A multi-angle anti-collision gluing robot

Abstract

The utility model provides a kind of multi-angle anti-collision gluing robot, belong to gluing instrument technical field, to solve the multi-angle gluing robot of existing, rely on mechanical arm drive spray head, due to the difference or complex easy collision loss spray head of part appearance, the problem of high maintenance and cost complexity. Including mechanical arm main part, spray head connecting seat, gluing nozzle, protective sleeve, protective seat, protection assembly and detection assembly, the spray head connecting seat is fixedly installed in mechanical arm main part top end;The gluing nozzle is fixedly installed in spray head connecting seat front side;The protective sleeve is slidably connected in gluing nozzle outside;The protective seat is fixedly connected in protective sleeve top end;The protection assembly is arranged in spray head connecting seat front side;The detection assembly is arranged in protective seat inside.The utility model has the advantages such as collision protection, reduce deformation, deformation detection etc.

Description

Technical Field

[0001] This utility model belongs to the field of adhesive application equipment technology, and more specifically, it relates to an adhesive application robot with multi-angle anti-collision capability. Background Technology

[0002] As an important piece of equipment in automated production, glue-applying robots are widely used in automobile manufacturing, electronic component assembly, furniture production, and other fields. They can accurately apply glue to the surface of workpieces according to a preset program. The core technology of existing multi-angle glue-applying robots lies in relying on the flexible swing characteristics of multi-joint robotic arms. By adjusting the glue-applying posture through the coordinated movement of each joint, they can achieve all-round, multi-angle glue application on complex areas of the part surface, meeting the diverse needs for glue-applying angle and coverage under different working conditions.

[0003] Existing application number CN202022864156.8 discloses a glue-applying robot with a multi-angle flexible application gun. The robot includes a base, a robot body mounted on top of the base, several lifting mechanisms inside the base, a glue-applying gun mounting bracket on one side of the top of the robot body, a glue-applying gun assembly at the bottom of the mounting bracket, a support frame below the glue-applying gun assembly, support feet at the bottom of the support frame, and a worktable at the top of the support frame. This invention allows for multi-angle flexible use of the glue-applying gun head during production, reducing the frequency of gun head replacement, thereby reducing quality defects, lowering input costs, improving production efficiency and quality, reducing manual glue application, and lowering the operator's labor intensity.

[0004] Based on the above, existing multi-angle adhesive application robots rely on robotic arms to drive adhesive nozzles, enabling flexible movement on the surface of parts to be coated. However, on the one hand, when scanning and positioning parts of different shapes before adhesive application, the robotic arm's movement trajectory is prone to adaptation deviations due to differences in part shape; on the other hand, when applying adhesive to irregularly shaped parts with complex shapes and many edges and corners, collisions between the nozzle and the part are likely to occur as the robotic arm adjusts the nozzle posture to fit the corner areas. Such collisions not only directly cause nozzle misalignment, damage, or even scrapping, but also make the subsequent nozzle disassembly, replacement, and debugging processes cumbersome, disrupting normal production and significantly increasing equipment maintenance costs and consumable expenditures. Utility Model Content

[0005] To address the aforementioned technical problems, this invention provides a multi-angle anti-collision glue-applying robot. This addresses the issue that existing multi-angle glue-applying robots rely on a robotic arm to drive the glue nozzle, performing flexible movement on the surface of the parts to be glued. However, on the one hand, when scanning and positioning parts of different shapes before glue application, the robotic arm's movement trajectory is prone to adaptation deviations due to differences in part shape; on the other hand, when applying glue to irregularly shaped parts with complex shapes and many edges and corners, collisions between the nozzle and the part are likely to occur as the robotic arm adjusts the nozzle posture to fit the corner areas. Such collisions not only directly cause nozzle misalignment, damage, or even scrap, but also make subsequent nozzle disassembly, replacement, and debugging processes cumbersome, disrupting normal production and significantly increasing equipment maintenance costs and consumable expenditures.

[0006] The purpose and effect of this utility model, a multi-angle anti-collision glue-applying robot, are achieved by the following specific technical means: A multi-angle collision-resistant adhesive application robot includes a robotic arm body, a nozzle connector, an adhesive application nozzle, a protective sleeve, a protective seat, a protective component, and a detection component. The nozzle connector is fixedly installed on the top of the robotic arm body; the adhesive application nozzle is fixedly installed on the front side of the nozzle connector; the protective sleeve is slidably connected to the outside of the adhesive application nozzle; the protective seat is fixedly connected to the top of the protective sleeve; the protective component is disposed on the front side of the nozzle connector; and the detection component is disposed inside the protective seat.

