CN106733349B - It is a kind of for processing the glue spraying robot system and its glue spraying method of plate-type work - Google Patents
It is a kind of for processing the glue spraying robot system and its glue spraying method of plate-type work Download PDFInfo
- Publication number
- CN106733349B CN106733349B CN201710034106.7A CN201710034106A CN106733349B CN 106733349 B CN106733349 B CN 106733349B CN 201710034106 A CN201710034106 A CN 201710034106A CN 106733349 B CN106733349 B CN 106733349B
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- Prior art keywords
- glue
- glue spraying
- workpiece
- transmission mechanism
- spraying
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- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
- B05B13/00—Machines or plants for applying liquids or other fluent materials to surfaces of objects or other work by spraying, not covered by groups B05B1/00 - B05B11/00
- B05B13/02—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work
- B05B13/04—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work the spray heads being moved during spraying operation
- B05B13/0431—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work the spray heads being moved during spraying operation with spray heads moved by robots or articulated arms, e.g. for applying liquid or other fluent material to 3D-surfaces
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
- B05B12/00—Arrangements for controlling delivery; Arrangements for controlling the spray area
- B05B12/02—Arrangements for controlling delivery; Arrangements for controlling the spray area for controlling time, or sequence, of delivery
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
- B05B13/00—Machines or plants for applying liquids or other fluent materials to surfaces of objects or other work by spraying, not covered by groups B05B1/00 - B05B11/00
- B05B13/02—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work
- B05B13/0221—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work characterised by the means for moving or conveying the objects or other work, e.g. conveyor belts
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
- B05B13/00—Machines or plants for applying liquids or other fluent materials to surfaces of objects or other work by spraying, not covered by groups B05B1/00 - B05B11/00
- B05B13/02—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work
- B05B13/0278—Arrangement or mounting of spray heads
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
- B05B15/00—Details of spraying plant or spraying apparatus not otherwise provided for; Accessories
- B05B15/70—Arrangements for moving spray heads automatically to or from the working position
Abstract
It is specially a kind of for processing the glue spraying robot system and its glue spraying method of plate-type work the present invention relates to plate-type work processing and manufacturing technology.It is a kind of for processing the glue spraying robot system of plate-type work, it is a kind of for processing the glue spraying robot system of plate-type work, including several glue-spraying mechanisms, each glue-spraying mechanism includes rack, the transmitting device being arranged on the rack, visual processes room, glue-spraying device and control device；The transmitting device includes the sequentially connected planar annular transmission mechanism of several groups head and the tail and the pallet that planar annular transmission mechanism upper surface is arranged in.The present invention can carry out accurately and accurately glue spraying to plate-type work, have high production efficiency, save glue, easy to operate, and defect rate is low, and quality is stablized, securely and reliably, the advantages that high degree of automation.
Description
Technical field
It is specially a kind of for processing the glue sprayer of plate-type work the present invention relates to plate-type work processing and manufacturing technology
Device people system and its glue spraying method.
Background technique
Office chair needs to carry out glue spraying processing to sponge and plank, then by sponge and wood during processing and manufacturing
Plate bonding.Traditional glue spraying process is all realized using manual operation, hand-manipulated although the operation is easier
Not only at high cost, low efficiency is also uneven to the glue spraying of sponge or board surface, wastes glue, the quality of product can not
It keeps stablizing, and importantly, the working environment of sprayed glues drastically influences the health of staff, is a kind of
The working environment of high-risk.
In order to solve the industry during production office chair, the above problem which encounters, this field
Technical staff have developed the rubber spray production systems of a variety of office automatic chairs, have to industry industrial upgrading positive
Effect, but the automatization level of most of production systems is not high, cannot really realize that automatic intelligent produces, and glue spraying effect
It is not very good.
Summary of the invention
In view of the problems of the existing technology the present invention, proposes a kind of for processing the system, glue spraying robot of plate-type work
System and its glue spraying method can carry out accurately and accurately glue spraying to plate-type work, have high production efficiency, save glue, operation
Simply, defect rate is low, and quality is stablized, securely and reliably, the advantages that high degree of automation.
