CN104971863A - Four-axis robot gumming equipment and technology - Google Patents
Four-axis robot gumming equipment and technology Download PDFInfo
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- CN104971863A CN104971863A CN201510398920.8A CN201510398920A CN104971863A CN 104971863 A CN104971863 A CN 104971863A CN 201510398920 A CN201510398920 A CN 201510398920A CN 104971863 A CN104971863 A CN 104971863A
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- 238000005516 engineering process Methods 0.000 title claims abstract description 47
- 238000012545 processing Methods 0.000 claims abstract description 23
- 239000004814 polyurethane Substances 0.000 claims abstract description 20
- 229920002635 polyurethane Polymers 0.000 claims abstract description 20
- 239000007788 liquid Substances 0.000 claims abstract description 11
- 239000002699 waste material Substances 0.000 claims abstract description 11
- 239000002390 adhesive tape Substances 0.000 claims abstract description 8
- 238000004064 recycling Methods 0.000 claims abstract description 4
- 238000004026 adhesive bonding Methods 0.000 claims description 167
- 239000003292 glue Substances 0.000 claims description 148
- 238000009832 plasma treatment Methods 0.000 claims description 47
- 238000004140 cleaning Methods 0.000 claims description 29
- 239000011248 coating agent Substances 0.000 claims description 26
- 238000000576 coating method Methods 0.000 claims description 26
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims description 22
- 239000000463 material Substances 0.000 claims description 19
- 238000000034 method Methods 0.000 claims description 17
- 238000004513 sizing Methods 0.000 claims description 14
- 239000002904 solvent Substances 0.000 claims description 14
- 238000011084 recovery Methods 0.000 claims description 13
- 239000000853 adhesive Substances 0.000 claims description 11
- 230000001070 adhesive effect Effects 0.000 claims description 11
- 238000013461 design Methods 0.000 claims description 5
- 230000003068 static effect Effects 0.000 claims description 5
- 238000004891 communication Methods 0.000 claims description 3
- 238000003745 diagnosis Methods 0.000 claims description 3
- 238000005259 measurement Methods 0.000 claims description 3
- 239000002184 metal Substances 0.000 claims description 3
- 238000012544 monitoring process Methods 0.000 claims description 3
- 229910052755 nonmetal Inorganic materials 0.000 claims description 3
- 239000002994 raw material Substances 0.000 claims description 3
- 238000004381 surface treatment Methods 0.000 claims description 3
- 238000007789 sealing Methods 0.000 abstract description 9
- 230000000694 effects Effects 0.000 abstract description 3
- 238000005406 washing Methods 0.000 abstract 1
- 238000004519 manufacturing process Methods 0.000 description 9
- 239000000203 mixture Substances 0.000 description 6
- 238000005187 foaming Methods 0.000 description 2
- 238000009434 installation Methods 0.000 description 2
- 238000012423 maintenance Methods 0.000 description 2
- 230000002000 scavenging effect Effects 0.000 description 2
- 229920005830 Polyurethane Foam Polymers 0.000 description 1
- 239000006087 Silane Coupling Agent Substances 0.000 description 1
- 230000006978 adaptation Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 238000005286 illumination Methods 0.000 description 1
- 239000011527 polyurethane coating Substances 0.000 description 1
- 239000011496 polyurethane foam Substances 0.000 description 1
- 230000001737 promoting effect Effects 0.000 description 1
- 238000004528 spin coating Methods 0.000 description 1
- 239000000126 substance Substances 0.000 description 1
Abstract
The invention relates to the technical field of gumming, in particular to four-axis robot gumming equipment and a technology which are used for two-component polyurethane gumming. The four-axis robot gumming equipment is characterized by comprising a four-axis robot, a gum supply device, a two-component gumming head, a double-station automatic gumming workbench or multi-station automatic and rotary gumming workbench, plasma processing equipment, a waste washing liquid recycling device and an intelligent control system. The four-axis robot is of a gantry type or cantilever type structure. The two-component gumming head and aplasma processing head are fixed on the four-axis robot and can achieve X-axis, Y-axis and Z-axis linkage. A workpiece is put on the double-station automatic gumming workbench or multi-station automatic and rotary gumming workbench and is fixed. The two-component gumming head and the plasma processing head are linked along the X-axis, Y-axis and Z-axis to achieve gumming. The polyurethane gumming equipment and the technology are novel, accurate in matching ratio, stable in adhesive tape performance and good in sealing effect.
