Glue cleaning manipulator capable of prolonging cleaning period

Abstract

The utility model relates to a glue cleaning manipulator capable of prolonging a cleaning period, which comprises a clamping jaw assembly and a glue cleaning assembly fixed on one side of the clamping jaw assembly, the clamping jaw assembly comprises a clamping jaw support and a plurality of clamping jaw mechanisms fixed to the two sides of the wide edge of the clamping jaw support, and the surrounding area of the clamping jaw mechanisms is a machining area. The glue removing assembly is located outside the processing area and comprises a plurality of glue removing units, each glue removing unit comprises a plurality of glue scraping elastic pieces arranged in a straight line and a glue storage groove with an upward opening, the glue scraping elastic pieces are tightly attached to the same long edge of the glue storage groove, and the highest point of each glue scraping elastic piece is higher than the opening of the glue storage groove. According to the utility model, the plurality of glue scraping elastic sheets can be used for scraping glue, so that the number of times of cleaning residual glue by the whole glue cleaning assembly is multiplied, the manual cleaning frequency is greatly reduced, and the automation degree of equipment is improved.

Description

TECHNICAL FIELD

[0001] The utility model relates to manipulator technical field, especially relate to a prolong cleaning period's clean glue manipulator. BACKGROUND

[0002] The glue machine is also called coating machine, glue scraping machine, automatic glue spraying machine, etc. It is mainly used to coat liquid glue on the surface of textiles, paper boxes, leathers or other workpieces. After the glue flows out of the glue nozzle, part of the glue will remain outside the nozzle, which is easy to be contaminated by pollutants and cannot be used. Therefore, the remaining glue needs to be removed in time after each coating, otherwise there is a risk of dropping onto the processing object and causing pollution.

[0003] Chinese patent CN 217552444U discloses a robot gripper mechanism with a glue nozzle cleaning device. The device is attached to the robot gripper mechanism and includes a glue cleaning spring leaf that scrapes the remaining glue from the glue nozzle and allows it to flow into a waste glue storage box below the upper part of the glue nozzle. However, the entire device only has one glue cleaning spring leaf and one waste glue storage box. After frequent scraping, the waste glue storage box is easily filled with glue and the glue cleaning spring leaf is easily worn out, which requires workers to frequently participate in waste removal of the waste glue storage box and replacement of the glue cleaning spring leaf, thereby restricting the improvement of automation level.

[0004] Therefore, it is necessary to further improve the glue cleaning structure to solve the above problems. CONTENT OF THE UTILITY MODEL

[0005] The main purpose of the utility model is to provide a glue cleaning manipulator that prolongs the cleaning period, which can use multiple glue scraping spring leaves to scrape glue and greatly reduce the frequency of manual cleaning, thereby improving the automation level of the equipment.

[0006] The utility model realizes the above-mentioned purpose through the following technical scheme: a glue cleaning manipulator that prolongs the cleaning period, comprising a gripper assembly and a glue cleaning assembly fixed to one side of the gripper assembly; the gripper assembly comprises a gripper support and multiple gripper mechanisms fixed to both sides of the wide edge of the gripper support, and the surrounding area of the gripper mechanism is a processing area; the glue cleaning assembly is located outside the processing area and comprises multiple glue cleaning units, each glue cleaning unit comprises multiple straightly arranged glue scraping spring leaves and a glue storage groove with an upward opening, the glue scraping spring leaves are arranged close to the same long edge of the glue storage groove, and the highest point of the glue scraping spring leaves is higher than the opening of the glue storage groove.

[0007] Specifically, the glue cleaning assembly is arranged close to the long edge of the gripper support, and the glue cleaning units are arranged along the long edge of the gripper support.

[0008] Further, the total length of the glue cleaning assembly is 80-100% of the length of the long edge of the gripper support.

[0009] Specifically, the adhesive removal assembly also includes a strip fixing plate for fixing all adhesive removal units and two connecting blocks for connecting the strip fixing plate to the gripper bracket.

[0010] Specifically, the processing area and the glue storage tank are located on opposite sides of the glue scraper.

[0011] Specifically, there is a gap of 1-2 mm between adjacent scraper blades.

[0012] The beneficial effects of this utility model's technical solution are:

[0013] Compared with the prior art, this invention can use multiple scraping blades to scrape the glue, and the number of times the entire glue cleaning assembly can clean residual glue is increased many times, thus greatly reducing the frequency of manual cleaning and improving the automation level of the equipment. Attached Figure Description

[0014] Figure 1 This is a perspective view of the adhesive removal robot in the embodiment;

[0015] Figure 2 This diagram shows the positional relationship between the adhesive removal component and the adhesive nozzle during adhesive scraping.

