to the terms "one embodiment", "some embodiments", "illustrative embodiments", "examples", "specific examples", or "some examples" means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the utility model. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner.

[0040] The utility model is further described in detail below in conjunction with the accompanying drawings.

[0041] See also Figure 1 to Figure 2 , an execution end 100 provided by an embodiment of the utility model includes a swivel seat 130, at least one first glue component 110 and at least one second glue component 120, wherein the first glue component 110 is arranged on the swivel seat 130 for grabbing and attaching the short tape 12; the second glue component 120 is arranged on the swivel seat 130 for grabbing and attaching the long tape 11; wherein the first glue component 110 and the second glue component 120 are arranged in sequence around the circumferential direction of the swivel seat 130, and the swivel seat 130 is configured to be rotatable so that one of the first glue component 110 and the second glue component 120 can be switched to the working position.

[0042] The working position of the first adhesive component 110 and the working position of the second adhesive component 120 may be the same or different, and it is set according to actual needs. Also, the working position of the first adhesive component 110 for grabbing the short adhesive tape 12 and the working position of the second adhesive component 120 for attaching the short adhesive tape 12 may be the same or different; similarly, the working position of the second adhesive component 120 for grabbing the long adhesive tape 11 and the working position of the second adhesive component 120 for attaching the long adhesive tape 11 may be the same or different.

[0043] Specifically, in the short tape 12 attachment stage, the external driving module 211 drives the swivel seat 130 to rotate, and the first gluing component 110 switches to the corresponding working position. At this time, the first gluing component 110 grabs the short tape 12 and attaches the short tape 12 to the set position of the product 10; in the long tape 11 attachment stage, the external driving module 211 drives the swivel seat 130 to rotate, and the second gluing component 120 switches to the corresponding working position. At this time, the second gluing component 120 grabs the long tape 11 and attaches the long tape 11 to the set position of the product 10.

[0044] As can be seen from the above, the first glue sticking assembly 110 and the second glue sticking assembly 120 are arranged in sequence around the circumferential direction of the rotating seat 130. In this way, the first glue sticking assembly 110 and the second glue sticking assembly 120 can be switched by rotation, so that the short adhesive tape 12 and the long adhesive tape 11 can be attached to the product 10 respectively. The first glue sticking assembly 110 and the second glue sticking assembly 120 are both integrated on the rotating seat 130. The glue sticking equipment adopts such a glue sticking device. In specific applications, a robot arm 120 can be omitted (refer to Figure 5 ), the space occupied by the glue laminating equipment has been reduced, and the cost has also been reduced.

[0045] In addition, if the first adhesive component 110 and the second adhesive component 120 are in the switching process, when switching to the first adhesive component 110, the position of the second adhesive component 120 moves toward the rear position, which can effectively avoid the interference problem of the second adhesive component 120; when switching to the second adhesive component 120, the position of the first adhesive component 110 moves toward the rear position, which can effectively avoid the interference problem of the first adhesive component 110.

[0046] In some embodiments, reference Figure 3 and Figure 4The first adhesive component 110 includes a first connection seat 111, a film clamp 112 and a pressing head 113, wherein the first connection seat 111 is connected to the rotating seat 130 and is radially extended outward relative to the rotating seat 130. The specific structure of the first connection seat 111 is not fixed and is set according to actual needs. The film clamp 112 is connected to the lower part of the end of the first connection seat 111 away from the rotating seat 130, and the film clamp 112 is radially extended outward relative to the rotating seat 130. The film clamp 112 is used to clamp the short adhesive tape 12. The pressing head 113 is connected to the upper part of the end of the first connection seat 111 away from the rotating seat 130, and is axially arranged relative to the rotating seat 130 toward the area facing the film clamp 112.

[0047] Specifically, when grabbing the short tape 12, the first adhesive assembly 110 is on the external mechanical arm 210 (refer to Figure 5 ), the film clamp 112 clamps the corresponding short tape 12. When attaching the short tape 12, the first glue assembly 110, under the control of the external robotic arm 210, attaches the short tape 12 to the set position of the product 10, and the pressing head 113 further presses the short tape 12, so that the short tape 12 is flatly attached to the set position of the product 10.

[0048] Furthermore, the pressing head 113 includes a first driving member 1131, a second driving member 1132 and a pressing member 1133, wherein the base of the first driving member 1131 is connected to the upper part of the end of the first connecting seat 111 away from the rotating seat 130, and the driving part of the first driving member 1131 is arranged radially outward relative to the rotating seat 130; the base of the second driving member 1132 is connected to the driving part of the first driving member 1131, and the driving part of the second driving member 1132 is arranged axially downward relative to the rotating seat 130, that is, it is arranged axially relative to the rotating seat 130 toward the area facing the film clamp 112, and the pressing member 1133 is connected to the driving part of the second driving member 1132. In this configuration, the first driving member 1131 is used to drive the pressing member 1133 along the radial direction of the rotating seat 130, and the second driving member 1132 is used to drive the pressing member 1133 along the axial direction of the rotating seat 130, and the pressing member 1133 is used to press the back of the short adhesive tape 12. Alternatively, the first driving member 1131 can also be used to drive the pressing member 1133 along the axial direction of the rotating seat 130, and correspondingly, the second driving member 1132 is used to drive the pressing member 1133 along the radial direction of the rotating seat 130.

