Gluing head detection device of gluing robot

Abstract

The utility model relates to the field of robot detection, in particular to a gluing robot gluing head detection device which comprises a device body, and the device body comprises a gluing mechanism, an induction mechanism and a fixing mechanism. The gluing mechanism is arranged on the fixing mechanism and can do reciprocating motion on the fixing mechanism, and a gluing head is connected to the gluing mechanism; the sensing mechanism is arranged on the fixing mechanism and can sense the position of the gluing mechanism, the gluing robot gluing head detection device comprising the gluing mechanism, the sensing mechanism and the fixing mechanism is arranged, the state of a gluing head can be detected before gluing, sealant waste and repair labor cost waste caused by post-detection are avoided, and the detection efficiency is improved. The problems that according to an existing gluing head detection device, a certain risk exists when whether a gluing head is abnormal or not is judged according to the effect after gluing, and if an operator does not find out the problem of gluing in a short time, the batch problem is prone to occurring, the risk is caused to the product quality, and the product material cost is wasted are solved.

Description

Technical Field

[0001] The utility model relates to the field of robot detection, in particular to a detection device for a gluing head of a gluing robot. Background Art

[0002] The existing gluing robot's gluing head detection mainly relies on post-processing, that is, the gluing robot judges based on the gluing effect after applying the sealant. For example, if the glue line is greatly offset or deformed, it can be judged that the gluing head is broken, deformed, or the position coordinates are wrong. This requires the operator to have sufficient experience to make judgments. At the same time, the sealant needs to be scraped off and then glued again. The waste of sealant also increases the operator's labor intensity. There is also a certain risk in judging whether the gluing head is abnormal based on the effect after gluing. If the operator does not find any problems with the gluing in a short period of time, batch problems are likely to occur, which will pose risks to product quality and cause waste of product material costs. Utility Model Content

[0003] In view of the above problems, the utility model provides a gluing head detection device for a gluing robot.

[0004] The adopted technical solution is a gluing robot gluing head detection device, comprising a device body, the device body is connected with the gluing system signal, wherein the device body comprises a gluing mechanism, a sensing mechanism and a fixing mechanism;

[0005] The gluing mechanism is arranged on the fixing mechanism and can make reciprocating motion on the fixing mechanism, and a gluing head is connected to the gluing mechanism;

[0006] The sensing mechanism is arranged on the fixing mechanism and can sense the position of the gluing mechanism.

[0007] Optionally, the fixing mechanism is in an "L"-shaped structure, and the fixing mechanism includes a bottom plate and a vertical plate, and the vertical plate is connected to one end of the bottom plate.

[0008] Optionally, a fixing groove is provided on the vertical plate, and the fixing groove is vertically downward.

[0009] Optionally, the sensing mechanism includes a first position sensor and a second position sensor, and the first position sensor and the second position sensor are both arranged in a fixing groove, the first position sensor is located above the second position sensor, and the first position sensor and the second position sensor are connected to the glue coating system signal.

[0010] Optionally, the glue coating mechanism includes a sleeve and an upper cover plate, the bottom of the sleeve is connected to the bottom plate, the top of the sleeve is connected to the upper cover plate, a piston component is arranged in the sleeve, and the piston component can reciprocate;

[0011] The upper cover plate is connected to the bottom plate by bolts.

[0012] Optionally, a sleeve cavity is provided in the sleeve, a through groove is provided on one side of the sleeve, and the through groove faces the fixing groove.

[0013] Optionally, the piston component includes a spring, a piston and a piston rod;

[0014] The spring and the piston are both arranged in the sleeve cavity, one end of the spring abuts against the bottom of the sleeve cavity, and the other end of the spring abuts against the piston;

[0015] The piston is connected to the piston rod, a sensing bolt is provided on one side of the piston, and the sensing bolt passes through the through slot, and the first position sensor and the second position sensor can identify the position of the sensing bolt;

[0016] One end of the piston rod passes through the upper cover plate.