Description
Technical field
The present invention relates to gluing technical field, for dual-component polyurethane gluing, particularly relate to a kind of four axle robot coating instrument and supplies technology.
Background technology
Sealing manufacturing develops rapidly, and manufacturing process is also constantly weeded out the old and bring forth the new, and traditional sealing ring, sealing gasket or are substituted by on-the-spot dual-component polyurethane foaming sealing strip gluing.Polyurethane foam sealing strip hardness range is wide, wear-resisting, oil resistant, good springiness, and adhesion strength is good, and sealing effectiveness is excellent, and range of application is more and more extensive.Product and the industry such as automobile, rack, illumination, electronics, filter, battery, constantly promoting the properties of product of oneself, the method of traditional manual method or simple automatic double surface gluer cannot meet the industrialization step increasingly developed, adopt automation dual-component polyurethane automatic double surface gluer, become the top priority that these industries are current, robot coating equipment is more and more universal in the application of every profession and trade.Along with the development of the production automation, the quick raising of cost of labor, entreprise cost increases, how to reduce costs, raise the efficiency, realize rapidity, uniformity, uniformity, the automatically theory of unmanned guard gluing be constantly accepted, the robot coating instrument and supplies technology that special the intelligence controlling system controls will substitute backward manual operations and simple automatic double surface gluer.
Summary of the invention
In order to solve the problem, provide a kind of four axle robot coating instrument and supplies technology.The present invention is mainly used in the industry field of sealing technology such as automobile, electronics, light fixture and rack, be a kind of proportioning of novelty accurately, adhesive tape stable performance, polyurethane coating equipment and process technology that sealing effectiveness is good.Two component gluing or one-component gluing can be used for.
The present invention solves the problems of the technologies described above the technical scheme taked to be:
A kind of four axle robot coating instrument and supplies technology, is characterized in that comprising four axle robots, glue feeder, two component gluing head, double automatic glue application workbench or multistation automatic rotation gluing working table, plasma processing, cleaning waste liquid recovery apparatus, automatically lifting workpiece device, intelligence control system;
The version of described four axle robots is planer-type or cantilevered, two component gluing head and plasma treatment head are fixed in four axle robots also can realize X, Y, Z three-shaft linkage, main movement drive disk assembly adopts line slideway, linear bearing, ball-screw, rack-and-pinion or gear, cog belt, servomotor or stepper motor, workpiece is placed on double automatic glue application workbench or multistation automatic rotation gluing working table and maintains static, two component gluing head and plasma treatment head, along X, Y, Z three-shaft linkage, realize gluing; Four axle robots have automatic control operation function, can complete programmable operations, can realize automatic glue application or plasma treatment work; Described workpiece is polyhedron or many curved bodies;
Described glue feeder comprises A glue bucket, B glue bucket, A glue measuring pump, B glue measuring pump, sebific duct, supplies sebific duct road, A sizing material bucket, B sizing material bucket, A glue inside A sizing material bucket is transported in A glue bucket by A glue automatic charging device, and the B glue inside B sizing material bucket is transported in B glue bucket by B glue automatic charging device; The B glue of A glue in A glue bucket in A glue measuring pump and B glue bucket is transported to two component gluing in front respectively through B glue measuring pump, and A glue and B glue are coated onto on workpiece after two component gluing mixes in front;
The described pair of component gluing head can be many component polyurethanes needle-valve water cleaning gluing head or Multi-channel water cleaning double-component gluing head or two component Multifunctional gluing head or one-component gluing head, realize automatic glue application, achieve and first clean with water, then by the mode of compressed air cleaning, solvent is eliminated to the healthy threat that brings of operating personnel and pollution on the environment; Two component Multifunctional gluing head or one-component gluing head can adopt water or the cleaning of solvent two media;
Described double automatic glue application workbench or multistation automatic rotation gluing working table, double automatic glue application workbench adopts servomotor or stepper motor or air cylinder driven, workpiece is placed on respectively on two travelling tables and replaces gluing, i.e. a gluing station and a loading and unloading station; Multistation automatic rotation gluing working table has the station of more than 2, and during gluing, workbench stops the rotation, and completes gluing working table and rotates to next station; On the frock clamp that workpiece is fixed on workbench or workpiece along one degree of freedom or two freedom degree rotatings or swing or movement, and frock clamp clamping and positioning can be used, workpiece and the interlock of four axle robots;