The technical solution adopted by the present invention to solve the technical problems is: a kind of for processing the glue spraying machine of plate-type work
People's system, including several glue-spraying mechanisms, each glue-spraying mechanism includes rack, the transmitting device being arranged on the rack, vision
Handle room, glue-spraying device and control device；
The transmitting device includes the sequentially connected planar annular transmission mechanism of several groups head and the tail and is arranged in the annular
The pallet of plane transmission mechanism upper surface；
The visual processes room includes being socketed with the planar annular transmission mechanism, making the part planar annular driver
Structure mounting rack on its interior, is arranged in the industrial camera on the mounting rack, and the LED light source on the mounting rack is arranged in
With the shading sheet for closing the mounting rack；
The glue-spraying device includes the glue spraying spiral volley of rifle fire being arranged on the mounting rack, and the rack side is arranged in
Hot melt adhesive machine, and the sebific duct of the connection hot melt adhesive machine and the glue spraying spiral volley of rifle fire；The glue spraying spiral volley of rifle fire includes one
Arrange the single rifle being arranged at equal intervals；
The control device includes control cabinet, and the liquid for being arranged on the mounting rack, being electrically connected with the control cabinet
Crystalline substance screen；Control computing unit, main control board and power supply are equipped with inside the control cabinet；The control computing unit and the work
Industry camera and the liquid crystal display are electrically connected.
It is mounted on the visual processes room on planar annular transmission mechanism, detects what planar annular transmission mechanism was sent
This information is passed to control computing unit by outer dimension, position, the posture of workpiece to be sprayed, controls computing unit to workpiece
It models, the workpiece data prestored in comparison database judges the information such as workpiece model, size, position, posture, according to these
Information determines the track to be sprayed of workpiece, when generating the start and stop of the volley of rifle fire finally by the transporting rate of track to be sprayed and workpiece
Sequence, controls volley of rifle fire sports glue-spraying, and workpiece data can be worker and is input on liquid crystal display inside control computing unit by hand.
Preferably, the planar annular transmission mechanism includes endless single layer transmission line, the endless single layer transmission line point
Not by motor all the way by chain drive, chain-driving is connected to the pallet on chain link and does circulatory motion.
Preferably, the planar annular transmission mechanism is drum-type or car-type transmission mechanism.
Preferably, the pallet includes hard floor layer and polytetrafluoroethylplastic plastic top plate layer, the backplane level and institute
Top plate layer is stated to fix by rivet.
Preferably, the interval in the glue spraying spiral volley of rifle fire between single rifle quantity and two single rifles need to be with the pallet
Side length is equipped with.
A kind of glue spraying method using above-mentioned glue spraying robot system, includes the following steps,
1) data that staff needs the workpiece of glue spraying by pointing at input on liquid crystal display, make data storage to control
Inside computing unit；
2) workpiece to glue spraying is placed on pallet, is passed pallet with constant speed by planar annular transmission mechanism
It send to visual processes room；
3) workpiece is shot by industrial camera, the outer dimension of workpiece, position, posture information is passed into control and calculate list
Member controls computing unit to workpiece modeling, and the workpiece data prestored in comparison database, in conjunction with the model, size, position of workpiece
Set, posture is to form a track to be sprayed, pass through track to be sprayed and combine workpiece delivery rate generate glue spraying spiral row
The start and stop timing of each single rifle of rifle；
4) glue spraying is carried out on planar annular transmission mechanism with the workpiece that given pace is advanced by the glue spraying spiral volley of rifle fire；
5) after the completion of glue spraying, planar annular transmission mechanism continues for pallet to be sent to forward at next technique, and by pallet
Initial position is returned to by planar annular transmission mechanism.
The invention has the advantages that model, position, angle that 1. vision systems are capable of automatic identification workpiece are sprayed to control
The glue spiral volley of rifle fire start-stop time, by preset glue spraying track glue spraying, high degree of automation；
2. liquid crystal touch screen human-computer interaction interface, when the new workpiece of every increase, by worker on touch LCD screen simply
Scribble can be achieved with glue spraying path and workpiece memory function, easy to operate without highly difficult operations such as cartridge paper or programmings；
3. going out shape and the position of workpiece to be painted by image recognition, the sizing material waste of broad irrigation formula glue spraying is avoided,
It realizes and presses the accurate glue spraying of desired guiding trajectory；
4. eliminating the movement of mechanical arm type by the way of the glue spraying volley of rifle fire, mechanism is simple and reliable, relatively single rifle, spray
Glue speed improves nearly 20 times；
5. 175 DEG C of hot melt adhesive is avoided to scald worker, industrial accident is reduced；
It is rear when pasting sponge 6. avoid single worker elder generation glue spraying, switch time-consuming between two-step, causes hot melt adhesive cooling not
It is viscous, unstable quality；
7. the glue spraying track consistency of workpiece of the same race is good, relatively artificial more arbitrarily glue spraying track is more reasonable, adhesion strength
It is stronger, also more save glue, it is contemplated that save 5-15% glue quantity.
