CN104069986B - Integrated robot servo automatic adhesive application system and its method - Google Patents
Integrated robot servo automatic adhesive application system and its method Download PDFInfo
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- CN104069986B CN104069986B CN201410293244.3A CN201410293244A CN104069986B CN 104069986 B CN104069986 B CN 104069986B CN 201410293244 A CN201410293244 A CN 201410293244A CN 104069986 B CN104069986 B CN 104069986B
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Abstract
The invention discloses integrated robot servo automatic adhesive application system and its method, including robot and its control unit, glue rifle unit, gumming pump unit and the air supply unit being sequentially connected.Air supply unit is also connected with glue rifle unit.Control unit writes gluing program, and the gel quantity of corresponding glue rifle unit is formulated according to the speed of service of robot cell.Technical scheme is integrated with glue spreading apparatus by robot, not only it is embodied in the integration of robot system and coating system on hardware, more it is embodied in robot directly controlling on the operating type for carrying out servo gluing to glue rifle, and to establish mapping relations between the movement velocity of robot and gel quantity, make robot gel quantity under the different speeds of service uniform and control coating for dispensing glue, gluing effect is good, so as to reduce cost, save space and improve gluing precision.
Description
Technical field
The invention belongs to mechanical equipment automated manufacturing field, more particularly to integrated robot servo automatic adhesive application system
And its method.
Background technology
Gluing is one of important production process in the industry such as automobile, ship, electric, building materials.For glue
Consideration that is poisonous, improving the degree of automation and productivity, improve gluing quality etc., gluing operation via artificial gluing to
Robot coating develops.Being currently based on the coating system of robot has two kinds of implementations, first, glue rifle is fixed, robot crawl
Workpiece carries out gluing；Second, workpiece is fixed, robot crawl glue rifle carries out gluing, no matter which kind of gluing mode, its basic principle
It is：Robot and the coating system system independent as two, robot is responsible for capturing and moves, and coating system is responsible for plastic emitting,
Gel quantity is controlled by quantitative cylinder or flowmeter, and quantitative cylinder or flowmeter are not mounted in glue rifle gum outlet, and the two is by coating system
Nonshared control unit controls coordination of the robots with gluing controller by communication progress gel quantity and speed.
A kind of Chinese patent " Glue Spreading Robot and its glue spreading method " (patent No. application number：201110458653.0) provide
A kind of traditional robot coating method, this method is not to control gel quantity by robot, but is passed through by gluing controller
The gel quantity feedback signal for picking up sensor is judged and is controlled.This traditional robot coating mode has as follows
Deficiency：First, extra gluing controller causes the increase of cost of equipment, control system is complex, while also occupies larger
Space；Second, the coordination between gel quantity and speed not only becomes control by the communication between robot and gluing controller
Cost that is complicated, adding communication apparatus, and can cause to coordinate between gel quantity and speed it is inconsistent, so as to influence
Colloid amount；Third, the gel quantity that the sensor for detection is detected (such as flowmeter) is not the flow of final plastic emitting, that is, pass
Sensor can cause the pressure loss, it is of low quality to ultimately result in gluing to there is sebific duct connection between gum outlet.
Chinese patent " Glue Platform for Automatic Robots " (grant number：CN 201006537Y) provide a kind of multistation
Full-automatic gluing platform, it is possible to increase production efficiency, but do not solve above-mentioned traditional robot gluing mode fundamentally
Deficiency.
Chinese patent " a kind of adhesive dispensing robot with firing pin valve " (CN 202555467U) improves one kind and carries striker
The adhesive dispensing robot of valve, including a robot, and mechanical arm, detection unit, control unit and the teaching being arranged in robot
Device, a firing pin valve are arranged on the end of mechanical arm, improve the effect of dispensing coating technique by firing pin valve, but do not solve it
The problem of his gluing mode.
Therefore, those skilled in the art be directed to develop one kind further improve gluing quality, reduce system cost, subtract
The robot servo automatic adhesive application system of mini system volume, simplify control difficulty.
The content of the invention
In view of this, the present invention is integrated with glue spreading apparatus by robot, and makes the movement velocity and gel quantity of robot
Auto-matching so that robot gel quantity under the different speeds of service is uniform, and gluing effect is good so that reduce cost,
Save space and improve gluing precision.