[0007] Furthermore, the protective component includes: a first guide rod and a first spring. The first guide rod is provided in two sets, with the two sets of first guide rods fixedly connected to the front side of the nozzle connecting seat and the two sets of first guide rods slidably connected inside the protective sleeve. The first spring is provided in two sets, with the two ends of the two sets of first springs fixedly connected to the middle position between the nozzle connecting seat and the protective sleeve.

[0008] Furthermore, the protective assembly also includes an electromagnet and an inner cotton sleeve, wherein the electromagnet is fixedly installed at the bottom of the nozzle connector; and the inner cotton sleeve is fixedly installed inside the protective sleeve.

[0009] Furthermore, the protective component also includes a through hole, which is formed inside the protective base.

[0010] Furthermore, the detection component includes: a second guide rod and a sealing plate; the second guide rod is provided in four sets, and the four sets of second guide rods are slidably connected inside the protective seat; the sealing plate is provided in four sets, and the four sets of sealing plates are respectively fixedly installed at the ends of the four sets of second guide rods.

[0011] Furthermore, the detection component also includes: a second spring, contacts, and arc-shaped surfaces. The second spring is provided in four sets, with one end of each set fixedly connected to the inner side of the protective seat and the other end fixedly connected to the outer side of each set of sealing plates. The contacts are provided in multiple sets, which are fixedly installed on the inner side of the protective seat. The arc-shaped surfaces are provided in four sets, which are opened on the inner side of each set of sealing plates.

[0012] Compared with the prior art, the present invention has the following beneficial effects: First, this utility model has a protective component. Under normal conditions, the elastic element drives the protective structure to wrap around the glue-applying nozzle, isolating it from the risk of external collision. During operation, the magnetic control of the protective structure slides, allowing the nozzle to extend smoothly for operation while maintaining lateral protection. At the same time, the inner cotton sleeve cleans residual impurities from the nozzle, and the elastic adaptation prevents secondary damage to the deformed nozzle, effectively reducing the probability of nozzle damage.

[0013] Secondly, this utility model has a detection component. Under normal conditions, the sealing plate aggregates and seals the through hole, strengthening the protection of the nozzle top. During operation, the arc surface guides the nozzle to extend and houses the sealing plate, avoiding hard scratches. When the nozzle deforms and retracts, the irregular displacement of the sealing plate triggers a contact alarm, providing timely feedback on the abnormality, facilitating rapid handling and preventing the problem from escalating.

[0014] This invention has advantages such as collision protection, reduced deformation, and deformation detection. It effectively solves the problems of easy collision damage, cumbersome maintenance, and high cost of existing glue-applying robot nozzles. Moreover, once the nozzle is deformed, it can trigger an alert in time, avoiding the impact on the coating effect due to the failure to detect nozzle damage in time. Attached Figure Description

[0015] Figure 1 This is a schematic diagram of the main structure of this utility model.

[0016] Figure 2 This is a schematic diagram of the nozzle connector structure of this utility model.

[0017] Figure 3 This is a schematic diagram of the adhesive nozzle structure of this utility model.

[0018] Figure 4 This is a schematic diagram of the protective sleeve structure of this utility model.

[0019] Figure 5 This is a schematic diagram of the protective base structure of this utility model.

[0020] Figure 6 This is a schematic diagram of the sealing plate structure of this utility model.

[0021] Figure 7 This is a schematic diagram of the arc-shaped surface structure of this utility model.

[0022] In the diagram, the correspondence between component names and drawing numbers is as follows: 1. Main body of the robotic arm; 2. Nozzle connector; 201. Electromagnet; 202. First guide rod; 203. First spring; 3. Adhesive nozzle; 4. Protective sleeve; 401. Inner cotton sleeve; 5. Protective seat; 501. Through hole; 502. Second guide rod; 503. Second spring; 504. Sealing plate; 505. Contact point; 506. Arc-shaped surface. Detailed Implementation

[0023] The embodiments of this utility model will be described in further detail below with reference to the accompanying drawings and examples. The following examples are for illustrative purposes only and should not be construed as limiting the scope of this utility model.

[0024] Example 1: As attached Figure 1 To be continued Figure 7 As shown: This utility model provides a multi-angle anti-collision glue-applying robot, including a robotic arm body 1, a nozzle connector 2, a glue-applying nozzle 3, a protective sleeve 4, a protective seat 5, and a protective component. The nozzle connector 2 is fixedly installed on the top of the robotic arm body 1; the glue-applying nozzle 3 is fixedly installed on the front side of the nozzle connector 2; the protective sleeve 4 is slidably connected to the outside of the glue-applying nozzle 3; the protective seat 5 is fixedly connected to the top of the protective sleeve 4; and the protective component is located on the front side of the nozzle connector 2.

