Gluing mechanical arm of automatic gluing machine

Abstract

The utility model relates to the technical field of gluing equipment, and discloses a gluing mechanical arm of an automatic gluing machine, which comprises a bottom plate, a control mechanism, a glue supply mechanism and a transmission mechanism, the control mechanism is installed on the left side of the top of the bottom plate, the glue supply mechanism is installed on the top of the bottom plate and located behind the control mechanism, and the transmission mechanism is installed on the bottom plate. The conveying mechanism is installed on the top of the bottom plate and located on the right side of the control mechanism, a portal frame is fixedly connected to the top of the bottom plate, a suspension beam is fixedly connected to the bottom of the portal frame, and a supporting rod is fixedly connected to the top of the bottom plate. According to the mechanical arm mechanism, the whole mechanical arm mechanism is composed of the movable base, the driving head, the connecting base, the first movable arm, the second movable arm and other structures, the mechanical arm mechanism can stably and linearly move under the cooperation of the chain and the guide rail, and the mechanical arm mechanism can freely and flexibly rotate under the cooperation of the multiple structures; and 3D visual work carried at the tail end can be assisted to carry out all-dimensional coverage scanning on a workpiece.

Description

Technical Field

[0001] The utility model relates to the technical field of gluing equipment, in particular to a gluing mechanical arm of an automatic gluing machine. Background Art

[0002] An automatic gluing machine is a mechatronic device that controls multiple robotic arms through a computer program and can perform gluing on workpieces from multiple directions. This type of equipment is usually composed of a mechanical system, an electronic information processing system, a power system, a sensor system, and an actuator system. The mechanical system provides support and motion guidance for the equipment; the electronic information processing system is used to process data and send control instructions; the power system provides power; the sensor system detects various parameters; and the actuator system completes specific actions according to instructions. Compared with manual gluing, the automatic gluing machine has many advantages, which can greatly improve the efficiency and accuracy of gluing, complete more work in a shorter time, and the gluing is more uniform and consistent.

[0003] When gluing workpieces in a factory, a conveyor belt is generally used to transport the workpiece to the appropriate position. A computer program then controls the movement of multiple robotic arms around the workpiece, and the spray guns on the robotic arms are used to perform the spraying operation.

[0004] Then this spraying processing method will use multiple robotic arms to cooperate with each other, which greatly increases the production cost, and relies on precise positioning of the workpiece for accurate spraying. Therefore, the technology in this field proposes a gluing robotic arm for an automatic gluing machine to solve the above problems. Utility Model Content

[0005] In order to make up for the above shortcomings, the utility model provides a gluing robot arm for an automatic gluing machine, aiming to improve the existing spraying processing method that requires the coordinated cooperation of multiple robots, which greatly increases production costs and the problem that the spraying operation is not flexible enough.

[0006] To achieve the above-mentioned purpose, the utility model provides the following technical solutions: a gluing robot arm of an automatic gluing machine, comprising a base plate, a control mechanism, a glue supply mechanism and a transmission mechanism, the control mechanism is installed on the top left side of the base plate, the glue supply mechanism is installed on the top of the base plate and is located behind the control mechanism, the transmission mechanism is installed on the top of the base plate and is located on the right side of the control mechanism, the top of the base plate is fixedly connected to the gantry, the bottom of the gantry is fixedly connected to the suspension beam, the top of the base plate is fixedly connected to the support rod, the bottom of the suspension beam is provided with a moving assembly, a motor is installed on the outside of the moving assembly, the top of the moving assembly is fixedly connected to the connecting plate, the top of the connecting plate is fixedly connected to the chain, the outside of the support rod is fixedly connected to the guide rail, the bottom of the moving assembly is installed with a driving head, the output end of the driving head is fixedly connected to the connecting seat, the output end of the connecting seat is fixedly connected to movable arm 1, the output end of the movable arm 1 is fixedly connected to movable arm 2, and the output end of the movable arm 2 is fixedly connected to the connecting seat.

[0007] Furthermore, the moving assembly includes a slide rail, and the outside of the slide rail is slidably connected to a moving seat.