To reach above-mentioned purpose, concrete technical scheme is as follows：
On the one hand, there is provided a kind of integrated robot servo automatic adhesive application system, it is characterised in that including robot and its
Control unit, glue rifle unit, gumming pump unit and air supply unit, the robot and its control unit connect with the glue rifle unit
Connect, the glue rifle unit is arranged in the robot and its control unit, and the gumming pump is connected with the glue rifle unit, described
Air supply unit is connected with the glue rifle unit and gumming pump unit respectively.
Preferably, the robot and its control unit include robot body, control unit and robotically-driven, described
Control unit includes the robot control unit that is connected with control mainboard and additional axis controller, the robot body with it is described
Robot control unit is connected.
Preferably, the glue rifle unit include drive motor, glue rifle body and apply needle head, the additional axis controller with
The drive motor connection, the drive motor drive the glue rifle body plastic emitting, the glue rifle body and the painting needle head
Releasable connection.
Preferably, the robot cell further includes robot flange, and the glue rifle unit passes through the robot flange
It is connected with the robot body.
On the other hand, there is provided a kind of integrated robot servo automatic glue application method, comprises the following steps：
Step 1, integrated robot servo automatic adhesive application system described above is opened, and carries out preparation；
Step 2, described control unit writes gluing program, and establishes the speed of service and glue rifle list of the robot body
Mapping relations between first drive motor rotating speed；
Step 3, the controller unit controls the robot cell, glue rifle unit to perform gluing；
Step 4, when operation to gluing terminal, gluing is terminated.
Preferably, control unit described in the step 3 controls the speed of service of the robot body, and according to described
The mapping relations of step 2 control the rotating speed of the glue rifle unit drive motor.
Preferably, gluing program includes applying bar shaped glue program in the step 2, and the painting bar shaped glue program includes precoating
Glue, gluing and resorption, the rotating speed of glue rifle unit drive motor in the gluing applied in bar shaped glue program correspond to the machine
The speed of service of device human body.
Preferably, the rotating speed of the glue rifle unit drive motor in the pre- gluing applied in bar shaped glue program is higher than the painting
The rotating speed of glue rifle unit drive motor in glue.
Preferably, the glue rifle unit drive motor in the resorption applied in bar shaped glue program is slowed down and is inverted.
Preferably, the gluing program in the step 2 includes paint point glue program, the control unit described in the painting dispensing
The rotating speed of the glue rifle unit drive motor is controlled by pulse signal.
Preferably, in the painting dispensing, when the robot is by non-glue-applying point to glue-applying point, described control unit hair
The pulse signal gone out switchs to high level by low level, and the rotating speed of the glue rifle unit drive motor is opposite with the pulse signal
Should, switch to quickly accelerate by static.
Relative to the prior art, the advantages of technical scheme, has：
1, change the coordination mode between the robot speed of service and gel quantity.Robot operation of the present invention
Rapport between speed and gel quantity no longer realized by the communication between gluing controller and robot controller, but
Directly controlled by robot controller according to coating technique instruction and rotation command, glue rifle driving are sent to glue rifle driving servomotor
The rotating speed of servomotor has certain mapping relations with the robot speed of service, and the rotating speed of glue rifle driving servomotor determines
Gel quantity, so as to have corresponding relation between the speed of service of robot and gel quantity, that is, is realized by robot operation
The effect of speed control gel quantity.This mode can ensure that robot can change in real time under the different speeds of service
Glue amount, so as to ensure the uniformity of bar shaped glue thickness.
2, system hardware is incorporated, simplifies control system.Plastic emitting is controlled as a result of by the robot speed of service
The gluing mode of amount, can save traditional gluing controller and communication hardware, the drive motor of glue rifle is as the attached of robot
Add axis to be controlled it by robot control cabinet, built between the speed of service and glue rifle drive motor of robot by software
Direct mapping relations are found, the gluing mode with robot speed of service control gel quantity are realized, with traditional gluing mode phase
Than the hardware integration that controls between robot and automatic double surface gluer is one, no longer using traditional gluing controller, it is not required that machine
Communication between device people and gluing controller.So that the control of whole robot coating system is greatly simplified.
3, reduce cost, save space.The present invention reduces gluing controller, flow due to using new gluing theory
The components such as sensor, the communication hardwares such as meter so that the cost of the system integration is greatly reduced；System component, particularly gluing
The reduction of controller, can reduce the spatial volume of system, and space is saved for industrial application place.
