Gluing actuator suitable for robot and gluing equipment

Abstract

The utility model discloses a gluing actuator and gluing equipment suitable for a robot, and relates to the technical field of gluing equipment. The gluing valve is used for coating glue to the workpiece to be glued; the laser distance measuring sensor is used for detecting the distance between the glue outlet and the workpiece; the control system is connected with the laser distance measuring sensor and the robot. According to the gluing actuator suitable for the robot, the technical problem that in the gluing process of an existing glue outlet component, the problems of height difference and the like caused by the complexity of a product technology cannot be solved, and glue shape defects are indirectly caused is solved, and the control system controls the glue outlet according to the real-time distance, detected by the laser distance measuring sensor, between the glue outlet and a workpiece. And the robot is controlled to adjust, so that the distance between the glue outlet and the workpiece is always kept in a set distance range to adapt to the problems of height difference and the like caused by the complexity of a product process, glue shape defects are avoided, and the qualified rate of workpiece production is improved.

Description

Technical Field

[0001] This utility model relates to the field of adhesive application equipment technology, and in particular to an adhesive application actuator and adhesive application equipment suitable for robots. Background Technology

[0002] A glue applicator is a mechanical device used to apply adhesive to the surface of a workpiece. It employs a robot in conjunction with computer-programmed control to control the spraying path, achieving automated operation. The spraying thickness and time can be set, and it is simple and easy to operate. In automotive parts glue application, the glue dispensing part of the glue applicator is usually installed at the end of the robotic arm to achieve flexibility and accessibility in the glue application process.

[0003] Existing dispensing components work with 2D cameras to photograph the glue shape. However, during the dispensing process, these components can only follow a single robot trajectory, failing to handle issues such as height differences caused by the complexity of the product manufacturing process, indirectly leading to defects in the glue shape. Therefore, this paper proposes a robot-compatible dispensing actuator and dispensing equipment to address these problems. Utility Model Content

[0004] The purpose of this invention is to provide a glue-applying actuator and glue-applying equipment suitable for robots, which solves the technical problem that existing glue-applying components cannot handle height differences caused by the complexity of product processes during the glue-applying process, thus indirectly causing glue shape defects.

[0005] To achieve the above objectives, this utility model provides a glue-applying actuator suitable for robots, comprising:

[0006] The frame connects to the robot's end effector;

[0007] An adhesive applicator valve is located on one side of the frame. The adhesive applicator valve applies adhesive to the workpiece to be coated through an adhesive outlet.

[0008] A laser rangefinder is disposed on one side of the frame, and the laser rangefinder is used to detect the distance between the glue outlet and the workpiece;

[0009] A control system is connected to the laser rangefinder and the robot, and the control system is used to control the robot to drive the frame to move.

[0010] Preferably, a 3D camera is provided on one side of the frame, and the 3D camera is used to scan, monitor and record the adhesive parameters on the workpiece in real time.

[0011] Preferably, a 2D camera is provided on one side of the frame, which is used to photograph and record the overall shape of the adhesive on the workpiece.

[0012] Preferably, a barcode scanning device is provided on one side of the frame, which is used to scan and record the identification code on the workpiece.

[0013] Preferably, the frame is composed of several cylindrical tubes spliced ​​together, and two mutually perpendicular cylindrical tubes are connected by reinforcing ribs.

[0014] Preferably, the reinforcing rib is triangular in shape, and a connecting plate is integrally provided on both perpendicular sides of the reinforcing rib, the connecting plate being connected to the cylindrical tube.

[0015] Preferably, the cylindrical tube is hexagonal in shape, and a plurality of first assembly holes are provided at equal intervals on the six sides of the cylindrical tube.

[0016] Preferably, the top surface of the frame is provided with a connector, which connects to the end effector of the robot.

[0017] Preferably, a guide rail is provided on the side of the frame, a movable base is slidably provided on the side of the guide rail, and an adhesive receiving device is installed on the side of the movable base.

