Robot automatic gluing system

Abstract

The utility model relates to the technical field of workshop robot gluing, and discloses an automatic robot gluing system which comprises a supporting column, a cross beam is fixedly connected to the outer wall of the supporting column, a robot servo mechanism is arranged at the bottom of the cross beam, a mechanical arm is arranged on one side of the robot servo mechanism, and a glue gun is fixedly connected to the output end of the mechanical arm. A control cabinet is arranged at the bottom of the cross beam, the conveying belt is arranged at the bottom of the supporting column, the workpiece is arranged at the top of the conveying belt, and a glue supply mechanism is arranged on one side of the control cabinet. According to the gluing robot, the 3D camera scans the to-be-glued area of the workpiece, the mechanical arm conducts gluing through the glue gun according to the track result, the gluing effect of gluing faces in different directions is achieved through one robot, the problem that the robot is difficult to guarantee gluing uniformity, especially in the areas such as corners and grooves is solved, and the gluing efficiency of the robot is improved.

Description

Technical Field

[0001] The utility model relates to the technical field of workshop robot gluing, in particular to a robot automatic gluing system. Background Art

[0002] With the rapid development of industrial automation, the automotive, electronics, home appliance and other manufacturing industries are becoming increasingly dependent on automated equipment. Especially in the surface treatment of parts, gluing operation, as one of the key steps, plays a vital role in production quality and efficiency. The traditional manual gluing method is not only inefficient, but also difficult to ensure the consistency of gluing quality. In order to automatically complete the gluing operation according to the shape of the workpiece and process requirements and improve the automation level of the gluing process, it is necessary to use robots for automatic gluing.

[0003] Existing robotic automatic gluing is mostly based on the principle of combining a robotic arm and a gluing machine. Usually, the system controls the movement path of the robotic arm through a servo motor, and the robotic arm carries a gluing gun to gluing the workpiece along a preset trajectory.

[0004] Although existing robotic gluing systems have made significant progress in automation and precision, in actual applications, when faced with workpieces with three-dimensional shapes or irregular surfaces, existing gluing systems are difficult to ensure uniform gluing, especially in areas such as corners and grooves of the workpiece, where incomplete or uneven gluing is likely to occur. Utility Model Content

[0005] In order to make up for the above shortcomings, the utility model provides a robot automatic gluing system, which aims to improve the problem that the robot is difficult to ensure the uniformity of gluing, especially in areas such as corners and grooves.

[0006] In order to achieve the above-mentioned purpose, the utility model adopts the following technical solutions: a robot automatic gluing system, comprising a support column, the outer wall of the support column is fixedly connected to a beam, a robot servo mechanism is provided at the bottom of the beam, a robotic arm is provided on one side of the robot servo mechanism, the output end of the robotic arm is fixedly connected to a glue gun, and the output end of the robotic arm glues the workpiece on the conveyor belt through the glue gun, a control cabinet is provided at the bottom of the beam, a conveyor belt is provided at the bottom of the support column, a workpiece is provided on the top of the conveyor belt, a glue supply mechanism is provided on one side of the control cabinet, and a 3D vision mechanism is fixedly connected to the outer wall of the robotic arm, and the 3D vision mechanism is used to identify the glued area on the workpiece.

[0007] As a further description of the above technical solution:

[0008] The glue supply mechanism includes a glue pump, a first glue hose and a second glue hose. One end of the second glue hose is connected to the input end of the glue pump, the first glue hose is connected to the output end of the glue pump, and the first glue hose is connected to the input end of the glue gun.

[0009] As a further description of the above technical solution:

[0010] The 3D vision mechanism includes a 3D camera, and the 3D camera is fixedly connected to one end of the robotic arm.

[0011] As a further description of the above technical solution:

[0012] The robot servo mechanism comprises a guide rail, which is fixedly connected to the bottom of the beam, and an outer wall of the guide rail is fixedly connected to a bevel rack.

[0013] As a further description of the above technical solution:

[0014] A bracket is provided on the top of the guide rail, and a limiting groove is provided on the bottom of the bracket.

[0015] As a further description of the above technical solution:

[0016] A servo motor is fixedly connected to one side of the bracket, and a helical gear is fixedly connected to an output end of the servo motor.