4, improve gluing precision.Traditional gluing mode needs to be detected the flow of glue, for flow detection
The valve that flowmeter is controlled with controller often not in same place, has the sebific duct of certain distance, is supplying glue process between the two
In, the sebific duct between flowmeter and valve can cause glue to have certain crushing and time lag, cause gluing accurately to control.By
Feedback to flow is carried out in present invention employs the coating system development scheme of integration, not using flowmeter, it is not required that
By its flow of Valve controlling, but gel quantity is accurately controlled by the rotating speed of motor, correspondingly gluing quality can also improve.
5, it is possible to achieve a variety of gluing modes.Due to control system hardware integration so that glue rifle driving motor is as additional
Axis can be robotically controlled, and the method can be realized same glue rifle progress bar shaped glue and dispensing coating.When applying bar shaped glue,
The rotating speed of glue rifle motor establishes mapping relations with the robot speed of service；When applying dispensing, when robot runs to glue-applying point,
Slow down simultaneously out of service, while the pulse suitable with robot dwell time is sent to glue rifle driving motor, so that glue rifle carries out
Dispensing coats.The change of any hardware is not required in above two working method, it is only necessary to passes through software exchange.
Brief description of the drawings
The attached drawing for forming the part of the present invention is used for providing a further understanding of the present invention, schematic reality of the invention
Apply example and its explanation is used to explain the present invention, do not form inappropriate limitation of the present invention.In the accompanying drawings：
Fig. 1 is the structure diagram of present system embodiment；
Fig. 2 is that the bar shaped Jiao Shi robot speeds of service and glue rifle drive motor velocity of rotation relation are applied in the embodiment of the present invention
Figure；
Fig. 3 is that the dispensing opportunity device people speed of service and glue rifle drive motor velocity of rotation relation are applied in the embodiment of the present invention
Figure；
Fig. 4 is the gluing flow chart of the method for the present invention embodiment.
Embodiment
Below in conjunction with the attached drawing in the embodiment of the present invention, the technical solution in the embodiment of the present invention is carried out clear, complete
Site preparation describes, it is clear that described embodiment is only part of the embodiment of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, those of ordinary skill in the art are obtained every other without making creative work
Embodiment, belongs to the scope of protection of the invention.
It should be noted that in the case where there is no conflict, the feature in embodiment and embodiment in the present invention can phase
Mutually combination.
Specific explaination is done to the embodiment of the present invention below with reference to attached drawing.
The integrated robot servo automatic adhesive application system of the embodiment of the present invention as shown in Figure 1, including robot and
Its control unit, glue rifle unit 4, gumming pump unit and air supply unit.
Robot and its control unit are connected with glue rifle unit 4, the operation of control glue rifle unit 4.Gumming pump and glue rifle list
Member 4 connects, and air supply unit is connected with glue rifle unit 4 and gumming pump unit respectively.
Integrated robot servo automatic glue application method, comprises the following steps：
Step 1, integrated robot servo automatic adhesive application system is opened, and carries out preparation；
Step 2, control unit 1 writes gluing program, and establishes the speed of service of robot body 2 and glue rifle unit 4 drives
Mapping relations between 5 rotating speed of dynamic motor；
Step 3, control unit 1 controls robot body 2, glue rifle unit 4 to perform gluing；
Step 4, when operation to gluing terminal, gluing is terminated.
The embodiment of the present invention is integrated with glue spreading apparatus by robot, and causes the movement velocity and gel quantity of robot
Auto-matching, reduce cost, save space and improve gluing precision.
In an embodiment of the present invention, robot and its control unit include robot body 2, control unit 1 and machine
People drives.Robotically-driven is preferably servomotor.
Control unit 1 controls the speed of service of robot body 2, and according to the speed of service and glue rifle of robot body 2
The rotating speed of 4 drive motor 5 of mapping relations control glue rifle unit between 4 drive motor of unit, 5 rotating speed.Due to glue rifle unit 4
The rotating speed of drive motor 5 determines gel quantity, and control unit 1 directly drives 4 drive motor 5 of glue rifle unit, and and robot
The speed of service of body 2 forms mapping relations, and control unit 1 is formed to glue rifle unit 4 again while robot body 2 are controlled
The control of 5 rotating speed of drive motor, i.e., form gel quantity and control, and can form Auto-matching, is saving the same of system cost
When gel quantity accurately controlled by rotating speed, improve gluing quality.