[0025] The protective components include: a first guide rod 202 and a first spring 203. Two sets of the first guide rod 202 are provided, and the two sets of the first guide rod 202 are fixedly connected to the front side of the nozzle connecting seat 2 and slidably connected inside the protective sleeve 4. Two sets of the first spring 203 are provided, and the two ends of the two sets of the first spring 203 are fixedly connected to the middle position between the nozzle connecting seat 2 and the protective sleeve 4.

[0026] The protective components also include: an electromagnet 201 and an inner cotton sleeve 401. The electromagnet 201 is fixedly installed at the bottom of the nozzle connector 2; the inner cotton sleeve 401 is fixedly installed inside the protective sleeve 4.

[0027] The protective component also includes a through hole 501, which is located inside the protective base 5.

[0028] The specific usage and function of this embodiment are as follows: Under normal non-operational conditions, the two sets of first springs 203 use their own elastic potential energy to drive the protective sleeve 4 to slide along the first guide rod 202 to the top area of ​​the glue application nozzle 3, and enclose the glue application nozzle 3 entirely in the protective space formed by the protective sleeve 4 and the protective seat 5, effectively isolating the risk of external collision and preventing the glue application nozzle 3 from being damaged due to accidental contact.

[0029] When the glue-applying robot enters the working state and needs to perform the glue-applying task through the glue-applying nozzle 3, the electromagnet 201 at the bottom of the nozzle connector 2 is energized and generates magnetism, forming an attraction force on the protective sleeve 4. Under the action of the attraction force, the protective sleeve 4 overcomes the elastic resistance of the first spring 203 and slides along the first guide rod 202 towards the nozzle connector 2, while compressing the first spring 203. As the protective sleeve 4 moves, the protective seat 5 moves down synchronously, allowing the glue-applying end of the glue-applying nozzle 3 to extend through the through hole 501 inside the protective seat 5, thus enabling normal glue-applying operations. During this process, the protective sleeve 4 and the protective seat 5 always surround the outside of the glue-applying nozzle 3, continuously providing lateral protection for its non-glue-applying area and reducing the possibility of collisions during operation.

[0030] Meanwhile, as the protective sleeve 4 slides, it causes the inner cotton sleeve 401 fixed inside to move synchronously. The inner cotton sleeve 401 is in close contact with the outer wall of the adhesive nozzle 3, and during the movement, it can wipe and clean the adhesive, dust and other impurities remaining on the surface of the adhesive nozzle 3. In addition, the inner diameter of the through hole 501 on the protective seat 5 is designed to be larger than the diameter of the adhesive nozzle 3, leaving a certain amount of room for movement for the adhesive nozzle 3; and the inner cotton sleeve 401 has elastic deformation capability. Even if the adhesive nozzle 3 is slightly deformed due to an accident, the inner cotton sleeve 401 can adapt to the shape of the nozzle by its own deformation, avoiding direct rigid contact between the protective sleeve 4 and the deformed adhesive nozzle 3, thereby preventing the adhesive nozzle 3 from suffering secondary damage.

[0031] Example 2: Based on Example 1, such as Figures 1 to 7 As shown, it also includes a detection component, which is located inside the protective base 5.

[0032] The detection component includes: a second guide rod 502 and a sealing plate 504. The second guide rod 502 is provided in four sets, and the four sets of second guide rods 502 are slidably connected inside the protective seat 5. The sealing plate 504 is provided in four sets, and the four sets of sealing plates 504 are respectively fixedly installed at the ends of the four sets of second guide rods 502.

[0033] The detection component also includes: a second spring 503, a contact 505, and an arc-shaped surface 506. The second spring 503 is provided in four sets, with one end of each set fixedly connected to the inside of the protective seat 5 and the other end fixedly connected to the outside of each set of sealing plates 504. The contact 505 is provided in multiple sets, which are fixedly installed inside the protective seat 5. The arc-shaped surface 506 is provided in four sets, which are located inside the four sets of sealing plates 504.

[0034] The specific usage and function of this embodiment are as follows: Under normal non-operational conditions, the four sets of second springs 503, relying on their own elastic potential energy, synchronously drive the four sets of sealing plates 504 to converge towards the center of the protective seat 5 along the second guide rod 502. The four sets of sealing plates 504 combine to form a disc-shaped structure, completely sealing the through hole 501 of the protective seat 5. At this time, the adhesive nozzle 3 is in a retracted state, and the sealing plates 504 can directly form physical protection on its top, preventing external foreign objects from directly impacting the nozzle tip. At the same time, the second guide rod 502 provides precise guidance for the convergence movement of the sealing plates 504, ensuring a stable sealing position, and the sealing plates 504 remain separated from the contact points 505 on the inner side of the protective seat 5, preventing false alarms.