[0017] As a further description of the above technical solution:

[0018] The bracket is slidably connected to the top of the guide rail through a limiting groove, and the bottom of the bracket is fixedly connected to the other end of the mechanical arm.

[0019] As a further description of the above technical solution:

[0020] The helical gear is meshed with the outer wall of the helical rack.

[0021] The utility model has the following beneficial effects:

[0022] In the utility model, a 3D camera scans the area of ​​the workpiece to be glued, and after the scanning is completed, the model is identified and the gluing trajectory is planned. After the planning is completed, the trajectory result is sent to the robotic arm, and the robotic arm uses the glue gun to apply glue according to the trajectory result, so that one robot can achieve the gluing effect of gluing surfaces in different directions, and solves the problem that it is difficult for the robot to ensure the uniformity of gluing on some parts with very complex three-dimensional shapes or irregular surfaces, especially in areas such as corners and grooves, thereby improving the robot's gluing efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 This is a three-dimensional diagram of a robot automatic gluing system proposed in the utility model;

[0024] Figure 2 This is a schematic diagram of the glue supply mechanism structure of a robot automatic glue coating system proposed in the utility model;

[0025] Figure 3 This is a schematic diagram of the support structure of a robot automatic gluing system proposed in the utility model;

[0026] Figure 4 This is a schematic diagram of the mechanical arm structure of a robot automatic gluing system proposed in the utility model;

[0027] Figure 5 This is a schematic diagram of the 3D visual structure of a robot automatic gluing system proposed in this utility model;

[0028] Figure 6 for Figure 1 Schematic diagram of the locally enlarged structure at point A in the middle.

[0029] Legend:

[0030] 1. Conveyor belt; 2. Glue supply mechanism; 201. Glue pump; 202. Hose 1; 203. Hose 2; 3. Workpiece; 4. 3D vision mechanism; 401. 3D camera; 5. Crossbeam; 6. Robot servo mechanism; 601. Guide rail; 602. Helical rack; 603. Servo motor; 604. Helical gear; 605. Bracket; 606. Limit slot; 7. Robotic arm; 8. Control cabinet; 9. Support column; 10. Glue gun. DETAILED DESCRIPTION

[0031] 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.

[0032] Reference Figure 1-Figure 3The present invention provides an embodiment of a robotic automatic gluing system, comprising a support column 9, with a crossbeam 5 fixedly connected to its outer wall. The crossbeam 5 provides structural support for the entire system and ensures the stable operation of a robotic arm 7. A robotic servo mechanism 6 is located at the bottom of the crossbeam 5, driving the movement and operation of the robotic arm 7. A glue gun 10 is located on one side of the robotic arm 7 for performing gluing operations. The glue gun 10 precisely applies glue through the output of the robotic arm 7. The output of the robotic arm 7 applies glue to the workpieces 3 on a conveyor belt 1 through the glue gun 10, ensuring accurate and uniform glue application. A control cabinet 8 is located at the bottom of the crossbeam 5, responsible for adjusting system parameters and startup management. A conveyor belt 1 is located at the bottom of the support column 9, carrying and transporting the workpieces 3. Workpieces 3 are placed on top of the conveyor belt 1 to ensure that they enter the gluing area in order. A glue supply mechanism 2 is located on one side of the control cabinet 8, providing a stable supply of glue to the glue gun 10. The outer wall of the robot arm 7 is fixedly connected with a 3D vision mechanism 4, which is used to identify the glue-coating area on the workpiece 3 to ensure the accurate positioning and implementation of the glue-coating track;

[0033] Specifically, when the new machine is started for the first time, the operator needs to make relevant system settings, parameter calibration and other functional adjustments in the control cabinet 8 to ensure the normal operation of the gluing system. After the initial settings are completed, the subsequent startup process is simplified to just pressing the power button, and the system will automatically perform self-test. After the self-test passes, the automatic gluing system enters the standby state. After the system receives the signal of line blocking, stop and workpiece 3 fixation, the gluing system will issue a work instruction, and the 3D camera 401 will immediately start scanning the area to be glued of the workpiece 3, and complete the model identification and gluing trajectory planning. After the planning is completed, the trajectory data will be transmitted to the robot arm 7. The robot arm 7 drives the bevel gear 604 to rotate through the output end of the servo motor 603. The bevel gear 604 engages with the bevel rack 602, driving the bracket 605 to move smoothly along the guide rail 601, thereby realizing the precise operation of the robot arm 7. According to the predetermined gluing trajectory, the glue gun 10 performs the first gluing operation.

