Manipulator dispensing and gluing equipment

Abstract

The utility model discloses mechanical arm dispensing and glue dispensing equipment which comprises a lower rack, a glue dispensing mechanical arm, a glue dispensing mechanism, an upper vision mechanism, a needle head correction optical fiber sensor, a needle head wiping mechanism, an upper-layer flow line body, a lower-layer return line body and a control module. The dispensing manipulator and the upper-layer flow line body are fixedly mounted on the carrier plate, and the lower-layer flow line body is fixedly mounted on the lower rack; and compared with a three-axis dispensing machine, the functions are increased, curved surface dispensing is achieved, and the dispensing quality is improved. And compared with a six-axis glue dispenser, the cost is lower, and the production efficiency is also greatly improved. And the glue dispensing needle head can be detected after being replaced and can be wiped and cleaned, so that the glue dispensing quality control is further improved.

Description

TECHNICAL FIELD

[0001] The utility model belongs to the technical field of automation equipment, especially relates to a mechanical hand point fixed glue equipment. BACKGROUND

[0002] The present point glue equipment plane point glue is mainly three axes (XYZ), carries out point glue. Exist needing point glue curved surface product, needle head inclination angle, cannot satisfy the demand. Mechanical hand six axes carry out point glue, equipment cost is high, debugging is difficult, mechanical hand utilization rate is lower, avoids position more, there is position blind area and angle blind area. SUMMARY

[0003] The utility model wants to solve the technical problem of improving a kind of cost low and can be suitable for curved surface point glue operation mechanical hand point fixed glue equipment.

[0004] In order to solve the above technical problem, the present application is realized by the following technical scheme: a kind of mechanical hand point fixed glue equipment, including lower frame, point glue mechanical hand, point glue mechanism, upper visual mechanism, needle head correction optical fiber sensor, wipe needle head mechanism, upper layer flow line body, lower layer backflow line body and control module, the lower frame top is fixedly provided with carrier plate, the point glue mechanical hand, upper layer flow line body are fixedly installed on carrier plate, the lower layer backflow line body is fixedly installed on lower frame;

[0005] The point glue mechanism is fixedly installed on the execution end of point glue mechanical hand, and the upper visual mechanism is fixedly installed on the point glue mechanism;

[0006] The upper layer flow line body is arranged as a chain transmission line body, a horizontal direction side push cylinder is fixedly installed on the inner side of the upper layer flow line body, a vertical flat direction lower pressure cylinder is fixedly installed on the outer side of the upper layer flow line body, a push plate and a pressing plate are respectively fixedly installed on the piston rod of the side push cylinder and the lower pressure cylinder, and the needle head correction optical fiber sensor and the wipe needle head mechanism are both fixedly arranged on the outer side of the upper layer flow line body;The side push cylinder and the lower pressure cylinder are connected to the air pressure station through the first electromagnetic valve, the second electromagnetic valve and the pipeline respectively;

[0007] The wipe needle head mechanism is composed of an outer shell, a cloth releasing wheel, a cloth collecting wheel, a needle head clamping block, a guide wheel, a clamping cylinder, a rotary releasing damper, a power motor and a reversing wheel, the cloth releasing wheel, the cloth collecting wheel, the guide wheel and the reversing wheel are all rotatably installed on the outer side surface of the outer shell, the clamping cylinder, the rotary releasing damper and the power motor are all fixedly installed on the inner side surface of the outer shell, the output shaft of the power motor is in transmission connection with the rotating shaft of the cloth collecting wheel, the rotating shaft of the rotary releasing damper is fixedly connected with the rotating shaft of the cloth releasing wheel, two needle head clamping blocks are fixedly installed on the clamping jaw of the clamping cylinder, and the clamping cylinder is connected to the air pressure station through the pipeline and the third electromagnetic valve;

[0008] The point glue manipulator, the point glue mechanism, the upper visual mechanism, the needle head correction optical fiber sensor, the needle head wiping mechanism, the upper layer flow line body, the lower layer backflow line body, the power motor, the first electromagnetic valve, the second electromagnetic valve and the third electromagnetic valve are connected to the control module through pipelines respectively.