[0018] Preferably, the frame is provided with an adhesive receiving assembly, which includes: a drive cylinder connected to the frame, the drive cylinder being connected to an intermediate plate via a piston rod, and the two ends of the intermediate plate being rotatably connected to the adhesive receiving box via two connecting rods.

[0019] Preferably, guide rails are symmetrically arranged on both sides of the frame, and a movable base is slidably arranged on the side of the guide rail. One end of the movable base is connected to a pull rod through a rotating rod. A limiting roller is provided on the side of the pull rod, and a limiting hole is provided on the side of the frame. The limiting hole is slidably connected to the limiting roller.

[0020] An adhesive applicator, comprising an adhesive applicator actuator suitable for robots as described in any of the preceding claims.

[0021] Compared with the above-mentioned background technology, the glue application actuator for robots provided by this utility model has the following beneficial effects: During the robot's movement, the control system further controls the robot to make adjustments based on the real-time distance between the glue outlet and the workpiece detected by the laser rangefinder, so that the distance between the glue outlet and the workpiece is always kept within the set distance range. This can effectively adapt to the height difference and other problems caused by the complexity of product processes, thereby ensuring the glue application effect, avoiding glue shape defects, and effectively improving the pass rate of workpiece production. Attached Figure Description

[0022] To more clearly illustrate the technical solutions in the embodiments of this utility model or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on the provided drawings without creative effort.

[0023] Figure 1 This is a perspective structural view of the adhesive applicator provided in an embodiment of the present utility model;

[0024] Figure 2 This is a plan view of the adhesive applicator provided in an embodiment of the present invention;

[0025] Figure 3 A perspective view of the adhesive bonding assembly provided in an embodiment of this utility model;

[0026] Figure 4 for Figure 1 Enlarged schematic diagram of point A in the middle.

[0027] Specifically, 1-Frame; 2-Glue valve; 201-Glue outlet; 202-Control valve; 3-Scanning device; 4-Laser rangefinder sensor; 5-3D camera; 6-2D camera; 7-Reinforcing rib; 701-Connecting plate; 8-Connector; 9-Mounting base plate; 10-Fixing frame; 11-Limiting slide groove; 12-Assembly seat; 13-Drive cylinder; 14-Piston rod; 15-Intermediate plate; 16-Connecting rod; 17-Glue receiving box; 18-Guide rail frame; 19-Moving base; 20-Pull rod; 21-Limiting roller; 22-Limiting hole; 23-Bend hole; 24-Guide rod; 25-Sliding sleeve. Detailed Implementation

[0028] 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.

[0029] To enable those skilled in the art to better understand the present invention, the present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0030] like Figure 1As shown, in order to achieve the above objectives, this utility model provides a glue applicator suitable for robots, including: a frame 1 and a glue applicator valve 2 and a laser rangefinder sensor 4 disposed on the frame 1. The frame 1 is disposed at the end of the robot, and the position of the frame 1 can be flexibly adjusted by the robot. The glue applicator valve 2 is disposed on one side of the frame 1, and the glue applicator valve 2 applies glue to the surface of the workpiece to be glued through the glue outlet 201.

[0031] In addition, a laser rangefinder 4 is installed on the front side of the frame 1. Specifically, the laser rangefinder 4 is installed on the glue dispensing valve 2, and the distance between the glue outlet 201 and the workpiece is monitored in real time through the laser rangefinder 4.

[0032] It should be noted that the laser rangefinder 4 and the robot (not shown in the figure) are connected through the control system. Preferably, the control system adopts a PLC control system. Based on the real-time distance between the glue outlet 201 and the workpiece detected by the laser rangefinder 4, the PLC control system controls the robot to adjust the position of the glue valve 2 relative to the workpiece. This ensures that the distance between the glue outlet 201 and the workpiece is always kept within the set distance range when the robot moves the frame 1. This can effectively adapt to the height difference and other problems caused by the complexity of the product process, thereby ensuring the glue coating effect, avoiding glue defects, and effectively improving the pass rate of workpiece production.