It is preferred that control unit 1 includes the robot control unit being connected with control mainboard and additional axis controller, robot
Body 2 is connected with robot control unit.Control the machine of the additional axis controller and control robot body 2 of glue rifle unit 4
People's control unit shares a set of control mainboard.
The robot control unit of control unit 1 preferably includes the controller supporting with robot body 2, in order to control machine
Software and hardware equipment necessary to people and necessary communication module.Control unit 1 should have may be used also in addition to robot is controlled
The function of additional shaft is controlled, first choice is the standard software or hardware supporting with robot body in coating technique 2, but is not limited to
This, can also use the software specially developed or hardware met the requirements, which connects robot body by accessory cables
2, to achieve the purpose that robot is communicated and controlled with robot.
As shown in Figure 1, in an embodiment of the present invention, robot body 2 passes through robot flange 3 and 4 phase of glue rifle unit
Even.
Robot body 2 is preferred for 6 axis joint robots of series connection, but not limited to this, can also use meet measurement request
Lower-mobility robot or other equipment.
Robot flange 3 is professional standard flange or the non-standard flange that can be met the requirements, and installed in robot end, is used for
Connect glue rifle unit 4.
Glue rifle unit 4 includes drive motor 5, glue rifle body 15, applies needle head 14, mixing valve 13, voltage-stablizer 16, pressure biography
Sensor 17.
Drive motor 5 is preferably servomotor, but not limited to this, it is possible to use meet other controllable electrics that driving requires
Machine.Drive motor 5 is connected with glue rifle body 15, and preferred glue rifle body 15 is the screw rod rifle for being capable of quantitative sealant yielding, but not limited to this,
Other coating guns for meeting quantitative sealant yielding requirement can also be used.The lower section of glue rifle body 15 is applies needle head 14, with glue rifle body 15
It is connected through a screw thread, can be according to the painting differently composed series of needle head gum outlet diameter in order to adapt to apply out the glue of different thicknesses.
15 side of glue rifle body is connected with mixing valve 13, and mixing valve 13 is opened by gases at high pressure, and it is to ensure gluing that it, which is acted on,
Pressure in certain scope.
The opposite side of glue rifle body 15 is connected with voltage-stablizer 16, and glue enters voltage-stablizer 16 by mixing valve 13 during gluing, makes
Voltage-stablizer 16 reaches certain pressure.When gluing pressure reduces, the glue of voltage-stablizer 16 is supplemented into glue rifle body 15,
When gluing pressure increases, glue enters voltage-stablizer 16 to reduce 15 pressure of glue rifle body.16 lower part of voltage-stablizer can install pressure
Sensor 17, the signal of pressure sensor 17 can feed back to the analog quantity receiving module 19 in control unit 1, can also pass through
Digital display 18 is shown.
Include glue pump 11 and sebific duct 12 for glue unit.Glue pump 11 it is preferred in the market it is general can meet 13 pressure of mixing valve
It is required that glue pump 11, but not limited to this, it is possible to use and the non-standard glue that meets the requirements pump 11, preferably includes plastic container and pressure
Pump.Glue pump 11 is connected by sebific duct 12 with mixing valve 13, and sebific duct 12 is the mark for meeting connection size requirement and gluing pressure requirements
Quasi- sebific duct.
Air supply unit is by air pump 8, first pressure regulating valve 7, second pressure regulating valve 9, the first tracheae 6, the second tracheae 10
Form, the gas of different pressure, and stable gas pressure can be supplied glue pump and glue rifle at the same time.Air pump 8 produces certain gases at high pressure,
Mixing valve 13 is reached by the first tracheae 6 after 7 pressure regulation of first pressure regulating valve reaches authorized pressure, by second pressure tune
Section 9 pressure regulation of valve reaches reaches glue pump 11 after authorized pressure by the second tracheae 10.
As shown in Fig. 2, in the embodiment of the method for the present invention, the basic principle for applying bar shaped glue can be by the machine of robot body
The device people speed of service and the drive motor of glue rifle unit, i.e. the velocity of rotation relation of glue rifle motor represent.The figure upper part is
The figure that the robot speed of service changes over time, lower part are the figure that corresponding glue rifle motor operation speed changes over time.
