CN104043562A - Robotic floating gluing mechanism - Google Patents
Robotic floating gluing mechanism Download PDFInfo
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- CN104043562A CN104043562A CN201410293648.2A CN201410293648A CN104043562A CN 104043562 A CN104043562 A CN 104043562A CN 201410293648 A CN201410293648 A CN 201410293648A CN 104043562 A CN104043562 A CN 104043562A
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- robot
- connecting plate
- acting cylinder
- coated mechanism
- linear bearing
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Abstract
The invention discloses a robotic floating gluing mechanism and relates to the field of automatic gluing. The robotic floating gluing mechanism comprises a connecting flange, a guide shaft, a linear bearing, a connecting plate and a single-acting cylinder, wherein a robot is connected with the connecting flange which is connected with one end of the guide shaft; the other end of the guide shaft is connected with the linear bearing in a sliding manner and moves linearly along the linear bearing; the linear bearing is connected with the connecting plate which is connected with a gluing gun; the connecting flange and the connecting plate are connected with two ends of the signal-acting cylinder respectively; and the connecting plate is driven by the signal-acting cylinder to move relative to the connecting flange. According to the technical scheme, the signal-acting cylinder is used for connecting the robot and the gluing gun, the pull force for floating generated by the cylinder is applied; and as the force of the cylinder is stable and can be easily adjusted, the robotic floating gluing mechanism is easy to install and test in practice and stable and reliable during work.
Description
Technical field
The invention belongs to automatic pasting technical field, relate to a kind of robot coating mechanism, relate in particular to a kind of robot rubber-coated mechanism that floats.
Background technology
At present, robot coating uses more and more extensive.In the process of robot coating, because the curvilinear motion of vehicle body workpiece is many, and during gluing glue rifle and workpiece to contact Gesture higher, often occur that glue rifle bumps against workpiece, glue rifle head is fractureed, periods of robot operation stop or do not reach gluing requirement.
The unsteady glue gunlock structure of existing general robot is mostly to adopt spring floating.Adopt spring floating, spring outer diameter, spring steel wire diameter, spring length are all difficult to select, and need test of many times, and the installation and debugging time is long; And spring has certain life-span, arrived after certain hour, elastic force can change, and these are to be all difficult to calculate and estimate.
Patent CN 101733225A discloses and has made glue rifle and chew equation cylinder floating system and automatic sealing robot, comprise fork, one end and the head of fork are hinged, the other end is fixed with equation cylinder, equation cylinder comprises two cylinders that are fixed together back-to-back, the piston rod of two cylinders stretches out in the opposite direction, wherein piston rod and head are hinged, another root piston rod is fixed with dozen glue and tries to get the first word in, also comprise position sensor, lock cylinder etc., can pass through the air pressure of two cylinders of governing equation cylinder, control is made glue rifle and is chewed pressure, make to beat Jiao Qiangzui and be suspended state, can contact with glass frame is soft, and there is good deformability.But this patent lacks the mode of the unsteady gluing of effective automation.
Summary of the invention
In view of this, the invention provides the unsteady rubber-coated mechanism of a kind of device people.
For achieving the above object, concrete technical scheme is as follows:
A kind of robot rubber-coated mechanism that floats, being applied to robot controls in glue rifle gluing, described unsteady rubber-coated mechanism comprises adpting flange, the axis of guide, linear bearing, connecting plate and single-acting cylinder, described robot is connected with described adpting flange, described adpting flange is connected with one end of the axis of guide, the other end and the linear bearing of the described axis of guide are slidably connected, the other end of the described axis of guide is along described linear bearing traveling priority, described linear bearing is connected with described connecting plate, described connecting plate is connected with described glue rifle, the two ends of described single-acting cylinder are connected with connecting plate with described adpting flange respectively, described single-acting cylinder drives described connecting plate to move with respect to described adpting flange.
Preferably, described single-acting cylinder drives the driving force of described connecting plate to equal the gravity of described connecting plate
Preferably, on the described axis of guide, be also provided with the first cushion collar.