Described plasma processing comprises plasma generator, plasma treatment head, and plasma treatment head aims at gluing workpiece track, and by compressed air, plasma torch is sprayed to the surface of workpiece, plasma treatment head is connected with plasma generator by pipeline; Plasma treatment head is fixed in four axle robots, four axle robots drive plasma treatment head to run, the running orbit of plasma treatment head is consistent with gluing track, plasma surface finishing machine carries out plasma treatment to surface of the work, increase adhesion strength, the adhesive force of polyurethane adhesive tape and workpiece, plasma processing can process metal works or non-metal workpiece;
Described cleaning waste liquid recovery apparatus is provided with recycling bin, by the water after two component gluing head cleaning or solvent recovery;
Described automatic lifting workpiece device comprises the manipulator of lifting workpiece, and manipulator completes the workpiece blanking task after the material loading of workpiece and gluing;
Described intelligence control system comprises robot control cabinet, electrical control cubicles, industrial computer, touch-screen and control software design, control system adopts intelligentized design, automatically controls four axle robots, plasma processing, double automatic glue application workbench or multistation automatic rotation gluing working table, glue feeder, two component gluing head; Adopt numerical control codes technology, the theory of technology Based PC control technology and bus terminal module and TwinCAT automated software and EtherCAT real-time ethernet solution, realize automatically controlling by Ethernet; Smart mobile phone or computer can be utilized by internet, wireless network, Wi-Fi, GPS communication, and Long-distance Control can be realized or consult fast or real time execution monitoring or fault diagnosis, realize quick solution site problems;
By industrial computer, touch-screen, numerical control codes technology, select CAD figure to be processed, first plasma treatment head is adjusted to suitable position, four axle robots, plasma treatment head move along selected graphics track under the commander of intelligence control system, and plasma processing carries out Surface Treatment with Plasma to workpiece glue-coated surface; Two component gluing head is adjusted to suitable position, in gluing process, dual-component polyurethane is transported in gluing head by A glue measuring pump, the accurate measurement of B glue measuring pump, paddle in two component gluing head according to the rotating speed set by two component raw material Homogeneous phase mixing, spue from the nozzle of two component gluing head, four axle robots, the first-class device of two component gluing move along selected graphics track under the commander of intelligence control system, complete gluing; Intelligence control system controls mechanical part and realizes interlock, controls the temperature of adhesive glue, pressure, viscosity, proportioning and reacts hardening time, by accurate metering system, respectively by a certain percentage, and quantitative and even gluing; Double automatic glue application workbench and the interlock of multistation automatic rotation gluing working table, frock clamp and four axle robots.
The invention has the beneficial effects as follows:
1. adopt numerical control codes technology and rationally device layout cleverly, multiple technology is integrated on a set of equipment, adopts four axle robots to realize plasma treatment, the gluing task of automatic control equipment.
2. intelligent: the working procedures such as plasma treatment, gluing process automatically completed on a set of equipment, simplify technique, each operation all adopts Based Intelligent Control, improve more than 30% than traditional handicraft production and processing speed.
3. adopt four axle robots, make robot can fully adapt to different operating modes, give full play to the effect of robot.
4. breach traditional automatic double surface gluer can only on simple workpiece gluing present situation, interlock is realized by intelligence control system, Industrial Computer Control mechanical part, control the temperature of adhesive glue, pressure, viscosity, proportioning and react hardening time, by accurate metering system, respectively by a certain percentage, quantitative and even gluing.
5. automatic servo motor drives double automatic glue application workbench and the interlock of multistation automatic rotation gluing working table, frock clamp and four axle robots, and what the gluing of complex part was become is more prone to.
6. adopt many component polyurethanes needle-valve water cleaning gluing head or Multi-channel water cleaning double-component gluing head to realize automatic glue application.Achieve first with water cleaning, then by the mode of compressed air cleaning, scavenging period shortens, and eliminates solvent to the healthy threat that brings of operating personnel and pollution on the environment, simple and compact for structure, easy for installation, and fast, stability improves in maintenance.Realize the polyurethane in use water cleaning gluing head, utilize light water to clean, substitute solvent clean, reduce production cost, saved the energy, reduce solvent to the pollution of environment.
Accompanying drawing explanation
Fig. 1 is the double automatic glue application Working table structure schematic front view of the present invention four axle robot coating instrument and supplies technology.