R1, r2 are that robot starts the stage for being zero to deceleration from uniform motion before gluing, wherein r1 for robot at the uniform velocity
Motion stage, r2 are the robot decelerating phase.At the end of robot deceleration is zero i.e. r2 stages, it is set as that robot glue rifle is opened
Rifle phases-time midpoint, that is, r3, afterwards robot enter stage of accelerated motion, that is, r4.
In the process, glue rifle motor has also carried out a series of corresponding movements, and glue rifle motor is not before r2 motion stages
Movement is g1, and robot receives shooting time command afterwards, and glue rifle motor is rapidly accelerated to certain speed i.e. g2 processes, g3 and is
Pre- gluing stage, the rotating speed of glue rifle motor are higher than the rotating speed of glue rifle motor in gluing, it is therefore an objective to gluing beginning glue rifle and
Needle portion could quickly fill up glue, and this time can adjust, and g4 valencys section is glue rifle motor quick deceleration to corresponding with robot TCP speed
Application rate.
Afterwards, into the gluing stage, if the speed of service of robot is carried out with r5, the speed of service of glue rifle motor is with g5
Carry out, g5 and r5 are corresponded to.
When stopping gluing, robot decelerates to zero i.e. r6 first, is then accelerated to certain speed, glue rifle from gluing
Position movement is come, i.e. r8 and r9.During this, glue rifle motor quick deceleration is simultaneously inverted to certain speed i.e. g6 processes, g7
For the process of glue rifle motor reversal glue rifle resorption, it is therefore an objective to carry out quick resorption to glue at the end of gluing, avoid the cementing tail of figure
It is thicker, it can also avoid wire drawing and drop glue.Enter g8 stage decelerations to zero afterwards and close rifle and enter the g9 stages.
The embodiment of the method for the present invention, which applies the bar shaped Jiao Shi robot speeds of service and glue rifle motor rotation speed, has relation,
And have unique correspondence between glue rifle motor rotation speed and gel quantity, therefore, only need to control for the control for applying bar shaped glue
The switch of glue rifle mixing valve and the speed of service of robot；For the beginning and end of bar shaped glue, it is contemplated that glue has
There is certain flexibility, carrying out the pre- terminal that is coated in starting point respectively carries out resorption, it is ensured that whole bar shaped glue thickness is consistent.
As shown in figure 3, the present invention embodiment of the method in, apply basic principle for dispensing glue can by the robot speed of service with
Glue rifle motor rotation speed relation represents.15 represent glue rifle body, and 14 represent to apply needle head, and p1 represents first glue-applying point, p2
Represent second glue-applying point.The robot speed of service, control pulse, glue rifle motor operation speed change with time respectively as schemed
Shown in.
R10 is moved to first glue-applying point for robot with constant speed, and r11 is the process that robot slows down, and r12 is
The center time point that glue rifle is opened, r13 are the process that robot accelerates to certain speed of service；During this, control wave
It is low level in the P10 stages, when robot is run to before P1 points, robot sends pulse command, and p11 is pulse step junction
Section, p12 is the pulse persistance high level stage, and this time is adjustable, and p13 is pulse falling edge；In the process, glue rifle motor operation
Speed is corresponding with control pulse, and g10 is does not shoot the stage, and g11 is the quick boost phase of glue rifle motor, and g12 is the gluing stage,
This time is suitable with the control burst length, and g13 drives the motor quick deceleration stage for glue rifle.Hereafter, process above is repeated
Carry out the gluing of second point.
In the embodiment of the method for the present invention, application of the invention can carry out the different gluing sides such as bar shaped glue and dispensing
Formula, when carrying out different gluing modes, gluing quality from the extraneous factors such as the influence of glue viscosity, environment temperature shadow
Ring.
The coating of folding adhesive and damping rubber can be carried out by being reflected in technique；Carrying out bar shaped glue and coating technique for dispensing glue
Switching can be realized by software completely, it is not necessary to the change of hardware.
As shown in figure 4, in the embodiment of the method for the present invention, step s1-s10 characterizes the basic process of gluing.At this
The step 1 of the embodiment of the method for invention includes step s1 to s3, and step 2 includes step s4, and step 3 includes step s5 to s9, step
Rapid 4 include step s10.