[0008] Furthermore, the glue supply mechanism includes a mounting seat and a glue supply device, the outer side of the mounting seat is rotatably connected to one end of the connecting seat, and the glue supply device is installed on the top side of the base plate.

[0009] Furthermore, a 3D vision system device is installed on the outside of the mounting seat, a glue gun head is installed on the bottom of the 3D vision system device, and the output end of the glue supply device is fixedly connected to one end of the glue gun head through a conduit.

[0010] Furthermore, the control mechanism includes an intelligent control device, which is installed on the top of the base plate and is electrically connected to the glue supply device and the motor.

[0011] Furthermore, the transmission mechanism includes a production line body, which is erected on the top of the base plate, and the workpiece to be processed is placed on the top of the production line body.

[0012] Furthermore, one end of the suspension beam is fixedly connected to the top of the support rod.

[0013] Furthermore, one end of the guide rail is fixedly connected to the outer side of the suspension beam, one end of the chain is fixedly connected to the top of the guide rail, and the outer side of the chain is in contact with the top of the guide rail.

[0014] The utility model has the following beneficial effects:

[0015] In the present invention, a robotic arm mechanism is composed of multiple structures such as a moving seat, a driving head, a connecting seat, a movable arm one, and a movable arm two. With the cooperation of a chain and a guide rail, the robotic arm mechanism can move linearly stably, and with the cooperation of multiple structures, the robotic arm mechanism can rotate freely and flexibly, and can assist the 3D vision function carried at its end to perform an all-round coverage scan of the workpiece, providing convenience for subsequent gluing operations, and using one robotic arm mechanism to achieve gluing of gluing surfaces in different orientations, saving the number of robotic arms, improving the utilization rate of a single robotic arm, and reducing the overall cost. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 This is a three-dimensional diagram of a gluing robot arm of an automatic gluing machine proposed in the present invention;

[0017] Figure 2 This is a schematic diagram of the cantilever structure of the gluing robot arm of the automatic gluing machine proposed in the utility model;

[0018] Figure 3 for Figure 1 Enlarged view of point A in the middle;

[0019] Figure 4 for Figure 2 Enlarged view of point B in the middle;

[0020] Figure 5 for Figure 2 Enlarged view of point C in the middle.

[0021] Legend:

[0022] 1. Base plate; 2. Gantry; 3. Suspension beam; 4. Support rod; 5. Slide rail; 6. Moving seat; 7. Motor; 8. Connecting plate; 9. Chain; 10. Guide rail; 11. Drive head; 12. Connecting seat; 13. Movable arm 1; 14. Movable arm 2; 15. Connecting seat; 16. Mounting seat; 17. 3D vision system device; 18. Glue gun head; 19. Production line; 20. Workpiece to be processed; 21. Intelligent control device; 22. Glue supply device. DETAILED DESCRIPTION

[0023] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the embodiments described are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0024] Reference Figure 1-Figure 3The utility model provides an embodiment: a gluing robot arm of an automatic gluing machine, comprising a base plate 1, a control mechanism, a glue supply mechanism and a transmission mechanism. The control mechanism is installed on the top left side of the base plate 1, the glue supply mechanism is installed on the top of the base plate 1 and is located behind the control mechanism, and the transmission mechanism is installed on the top of the base plate 1 and is located on the right side of the control mechanism. The base plate 1 serves as the basic support platform of the entire device, carrying the control mechanism, glue supply mechanism, transmission mechanism and other components to ensure the stability of the entire system. The top of the base plate 1 is fixedly connected to a gantry 2, and the bottom of the gantry 2 is fixedly connected to a suspension beam 3. The gantry 2 and the suspension beam 3 provide an installation position and a support structure for the mobile component, ensuring that the mobile component can move stably within a certain spatial range, thereby realizing the gluing operation on workpieces at different positions. The top of the base plate 1 is fixedly connected to a support rod 4, which auxiliary supports the suspension beam 3 and the guide rail 10 to enhance the entire structure. In order to ensure the stability of the workpiece, a moving assembly is provided at the bottom of the suspension beam 3, a motor 7 is installed on the outside of the moving assembly, a connecting plate 8 is fixedly connected to the top of the moving assembly, a chain 9 is fixedly connected to the top of the connecting plate 8, and cooperates with the guide rail 10 to further ensure the stability and accuracy of the moving assembly during movement, the outside of the support rod 4 is fixedly connected to the guide rail 10, a driving head 11 is installed at the bottom of the moving assembly, the output end of the driving head 11 is fixedly connected to the connecting seat 12, the output end of the connecting seat 12 is fixedly connected to the movable arm 13, the output end of the movable arm 13 is fixedly connected to the movable arm 2 14, the output end of the movable arm 2 14 is fixedly connected to the connecting seat 15, the connecting seat 12, the movable arm 1 13, the movable arm 2 14 and the connecting seat 15, these components together constitute a multi-joint robotic arm structure, which can realize flexible rotation at multiple angles, so that the glue gun head can reach various parts of workpieces of different shapes for glue coating operations.