Fig. 2 is the double automatic glue application Working table structure diagrammatic top view of the present invention four axle robot coating instrument and supplies technology.
Fig. 3 is the multistation automatic rotation gluing working table structural representation front view of the present invention four axle robot coating instrument and supplies technology.
Fig. 4 is the multistation automatic rotation gluing working table structural representation top view of the present invention four axle robot coating instrument and supplies technology.
In figure, 1, four axle robots, 5, plasma treatment head, 6, two component gluing head, 7, frock clamp, 8, double automatic glue application workbench, 9, glue feeder, 10, A glue bucket, 11, B glue bucket, 12, A glue measuring pump, 13, B glue measuring pump, 14, robot control cabinet, 15, electrical control cubicles, 16, cleaning waste liquid recovery apparatus, 17, A glue automatic charging device, 18, B glue automatic charging device, 19, workpiece, 20, plasma processing, 21, A sizing material bucket, 22, B sizing material bucket, 23, multistation automatic rotation gluing working table.
Detailed description of the invention
Detailed description of the invention one: as shown in figures 1-4, a kind of four axle robot coating instrument and supplies technology, is characterized in that comprising four axle robots 1, glue feeder 9, two component gluing head 6, double automatic glue application workbench 8 or multistation automatic rotation gluing working table 23, plasma processing 20, cleaning waste liquid recovery apparatus 16, intelligence control system;
The version of described four axle robots 1 is planer-type or cantilevered, two component gluing head 6 and plasma treatment 5 to be fixed in four axle robots 1 and can to realize X, Y, Z three-shaft linkage, main movement drive disk assembly adopts line slideway, linear bearing, ball-screw, rack-and-pinion or gear, cog belt, servomotor or stepper motor, workpiece 19 is placed on double automatic glue application workbench 8 or multistation automatic rotation gluing working table 23 and maintains static, two component gluing head 6 and plasma treatment 5, along X, Y, Z three-shaft linkage, realizes gluing; Four axle robots 1 have automatic control operation function, can complete programmable operations, can realize automatic glue application or plasma treatment work; The simple gluing of workpiece 19 gluing track, adopts four axle robot 1 automatic double surface gluers, makes four axle robots 1 adapt to the operating mode of different client, gives full play to the effect of four axle robots 1, reach and make the best use of everything; Described workpiece 19 is polyhedron or many curved bodies;
Described glue feeder 9 comprises A glue bucket 10, B glue bucket 11, A glue measuring pump 12, B glue measuring pump 13, sebific duct, supplies sebific duct road, A sizing material bucket 21, B sizing material bucket 22, A glue inside A sizing material bucket 21 is transported to 10 li, A glue bucket by A glue automatic charging device 17, and the B glue inside B sizing material bucket 22 is transported to 11 li, B glue bucket by B glue automatic charging device 18; The A glue of 10 li, A glue bucket is transported to two component gluing head 6 li through the B glue of A glue measuring pump 12 and 11 li, B glue bucket respectively through B glue measuring pump 13, and A glue and B glue are coated onto on workpiece 19 after mixing in two component gluing head 6;
The described pair of component gluing head 6 can be many component polyurethanes needle-valve water cleaning gluing head or Multi-channel water cleaning double-component gluing head or two component Multifunctional gluing head or one-component gluing head, realize automatic glue application, achieve and first clean with water, then by the mode of compressed air cleaning, scavenging period shortens, eliminate solvent to the healthy threat that brings of operating personnel and pollution on the environment, simple and compact for structure, easy for installation, maintenance fast, stability improves, or the polyurethane that can realize in use water cleaning gluing head, light water is utilized to clean, substitute solvent clean, reduce production cost, save the energy, reduce solvent to the pollution of environment, two component Multifunctional gluing head or one-component gluing head can adopt water or the cleaning of solvent two media, expand the scope of application of gluing head,
Described double automatic glue application workbench 8 or multistation automatic rotation gluing working table 23, double automatic glue application workbench 8 adopts servomotor or stepper motor or air cylinder driven, workpiece 19 is placed on respectively on two travelling tables and replaces gluing, i.e. a gluing station and a loading and unloading station; Multistation automatic rotation gluing working table 23 has the station (in figure 4 stations) of more than 2, and during gluing, workbench stops the rotation, and completes gluing working table and rotates to next station; On the frock clamp 7 that workpiece 19 is fixed on workbench or workpiece 19 can along one degree of freedom or two freedom degree rotatings or swing or movement, and by frock clamp 7 clamping and positioning, workpiece 19 and four axle robots 1 link, realize material loading, location, plasma treatment, gluing and blanking task, adapt to the requirement of different client, different product, production efficiency significantly improves; The accurate location of double automatic glue application workbench 8 or multistation automatic rotation gluing working table 23, actuating speed stepless time adjustment, spin coating workbench maximum gauge can reach 10 meters;