[0035] When the adhesive nozzle 3 extends outward from the through hole 501, its tip first contacts the arc-shaped surface 506 on the inner side of the four sets of sealing plates 504. The smooth transition structure of the arc-shaped surface 506 guides the adhesive nozzle 3, guiding it to extend smoothly along the central axis of the through hole 501. At the same time, the adhesive nozzle 3 applies a radial thrust to the sealing plates 504 through the arc-shaped surface 506, forcing the sealing plates 504 to overcome the elastic force of the second spring 503 and slide inward along the second guide rod 502 towards the protective seat 5, ensuring that the adhesive nozzle 3 extends smoothly and performs the adhesive application operation. Since the sealing plates 504 are made of plastic, their contact with the adhesive nozzle 3 is a flexible contact, which can effectively avoid scratches on the nozzle surface caused by hard friction.

[0036] If the adhesive nozzle 3 bends or deforms due to an impact during operation, when the nozzle is retracted after adhesive application, the bent part of the nozzle will form asymmetrical contact with the corresponding sealing piece 504. At this time, the bent part will generate an additional thrust on the sealing piece 504 at the corresponding position, causing the displacement of the sealing piece 504 to be significantly greater than that of other sealing pieces 504, thus making it contact the corresponding contact point 505 on the inner side of the protective seat 5. After the contact point 505 is triggered, it will send an electrical signal to the control mechanism of the robotic arm body 1 to promptly report the abnormal deformation of the adhesive nozzle 3, so that the operator can quickly stop the machine for inspection and avoid adhesive quality problems or secondary damage to the equipment caused by the deformed nozzle continuing to operate.

[0037] The following points should be noted in this article: 1. The accompanying drawings of this embodiment only involve the structures involved in this embodiment; other structures can refer to the general design.

[0038] 2. Where there is no conflict, this embodiment and the features in the embodiment can be combined with each other to obtain new embodiments.

[0039] The above are merely specific implementations of this embodiment, but the protection scope of this embodiment is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the technical scope disclosed in this embodiment should be included within the protection scope of this embodiment. Therefore, the protection scope of this embodiment should be determined by the protection scope of the claims.

Claims

1. A multi-angle collision-resistant glue-applying robot, characterized in that: The multi-angle anti-collision glue-applying robot includes a robotic arm body (1), a nozzle connector (2), a glue-applying nozzle (3), a protective sleeve (4), a protective seat (5), a protective component, and a detection component. The nozzle connector (2) is fixedly installed on the top of the robotic arm body (1); the glue-applying nozzle (3) is fixedly installed on the front side of the nozzle connector (2); the protective sleeve (4) is slidably connected to the outside of the glue-applying nozzle (3); the protective seat (5) is fixedly connected to the top of the protective sleeve (4); the protective component is located on the front side of the nozzle connector (2); and the detection component is located inside the protective seat (5).

2. The multi-angle anti-collision glue-applying robot as described in claim 1, characterized in that: The protective assembly includes: a first guide rod (202) and a first spring (203). The first guide rod (202) is provided in two sets. The two sets of the first guide rod (202) are fixedly connected to the front side of the nozzle connector (2). The two sets of the first guide rod (202) are slidably connected inside the protective sleeve (4). The first spring (203) is provided in two sets. The two ends of the two sets of the first spring (203) are fixedly connected to the middle position between the nozzle connector (2) and the protective sleeve (4).

3. The multi-angle anti-collision glue-applying robot as described in claim 2, characterized in that: The protective assembly also includes an electromagnet (201) and an inner cotton sleeve (401). The electromagnet (201) is fixedly installed at the bottom of the nozzle connector (2). The inner cotton sleeve (401) is fixedly installed inside the protective sleeve (4).

4. The multi-angle anti-collision glue-applying robot as described in claim 2, characterized in that: The protective component also includes a through hole (501), which is located inside the protective base (5).

5. The multi-angle anti-collision glue-applying robot as described in claim 1, characterized in that: The detection component includes: a second guide rod (502) and a sealing plate (504). The second guide rod (502) is provided in four sets, and the four sets of the second guide rod (502) are slidably connected inside the protective seat (5). The sealing plate (504) is provided in four sets, and the four sets of sealing plates (504) are respectively fixedly installed at the ends of the four sets of second guide rods (502).

6. The multi-angle anti-collision glue-applying robot as described in claim 5, characterized in that: The detection component further includes: a second spring (503), a contact (505), and an arc-shaped surface (506). The second spring (503) is provided in four sets. One end of the four sets of second springs (503) is fixedly connected to the inner side of the protective seat (5), and the other end of the four sets of second springs (503) is fixedly connected to the outer side of the four sets of sealing plates (504). The contact (505) is provided in multiple sets, and the multiple sets of contact (505) are fixedly installed on the inner side of the protective seat (5). The arc-shaped surface (506) is provided in four sets, and the four sets of arc-shaped surfaces (506) are opened on the inner side of the four sets of sealing plates (504).

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