Preferably, between described connecting plate and described glue rifle, be also provided with and there is flexible the second cushion collar.
Preferably, on described the first cushion collar and/or the second cushion collar, be also provided with adjusting anchor ear.
Preferably, on described single-acting cylinder, be also provided with Pressure gauge.
Preferably, the link of described single-acting cylinder is also provided with floating junction.
Preferably, described cushion collar is made by nylon material.
Preferably, the quantity of the described axis of guide, the first cushion collar, linear bearing, the second cushion collar is 4, and between even coin and described adpting flange and connecting plate.
With respect to prior art, the advantage of technical scheme of the present invention has:
1, mechanism simple, be convenient to make;
2, safe and reliable, be convenient to adjust;
While 3, floating, counter-force is little, can protect robot, and glue rifle, workpiece are not collided;
4, glue rifle contacts good and stable with workpiece during gluing.
Accompanying drawing explanation
The accompanying drawing that forms a part of the present invention is used to provide a further understanding of the present invention, and schematic description and description of the present invention is used for explaining the present invention, does not form inappropriate limitation of the present invention.In the accompanying drawings:
Fig. 1 is the structural representation of the embodiment of the present invention;
Fig. 2 is the perspective view of the embodiment of the present invention;
Fig. 3 is the single-acting cylinder structural representation of the embodiment of the present invention.
The specific embodiment
Below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is clearly and completely described, obviously, described embodiment is only the present invention's part embodiment, rather than whole embodiment.Embodiment based in the present invention, those of ordinary skills, not making the every other embodiment obtaining under creative work prerequisite, belong to the scope of protection of the invention.
It should be noted that, in the situation that not conflicting, embodiment and the feature in embodiment in the present invention can combine mutually.
Below with reference to accompanying drawing, embodiments of the invention are done to concrete explaination.
Embodiments of the invention as shown in Figure 1, unsteady rubber-coated mechanism comprises adpting flange 1, the axis of guide 2, linear bearing 5, connecting plate 6 and single-acting cylinder 8.
In being applied to robot 11 control glue rifle 10 gluings, robot 11 is connected with adpting flange 1, and adpting flange 1 is connected with one end of the axis of guide 2, and the other end of the axis of guide 2 and linear bearing 5 are slidably connected.The other end of the axis of guide 2 is along linear bearing 5 traveling priorities.Linear bearing 5 is connected with connecting plate 6, and connecting plate 6 is connected with glue rifle 10.The two ends of single-acting cylinder 8 are connected with connecting plate 6 with adpting flange 1 respectively, single-acting cylinder 8 drives connecting plates 6 with respect to adpting flange 1 motion, preferably driving force be linear bearing 5, connecting plate, glue rifle and on each part gravity 90～110%.
Embodiments of the invention connect robot and glue rifle by single-acting cylinder, use cylinder to produce the required pulling force that floats, and because stable being easy to of power of cylinder regulates, and then installation and debugging are convenient in practice, reliable and stable in work.
As shown in 1 figure, in an embodiment of the present invention, robot 11 controls in glue rifle 10 gluings, comprises unsteady rubber-coated mechanism, Jiao Qiang10He robot 11.It comprises that adpting flange 1, the axis of guide 2, adjusting anchor ear 3, the first cushion collar 4, linear bearing 5, connecting plate 6, the second cushion collar 41, pad 7, single-acting cylinder 8, floating junction 9 form unsteady rubber-coated mechanism.Wherein adpting flange 1 is fixedly connected with robot 11, and connecting plate 6 is fixedly connected with glue rifle 10.
Embodiments of the invention are simple in structure, are convenient to make.For the glue rifle of Different Weight, by Pressure gauge adjusting cylinders pressure, realization is floated, it is easy to adjust, uses stable.Cushion collar 4,41 can be protected glue rifle in something unexpected happened, by regulating the height of anchor ear 3 to regulate the height of cushion collar 4,41.