[0017] Optionally, a detection hole for inserting a glue coating head is provided at one end of the piston rod located outside the sleeve cavity.

[0018] Optionally, the first position sensor and the second position sensor are of Balluff BES 516-325-S4-C model.

[0019] The benefits of the utility model are:

[0020] By setting up a gluing robot gluing head detection device including a gluing mechanism, a sensing mechanism and a fixing mechanism, the state of the gluing head can be detected before gluing, avoiding the waste of sealant caused by subsequent detection and the waste of labor costs for rework, and also reducing the risk of batch quality problems. At the same time, it has a simple structure, low cost, high stability, and easy maintenance. It can effectively detect abnormal conditions of the gluing head, including precision errors of the robot gluing head, deformation of the gluing head, breakage of the gluing head, etc., solving the problem of the existing gluing head detection device. There is also a certain risk in judging whether the gluing head is abnormal by the effect after gluing. If the operator does not find the problem with the gluing in a short time, batch problems are likely to occur, which will cause risks to product quality and waste of product material costs. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 This is a structural schematic diagram of a gluing head detection device for a gluing robot;

[0022] Figure 2 A schematic diagram of the structure of a gluing head detection device of a gluing robot from another angle;

[0023] Figure 3 for Figure 2 Schematic diagram of the AA section along the middle.

[0024] The figure marks are: 1 is the upper cover plate, 2 is the bolt, 3 is the sleeve, 4 is the bottom plate, 5 is the first position sensor, 6 is the second position sensor, 7 is the piston rod, 8 is the sensing bolt, 9 is the spring, 10 is the piston, 11 is the detection hole, 12 is the vertical plate, 13 is the fixing groove, 14 is the through groove, and 15 is the sleeve cavity. DETAILED DESCRIPTION

[0025] The following describes the implementation of the present invention through specific examples. Those skilled in the art can easily understand other advantages and effects of the present invention from the contents disclosed in this specification. The present invention can also be implemented or applied through other different specific implementations, and the details in this specification can also be modified or changed in various ways based on different viewpoints and applications without departing from the spirit of the present invention. It should be noted that the following embodiments and features in the embodiments can be combined with each other without conflict.

[0026] It should be noted that the illustrations provided in the following embodiments are only schematic illustrations of the basic concept of the present invention, and thus the drawings only show components related to the present invention rather than being drawn according to the number, shape and size of components in actual implementation. In actual implementation, the type, quantity and proportion of each component may be changed arbitrarily, and the component layout may also be more complicated.

[0027] like Figures 1 to 3 As shown, a gluing robot gluing head detection device includes a device body, the device body is connected to the gluing system signal, wherein the device body includes a gluing mechanism, a sensing mechanism and a fixing mechanism;

[0028] The gluing mechanism is arranged on the fixing mechanism and can make reciprocating motion on the fixing mechanism, and a gluing head is connected to the gluing mechanism;

[0029] The sensing mechanism is arranged on the fixing mechanism and can sense the position of the gluing mechanism.

[0030] The purpose of such design is that, by setting up a gluing robot gluing head detection device including a gluing mechanism, a sensing mechanism and a fixing mechanism, the state of the gluing head can be detected before gluing, thereby avoiding the waste of sealant caused by subsequent detection and the waste of labor costs for rework, and also reducing the risk of batch quality problems. At the same time, it has a simple structure, low cost, high stability, and easy maintenance. It can effectively detect abnormal conditions of the gluing head, including precision errors of the robot gluing head, deformation of the gluing head, breakage of the gluing head, etc., solving the existing gluing head detection device. There is also a certain risk in judging whether the gluing head is abnormal by the effect after gluing. If the operator does not find any problems with the gluing in a short time, batch problems are likely to occur, which will cause risks to product quality and waste of product material costs.