[0034] Reference Figure 4-Figure 6Glue supply mechanism 2 includes a glue pump 201, a first glue hose 202, and a second glue hose 203. One end of the second glue hose 203 is connected to the input of the glue pump 201 and is used to transport the glue from the storage container to the glue pump. The first glue hose 202 is connected to the output of the glue pump 201 and transports the glue from the glue pump 201 to the glue gun 10, ensuring a stable supply of glue during the gluing process. The first glue hose 202 is connected to the input of the glue gun 10 to directly provide glue for the gluing operation. The 3D vision mechanism 4 includes a 3D camera 401, which is fixedly connected to one end of the robot arm 7 and is responsible for accurately scanning the glue application area of ​​the workpiece 3 to ensure the accuracy and consistency of the gluing path. The robot servo mechanism 6 includes a guide rail 601, which is fixedly connected to the bottom of the crossbeam 5 and is used to support and guide the movement of the robot arm 7. A bevel rack 602 is fixedly connected to the outer wall of the guide rail 601. The bevel rack 602 is used to mesh with a bevel gear 604 to provide the driving force for the movement of the robot arm 7. A bracket 605 is provided on the top of the guide rail 601 to support the robot arm 7 and ensure its smooth operation. A limit slot 606 is provided at the bottom of the bracket 605 to limit the range of movement of the bracket 605 and ensure the precise movement of the robot arm 7. A servo motor 603 is fixedly connected to one side of the bracket 605, and a bevel gear 604 is fixedly connected to the output end of the servo motor 603. The bevel rack 602 is driven by the bevel gear 604. The bracket 605 is slidably connected to the top of the guide rail 601 through the limit groove 606 to ensure smooth movement on the guide rail 601. The bottom of the bracket 605 is fixedly connected to the other end of the robotic arm 7 to ensure the stability of the connection between the robotic arm 7 and the guide rail 601 system. The bevel gear 604 engages with the outer wall of the bevel rack 602 to realize the linear movement of the robotic arm 7.

[0035] Specifically, the glue pump 201 pumps the colloid into the glue pump 201 through the glue hose 203, and then transports the colloid to the glue gun 10 through the glue hose 1 202 for gluing. When the gluing system is started or stopped, the robot arm 7 will automatically return to zero position. In the zero position state, the glue nozzle of the glue gun 10 is immersed in the silicone oil cup by default to prevent the colloid from solidifying due to long-term contact with the air. At the first startup, since the equipment has not been used for a long time, the operator should first discharge the waste glue in front of the glue nozzle to avoid clogging of the glue path. After completing the first gluing operation, the system enters a 5-minute waiting time, during which the glue gun 10 will move to the waiting position. If the worker completes the installation of the workpiece 3 within 5 minutes and clicks the gluing button on the control cabinet 8, the gluing system will immediately start the second scanning and gluing operation; otherwise, after 5 minutes, the gluing robot will automatically return to zero position and put the glue nozzle of the glue gun 10 back into the silicone oil cup to prevent the colloid from being exposed to the air for a long time and causing solidification. The intelligent operation of the entire system not only improves the efficiency of gluing, but also ensures the stability of the gluing quality.