In addition, as shown in Figures 2 and 3, the quantity of the axis of guide 2 of the embodiment of the present invention, the first cushion collar 4, linear bearing 5, the second cushion collar 41 is 4, and is uniformly distributed between adpting flange 1 and connecting plate 6.And preferred single-acting cylinder 8 is positioned at a side of adpting flange 1 and connecting plate 6.
Embodiments of the invention in actual use, by following steps specific implementation:
1, glue rifle 10 is installed to and floats on rubber-coated mechanism;
2, by Pressure gauge adjusting cylinders pressure, make single-acting cylinder 8 pressure be substantially equal to glue rifle 10 gravity, then finely tune, while making glue rifle 10 slightly contact workpiece, glue rifle 10 floats automatically slightly, and minimum masterpiece is used between workpiece and glue rifle head;
3, robot 11 motions, glue rifle 10 fluctuates along workpiece curve under the effect of cylinder floating power.
Above specific embodiments of the invention be have been described in detail, but it is just as example, the present invention is not restricted to specific embodiment described above.To those skilled in the art, any equivalent modifications that the present invention is carried out and alternative also all among category of the present invention.Therefore, equalization conversion and the modification done without departing from the spirit and scope of the invention, all should contain within the scope of the invention.
Claims (10)
- The 1.Yi Zhong robot rubber-coated mechanism that floats, being applied to robot controls in glue rifle gluing, it is characterized in that, described unsteady rubber-coated mechanism comprises adpting flange, the axis of guide, linear bearing, connecting plate and single-acting cylinder, described robot is connected with described adpting flange, described adpting flange is connected with one end of the axis of guide, the other end and the linear bearing of the described axis of guide are slidably connected, the other end of the described axis of guide is along described linear bearing traveling priority, described linear bearing is connected with described connecting plate, described connecting plate is connected with described glue rifle, the two ends of described single-acting cylinder are connected with connecting plate with described adpting flange respectively, described single-acting cylinder drives described connecting plate to move with respect to described adpting flange.
- 2. the unsteady rubber-coated mechanism of robot as claimed in claim 1, is characterized in that, described single-acting cylinder drives the driving force of described connecting plate to equal the gravity of described connecting plate.
- 3. the unsteady rubber-coated mechanism of robot as claimed in claim 2, is characterized in that, is also provided with the first cushion collar on the described axis of guide.
- 4. the unsteady rubber-coated mechanism of robot as claimed in claim 3, is characterized in that, between described connecting plate and described glue rifle, is also provided with and has flexible the second cushion collar.
- 5. the unsteady rubber-coated mechanism of robot as claimed in claim 4, is characterized in that, on described the first cushion collar and/or the second cushion collar, is also provided with adjusting anchor ear.
- 6. the unsteady rubber-coated mechanism of robot as claimed in claim 5, is characterized in that, is also provided with Pressure gauge on described single-acting cylinder.
- 7. the unsteady rubber-coated mechanism of robot as claimed in claim 6, is characterized in that, the link of described single-acting cylinder is also provided with floating junction.
- 8. the unsteady rubber-coated mechanism of robot as claimed in claim 7, is characterized in that, described cushion collar is made by nylon material.
- 9. the unsteady rubber-coated mechanism of robot as claimed in claim 8, is characterized in that, the quantity of the described axis of guide, the first cushion collar, linear bearing, the second cushion collar is 4, and between even coin and described adpting flange and connecting plate.