Described plasma processing 20 comprises plasma generator, plasma treatment 5, plasma treatment 5 alignment pieces 19 track, by compressed air, plasma torch is sprayed to the surface of workpiece 19, plasma treatment 5 is connected with plasma generator by pipeline; Plasma treatment 5 is fixed in four axle robots 1, four axle robots 1 drive plasma treatment 5 to run, and the running orbit of plasma treatment 5 is consistent with gluing track, and plasma surface finishing machine carries out plasma treatment to workpiece 19 surface, increase adhesion strength, the adhesive force of polyurethane adhesive tape and workpiece 19, gluing workpiece 19, without any need for adhesive or silane coupling agent, saves operation, effectively reduces costs, speed of production is faster, production efficiency is higher, pollution-free, is conducive to environmental protection; Workpiece 19 is after plasma treatment, and the adhesive strength of adhesive tape significantly improves more than 50%, and gluing quality is obviously improved, and plasma processing 20 can process metal works or non-metal workpiece;
Described cleaning waste liquid recovery apparatus 16 is provided with recycling bin, the water after being cleaned by two component gluing head 6 or solvent recovery;
Described automatic lifting workpiece device comprises the manipulator of lifting workpiece, and manipulator completes the workpiece 19 blanking task after the material loading of workpiece 19 and gluing;
Described intelligence control system comprises robot control cabinet 14, electrical control cubicles 15, industrial computer, touch-screen and control software design, control system adopts intelligentized design, adopt numerical control codes technology and reasonable layout cleverly, the course of action of equipment and gluing chemical technology are organically combined, by material loading, location, plasma treatment, multiple technology such as gluing and blanking is integrated on a set of equipment and completes, automatic control four axle robot 1, plasma processing 20, double automatic glue application workbench 8 or multistation automatic rotation gluing working table 23, glue feeder 9, two component gluing head 6, adopt numerical control codes technology, the theory of technology Based PC control technology and bus terminal module and TwinCAT automated software and EtherCAT real-time ethernet solution, realize automatically controlling by Ethernet, smart mobile phone or computer can be utilized by internet, wireless network, Wi-Fi, GPS communication, and Long-distance Control can be realized or consult fast or real time execution monitoring or fault diagnosis, realize quick solution site problems, significant for growing gluing industry,
By industrial computer, touch-screen, numerical control codes technology, select CAD figure to be processed, first plasma treatment 5 is adjusted to suitable position, four axle robots 1, plasma treatment 5 is moved along selected graphics track under the commander of intelligence control system, and plasma processing 20 pairs of workpiece 19 glue-coated surface carry out Surface Treatment with Plasma; Two component gluing head 6 is adjusted to suitable position, in gluing process, dual-component polyurethane is transported in gluing head by A glue measuring pump 12, the accurate measurement of B glue measuring pump 13, paddle in two component gluing head 6 according to the rotating speed set by two component raw material Homogeneous phase mixing, spue from the nozzle of two component gluing head 6, the devices such as four axle robots 1, two component gluing head 6 move along selected graphics track under the commander of intelligence control system, complete gluing; Complete gluing and take off workpiece 19, place after waiting for a period of time, adhesive tape foaming, polyurethane adhesive tape and workpiece 19 are bonded together, and reach technology and technological requirement; Intelligence control system controls mechanical part and realizes interlock, controls the temperature of adhesive glue, pressure, viscosity, proportioning and reacts hardening time, by accurate metering system, respectively by a certain percentage, and quantitative and even gluing; Double automatic glue application workbench 8 and multistation automatic rotation gluing working table 23, frock clamp 7 and four axle robots 1 link, and what the gluing of complex part 19 was become is more prone to.
Detailed description of the invention two: as shown in figures 1-4, four described axle robot coating instrument and supplies technology, is characterized in that comprising four axle robots 1, glue feeder 9, two component gluing head 6, double automatic glue application workbench 8 or multistation automatic rotation gluing working table 23, cleaning waste liquid recovery apparatus 16, intelligence control system; Only automatic glue application work is realized to workpiece 19, do not carry out surface plasma process.Other composition and annexation identical with detailed description of the invention one.