[0016] Figure 3 This is a schematic diagram of the adhesive scraping principle of the adhesive removal component.

[0017] The numbers in the diagram represent:

[0018] 1-Gripper assembly, 11-Gripper bracket, 12-Gripper mechanism;

[0019] 2-Glue removal assembly, 21-Glue removal unit, 211-Glue scraper spring, 212-Glue storage tank, 22-Strip fixing plate, 23-Connecting block;

[0020] 3-Nose. Detailed Implementation

[0021] The present invention will be further described in detail below with reference to specific embodiments.

[0022] Example:

[0023] like Figure 1 As shown, the present invention provides a glue removal robot for extending the cleaning cycle, comprising a gripper assembly 1 and a glue removal assembly 2, wherein the glue removal assembly 2 is fixed to one side of the gripper assembly 1.

[0024] The inherent function of the gripper assembly 1 is to hold the processing object by the gripper mechanism 12, which is generally equipped with a mechanical arm (not shown) to achieve the movement function. The function of the glue cleaning assembly 2 is to prevent the residual glue from affecting the glue coating amount by scraping the head of the glue nozzle 3. The glue cleaning assembly 2 will borrow the mechanical arm of the gripper assembly 1 to complete the scraping movement, saving the cost of parts. The position of the glue cleaning assembly 2 cannot interfere with the action of the gripper assembly 1 to hold the processing object, so the glue cleaning assembly 2 is located on one side of the gripper assembly 1.

[0025] As shown in Figure 1 The gripper assembly 1 includes a gripper support 11 and a plurality of gripper mechanisms 12 fixed on both sides of the wide edge of the gripper support 11.

[0026] The gripper support 11 is the fixed basis of all gripper mechanisms 12. When the gripper mechanism 12 is opened, the processing object (generally a flat plate structure) can be placed in the surrounding area of all gripper mechanisms 12, and then the gripper mechanism 12 clamps one position of the processing object, so that the processing object is fixed, so the surrounding area of the gripper mechanism 12 is the processing area. After the gripper mechanism 12 fixes the processing object, the mechanical arm can move the processing object according to the specific command to realize the glue coating or glue removal.

[0027] As shown in Figures 1 to 3 The glue cleaning assembly 2 is located outside the processing area and close to the long edge of the gripper support 11. The glue cleaning assembly 2 includes a plurality of glue cleaning units 21 arranged along the long edge of the gripper support 11, a strip-shaped fixing plate 22 fixing all glue cleaning units 21, and two connecting blocks 23 connecting the strip-shaped fixing plate 22 and the gripper support 11. The glue cleaning unit 21 includes a plurality of linearly arranged glue scraping pieces 211 and an upwardly open glue storage groove 212, the glue scraping pieces 211 are arranged close to the same long edge of the glue storage groove 212, and the highest point of the glue scraping pieces 211 is higher than the opening of the glue storage groove 212.

[0028] The glue scraping elastic sheet 211 is a thin steel sheet that can be elastically deformed. The width of each glue scraping elastic sheet 211 is slightly larger than the diameter of the glue nozzle 3. In this way, when scraping glue, the end of the glue scraping elastic sheet 211 can scrape the outlet of the glue nozzle 3, and under the condition of elastic deformation of the glue scraping elastic sheet 211, the residual glue is scraped into the glue storage groove 212 for collection. Because the collected residual glue cannot drip onto the processing object, the glue storage groove 212 must be kept in an upward open position and located outside the processing area but not too far away, so that the glue storage groove 212 is not in the upper projection range of the processing object. Each time the glue is applied, the processing object is moved below the glue nozzle 3, and then the glue scraping elastic sheet 211 is moved to the glue nozzle 3 to complete the scraping of glue. The glue scraping elastic sheet 211 is close to the processing area, so the round trip time is short. The glue storage groove 212 has a relatively long structure, and the length is several times the width of the glue scraping elastic sheet 211, which can make the glue storage capacity of the glue storage groove 212 relatively large, and the residual glue scraped by each glue scraping elastic sheet 211 in the single glue cleaning unit 21 will fall into the glue storage groove 212. The entire glue cleaning assembly 2 can increase the number of times of cleaning residual glue by several times, so as to greatly reduce the cleaning frequency of manual work and improve the automation degree of the equipment. If the residual glue on the single glue scraping elastic sheet 211 is not too much, it can be directly wiped or pried off, otherwise the corresponding glue scraping elastic sheet 211 can be replaced, thereby reducing the downtime. The strip-shaped fixed plate 22 is the fixing base of the glue cleaning unit 21, and all the glue cleaning units 21 are arranged side by side in the horizontal direction. The strip-shaped fixed plate 22 is connected and fixed with the clamping jaw support 11 through two connecting blocks 23.