Detailed description of the invention
Fig. 1 is that the present invention is a kind of for processing the structural schematic diagram of the glue spraying robot system of plate-type work；
Wherein, 1, rack, 21, planar annular transmission mechanism, 22, pallet, 31, mounting rack, 33, shading sheet, 43, spray
The glue spiral volley of rifle fire, 44, hot melt adhesive machine, 51, control cabinet, 52, liquid crystal display.
Specific embodiment
To further illustrate the technical scheme of the present invention below with reference to the accompanying drawings and specific embodiments.
As shown in Figure 1, a kind of for processing the glue spraying robot system of plate-type work, it is sequentially connected end to end including several
Glue-spraying mechanism, each glue-spraying mechanism include rack 1, and the transmitting device in rack 1, visual processes room, glue spraying dress is arranged in
It sets and control device.According to production-scale demand, one glue-spraying mechanism or the multiple glue-spraying mechanisms of setting can be only set.
The transmitting device includes planar annular transmission mechanism 21 and the setting table on the planar annular transmission mechanism 21
The pallet 22 in face.The planar annular transmission mechanism 21 include endless single layer transmission line, the endless single layer transmission line respectively by
Motor is connected to the pallet on chain link and does circulatory motion by chain drive, chain-driving all the way.Wherein, the planar annular passes
Motivation structure 21 is drum-type or car-type transmission mechanism.
The embodiment one of planar annular transmission mechanism, the planar annular transmission mechanism 21 include for roller transmission line, rolling
By motor all the way by chain drive, the roller transmission line two ends are connected cylinder transmission line.Roller transmission line will be for that will place
Workpiece transport on pallet 22 carries out glue spraying to visual processes room and is then delivered to the next step, last roller transmission line again
Pallet 22 after the completion of glue spraying can be returned to initial position to place workpiece again.
The roller transmission line includes several steel rollers, and the diameter of the roller is 55 to 65 millimeters, and optimal is 60 millis
Rice, the distance between two described drum central axis are 122 to 132 millimeters, and optimal is 127 millimeters, roller upper surface distance
The height on ground is 75 to 81 centimetres, and optimal is 78 millimeters, and the face width of the roller transmission line is 100 to 120 centimetres,
Optimal is 110 centimetres, and the roller transmission line transmission rate under the structure is best and cost is minimum.The other materials of roller transmission line
For aluminum profile, appearance looks elegant is not easy to get rusty.
The pallet 22 includes that hard floor layer and polytetrafluoroethylplastic plastic top plate layer, hard floor layer can be wooden bottom
Plate layer, the backplane level and the top plate layer are fixed by rivet.Pallet 22 is rectangular pallet, and each 1 meter of length and width, bottom plate thickness is about
16-18 millimeters, about 1 millimeter of top plate thickness.Compared to metal plate or plastic plate, plank light weight can reduce the weight of pallet 22, subtract
The frictional force of light work intensity, plank and steel rollers is suitable, and pallet is avoided to skid in transmission line, and it is inaccurate to avoid glue spraying position
Really, for plank when dragging on table top, noise ratio metal plate is small.Polytetrafluoroethylene plastic plate has not viscous characteristic, can prevent heat
Melten gel cements, and can manually be wiped with rag or sponge when accumulating more hot melt adhesive.The pallet 22 is in its four avris thickness
Direction has a finger-hole, and worker's finger is facilitated to hook this finger-hole, flexibly drags pallet 22.
The visual processes room includes being socketed with the planar annular transmission mechanism 21, being driven the part planar annular
The industrial camera on the mounting rack 31 is arranged in the hollow out rectangle mounting rack 31 on its interior of mechanism 21, is arranged described
The shading sheet 33 of LED light source and the closing mounting rack 31 on mounting rack 31.This visual processes room with transmitting device respectively
It is independent, visual processes room can on the assembly line of transmitting device any position of sound production.Industrial camera is for shooting pallet 22
Workpiece image, special LED light source are to highlight edge of work feature, and LED light source and shading sheet 33 cooperate, provide to camera
One stable brightness of illumination prevents the influence to Visual Stability such as sunlight, light.