Detailed description of the invention three: as shown in figures 1-4, four described axle robot coating instrument and supplies technology, it is characterized in that described intelligence control system comprises robot control cabinet 14, electrical control cubicles 15, industrial computer, touch-screen and control software design, control system adopts intelligentized design, automatically controls four axle robots 1, plasma processing 20, double automatic glue application workbench 8 or multistation automatic rotation gluing working table 23, glue feeder 9, two component gluing head 6.Other composition and annexation and detailed description of the invention one, two identical.
Detailed description of the invention four: as shown in figures 1-4, four described axle robot coating instrument and supplies technology, it is characterized in that described double automatic glue application workbench 8 or multistation automatic rotation gluing working table 23 replace with single station automatic glue application workbench, single station automatic glue application workbench maintains static, on the frock clamp 7 that workpiece 19 is fixed on workbench or workpiece 19 can rotate along an axle or swing or mobile, and by frock clamp 7 clamping and positioning, workpiece 19 and four axle robots 1 link.Other composition and annexation and detailed description of the invention one, two or three identical.
Detailed description of the invention five: as shown in figures 1-4, four described axle robot coating instrument and supplies technology, is characterized in that not having A glue automatic charging device 17 and B glue automatic charging device 18, manually A glue and B glue are added in A glue bucket 10 and B glue bucket 11.Other composition and annexation and detailed description of the invention one, two, three or four identical.
Detailed description of the invention six: as shown in figures 1-4, four described axle robot coating instrument and supplies technology, is characterized in that not having described automatic lifting workpiece device.Other composition and annexation and detailed description of the invention one, two, three, four or five identical.
Detailed description of the invention seven: as shown in figures 1-4, four described axle robot coating instrument and supplies technology, is characterized in that being used for two component gluing or one-component gluing.Other composition and annexation and detailed description of the invention one, two, three, four, five or six identical.
It is can understand and apply the invention for the ease of the those of ordinary skill of technical field that above-described embodiment describes.Those of ordinary skill in the art easily can make various amendment to these embodiments, and General Principle described herein are applied in other embodiments and need not through creative work.Therefore, the invention is not restricted to above-mentioned detailed description of the invention, the equivalents that every art technology obtains according to technology enlightenment of the present invention or the technical scheme that equivalence is replaced, all drop within rights protection scope of the present invention.
Operation principle
Application numerical control codes technology and rationally device layout cleverly, multiple to plasma treatment, gluing etc. technology is integrated on a set of equipment, adopt four axle robots, double automatic glue application workbench or multistation automatic rotation gluing working table reasonable coordination, realize the plasma treatment of automatic control equipment, gluing task.The working procedures such as plasma treatment, gluing process automatically completed on a set of equipment, simplify technique, each operation all adopts Based Intelligent Control.Breach traditional automatic double surface gluer can only on simple workpiece gluing present situation, interlock is realized by Industrial Computer Control mechanical part, control the temperature of adhesive glue, pressure, viscosity, proportioning and react hardening time, by accurate metering system, by dual-component polyurethane by a certain percentage, quantitative and even gluing.Double automatic glue application workbench or multistation automatic rotation gluing working table coordinate the interlock of four axle robots, and the frock clamp adapting to above-mentioned gluing accurately locates clamping, makes gluing working table and four axle robot coating equipment perfect adaptations.