- 10. the unsteady rubber-coated mechanism of robot as claimed in claim 9, is characterized in that, described single-acting cylinder is positioned at a side of described adpting flange and connecting plate.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410293648.2A CN104043562B (en) | 2014-06-25 | 2014-06-25 | Robotic floating gluing mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410293648.2A CN104043562B (en) | 2014-06-25 | 2014-06-25 | Robotic floating gluing mechanism |
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| Publication Number | Publication Date |
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| CN104043562A true CN104043562A (en) | 2014-09-17 |
| CN104043562B CN104043562B (en) | 2017-05-03 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201410293648.2A Active CN104043562B (en) | 2014-06-25 | 2014-06-25 | Robotic floating gluing mechanism |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107321540A (en) * | 2017-07-10 | 2017-11-07 | 中国石油天然气集团公司 | A kind of powder spraying chamber adjusting means |
| CN108499807A (en) * | 2018-04-28 | 2018-09-07 | 上海发那科机器人有限公司 | A kind of glass automatic glue spreading device that can be floated |
| CN111113788A (en) * | 2020-01-16 | 2020-05-08 | 智汇轩田智能系统(杭州)有限公司 | Floating mechanism and mould contact pin frock |
| CN111495685A (en) * | 2020-03-23 | 2020-08-07 | 上海发那科机器人有限公司 | Glue coating and edge folding glue gun with floating function |
| CN112474139A (en) * | 2020-11-23 | 2021-03-12 | 朱亚蓉 | Floating application device of auto-parts |
| CN112975095A (en) * | 2019-12-12 | 2021-06-18 | 沈阳新松机器人自动化股份有限公司 | Floating welding gun device for pressure resistance welding |
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| CN101733225A (en) * | 2009-12-07 | 2010-06-16 | 宋晓明 | Equational cylinder floating system of gelatinizing gun mouth and full automatic gelatinizing machine |
| DE202012104197U1 (en) * | 2012-11-02 | 2012-11-23 | Nimak Gmbh | Doser with safety lock cylinder |
| CN203196805U (en) * | 2013-02-21 | 2013-09-18 | 宁波远景汽车零部件有限公司 | Robot glue gun support mechanism |
| CN203245089U (en) * | 2013-03-18 | 2013-10-23 | 常州新区金康精工机械有限公司 | Device for oiling lower cover on motor assembly line |
| CN203991142U (en) * | 2014-06-25 | 2014-12-10 | 上海发那科机器人有限公司 | The unsteady rubber-coated mechanism of a kind of robot |
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2014
- 2014-06-25 CN CN201410293648.2A patent/CN104043562B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101733225A (en) * | 2009-12-07 | 2010-06-16 | 宋晓明 | Equational cylinder floating system of gelatinizing gun mouth and full automatic gelatinizing machine |
| DE202012104197U1 (en) * | 2012-11-02 | 2012-11-23 | Nimak Gmbh | Doser with safety lock cylinder |
| CN203196805U (en) * | 2013-02-21 | 2013-09-18 | 宁波远景汽车零部件有限公司 | Robot glue gun support mechanism |
| CN203245089U (en) * | 2013-03-18 | 2013-10-23 | 常州新区金康精工机械有限公司 | Device for oiling lower cover on motor assembly line |
| CN203991142U (en) * | 2014-06-25 | 2014-12-10 | 上海发那科机器人有限公司 | The unsteady rubber-coated mechanism of a kind of robot |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107321540A (en) * | 2017-07-10 | 2017-11-07 | 中国石油天然气集团公司 | A kind of powder spraying chamber adjusting means |
| CN108499807A (en) * | 2018-04-28 | 2018-09-07 | 上海发那科机器人有限公司 | A kind of glass automatic glue spreading device that can be floated |
| CN112975095A (en) * | 2019-12-12 | 2021-06-18 | 沈阳新松机器人自动化股份有限公司 | Floating welding gun device for pressure resistance welding |
| CN111113788A (en) * | 2020-01-16 | 2020-05-08 | 智汇轩田智能系统(杭州)有限公司 | Floating mechanism and mould contact pin frock |
| CN111495685A (en) * | 2020-03-23 | 2020-08-07 | 上海发那科机器人有限公司 | Glue coating and edge folding glue gun with floating function |
| CN112474139A (en) * | 2020-11-23 | 2021-03-12 | 朱亚蓉 | Floating application device of auto-parts |
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| Publication number | Publication date |
|---|---|
| CN104043562B (en) | 2017-05-03 |
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