[0025] Reference Figure 3-Figure 5The moving component includes a slide rail 5, the outer side of the slide rail 5 is slidably connected to the moving seat 6, the glue supply mechanism includes a mounting seat 16 and a glue supply device 22, the outer side of the mounting seat 16 is rotatably connected to one end of the connecting seat 15, the glue supply device 22 is installed on the top side of the base plate 1, and a 3D vision system device 17 is installed on the outer side of the mounting seat 16. A glue gun head 18 is installed at the bottom of the 3D vision system device 17, and the output end of the glue supply device 22 is fixedly connected to one end of the glue gun head 18 through a conduit. The control mechanism includes an intelligent control device 21, which is installed on the top of the base plate 1. The intelligent control device 21 is electrically connected to the glue supply device 22 and the motor 7. The transmission mechanism includes a production line body 19, which is erected on the top of the base plate 1. A workpiece 20 to be processed is placed on the top of the production line body 19. The automatic gluing system adopts three communication methods: TCP / IP, RS-485 and IO, and adopts a method of controlling each module separately in terms of communication method. The robot's motion trajectory and the start and stop of the glue supply system are controlled by the information intelligent system to ensure the uniformity and continuity of the glue line; the 3D visual guidance is a separate system and communicates separately with the information intelligent system using TCP / IP; the motion control board and the industrial computer also communicate using TCP / IP, and the motion control board uses RS-485 to control the position of the glue coating robot on the track, and uses IO to realize brake lining position detection, production line start and stop control, status detection, human-computer interaction and other functions. One end of the suspension beam 3 is fixedly connected to the top of the support rod 4, one end of the guide rail 10 is fixedly connected to the outside of the suspension beam 3, one end of the chain 9 is fixedly connected to the top of the guide rail 10, and the outside of the chain 9 is in contact with the top of the guide rail 10.

[0026] Working principle: First, the workpiece 20 to be processed will be transferred to the appropriate position on the top of the production line body 19. There is a positioning structure on the top of the workpiece 20 to be processed, which can stabilize the position of the workpiece 20 to be processed. Then the entire equipment is started by the intelligent control device 21, and the glue supply device 22 is started to transport the glue to the glue gun head 18 through the conduit. The 3D vision system device 17 will scan the workpiece 20 to be processed and then perform the gluing operation.

[0027] When the automatic gluing system is first started up, it undergoes system setup, parameter calibration, and other adjustments. After this initial setup, subsequent startups require only turning on the power button and waiting for the system to complete a self-test. Once this is complete, the automatic gluing system can be activated. After startup, the system enters standby mode. Once the system detects line blocking, backstopping, and workpiece fixation, it issues a start signal, and the automatic gluing system begins operation. 3D vision scans the workpiece area to be glued, performs model recognition, and plans a gluing trajectory. The resulting trajectory is then transmitted to the robotic arm, which then applies the first pass of glue according to the trajectory. The robotic arm's zero position is used when starting and stopping the system. At this zero position, the glue nozzle is placed in a silicone oil cup to prevent the glue from solidifying. During initial startup, any excess glue at the nozzle tip should be removed to prevent glue path clogging due to prolonged downtime. After a single gluing cycle, the system enters a five-minute wait period, during which the glue gun moves to its waiting position. After the first gluing operation on the workpiece is completed, the automatic gluing system notifies the worker to install the parts in the form of an indicator light. After the worker completes the installation of the parts on both sides, he clicks the gluing button to activate the automatic gluing system, and the gluing robot arm begins the second scan and gluing. If the worker completes the installation of the workpiece within 5 minutes and activates the gluing button, the glue gun will go directly from the waiting position to the workpiece to continue gluing. If no gluing operation is performed within 5 minutes, the robot arm will return directly to the zero point, that is, the silicone oil cup, to prevent the glue in the nozzle from being in contact with the air for too long. After the workpiece is glued, the gluing robot returns to the waiting position and releases a signal to the blocking device on the conveyor line. The blocking and fixing device releases the workpiece, and the production line is started, releasing the currently glued workpiece, completing the gluing operation.