Step s1 is to be powered on to system electrification, including to robot body and glue rifle unit；Step s2 wraps to open source of the gas
Include to gumming pump unit and glue rifle unit supply, and reach required pressure.Step s3 is the gluing parameter to control unit 1
Setting, the glue rifle when rotating speed and acceleration, resorption of main glue rifle motor when including shooting in advance and closing rifle time, precompressed in advance
The rotating speed and acceleration of motor；
Step s4 is formulates coating technique program, and mainly the technological parameter such as the thickness to gluing, flow carries out during this
Formulate.Establish the mapping relations between the speed of service of robot body and glue rifle unit drive motor rotating speed.
Step s5 is combined as shown in fig. 1 to judge whether that gluing pressure reaches predetermined value, and pressure passes through voltage-stablizer 16
On pressure sensor 17 detect, pressure signal can be transmitted directly to the analog quantity in control unit 1 in a manner of analog quantity
Receiving module 19, can also be shown by digital display 18, if pressure is unsatisfactory for predetermined value, enter step s6, be waited
60s is measured again, until pressure meets predetermined value requirement.If pressure meets predetermined value, s7 is entered step, for work
Part wants the shape at gluing, carries out writing for robot coating track program.
Step s8 represents that robot runs to the starting point at gluing, performs shooting instruction, starts gluing；Step s9 represents machine
Device people needs to call different coating techniques when running to the different glue-coated surfaces of workpiece.
Step s10 represents that robot runs to gluing terminal, and robot, which performs, closes rifle instruction, terminates gluing.
The specific embodiment of the present invention is described in detail above, but it is only used as example, and the present invention is not intended to limit
In particular embodiments described above.To those skilled in the art, it is any to the practicality carry out equivalent modifications and replace
In generation, is also all among scope of the invention.Therefore, the impartial conversion made without departing from the spirit and scope of the invention and repair
Change, all should be contained within the scope of the invention.
Claims (2)
- A kind of 1. painting bar shaped gluing method including integrated robot servo automatic adhesive application system, it is characterised in thatIncluding integrated robot servo automatic adhesive application system, the integrated robot servo automatic adhesive application system includes machine People and its control unit, glue rifle unit, gumming pump unit and air supply unit, the robot and its control unit and the glue rifle Unit connects, and the glue rifle unit is arranged in the robot and its control unit, the gumming pump unit and the glue rifle list Member connection, the air supply unit are connected with the glue rifle unit and gumming pump unit respectively；The robot and its control unit include robot body, control unit and robotically-driven, described control unit bag The robot control unit being connected with control mainboard and additional axis controller are included, the robot body is controlled with the robot Unit is connected；The glue rifle unit includes drive motor, glue rifle body and applies needle head, the additional axis controller and the driving horse Up to connection, the drive motor drives the glue rifle body plastic emitting, the glue rifle body and the painting needle head releasable connection；It is as follows to apply bar shaped gluing method：Step 1, integrated robot servo automatic adhesive application system is opened, and carries out preparation；Step 2, described control unit writes gluing program, and establishes the speed of service and the drive of glue rifle unit of the robot body Mapping relations between dynamic motor rotary speed；Step 3, described control unit controls the robot body, glue rifle unit to perform gluing；Step 4, when operation to gluing terminal, gluing is terminated；Control unit described in the step 3 controls the speed of service of the robot body, and according to the mapping of the step 2 Relation controls the rotating speed of the glue rifle unit drive motor；For gluing program to apply bar shaped glue program, the painting bar shaped glue program includes precoating glue, gluing and resorption in the step 2, The rotating speed of glue rifle unit drive motor in the gluing applied in bar shaped glue program corresponds to the operation of the robot body Speed；In the step 3, gluing stage of execution includes first stage, second stage, phase III, fourth stage and the successively Five stages；In the first stage, the robot body uniform motion, the drive motor is static；In the second stage In, it is zero that the robot body, which slows down, and the drive motor is rapidly accelerated to certain speed and enters the precoating glue stage；In the phase III, the robot body accelerates, and the rotating speed of the drive motor is higher than in gluing at this time The rotating speed of drive motor；In the fourth stage, the drive motor quick deceleration to application rate corresponding with the robot body；In the 5th stage, the robot body carries out gluing, the speed of service of the robot body and the drive The speed of service of dynamic motor corresponds to；In the step 4, end gluing stage of the robot body include the 6th stage, the 7th stage, the 8th stage and 9th stage；In the 6th stage, the robot body slows down, the drive motor quick deceleration；In the 7th stage In, the robot body continues to be decelerated to zero, and the drive motor is inverted to certain speed；In the 8th stage, the robot body accelerates to certain speed；The drive motor decelerates to zero；In the 9th stage, the robot body comes the glue rifle unit from glue sites movement, the glue rifle Unit closes rifle.