The glue-spraying device includes the glue spraying spiral volley of rifle fire 43 being arranged on the mounting rack 31, is arranged in the rack 1
The hot melt adhesive machine 44 of side, and the sebific duct of the connection hot melt adhesive machine 44 and the glue spraying spiral volley of rifle fire 43.The glue spraying spiral shell
The rotation volley of rifle fire 43 includes single rifle that a row is arranged at equal intervals.In the glue spraying spiral volley of rifle fire 43 between single rifle quantity and two single rifles
Interval need to be equipped with the side length of the pallet 22.The glue spraying spiral volley of rifle fire 43 is that 20 spray guns are in line, every spray rifle
Glue diameter adjustment is 5 centimetres, and 20, being equal to 100 centimetres multiplied by 5 centimetres, are equal to 1 meter of pallet width.The glue spraying spiral volley of rifle fire 43
It is stained with Teflon adhesive tape on the roller of lower section, release agent, non-sticking hot melt adhesive are coated on adhesive tape.
The control device includes control cabinet 51, and is arranged on the mounting rack 31, electrically connects with the control cabinet 51
The liquid crystal display 52 connect.Control computing unit, main control board and power supply are equipped with inside the control cabinet 51, the control calculates single
It is first to be electrically connected with the industrial camera 32 and the liquid crystal display 52.Operator can be scribbled on liquid crystal display 52 by finger
The data for inputting workpiece are stored in the data in control computing unit.Industrial camera shoot workpiece to be sprayed outer dimension,
This information is passed to control computing unit by position, posture, and control computing unit prestores workpiece modeling in comparison database
Workpiece data, judge workpiece model, position, posture, track to be sprayed, generate opening for each single rifle of the glue spraying spiral volley of rifle fire 43
Stopping time sequence controls 43 sports glue-spraying of the glue spraying spiral volley of rifle fire.
The glue spraying method of plate-type work, specifically includes following steps,
1) data that staff needs the workpiece of glue spraying by pointing at input on liquid crystal display 52, make data storage to control
Inside computing unit processed；
2) workpiece to glue spraying is placed on pallet 22, by planar annular transmission mechanism 21 by pallet 22 with constant
Speed is sent in visual processes room；
3) workpiece is shot by industrial camera, the outer dimension of workpiece, position, posture information is passed into control and calculate list
Member controls computing unit to workpiece modeling, and the workpiece data prestored in comparison database, in conjunction with the model, size, position of workpiece
Set, posture is to form a track to be sprayed, pass through track to be sprayed and combine workpiece delivery rate generate glue spraying spiral row
The start and stop timing of each single rifle of rifle 43；
4) it is carried out by the glue spraying spiral volley of rifle fire 43 on planar annular transmission mechanism 21 with the workpiece that given pace is advanced
Glue spraying；
5) after the completion of glue spraying, planar annular transmission mechanism 21 continues for pallet 22 to be sent to forward at next technique, and will
Pallet 22 returns to initial position by planar annular transmission mechanism 21.
Embodiment described above is only that preferred embodiments of the present invention will be described, not to design of the invention
It is defined with range.Without departing from the design concept of the invention, ordinary people in the field is to technical side of the invention
The all variations and modifications that case is made, should all drop into protection scope of the present invention, the claimed technology contents of the present invention,
Through being all described in the claims.