[0028] Finally, it should be noted that the above is only a preferred embodiment of the present invention and is 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 replacements for some of the technical features therein. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.

Claims

1. A gluing robot arm for an automatic gluing machine, comprising: A base plate (1), a control mechanism, a glue supply mechanism and a transmission mechanism, characterized in that: the control mechanism is installed on the top left side of the base plate (1), the glue supply mechanism is installed on the top of the base plate (1) and is located behind the control mechanism, the transmission mechanism is installed on the top of the base plate (1) and is located to the right of the control mechanism, the top of the base plate (1) is fixedly connected to a gantry (2), the bottom of the gantry (2) is fixedly connected to a suspension beam (3), the top of the base plate (1) is fixedly connected to a support rod (4), the bottom of the suspension beam (3) is provided with a moving component, and the outer side of the moving component is installed A motor (7) is provided. The top of the movable assembly is fixedly connected to a connecting plate (8). The top of the connecting plate (8) is fixedly connected to a chain (9). The outer side of the support rod (4) is fixedly connected to a guide rail (10). The bottom of the movable assembly is provided with a driving head (11). The output end of the driving head (11) is fixedly connected to a connecting seat (12). The output end of the connecting seat (12) is fixedly connected to a movable arm 1 (13). The output end of the movable arm 1 (13) is fixedly connected to a movable arm 2 (14). The output end of the movable arm 2 (14) is fixedly connected to a connecting seat (15).

2. The gluing robot arm of the automatic gluing machine according to claim 1, characterized in that: The moving assembly comprises a slide rail (5), and the outside of the slide rail (5) is slidably connected to a moving seat (6).

3. The gluing robot arm of the automatic gluing machine according to claim 1, characterized in that: The glue supply mechanism comprises a mounting seat (16) and a glue supply device (22), wherein the outer side of the mounting seat (16) is rotatably connected to one end of the connecting seat (15), and the glue supply device (22) is installed on one side of the top of the base plate (1).

4. The gluing robot arm of the automatic gluing machine according to claim 3, characterized in that: A 3D vision system device (17) is installed on the outside of the mounting seat (16), a glue gun head (18) is installed on the bottom of the 3D vision system device (17), and an output end of the glue supply device (22) is fixedly connected to one end of the glue gun head (18) through a conduit.

5. The gluing robot arm of the automatic gluing machine according to claim 1, characterized in that: The control mechanism comprises an intelligent control device (21), which is mounted on the top of the base plate (1). The intelligent control device (21) is electrically connected to the glue supply device (22) and the motor (7).

6. The gluing robot arm of the automatic gluing machine according to claim 1, characterized in that: The transmission mechanism comprises a production line body (19), the production line body (19) is erected on the top of the base plate (1), and a workpiece (20) to be processed is placed on the top of the production line body (19).

7. The gluing robot arm of the automatic gluing machine according to claim 1, characterized in that: One end of the suspension beam (3) is fixedly connected to the top of the support rod (4).

8. The gluing robot arm of the automatic gluing machine according to claim 1, characterized in that: One end of the guide rail (10) is fixedly connected to the outer side of the suspension beam (3), one end of the chain (9) is fixedly connected to the top of the guide rail (10), and the outer side of the chain (9) is in contact with the top of the guide rail (10).

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