[0031] In this embodiment, a specific structure of a fixing mechanism is provided, wherein the fixing mechanism is an "L"-shaped structure, the fixing mechanism includes a bottom plate 4 and a vertical plate 12, and the vertical plate 12 is connected to one end of the bottom plate 4, and a fixing groove 13 is provided on the vertical plate 12, and the fixing groove 13 is vertically downward.

[0032] The purpose of such a design is to fix the gluing mechanism and the sensing mechanism by providing a bottom plate and a vertical plate.

[0033] In this embodiment, a specific structure of a sensing mechanism is provided, wherein the sensing mechanism includes a first position sensor 5 and a second position sensor 6, and the first position sensor 5 and the second position sensor 6 are both arranged in a fixed groove 13, the first position sensor 5 is located above the second position sensor 6, and the first position sensor 5 and the second position sensor 6 are connected to the glue coating system signal.

[0034] It should be pointed out that the first position sensor 5 and the second position sensor 6 are of the Balluff BES 516-325-S4-C model. In terms of function, the first position sensor is an in-situ sensor, and the second position sensor is a detection position sensor.

[0035] In this embodiment, the glue coating mechanism includes a sleeve 3 and an upper cover plate 1. The bottom of the sleeve 3 is connected to the bottom plate 4, and the top of the sleeve 3 is connected to the upper cover plate 1. A piston component is arranged in the sleeve 3, and the piston component can reciprocate.

[0036] The upper cover plate 1 is connected to the bottom plate 4 by bolts 2, a sleeve cavity 15 is provided in the sleeve 3, a through groove 14 is provided on one side of the sleeve 3, and the through groove 14 faces the fixed groove 13, and the piston component includes a spring 9, a piston 10 and a piston rod 7;

[0037] The spring 9 and the piston 10 are both arranged in the sleeve cavity 15, one end of the spring 9 abuts against the bottom of the sleeve cavity 15, and the other end of the spring 9 abuts against the piston 10;

[0038] The piston 10 is connected to the piston rod 7, a sensing bolt 8 is provided on one side of the piston 10, and the sensing bolt 8 passes through the through slot 14, and the first position sensor 5 and the second position sensor 6 can identify the position of the sensing bolt 8;

[0039] One end of the piston rod 7 passes through the upper cover plate 1 , and the end of the piston rod 7 outside the sleeve cavity 15 is provided with a detection hole 11 for inserting a glue coating head.

[0040] In actual use, after the robot glue coating head is inserted into the detection hole 11 at the top of the piston rod, the glue coating head continues to move downward, pushing the piston 10 downward, and then making the sensing bolt 8 reach the position of the second position sensor 6, and the second position sensor 6 sends an electrical signal to the glue coating system.

[0041] At the same time, when the glue coating head is broken, deformed or the coordinates are wrong, the sensing bolt 8 will not be able to accurately reach the position of the second position sensor 6, and the second position sensor 6 will not be able to send an electrical signal to the glue coating system.

[0042] Furthermore, after the detection of the glue coating head is completed, the piston 10 moves upward under the action of the spring 9, and the sensing bolt 8 returns to the position of the first position sensor 5, and the first position sensor 5 sends an electrical signal to the glue coating system.

[0043] At the same time, when the piston 10 or the piston rod 7 of the detection device is stuck and cannot move upward, the sensing bolt 8 will not be able to accurately return to the position of the first position sensor 5, and the first position sensor 5 cannot send an electrical signal to the glue coating system.

[0044] In this embodiment, a specific method for using the gluing robot gluing head detection device is also provided, including the following steps:

[0045] S1. After installing the detection device, the gluing robot mounts the normal gluing head and moves it to the detection hole 11 of the detection device, and compresses the piston downward by about 50mm. At this time, the robot position coordinates are set to the detection point P1. At the same time, the second position sensor 6 is adjusted so that the second position sensor 6 is aligned with the sensing bolt 8, and a signal is output, which is recorded as the detection position signal I0.1;