[0036] Working principle: When using the robot automatic gluing system, first of all, when the new machine is started for the first time, it is necessary to adjust the relevant system settings, parameter calibration and other functions in the control cabinet 8. After the initial settings are completed, when starting up subsequently, you only need to turn on the power button and wait for the system to self-check. After the self-check is completed, the automatic gluing system can be started. After the system is started, the gluing system enters the standby state. After receiving the line blocking, stopping and fixing the workpiece 3, the system sends a working signal, and the automatic gluing system starts working. The 3D camera 401 starts to scan the area of ​​the workpiece 3 to be glued. After the scanning is completed, the model recognition and gluing trajectory planning are performed. After the planning is completed, the trajectory result is sent to the robot arm 7. The robot arm 7 drives the bevel gear 604 to rotate through the output end of the servo motor 603. The bevel gear 604 engages with the bevel rack 602 and then drives the bracket 605 to move on the guide rail 601, thereby driving the robot arm 7 to operate. The robot arm 7 performs the first pass of gluing through the glue gun 10 according to the trajectory result, and the input end of the glue pump 201 pumps the glue into the glue pump 201 through the hose 203. Then, the glue pump 201 output end pumps the glue into the glue gun 10 through the glue hose 202 for glue coating. When the glue coating robot system starts and stops, the position of the robot arm 7 is zero. In the zero position state, the glue nozzle of the glue gun 10 is placed in the silicone oil cup by default to avoid the colloid solidification. At the first start-up, due to long-term parking, some waste glue at the front end of the glue nozzle should be discharged first to avoid glue path blockage. After completing one gluing, the system enters a 5-minute waiting time. During the waiting time, the glue gun 10 will move to the waiting position to complete the workpiece. 3 After the first gluing operation, the automatic gluing system notifies the worker to install the workpiece 3 in the form of an indicator light. After the worker completes the installation of the workpiece 3, he clicks the gluing button on the control cabinet 8 to activate the automatic gluing system, and the gluing robot starts the second scanning and gluing. If the worker completes the installation of the workpiece 3 within 5 minutes and activates the gluing button, the glue gun 10 will go directly from the waiting position to the workpiece to continue gluing. If no gluing operation is performed within 5 minutes, the robot will directly return to the zero point, that is, the silicone oil cup, to prevent the glue in the glue nozzle from being in contact with the air for too long.

[0037] 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 robotic automatic gluing system, comprising a support column (9), characterized in that: The outer wall of the support column (9) is fixedly connected to a crossbeam (5), a robot servo mechanism (6) is provided at the bottom of the crossbeam (5), a robot arm (7) is provided on one side of the robot servo mechanism (6), an output end of the robot arm (7) is fixedly connected to a glue gun (10), and the output end of the robot arm (7) applies glue to the workpiece (3) on the conveyor belt (1) through the glue gun (10), a control cabinet (8) is provided at the bottom of the crossbeam (5), a conveyor belt (1) is provided at the bottom of the support column (9), a workpiece (3) is provided on the top of the conveyor belt (1), a glue supply mechanism (2) is provided on one side of the control cabinet (8), and a 3D vision mechanism (4) is fixedly connected to the outer wall of the robot arm (7), and the 3D vision mechanism (4) is used to identify the glue-coated area on the workpiece (3).

2. The robot automatic gluing system according to claim 1, characterized in that: The glue supply mechanism (2) comprises a glue pump (201), a first glue hose (202) and a second glue hose (203), one end of the second glue hose (203) being connected to the input end of the glue pump (201), the first glue hose (202) being connected to the output end of the glue pump (201), and the first glue hose (202) being connected to the input end of the glue gun (10).

3. The robot automatic gluing system according to claim 1, characterized in that: The 3D vision mechanism (4) includes a 3D camera (401), and the 3D camera (401) is fixedly connected to one end of the robotic arm (7).

4. The robot automatic gluing system according to claim 1, characterized in that: The robot servo mechanism (6) comprises a guide rail (601), wherein the guide rail (601) is fixedly connected to the bottom of the crossbeam (5), and an outer wall of the guide rail (601) is fixedly connected to a bevel rack (602).

5. The robot automatic gluing system according to claim 4, characterized in that: A bracket (605) is provided on the top of the guide rail (601), and a limiting groove (606) is provided on the bottom of the bracket (605).

6. The robot automatic gluing system according to claim 5, characterized in that: A servo motor (603) is fixedly connected to one side of the bracket (605), and a helical gear (604) is fixedly connected to the output end of the servo motor (603).

7. The robot automatic gluing system according to claim 6, characterized in that: The bracket (605) is slidably connected to the top of the guide rail (601) through a limiting groove (606), and the bottom of the bracket (605) is fixedly connected to the other end of the mechanical arm (7).

8. The robot automatic gluing system according to claim 6, characterized in that: The helical gear (604) is meshed with the outer wall of the helical rack (602).

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