[0033] In addition, a control valve 202 is provided at the upper end of the glue application valve 2. The control valve 202 is located on one side of the frame 1. The control system flexibly controls the opening and closing of the glue application valve 2 through the control valve 202, thereby controlling the glue dispensing speed of the glue outlet 201, so that the glue reaches the preset glue shape parameters on the surface of the workpiece at various positions.

[0034] In one embodiment of this utility model, a 3D camera 5 is set on one side of the frame 1. The 3D camera 5 scans, monitors and records the glue shape parameters on the workpiece in real time. The glue shape parameters include glue width and glue thickness. After feeding the glue shape parameters and other information back to the PLC control system, the PLC control system performs data analysis on the glue shape parameters and optimizes the subsequent glue application action on the workpiece to improve the glue application quality.

[0035] In addition, a 2D camera 6 is installed on one side of the frame 1. Specifically, a mounting base plate 9 is installed at the bottom of the frame 1, and a mating hole is provided on the top surface of the mounting base plate 9. A fixing bracket 10 is installed on one side of the mating hole, and the 2D camera 6 is installed on the fixing bracket 10. That is, the 2D camera 6 is located at the bottom of the frame 1 and in the middle of the frame 1. The 2D camera 6 is directly facing the mating hole. The 2D camera 6 takes a picture of the overall adhesive shape on the workpiece and uploads the overall adhesive shape after taking the picture to the PLC control system. The PLC control system performs data analysis to further optimize the subsequent adhesive application action of the workpiece and improve the adhesive application quality of the workpiece.

[0036] Preferably, the fixing frame 10 is L-shaped, and its bottom end is bolted to the top surface of the mounting base plate 9. A limiting groove 11 is provided on the side of the upper end of the fixing frame 10, and a mounting base 12 is provided on the side of the 2D camera 6. The mounting base 12 connects to the limiting groove 11 and can slide on the limiting groove 11, flexibly adjusting the position of the 2D camera 6 so that it can clearly capture the shape of the workpiece. After the position of the 2D camera 6 is adjusted, a locking bolt passes through the upper end of the fixing frame 10 and abuts against the mounting base 12, locking the mounting base 12 in the limiting groove 11. This prevents the 2D camera 6 from sliding back and forth relative to the mounting base plate 9 during the movement of the frame 1, which would affect the capture of the workpiece shape.

[0037] It should be noted that a barcode scanning device 3 is set on one side of the frame 1. The barcode scanning device 3 scans and records the identification code on the workpiece to ensure that each corresponding workpiece is marked for adhesive application. The data collected and recorded by the 3D camera 5 and the 2D camera 6 are accurately matched with the corresponding workpiece, thereby enhancing the reliability of the data collected by the 3D camera 5 and the 2D camera 6.

[0038] In one embodiment of this utility model, the frame 1 is composed of several cylindrical tubes spliced ​​together. Two cylindrical tubes that are perpendicular to each other are connected by reinforcing ribs 7. The reinforcing ribs 7 can enhance the connection strength between the two cylindrical tubes, thereby improving the overall structural strength of the frame 1.

[0039] Preferably, the reinforcing rib 7 is triangular in shape, and a connecting plate 701 is integrally provided on both perpendicular sides of the reinforcing rib 7. Specifically, the side of the connecting plate 701 is attached to the outer wall of the cylindrical tube to ensure that the reinforcing rib 7 can be stably connected to the cylindrical tube.

[0040] It should be noted that a number of first assembly holes are arrayed on the cylindrical tube. Preferably, the cylindrical tube is hexagonal in shape, and a number of first assembly holes are equally spaced on the six sides of the cylindrical tube. Correspondingly, a number of second assembly holes are provided on the connecting plate 701, each second assembly hole corresponding to one first assembly hole. The connecting plate 701 is fixedly connected to the cylindrical tube by bolts passing through the first and second assembly holes, that is, the reinforcing rib 7 is fixed to the cylindrical tube. The reinforcing rib 7 is connected to the cylindrical tube by bolts, which facilitates the later disassembly of the overall frame 1 and the maintenance and replacement of various components on the frame 1.

[0041] Of course, the reinforcing rib 7 can also be directly welded to the cylindrical tube, and the bolts will not loosen later.