[0046] S2. When the glue coating robot moves upward and leaves the detection device, the piston 10 moves upward under the action of the spring 9, and the first position sensor 5 is adjusted so that the first position sensor 5 is aligned with the sensing bolt 8, and a signal is output, which is recorded as the detection device in-situ signal I0.0;

[0047] S3. Before the robot starts, it will detect whether it has received the home signal I0.0. If it receives the signal, it means that the detection device is normal and can detect normally. If it does not receive the signal, it means that the detection device is abnormal, the equipment alarms, and maintenance is required;

[0048] S4. Before gluing each workpiece, the robot gluing head will move to the detection point P1 and stay there for 1 second. If the I0.1 signal is received at this time, it means that the gluing head is normal. If no signal is received, it means that the gluing head is abnormal, which may be broken, deformed, or have position coordinate errors. At the same time, the equipment alarms to remind the operator and maintenance personnel to carry out maintenance.

[0049] Finally, it should be noted that the above are only preferred embodiments of the present invention and are not intended to limit the present invention. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art can still modify the technical solutions described in the aforementioned embodiments or make equivalent substitutions for some of the technical features therein. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A gluing robot gluing head detection device, comprising a device body, the device body is connected to the gluing system signal, characterized in that: The device body includes a gluing mechanism, a sensing mechanism and a fixing mechanism; The gluing mechanism is arranged on the fixing mechanism and can make reciprocating motion on the fixing mechanism, and a gluing head is connected to the gluing mechanism; The sensing mechanism is arranged on the fixing mechanism and can sense the position of the gluing mechanism.

2. A gluing robot gluing head detection device according to claim 1, characterized in that: The fixing mechanism is in an "L"-shaped structure, comprising a bottom plate (4) and a vertical plate (12), wherein the vertical plate (12) is connected to one end of the bottom plate (4).

3. A gluing robot gluing head detection device according to claim 2, characterized in that: The vertical plate (12) is provided with a fixing groove (13), and the fixing groove (13) is vertically downward.

4. A gluing robot gluing head detection device according to claim 3, characterized in that: The sensing mechanism comprises a first position sensor (5) and a second position sensor (6), and the first position sensor (5) and the second position sensor (6) are both arranged in a fixing groove (13), the first position sensor (5) is located above the second position sensor (6), and the first position sensor (5) and the second position sensor (6) are connected to the glue coating system signal.

5. The gluing robot gluing head detection device according to claim 4, characterized in that: The glue coating mechanism comprises a sleeve (3) and an upper cover plate (1); the bottom of the sleeve (3) is connected to the bottom plate (4), and the top of the sleeve (3) is connected to the upper cover plate (1); a piston component is arranged in the sleeve (3), and the piston component can reciprocate; The upper cover plate (1) is connected to the bottom plate (4) via bolts (2).

6. A gluing robot gluing head detection device according to claim 5, characterized in that: A sleeve cavity (15) is provided in the sleeve (3), and a through groove (14) is provided on one side of the sleeve (3), with the through groove (14) facing the fixing groove (13).

7. The gluing robot gluing head detection device according to claim 6, characterized in that: The piston component comprises a spring (9), a piston (10) and a piston rod (7); The spring (9) and the piston (10) are both arranged in the sleeve cavity (15), one end of the spring (9) abuts against the bottom of the sleeve cavity (15), and the other end of the spring (9) abuts against the piston (10); The piston (10) is connected to the piston rod (7), a sensing bolt (8) is provided on one side of the piston (10), and the sensing bolt (8) passes through the through slot (14), and the first position sensor (5) and the second position sensor (6) can identify the position of the sensing bolt (8); One end of the piston rod (7) passes through the upper cover plate (1).

8. The gluing robot gluing head detection device according to claim 7, characterized in that: One end of the piston rod (7) located outside the sleeve cavity (15) is provided with a detection hole (11) for inserting a glue coating head.

9. A gluing robot gluing head detection device according to any one of claims 4 to 8, characterized in that: The first position sensor (5) and the second position sensor (6) are of Balluff BES 516-325-S4-C model.

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