[0029] In order to reduce the risk of leakage, the processing area and the glue storage groove 212 are located in the opposite direction of the glue scraping elastic sheet 211. The gap between adjacent glue scraping elastic sheets 211 is 1-2 mm. The gap between adjacent glue scraping elastic sheets 211 can prevent the residual glue scraped by a single glue scraping elastic sheet 211 from spreading to the adjacent glue scraping elastic sheet 211, thereby avoiding affecting the scraping effect of the next time.

[0030] As shown in Figure 1 , the total length of the glue cleaning assembly 2 is 80-100% of the length of the long side of the clamping jaw support 11.

[0031] If the adhesive removal assembly 2 contains *a* adhesive removal units 21, each adhesive removal unit 21 contains *b* adhesive scraping springs 211, and each adhesive scraping spring 211 can be used *c* times, then theoretically, the entire adhesive removal assembly 2 can scrape adhesive a × b × c times. Therefore, given a fixed size of the gripper bracket 11 and the adhesive removal unit 21, the longer the total length of the adhesive removal assembly 2, the more adhesive removal units 21 there are, the more adhesive scraping springs 211 are set, the more times adhesive can be scraped, and the longer the maintenance cycle of the adhesive removal assembly 2 can be. However, because the adhesive removal assembly 2 is located on the gripper assembly 1, the operating space of the gripper assembly 1 is limited. To prevent the adhesive removal assembly 2 from colliding with other parts of the equipment, the total length of the adhesive removal assembly 2 generally cannot exceed the long side length of the gripper bracket 11. Placing the adhesive removal assembly 2 near the long side of the gripper bracket 11 can avoid the horizontal feeding direction of the processing area and also provide more space to set up more adhesive removal units 21.

[0032] The workflow of the adhesive removal robot is as follows:

[0033] 1. The gripper mechanism 12 is in the open state, and the robotic arm controls it to wait at the receiving position. The gripper mechanism 12 clamps the workpiece.

[0034] 2. The robotic arm controls the object to be processed to approach the nozzle 3, and the nozzle 3 completes the application of glue.

[0035] 3. After each glue application action is completed, the robotic arm will control the glue cleaning component 2 to approach the glue nozzle 3, so that a working glue scraper 211 is in close contact with the glue nozzle 3 (the movement path is directly calculated by the equipment system, preferably the closer glue nozzle 3). Then the glue scraper 211 scrapes across the outlet of the glue nozzle 3 in a direction perpendicular to its surface, and the residual glue flows naturally into the glue storage tank 212 below it.

[0036] 4. Repeat the application and scraping of adhesive until the preset number of times (a×b×c) is reached or a batch of adhesive application is completed.

[0037] 5. Manually remove residual adhesive from the scraper 211 and the adhesive reservoir 212, or replace the scraper 211.

[0038] The above descriptions are merely some embodiments of this utility model. For those skilled in the art, various modifications and improvements can be made without departing from the inventive concept of this utility model, and all such modifications and improvements fall within the protection scope of this utility model.

Claims

1. A glue cleaning robot capable of prolonging cleaning cycle, comprising a gripper assembly and a glue cleaning assembly fixed to one side of the gripper assembly; the gripper assembly comprises a gripper support and a plurality of gripper mechanisms fixed to both sides of the wide edge of the gripper support, and the surrounding area of the gripper mechanism is a processing area; characterized in that: The glue cleaning assembly is located outside the processing area and comprises a plurality of glue cleaning units, each of which comprises a plurality of linearly arranged glue scraping elastic pieces and an upwardly open glue storage groove, the glue scraping elastic pieces are arranged close to the same long side of the glue storage groove, and the highest point of the glue scraping elastic pieces is higher than the opening of the glue storage groove.

2. The extended clean cycle pick-and-place robot of claim 1, wherein: The glue cleaning assembly is arranged close to the long side of the jaw support, and the glue cleaning units are arranged along the long side of the jaw support.

3. The extended clean cycle pick-and-place robot of claim 2, wherein: The total length of the glue cleaning assembly is 80-100% of the length of the long side of the jaw support.

4. The extended clean cycle pick-and-place robot of claim 1, wherein: The glue cleaning assembly is further provided with a strip-shaped fixing plate for fixing all the glue cleaning units and two connecting blocks for connecting the strip-shaped fixing plate and the jaw support.

5. The extended clean cycle pick-and-place robot of claim 1, wherein: The processing area and the glue storage groove are located in the opposite direction of the glue scraping elastic pieces.

6. The extended clean cycle pick-and-place robot of claim 1, wherein: The gap between adjacent glue scraping elastic pieces is 1-2 mm.

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