Claims (8)
1. four axle robot coating equipment, is characterized in that comprising four axle robots (1), glue feeder (9), two component gluing head (6), double automatic glue application workbench (8) or multistation automatic rotation gluing working table (23), plasma processing (20), cleaning waste liquid recovery apparatus (16), intelligence control system;
The version of described four axle robots (1) is planer-type or cantilevered, two component gluing head (6) and plasma treatment head (5) are fixed on the upper also energy of four axle robots (1) can realize X, Y, Z three-shaft linkage, main movement drive disk assembly adopts line slideway, linear bearing, ball-screw, rack-and-pinion or gear, cog belt, servomotor or stepper motor, workpiece (19) is placed on double automatic glue application workbench (8) or multistation automatic rotation gluing working table (23) and maintains static, two component gluing head (6) and plasma treatment head (5) are along X, Y, Z three-shaft linkage, realize gluing, four axle robots (1) have automatic control operation function, can complete programmable operations, can realize automatic glue application or plasma treatment work, described workpiece 19 is polyhedron or many curved bodies,
Described glue feeder (9) comprises A glue bucket (10), B glue bucket (11), A glue measuring pump (12), B glue measuring pump (13), sebific duct, supplies sebific duct road, A sizing material bucket (21), B sizing material bucket (22), it is inner that the A glue of A sizing material bucket (21) the inside is transported to A glue bucket (10) by A glue automatic charging device (17), and it is inner that the B glue of B sizing material bucket (22) the inside is transported to B glue bucket (11) by B glue automatic charging device (18); It is inner that the inner A glue of A glue bucket (10) is transported to two component gluing head (6) through A glue measuring pump (12) and the inner B glue of B glue bucket (11) respectively through B glue measuring pump (13), and A glue and B glue are coated onto on workpiece (19) after the inner mixing of two component gluing head (6);
The described pair of component gluing head (6) is many component polyurethanes needle-valve water cleaning gluing head or Multi-channel water cleaning double-component gluing head or two component Multifunctional gluing head or one-component gluing head, realize automatic glue application, achieve and first clean with water, then by the mode of compressed air cleaning, solvent is eliminated to the healthy threat that brings of operating personnel and pollution on the environment; Two component Multifunctional gluing head or one-component gluing head can adopt water or the cleaning of solvent two media;
Described double automatic glue application workbench (8) or multistation automatic rotation gluing working table (23), double automatic glue application workbench (8) adopts servomotor or stepper motor or air cylinder driven, workpiece (19) is placed on respectively on two travelling tables and replaces gluing, i.e. a gluing station and a loading and unloading station; Multistation automatic rotation gluing working table (23) has the station of more than 2, and during gluing, workbench stops the rotation, and completes gluing working table and rotates to next station; Workpiece (19) is fixed on the upper or workpiece (19) of the frock clamp (7) of workbench along one degree of freedom or two freedom degree rotatings or swing or movement, and by frock clamp (7) clamping and positioning, workpiece (19) and the interlock of four axle robots (1);
Described plasma processing (20) comprises plasma generator, plasma treatment head (5), plasma treatment head (5) alignment pieces (19) track, by compressed air, plasma torch is sprayed to the surface of workpiece (19), plasma treatment head (5) is connected with plasma generator by pipeline; Plasma treatment head (5) is fixed in four axle robots (1), four axle robots (1) drive plasma treatment head (5) to run, the running orbit of plasma treatment head (5) is consistent with gluing track, plasma surface finishing machine carries out plasma treatment to workpiece (19) surface, increase adhesion strength, the adhesive force of polyurethane adhesive tape and workpiece (19), plasma processing (20) process metal works or non-metal workpiece;
Described cleaning waste liquid recovery apparatus (16) is provided with recycling bin, the water after being cleaned by two component gluing head (6) or solvent recovery;
Described automatic lifting workpiece device comprises the manipulator of lifting workpiece, and manipulator completes workpiece (19) the blanking task after the material loading of workpiece (19) and gluing;
Described intelligence control system comprises robot control cabinet (14), electrical control cubicles (15), industrial computer, touch-screen and control software design, control system adopts intelligentized design, automatically controls four axle robots (1), plasma processing (20), double automatic glue application workbench (8) or multistation automatic rotation gluing working table (23), glue feeder (9), two component gluing head (6); Adopt numerical control codes technology, the theory of technology Based PC control technology and bus terminal module and TwinCAT automated software and EtherCAT real-time ethernet solution, realize automatically controlling by Ethernet; Smart mobile phone or computer can be utilized by internet, wireless network, Wi-Fi, GPS communication, and Long-distance Control can be realized or consult fast or real time execution monitoring or fault diagnosis, realize quick solution site problems;
By industrial computer, touch-screen, numerical control codes technology, select CAD figure to be processed, first plasma treatment head (5) is adjusted to suitable position, four axle robots (1), plasma treatment head (5) move along selected graphics track under the commander of intelligence control system, and plasma processing (20) carries out Surface Treatment with Plasma to workpiece (19) glue-coated surface; Two component gluing head (6) is adjusted to suitable position, in gluing process, dual-component polyurethane is transported in gluing head by A glue measuring pump (12), B glue measuring pump (13) accurate measurement, paddle in two component gluing head (6) according to the rotating speed set by two component raw material Homogeneous phase mixing, spue from the nozzle of two component gluing head (6), four axle robots (1), two component gluing head (6) move along selected graphics track under the commander of intelligence control system, complete gluing; Intelligence control system controls mechanical part and realizes interlock, controls the temperature of adhesive glue, pressure, viscosity, proportioning and reacts hardening time, by accurate metering system, respectively by a certain percentage, and quantitative and even gluing; Double automatic glue application workbench (8) and the interlock of multistation automatic rotation gluing working table (23), frock clamp (7) and four axle robots (1).