[0009] Further, the point glue manipulator is composed of a four-axis manipulator and a U-axis to form a five-axis point glue control mechanism.

[0010] Further, two guide wheels and a reversing wheel are arranged in an isosceles triangle.

[0011] Further, a protective cover is fixedly installed on the lower rack, and an industrial control system touch operation screen is arranged on the protective cover and connected to the control module through a circuit.

[0012] Compared with the prior art, the utility model has the advantages that compared with a three-axis point glue machine, the function is increased, curved surface point glue is realized, and the point glue quality is improved. Compared with a six-axis point glue machine, the cost is lower, and the production efficiency is greatly improved. The point glue needle head can be detected after replacement, and the point glue needle head can be wiped and cleaned, and the point glue quality control is further improved. BRIEF DESCRIPTION OF DRAWINGS

[0013] The utility model will be further described below in combination with the drawings.

[0014] Figure 1 It is the perspective view of the utility model.

[0015] Figure 2 It is the perspective view of the internal structure of the utility model.

[0016] Figure 3 It is the perspective view of the point glue manipulator.

[0017] Figure 4 It is the perspective view of the upper layer flow line body.

[0018] Figure 5 It is the perspective view of the front view of the needle head wiping mechanism.

[0019] Figure 6 It is the perspective view of the back view of the needle head wiping mechanism.

[0020] Figure 7 It is the perspective view of the needle head correction optical fiber sensor.

[0021] Figure 8 It is the NG state or OK state schematic diagram. DETAILED DESCRIPTION

[0022] The utility model will be further described below in combination with the drawings.

[0023] As Figure 1 A mechanical hand point fixing glue equipment, including lower rack 3, point glue mechanical hand 4, point glue mechanism 5, upper visual mechanism 13, needle head correction optical fiber sensor 7, wipe needle head mechanism 6, upper layer flow line body 30, lower layer backflow line body 9 and control module, the lower rack 3 top fixedly provided with a carrier plate, the point glue mechanical hand 4, upper layer flow line body 30 are fixedly installed on the carrier plate, the lower layer backflow line body 9 is fixedly installed on the lower rack 3;

[0024] The point glue mechanism 5 is fixedly installed on the execution end of the point glue mechanical hand 4, and the upper visual mechanism 13 is fixedly installed on the point glue mechanism 5;Four-axis moving position, U-axis carries out angle rotation of point glue needle head, completes inclined point glue action.U-axis power relies on servo motor + harmonic reducer to provide, high precision, fast speed, ensures the stability and precision of operation.The glue supply system of point glue mechanism 5 uses screw valve + glue barrel to supply glue, the glue barrel uses air pressure to push screw valve into glue inlet, and the incoming glue uses standard 300ML glue barrel.It has the characteristics of stability, easy maintenance, interchangeability etc.;Fixed glue barrel has spring buckle for quick positioning and fixing, electronic magnetic inductor, with magnetic ring inside, early warning of lack of glue, convenient for replacement personnel to prepare in advance.For the convenience, quick glue replacement, reduce downtime.Upper visual mechanism 13 detects the product after point glue and feeds back to the control module, which greatly improves the point glue quality control.

[0025] The upper layer flow line body 30 is provided as a chain transmission line body, a horizontal direction side push air cylinder 31 is fixedly installed inside the upper layer flow line body 30, a vertical flat direction lower pressure air cylinder 32 is fixedly installed outside the upper layer flow line body 30, a push plate 311 and a pressure plate 321 are respectively fixedly installed on the piston rods of the side push air cylinder 31 and the lower pressure air cylinder 32, the needle head correction optical fiber sensor 7 and the wipe needle head mechanism 6 are both fixedly arranged outside the upper layer flow line body 30, and the side push air cylinder 31 and the lower pressure air cylinder 32 are connected to the air pressure station through first electromagnetic valves, second electromagnetic valves and pipelines respectively;The upper layer flow line body 30 has the function of adjusting the track spacing, and can be applied to the product carrier with a size (width 250MM~500MM, length 250MM~500MM);