[0049] The first driving member 1131 and the second driving member 1132 may be cylinders or other driving structures.

[0050] Specifically, when attaching the short adhesive tape 12, the second driving member 1132 drives the pressing member 1133 to move toward the area where the film attaching clamp 112 is located, and the pressing member 1133 is pressed against the back of the short adhesive tape 12, so that the short adhesive tape 12 is preferably attached to the set position of the product 10. In addition, the first driving member 1131 drives the pressing member 1133 to slide along the length direction of the short adhesive tape 12, so that the pressing member 1133 is fully pressed against the short adhesive tape 12, so that the short adhesive tape 12 is further preferably attached to the set position of the product 10.

[0051] In some embodiments, reference Figure 1 and Figure 2 The second adhesive assembly 120 includes a second connection seat 121 and a suction cup 122, wherein the second connection seat 121 is connected to the rotating seat 130 and extends radially outward relative to the rotating seat 130. The specific structure of the second connection seat 121 is not fixed and is set according to actual needs. The suction cup 122 is connected to the end of the second connection seat 121 away from the rotating seat 130 and is used to absorb the long adhesive tape 11.

[0052] Specifically, when grabbing the long adhesive tape 11, the second adhesive assembly 120 is on the external mechanical arm 210 (refer to Figure 5 ), the suction cup 122 absorbs the corresponding long tape 11. When attaching the long tape 11, the second adhesive component 120 attaches the long tape 11 to the set position of the product 10 under the control of the external mechanical arm 210. It can be understood that by grabbing the long tape 11 with the suction cup 122, the suction cup 122 can smoothly absorb the long tape 11, so that the long tape 11 can be smoothly attached to the set position of the product 10.

[0053] In a further embodiment, the second adhesive component 120 further includes an elastic member 123, one telescopic end of the elastic member 123 is connected to the second connection seat 121, and the other telescopic end is connected to the suction cup 122, whereby the suction cup 122 is elastically connected to the second connection seat 121 through the elastic member 123. It is understandable that by providing the elastic member 123 between the second connection seat 121 and the suction cup 122, when the suction cup 122 grabs the long adhesive tape 11, the suction cup 122 can be closely attached to the long adhesive tape 11, thereby being able to firmly absorb the long adhesive tape 11.

[0054] In some embodiments, reference Figure 3The swivel seat 130 is provided with at least three connection parts 1331 arranged in sequence around the circumferential direction thereof. The first glue component 110 can be assembled at different positions in the circumferential direction of the swivel seat 130 through each connection part 1331. Similarly, the second glue component 120 can be assembled at different positions in the circumferential direction of the swivel seat 130 through each connection part 1331. Therefore, the first glue component 110 and the second glue component 120 can be installed at any position around the swivel seat 130, and the number of the first glue component 110 and the second glue component 120 can be flexibly adjusted, and the execution terminal 100 is more flexible in application.

[0055] In addition, two or more first adhesive components 110 may be arranged around the rotating seat 130, and the execution terminal 100 may switch the first adhesive components 110 by rotation when in use, so as to attach two or more short adhesive tapes 12 to the product 10; similarly, two or more second adhesive components 120 may be arranged around the rotating seat 130, and the execution terminal 100 may switch the second adhesive components 120 by rotation when in use, so as to attach two or more long adhesive tapes 11 to the product 10. Of course, only one first adhesive component 110 may be arranged around the rotating seat 130, and only one second adhesive component 120 may be arranged around the rotating seat 130.

[0056] In a further embodiment, the connection portion 1331 is a positioning groove opened at the end of the rotating seat 130, and each positioning groove passes through the circumference of the rotating seat 130. The first connecting seat 111 and the second connecting seat 121 have a connection portion 1331 of the same size (refer to Figure 1 and Figure 4 ), the positioning portion of the first connection seat 111 is embedded in the positioning groove and fixed by bolts, thereby, the first adhesive component 110 is assembled and connected to the rotating seat 130; similarly, the positioning portion of the second connection seat 121 is embedded in the positioning groove and fixed by bolts, thereby, the second adhesive component 120 is assembled and connected to the rotating seat 130. It can be understood that, through the setting of the positioning groove, the positioning groove can position the positioning portion of the first connection seat 111 and the positioning portion of the second connection seat 121, so that the first adhesive component 110 and the second adhesive component 120 can be conveniently assembled.