- A kind of 2. painting dispensing method for including integrated robot servo automatic adhesive application system, it is characterised in thatIncluding integrated robot servo automatic adhesive application system, the integrated robot servo automatic adhesive application system includes machine People and its control unit, glue rifle unit, gumming pump unit and air supply unit, the robot and its control unit and the glue rifle Unit connects, and the glue rifle unit is arranged in the robot and its control unit, the gumming pump unit and the glue rifle list Member connection, the air supply unit are connected with the glue rifle unit and gumming pump unit respectively；The robot and its control unit include robot body, control unit and robotically-driven, described control unit bag The robot control unit being connected with control mainboard and additional axis controller are included, the robot body is controlled with the robot Unit is connected；The glue rifle unit includes drive motor, glue rifle body and applies needle head, the additional axis controller and the driving horse Up to connection, the drive motor drives the glue rifle body plastic emitting, the glue rifle body and the painting needle head releasable connection；It is as follows to apply dispensing method：Step 1, integrated robot servo automatic adhesive application system is opened, and carries out preparation；Step 2, described control unit writes gluing program, and establishes the speed of service and the drive of glue rifle unit of the robot body Mapping relations between dynamic motor rotary speed；Step 3, described control unit controls the robot body, glue rifle unit to perform gluing；Step 4, when operation to gluing terminal, gluing is terminated；Control unit described in the step 3 controls the speed of service of the robot body, and according to the mapping of the step 2 Relation controls the rotating speed of the glue rifle unit drive motor；Gluing program in the step 2 is applies dispensing program, and control unit passes through pulse signal described in the painting dispensing Control the rotating speed of the glue rifle unit drive motor；In the painting dispensing, when the robot body is by non-glue-applying point to glue-applying point, arteries and veins that described control unit is sent Rush signal and high level is switched to by low level, the rotating speed of the glue rifle unit drive motor is corresponding with the pulse signal, by quiet Rotation stop accelerates to be quick；In the step 3, the gluing stage of execution includes the tenth stage, the 11st stage, the tenth two-stage and the 13rd successively Stage；In the tenth stage, the robot body is moved to glue-applying point with constant speed, and the pulse signal maintains Low level, the drive motor are static；In the 11st stage, the robot body slows down, and the pulse signal enters pulse transitions stage, the drive Dynamic motor quickly accelerates；In the tenth two-stage, the glue rifle unit is opened, and the pulse signal maintains high level, the drive motor into Enter the gluing stage；In the 13rd stage, the robot body accelerates to certain speed of service, and the pulse signal, which enters, to be declined Stage, the drive motor quick deceleration.
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|---|---|---|---|---|
| CN106140558B (en) * | 2015-04-20 | 2019-01-18 | 上海通用汽车有限公司 | Integrated form servo gluing system and gluing control method |
| CN105880081B (en) * | 2016-06-23 | 2018-03-16 | 西安工业大学 | Optical Fiber Winding glue-spraying device |
| CN110394282A (en) * | 2018-04-24 | 2019-11-01 | 上海锺炜科技工程有限公司 | Pressure control straight channel coating system and its method based on robot technology |
| CN112337751B (en) * | 2019-08-09 | 2022-02-15 | 竑腾科技股份有限公司 | Control method for preventing glue leakage of glue dispenser |
| CN110665757A (en) * | 2019-10-17 | 2020-01-10 | 一汽轿车股份有限公司 | Robot quantitative gluing device |
| CN113892731B (en) * | 2021-10-13 | 2023-05-02 | 云路复合材料(上海)有限公司 | Three-dimensional curved surface quantitative gluing system and three-dimensional curved surface quantitative gluing method |
| CN114505207B (en) * | 2022-01-14 | 2022-12-09 | 苏州希盟科技股份有限公司 | Motion control method and system for uniform coating dispenser |
| CN114950888B (en) * | 2022-07-08 | 2023-04-07 | 昆山丘钛光电科技有限公司 | Method, device, equipment and medium for determining pressure of needle cylinder of dispenser |
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2014
- 2014-06-25 CN CN201410293244.3A patent/CN104069986B/en active Active
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