[0042] Additionally, when adding equipment to frame 1, each mounting base can be fixed to the cylindrical tube. Specifically, a third mounting hole is provided on the mounting base, and bolts are used to connect the mounting base to the cylindrical tube through the third mounting hole and the first mounting hole. For example, to install the barcode scanner 3, first install the barcode scanner 3 on the mounting base, and then connect the mounting base to the cylindrical tube to complete the installation of the barcode scanner 3.

[0043] It should be noted that the top surface of the frame 1 is provided with a connector 8. The connector 8 has a cylindrical structure. Several bolt holes are arranged in an array on the top surface of the connector 8. The connector 8 is connected to the end of the robot by passing bolts through the bolt holes, so that the robot can drive the whole frame 1 to move freely.

[0044] In one embodiment of this utility model, a glue-receiving assembly is provided on the frame 1. The glue-receiving assembly includes a drive cylinder 13, which is connected to the frame 1. The drive cylinder 13 is connected to the intermediate plate 15 through a piston rod 14. The two ends of the intermediate plate 15 are rotatably connected to the glue-receiving box 17 through two connecting rods 16. After the glue application process is completed, the glue-receiving device collects the glue residue at the glue outlet 201 to prevent residual glue from dripping onto the product surface during the movement of the glue machine and affecting the product quality.

[0045] like Figure 2 , Figure 3 and Figure 4 As shown, it should be noted that guide rails 18 are symmetrically arranged on both sides of the frame 1. A movable base 19 is slidably arranged on the side of the guide rails 18. The left end of the movable base 19 is connected to the pull rod 20 through a rotating rod. The pull rod 20 is rotatably connected to the two ends of the middle plate 15. A limiting roller 21 is provided on the side of the pull rod 20. A limiting hole 22 is provided on the side of the frame 1. The limiting hole 22 is aligned with the axis of the piston rod 14. A bent hole 23 is provided at the bottom end of the limiting hole 22. The lower end of the bent hole 23 extends toward the direction close to the glue valve 2, and the bent hole 23 is smoothly connected to the limiting hole 22. The limiting hole 22 is slidably connected to the limiting roller 21. When the glue receiving box 17 is needed, the drive cylinder 13 is activated. The drive cylinder 13 drives the piston rod 14 to extend. The piston rod 14 pushes the intermediate plate 15 down. The intermediate plate 15 drives the moving base 19 and the glue receiving box 17 to descend synchronously through the pull rod 20. The limit roller 21 moves along the limit hole 22 to the position of the bend 23. At this time, the lower end of the pull rod 20 moves towards the glue dispensing valve 2 until the glue receiving box 17 moves to the position directly below the glue outlet 201 to collect the glue residue at the position of the glue outlet 201.

[0046] In addition, two guide rods 24 are provided on the top surface of the intermediate plate 15, and two sliding sleeves 25 are provided on the frame 1. Each guide rod 24 is slidably connected to a sliding sleeve 25. Through the sliding cooperation between the guide rod 24 and the sliding sleeve 25, the movement path of the intermediate plate 15 is limited and corrected to ensure that the glue receiving box 17 moves stably to directly below the glue outlet 201.

[0047] It should be noted that when the limiting roller 21 moves along the limiting hole 22 to the position of the bend 23, the pulling rod 20 tilts at a certain angle and pushes the glue receiving box 17 to move directly below the glue outlet 201. Since the two ends of the intermediate plate 15 are rotatably connected to the glue receiving box 17 through two connecting rods 16, the intermediate plate 15, the two connecting rods 16 and the glue receiving box 17 form a quadrilateral structure. Since the intermediate plate 15 always remains horizontal, the position of the glue receiving box 17 is consistent with that of the intermediate plate 15, ensuring that the glue receiving box 17 can accurately collect the glue residue at the position of the glue outlet 201.