[0026] The wiping needle mechanism 6 is composed of an outer shell 601, a cloth releasing wheel 41, a cloth collecting wheel 42, a needle clamping block 43, a guide wheel 44, a clamping cylinder 45, a rotary releasing damper 46, a power motor 47 and a reversing wheel 602. The cloth releasing wheel 41, the cloth collecting wheel 42, the guide wheel 44 and the reversing wheel 602 are all rotationally installed on the outer side of the outer shell 601. The clamping cylinder 45, the rotary releasing damper 46 and the power motor are all fixedly installed on the inner side of the outer shell 601. The output shaft of the power motor 47 is in transmission connection with the rotating shaft of the cloth collecting wheel 42. The rotating shaft of the rotary releasing damper 46 is fixedly connected with the rotating shaft of the cloth releasing wheel 41. Two needle clamping blocks 43 are fixedly installed on the clamping jaws of the clamping cylinder 45. The clamping cylinder 45 is connected to the air pressure station through a pipeline and a third electromagnetic valve. After the needle of the glue dispensing mechanism 5 is used for dispensing glue for many times, there will be residual glue on the needle, which will affect the dispensing amount of the next time. The wiping needle mechanism 6 uses diagonal dust-free cloth to clamp and wipe the needle to clean the glue. It ensures that there is no residual glue on the dispensing needle and ensures the stability of the dispensing glue amount. The clamping cylinder 45 is started to drive the needle clamping block 43 to clamp the needle, so that the residual glue on the needle is left on the cloth strip. The cloth strip collecting mechanism 42 is driven by the power motor 47 to rotate. Once the cloth strip collecting mechanism 41 collects a certain length, the guide wheel 44 changes the direction of the cloth strip, so that the cloth strip can be continuous. The rotary releasing damper 46 can keep the cloth strip in a tensioned state.

[0027] The glue dispensing robot 4, the glue dispensing mechanism 5, the upper visual mechanism 13, the needle correction optical fiber sensor 7, the wiping needle mechanism 6, the upper flow line body 30, the lower backflow line body 9, the power motor, the first electromagnetic valve, the second electromagnetic valve and the third electromagnetic valve are respectively connected to the control module through pipelines. The needle will be blocked and worn after being used for a long time. The needle is replaced. After the replacement is completed, the position of the needle will change. After the needle correction optical fiber sensor 7 detects the position signal of the needle, the signal is fed back to the control module, and then the glue dispensing robot 4 is used for correction positioning. Figure 8 As shown in a, b and c of FIG. 8, the needle does not block the two optical fibers, and at this time, it is in an NG state. As shown in d of FIG. 8, the needle blocks the two optical fibers, and at this time, it is in an OK state. Figure 8

[0028] The glue dispensing robot 4 is composed of a four-axis robot and a U-axis to form a five-axis glue dispensing control mechanism, so as to realize the use demand of all-around and arbitrary angle glue dispensing.

[0029] As a preferred setting mode of the guide wheel 44 and the reversing wheel 602, the two guide wheels 44 and the reversing wheel 602 are arranged in an isosceles triangle shape, so that the wiping between the guide wheel 44 and the reversing wheel 602 forms a symmetrical structure.

[0030] ​The lower rack 3 is fixedly provided with a protective cover 1, and the protective cover 1 is provided with an industrial control system touch operation screen 2, which is connected to a control module through a circuit, so as to facilitate user operation control, and the protective cover 1 can play a protective role.