2. four axle robot coating equipment according to claim 1, is characterized in that comprising four axle robots (1), glue feeder (9), two component gluing head (6), double automatic glue application workbench (8) or multistation automatic rotation gluing working table (23), cleaning waste liquid recovery apparatus (16), intelligence control system; Only automatic glue application work is realized to workpiece (19), do not carry out surface plasma process.
3. four axle robot coating equipment according to claim 1 and 2, it is characterized in that described intelligence control system comprises robot control cabinet (14), electrical control cubicles (15), industrial computer, touch-screen and control software design, control system adopts intelligentized design, automatically controls four axle robots (1), plasma processing (20), double automatic glue application workbench (8) or multistation automatic rotation gluing working table (23), glue feeder (9), two component gluing head (6).
4. four axle robot coating equipment according to claim 1 and 2, it is characterized in that described double automatic glue application workbench (8) or multistation automatic rotation gluing working table (23) replace with single station automatic glue application workbench, single station automatic glue application workbench maintains static, workpiece (19) is fixed on the upper or workpiece (19) of the frock clamp (7) of workbench along one degree of freedom or two freedom degree rotatings or swing or movement, and by frock clamp (7) clamping and positioning, workpiece (19) and the interlock of four axle robots (1).
5. four axle robot coating equipment according to claim 1 and 2, it is characterized in that there is no A glue automatic charging device (17) and B glue automatic charging device (18), manually A glue and B glue are added in A glue bucket (10) and B glue bucket (11).
6. four axle robot coating equipment according to claim 1 and 2, is characterized in that not having described automatic lifting workpiece device.
7. four axle robot coating equipment according to claim 1 and 2, is characterized in that being used for two component gluing or one-component gluing.
8. four axle robot coating technologies, is characterized in that: comprise four axle robots (1), glue feeder (9), two component gluing head (6), double automatic glue application workbench (8) or multistation automatic rotation gluing working table (23), plasma processing (20), cleaning waste liquid recovery apparatus (16), automatically lifting workpiece device, intelligence control system, by plasma treatment, the multiple technology of gluing is integrated on a set of equipment, adopt three-axis robot or four axle robots or wu-zhi-shan pig or six-joint robot (1), double automatic glue application workbench (8) or multistation automatic rotation gluing working table (23) reasonable coordination, realize the plasma treatment of automatic control equipment, gluing task, interlock is realized by Industrial Computer Control mechanical part, control the temperature of adhesive glue, pressure, viscosity, proportioning and reaction hardening time, pass through accurate metering system, by dual-component polyurethane by a certain percentage, quantitative and even gluing.
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| CN201510398920.8A CN104971863B (en) | 2015-07-03 | 2015-07-03 | Four axle robot coating equipment and technology |
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| CN201510398920.8A CN104971863B (en) | 2015-07-03 | 2015-07-03 | Four axle robot coating equipment and technology |
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| CN105729989A (en) * | 2016-02-29 | 2016-07-06 | 大连华工创新科技股份有限公司 | Automatic gluing equipment of solar panel |
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| CN108273706B (en) * | 2018-03-28 | 2024-04-30 | 埃斯顿（湖北）机器人工程有限公司 | Automatic gluing sealing ring workstation of disc robot |
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Denomination of invention: Four axis robot gluing equipment and technology Effective date of registration: 20220720 Granted publication date: 20170815 Pledgee: Dalian technology Financing Guarantee Co.,Ltd. Pledgor: DALIAN HUAGONG INNOVATION TECHNOLOGY Co.,Ltd. Registration number: Y2022210000105 |
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Granted publication date: 20170815 Pledgee: Dalian technology Financing Guarantee Co.,Ltd. Pledgor: DALIAN HUAGONG INNOVATION TECHNOLOGY Co.,Ltd. Registration number: Y2022210000105 |