[0048] In use, the control system sets the distance between the glue outlet 201 and the workpiece at each position where glue needs to be applied. As the robot moves along the preset trajectory, the control system adjusts the real-time position of the glue outlet 201 relative to the workpiece based on the real-time distance between the glue outlet 201 and the workpiece detected by the laser rangefinder 4. The real-time position of the glue outlet 201 relative to the workpiece is always consistent with the distance set by the control system between the glue outlet 201 and the workpiece at each position where glue needs to be applied. The control system then controls the glue application valve 2 to apply glue to the surface of each position of the workpiece according to the preset glue shape parameters until the glue application process is completed.

[0049] In summary, based on the real-time distance between the glue outlet 201 and the workpiece detected by the laser rangefinder 4, the control system controls the robot to adjust the frame position so that the distance between the glue outlet 201 and the workpiece is always kept within the set distance range. This adapts to the height difference and other problems caused by the complexity of the product process, thereby ensuring the glue coating effect, avoiding glue defects, and improving the pass rate of workpiece production.

[0050] In addition to the aforementioned adhesive applicator for robots, this utility model also provides an adhesive applicator for robots that includes the adhesive applicator disclosed in the above embodiments. The structure of other parts of the adhesive applicator can be found in the prior art, and will not be described in detail here.

[0051] It should be noted that in this specification, relational terms such as first and second are used only to distinguish one entity from several other entities, and do not necessarily require or imply any such actual relationship or order between these entities.

[0052] This article uses specific examples to illustrate the principles and implementation methods of this utility model. The descriptions of the above embodiments are only for the purpose of helping to understand the method and core ideas of this utility model. It should be noted that for those skilled in the art, several improvements and modifications can be made to this utility model without departing from the principles of this utility model, and these improvements and modifications also fall within the protection scope of this utility model.

Claims

1. A glue-applying actuator suitable for robots, characterized in that, include: The frame connects to the robot's end effector; An adhesive applicator valve is located on one side of the frame. The adhesive applicator valve applies adhesive to the workpiece to be coated through an adhesive outlet. A laser rangefinder is disposed on one side of the frame, and the laser rangefinder is used to detect the distance between the glue outlet and the workpiece; A control system is connected to the laser rangefinder and the robot, and the control system is used to control the robot to drive the frame to move.

2. The adhesive applicator for robots according to claim 1, characterized in that, A 3D camera is installed on one side of the frame. The 3D camera is used to scan, monitor and record the plastic shape parameters on the workpiece in real time.

3. The adhesive applicator for robots according to claim 2, characterized in that, A 2D camera is installed on one side of the frame, which is used to photograph and record the overall shape of the adhesive on the workpiece.

4. A glue-applying actuator for robots according to claim 3, characterized in that, A barcode scanning device is provided on one side of the frame, which is used to scan and record the identification code on the workpiece.

5. A glue-applying actuator suitable for robots according to any one of claims 1-4, characterized in that, The frame is composed of several cylindrical tubes spliced ​​together, and two mutually perpendicular cylindrical tubes are connected by reinforcing ribs.

6. A glue-applying actuator suitable for robots according to claim 5, characterized in that, The reinforcing rib is triangular in shape, and a connecting plate is integrally provided on both perpendicular sides of the reinforcing rib, which connects to the cylindrical tube.

7. A glue-applying actuator suitable for robots according to claim 6, characterized in that, The cylindrical tube is hexagonal in shape, and a number of first assembly holes are provided at equal intervals on its six sides.

8. A glue-applying actuator for a robot according to any one of claims 1-4, characterized in that, The frame is provided with an adhesive receiving assembly, which includes a drive cylinder connected to the frame. The drive cylinder is connected to an intermediate plate via a piston rod, and the two ends of the intermediate plate are rotatably connected to the adhesive receiving box via two connecting rods.

9. A glue-applying actuator for robots according to claim 8, characterized in that, The frame has symmetrical guide rails on both sides, and a movable base is slidably mounted on the side of the guide rails. One end of the movable base is connected to a pull rod via a rotating rod. A limiting roller is mounted on the side of the pull rod, and a limiting hole is mounted on the side of the frame. The limiting hole is slidably connected to the limiting roller.

10. An adhesive coating device, characterized in that, The adhesive applicator for robots includes any one of claims 1-9.

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