[0031] The dispensing product is fixed on the carrier 101, and the carrier 101 is fed to the upper flow line body 30, and then flows. After the position sensor arranged on the upper flow line body 30 detects that the carrier 101 reaches the preset position, the control module controls the upper flow line body 30 to stop running. The piston rod of the side pushing cylinder 31 extends, the push plate 311 pushes the carrier 101 against the other side of the upper flow line body 30, the piston rod of the downward pressing cylinder 32 retracts, the pressing plate 321 fixes the carrier 101 on the chain and sprocket of the upper flow line body 30, the dispensing manipulator 4 controls the dispensing mechanism 5 to perform dispensing operation on the carrier 101, after the dispensing is completed, the side pushing cylinder 31, the downward pressing cylinder 32 and the dispensing manipulator 4 are reset, the upper flow line body 30 is started to drive the carrier 101 to flow out, and the carrier is placed on the lower flow line body 9 by the unloading manipulator and flows to the next station.

Claims

1. A robot spot gluing apparatus characterized by: Including lower rack (3), point glue mechanical arm (4), point glue mechanism (5), upper visual mechanism (13), needle head correction optical fiber sensor (7), wipe needle head mechanism (6), upper layer flow line body (30), lower layer backflow line body (9) and control module, the lower rack (3) top is fixedly provided with a carrier plate, the point glue mechanical arm (4), upper layer flow line body (30) are all fixedly installed on the carrier plate, the lower layer backflow line body (9) is fixedly installed on the lower rack (3); The point glue mechanism (5) is fixedly installed on the execution end of the point glue mechanical arm (4), and the upper visual mechanism (13) is fixedly installed on the point glue mechanism (5); The upper layer flow line body (30) is provided as a chain transmission line body, a horizontal direction side push air cylinder (31) is fixedly installed on the inner side of the upper layer flow line body (30), a vertical flat direction lower pressure air cylinder (32) is fixedly installed on the outer side of the upper layer flow line body (30), a push plate (311) and a pressing plate (321) are respectively fixedly installed on the piston rods of the side push air cylinder (31) and the lower pressure air cylinder (32), the needle head correction optical fiber sensor (7) and the wipe needle head mechanism (6) are both fixedly arranged on the outer side of the upper layer flow line body (30), and the side push air cylinder (31) and the lower pressure air cylinder (32) are respectively connected to the air pressure station through first electromagnetic valves, second electromagnetic valves and pipelines. The wipe needle head mechanism (6) is composed of an outer shell (601), a cloth releasing wheel (41), a cloth collecting wheel (42), a needle head clamping block (43), a guide wheel (44), a clamping air cylinder (45), a rotary releasing damper (46), a power motor (47) and a reversing wheel (602), the cloth releasing wheel (41), the cloth collecting wheel (42), the guide wheel (44) and the reversing wheel (602) are all rotationally installed on the outer side of the outer shell (601), the clamping air cylinder (45), the rotary releasing damper (46) and the power motor are all fixedly installed on the inner side of the outer shell (601), the output shaft of the power motor (47) is in transmission connection with the rotating shaft of the cloth collecting wheel (42), the rotating shaft of the rotary releasing damper (46) is fixedly connected with the rotating shaft of the cloth releasing wheel (41), two needle head clamping blocks (43) are fixedly installed on the clamping jaws of the clamping air cylinder (45), and the clamping air cylinder (45) is connected to the air pressure station through a pipeline and a third electromagnetic valve. The point glue mechanical arm (4), the point glue mechanism (5), the upper visual mechanism (13), the needle head correction optical fiber sensor (7), the wipe needle head mechanism (6), the upper layer flow line body (30), the lower layer backflow line body (9), the power motor, the first electromagnetic valve, the second electromagnetic valve and the third electromagnetic valve are respectively connected to the control module through pipelines.

2. The robotic dot gluing apparatus of claim 1, wherein: The point glue mechanical arm (4) is composed of a four-axis mechanical arm and a U-axis, forming a five-axis point glue control mechanism.

3. The robotic dot gluing apparatus of claim 1, wherein: The two guide wheels (44) and the reversing wheel (602) are arranged in an isosceles triangle.

4. The robotic dot gluing apparatus of claim 1, wherein: The lower rack (3) is fixedly provided with a protective cover (1), and the protective cover (1) is provided with an industrial control system touch operation screen (2), and the industrial control system touch operation screen (2) is connected to the control module through a circuit.

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