Claims (1)
1. a kind of for processing the glue spraying method of the glue spraying robot system of plate-type work, it is characterised in that: include the following steps,
1) data that staff needs the workpiece of glue spraying by pointing at input on liquid crystal display (52), make data storage to control
Inside computing unit；
2) workpiece to glue spraying is placed on pallet (22), by planar annular transmission mechanism (21) by pallet (22) with constant
Speed be sent in visual processes room；
3) workpiece is shot by industrial camera, the outer dimension of workpiece, position, posture information is passed into control computing unit,
Computing unit is controlled to workpiece modeling, and the workpiece data prestored in comparison database, in conjunction with the model of workpiece, size, position,
Posture passes through track to be sprayed and the delivery rate of workpiece is combined to generate the glue spraying spiral volley of rifle fire to form a track to be sprayed
(43) the start and stop timing of each single rifle；
4) it is carried out by the glue spraying spiral volley of rifle fire (43) on planar annular transmission mechanism (21) with the workpiece that given pace is advanced
Glue spraying；
5) after the completion of glue spraying, planar annular transmission mechanism (21) continues for pallet (22) to be sent to forward at next technique, and will
Pallet (22) returns to initial position by planar annular transmission mechanism (21)；
Wherein glue sprayer device people's system includes several glue-spraying mechanisms, and each glue-spraying mechanism includes rack (1), and setting exists
Transmitting device in rack (1), visual processes room, glue-spraying device and control device；
The transmitting device includes the sequentially connected planar annular transmission mechanism (21) of several groups head and the tail and is arranged in the annular
The pallet (22) of plane transmission mechanism (21) upper surface；The planar annular transmission mechanism (21) includes endless single layer transmission line,
Respectively by motor all the way by chain drive, chain-driving is connected to the pallet on chain link and does annular the endless single layer transmission line
Movement；The planar annular transmission mechanism (21) is drum-type or car-type transmission mechanism；The pallet (22) includes hard bottom
Plate layer and polytetrafluoroethylplastic plastic top plate layer, the backplane level and the top plate layer are fixed by rivet；
The visual processes room includes being socketed with the planar annular transmission mechanism (21), making the part planar annular driver
Structure (21) mounting rack (31) on its interior, the industrial camera being arranged on the mounting rack (31) are arranged in the installation
The shading sheet (33) of LED light source and the closing mounting rack (31) on frame (31)；
The glue-spraying device includes the glue spraying spiral volley of rifle fire (43) being arranged on the mounting rack (31), is arranged in the rack
(1) hot melt adhesive machine (44) of side, and the sebific duct of the connection hot melt adhesive machine (44) and the glue spraying spiral volley of rifle fire (43)；Institute
Stating the glue spraying spiral volley of rifle fire (43) includes single rifle that a row is arranged at equal intervals；In the glue spraying spiral volley of rifle fire (43) single rifle quantity and
Interval between two single rifles need to be equipped with the side length of the pallet (22)；
The control device includes control cabinet (51), and is arranged on the mounting rack (31), is electrical with the control cabinet (51)
The liquid crystal display (52) of connection；Control computing unit, main control board and power supply are equipped with inside the control cabinet (51)；The control
Computing unit and the industrial camera and the liquid crystal display (52) are electrically connected.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710034106.7A CN106733349B (en) | 2017-01-18 | 2017-01-18 | It is a kind of for processing the glue spraying robot system and its glue spraying method of plate-type work |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710034106.7A CN106733349B (en) | 2017-01-18 | 2017-01-18 | It is a kind of for processing the glue spraying robot system and its glue spraying method of plate-type work |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106733349A CN106733349A (en) | 2017-05-31 |
| CN106733349B true CN106733349B (en) | 2019-03-01 |
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| CN201710034106.7A Active CN106733349B (en) | 2017-01-18 | 2017-01-18 | It is a kind of for processing the glue spraying robot system and its glue spraying method of plate-type work |
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| CN (1) | CN106733349B (en) |
Family Cites Families (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN201375951Y (en) * | 2009-01-09 | 2010-01-06 | 芜湖奥托自动化设备有限公司 | Novel oilier |
| CN104325785A (en) * | 2014-10-15 | 2015-02-04 | 佛山市南海鑫隆机工机械有限公司 | Full-automatic transfer printing production line for automatically drawing multicolor patterns on walls of ceramic dishes |
| CN204977803U (en) * | 2015-08-17 | 2016-01-20 | 重庆科之拓包装检测设备有限公司 | Fixed offset printing of camera selective examination device |
| CN105457840B (en) * | 2015-12-23 | 2018-02-23 | 广州达意隆包装机械股份有限公司 | Point gum machine and its dispensing method |
| CN106124520B (en) * | 2016-08-26 | 2018-08-28 | 武汉捷普瑞科技有限公司 | A kind of device of full-automatic loading and unloading and vision-based detection |
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| CN106733349A (en) | 2017-05-31 |
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Denomination of invention: A glue spraying robot system for processing plate workpiece and its glue spraying method Effective date of registration: 20220128 Granted publication date: 20190301 Pledgee: Zhejiang Anji Rural Commercial Bank Co.,Ltd. Dipu sub branch Pledgor: ANJI BATA ROBOT Co.,Ltd. Registration number: Y2022330000181 |