[0057] In some embodiments, reference Figure 1The swivel seat 130 includes a connecting rod 131, a first flange 132 and a second flange 133. One end of the connecting rod 131 is connected to the center of the first flange 132, and the other end is connected to the center of the second flange 133. The connecting rod 131, the first flange 132 and the second flange 133 are arranged coaxially. The first adhesive component 110 and the second adhesive component 120 are both connected to the second flange 133. In specific applications, the first flange 132 can be conveniently connected to the end of the external mechanical arm 210 by bolts, and the first adhesive component 110 and the second adhesive component 120 can be conveniently connected to the periphery of the second flange 133. In addition, the length of the connecting rod 131 is large enough, and the installation positions of the first adhesive component 110 and the second adhesive component 120 are far enough from the end of the mechanical arm 210, so that the interference problem between the first adhesive component 110 and the second adhesive component 120 in specific applications can be effectively avoided.

[0058] The present application also discloses a manipulator 200, referring to Figure 1 and Figure 5 , including a robot arm 210 and the above-mentioned execution end 100, wherein a driving module 211 is provided at the end of the robot arm 210, and the driving module 211 is connected to the execution end 100 for driving the execution end 100 to rotate around the central axis of the swivel 130.

[0059] It can be understood that the manipulator 200 adopts the above-mentioned execution end 100, and the execution end 100 integrates the first glue sticking component 110 and the second glue sticking component 120. Therefore, the end of the manipulator 200 integrates the first glue sticking component 110 and the second glue sticking component 120. In specific applications, the manipulator 200 can attach the long tape 11 and the short tape 12 to the product 10.

[0060] The present application also discloses a glue sticking device, referring to Figure 1 and Figure 5 , including the above-mentioned robot 200.

[0061] It is understandable that the gluing device uses the above-mentioned robot 200, and the robot 200 uses the above-mentioned execution terminal 100, and the execution terminal 100 integrates the first gluing component 110 and the second gluing component 120, so that the end of the robot 200 integrates the first gluing component 110 and the second gluing component 120. In specific applications, the gluing device only uses one robot arm 210, which can be used to attach the short tape 12 and the long tape 11 to the product 10. This configuration reduces the space occupied by the gluing device and reduces the cost of the gluing device.

[0062] The technical means disclosed in the solution of the utility model are not limited to the technical means disclosed in the above-mentioned implementation mode, but also include technical solutions composed of any combination of the above technical features. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principle of the utility model, and these improvements and modifications are also regarded as the protection scope of the utility model.

Claims

1. An execution terminal, characterized in that: include: transposition; At least one first adhesive tape assembly, disposed on the rotating seat, for grabbing and attaching a short adhesive tape; At least one second adhesive tape assembly, disposed on the rotating seat, for grabbing and attaching the long adhesive tape; The first rubber component and the second rubber component are arranged in sequence around the circumferential direction of the rotating seat, and the rotating seat is configured to be rotatable so that one of the first rubber component and the second rubber component can be switched to a working position.

2. An execution end according to claim 1, characterized in that: The first adhesive component comprises: A first connecting seat, connected to the rotating seat and extending radially; A film sticking chuck connected to the first connecting seat, the film sticking chuck is radially arranged outward to be able to clamp a short adhesive tape; The pressing head is connected to the first connecting seat and is arranged axially toward the area facing the film sticking clamp.

3. An execution end according to claim 2, characterized in that: The pressing head includes a first driving member, a second driving member and a pressing member, wherein the first driving member is connected to the first connecting seat, the second driving member is connected to the first driving member, and the pressing member is connected to the second driving member, wherein one of the first driving member and the second driving member is used to drive the pressing member along the radial direction of the rotating seat, and the other is used to drive the pressing member along the axial direction of the rotating seat, and the pressing member is used to be pressed on the back side of the short tape.

4. The execution end according to claim 1, characterized in that: The second adhesive component comprises: A second connecting seat is connected to the rotating seat and extends radially; The suction cup is connected to the second connecting seat and is used for absorbing the long adhesive tape.

5. An execution end according to claim 4, characterized in that: The second adhesive component also includes an elastic member, and the suction cup is elastically connected to the second connecting seat via the elastic member.

6. The execution end according to claim 1, characterized in that: The rotating seat is provided with at least three connecting parts in sequence and at intervals around the circumferential direction thereof, and the first rubber-applying component and the second rubber-applying component can be assembled on the rotating seat through the connecting parts.

7. An execution end according to claim 6, characterized in that: The connecting portion is a positioning groove opened at the end of the rotating seat, and each of the positioning grooves passes through the circumference of the rotating seat.

8. The execution end according to claim 1, characterized in that: The swivel seat includes a connecting rod, a first flange and a second flange, one end of the connecting rod is connected to the first flange, and the other end is connected to the second flange, and the first rubber component and the second rubber component are both connected to the second flange.

9. A robot, characterized in that: include: A mechanical arm, wherein the end fixture of the mechanical arm is provided with a driving module; In the execution end described in any one of claims 1 to 8, the driving module is connected to the execution end and is used to drive the execution end to rotate around the central axis of the rotating base.

10. A glue sticking device, characterized in that: Including the robot described in claim 9.

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