CN109107833A - Glue stations and its glue spreading method - Google Patents
Glue stations and its glue spreading method Download PDFInfo
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- CN109107833A CN109107833A CN201811153991.1A CN201811153991A CN109107833A CN 109107833 A CN109107833 A CN 109107833A CN 201811153991 A CN201811153991 A CN 201811153991A CN 109107833 A CN109107833 A CN 109107833A
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- Prior art keywords
- component
- axis
- rotation
- adjusts
- glue
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05C—APPARATUS FOR APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05C5/00—Apparatus in which liquid or other fluent material is projected, poured or allowed to flow on to the surface of the work
- B05C5/02—Apparatus in which liquid or other fluent material is projected, poured or allowed to flow on to the surface of the work the liquid or other fluent material being discharged through an outlet orifice by pressure, e.g. from an outlet device in contact or almost in contact, with the work
- B05C5/0208—Apparatus in which liquid or other fluent material is projected, poured or allowed to flow on to the surface of the work the liquid or other fluent material being discharged through an outlet orifice by pressure, e.g. from an outlet device in contact or almost in contact, with the work for applying liquid or other fluent material to separate articles
- B05C5/0212—Apparatus in which liquid or other fluent material is projected, poured or allowed to flow on to the surface of the work the liquid or other fluent material being discharged through an outlet orifice by pressure, e.g. from an outlet device in contact or almost in contact, with the work for applying liquid or other fluent material to separate articles only at particular parts of the articles
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05C—APPARATUS FOR APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05C7/00—Apparatus specially designed for applying liquid or other fluent material to the inside of hollow work
Abstract
The invention discloses a kind of glue stations and its glue spreading method, it can be used in carrying out gluing to the inside of arc-shaped workpiece or outside, glue stations includes: workbench, can be used in placing arc-shaped workpiece；Supporting table；Triaxial movement platform, triaxial movement platform are movably located in supporting table along X-axis, Y-axis and Z-direction, and X-axis and Y-axis difference are horizontally extending and orthogonal, and Z axis extends along the vertical direction；Rotation adjusts component, is pivotally arranged on triaxial movement platform about the z axis；Radius adjusts component, and radius adjusts component around horizontally extending axis pivotably to adjust horizontal distance of its at least part relative to Z axis；Tilt angle adjusts component, adjusts component with radius and is connected, and tilt angle adjusts angle adjustable of at least part of component relative to vertical direction；Glue spreading assembly adjusts component with tilt angle and is connected.Glue stations according to an embodiment of the present invention is easy to operate, can fast implement outside gluing in circular arc.
Description
Technical field
The present invention relates to the glue spreading methods of a kind of glue stations and the glue stations.
Background technique
Current many fields need to carry out the inside of round piece or outside gluing, and conventional method is joined using four axis
Dynamic interpolation algorithm realizes, but there are interpolation algorithm is complicated and the problems such as teaching track is extremely difficult for this mode.
Summary of the invention
The present invention is directed at least solve one of the technical problems existing in the prior art.
For this purpose, the present invention proposes a kind of glue stations, which can be realized arching trajectory gluing, especially round
Track gluing.
The present invention also proposes a kind of glue spreading method of glue stations, which can overcome answering for transmission interpolation algorithm
The problems such as polygamy disadvantage and difficult teaching track, can fast implement outside gluing in circular arc under vision auxiliary.
The glue stations of embodiment according to a first aspect of the present invention, can be used in the inside of arc-shaped workpiece or outside into
Row gluing, the glue stations include: workbench, and the workbench can be used in placing arc-shaped workpiece；Supporting table, the support
Platform is located above the workbench；Triaxial movement platform, the triaxial movement platform along X-axis, Y-axis and Z-direction movably
If on the supporting table, the X-axis and Y-axis difference are horizontally extending and orthogonal, the Z axis is along vertical side
To extension；Rotation adjusts component, and the rotation adjusts component and is pivotally arranged on the triaxial movement platform around the Z axis；
Radius adjusts component, and the radius adjusts component and is connected with rotation adjusting component, and the radius adjusts component around along level
The axis that direction extends is pivotably to adjust horizontal distance of its at least part relative to the Z axis；Tilt angle adjusting group
Part, the tilt angle adjust component and are connected with radius adjusting component, and the tilt angle adjusts at least one of component
Angle adjustable of the split-phase for vertical direction；Glue spreading assembly, the glue spreading assembly adjust component with the tilt angle and are connected
To be used for gluing.
Glue stations according to an embodiment of the present invention can be used in carrying out gluing to the inside of arc-shaped workpiece or outside,
Glue stations includes workbench, supporting table, triaxial movement platform, rotation adjusts component, radius adjusts component, tilt angle is adjusted
Component and glue spreading assembly, can not only inside to arc-shaped workpiece or outside carry out gluing, additionally it is possible to fast implement gluing, grasp
Make easy.
According to one embodiment of present invention, it includes: vertical rotary shaft that the rotation, which adjusts component, the vertical rotary shaft
Extend along the Z-direction；Vertical driving assembly, the vertical driving assembly are connected described in driving with the vertical rotary shaft
Vertical rotary shaft is rotated around its axis direction.
According to one embodiment of present invention, it includes: horizontal rotation shaft that the radius, which adjusts component, the horizontal rotation shaft
Component is adjusted with the rotation horizontally extendingly to be connected；Horizontal drive component, the horizontal drive component and the water
Flat rotary shaft is connected to drive the horizontal rotation shaft to rotate around its axis direction；Movable part, the movable part is around the level
The axis of rotary shaft is pivotly connected to adjust the horizontal distance with the Z axis with the horizontal rotation shaft.
According to one embodiment of present invention, it includes: interconnecting piece that the tilt angle, which adjusts component, the interconnecting piece and institute
Movable part is stated to be connected；Adjustment portion, the adjustment portion are movably connected with the interconnecting piece；Clamping part, the clamping part can
The glue spreading assembly is clamped, the clamping part is connected with the adjustment portion and adjusts the gluing according to the position of the adjustment portion
Angle of the component relative to vertical direction.
According to one embodiment of present invention, the interconnecting piece is equipped with horizontally extending track, the adjusting
Portion is movably located on the interconnecting piece along the track.
According to one embodiment of present invention, the glue spreading assembly is formed as column, one end of the glue spreading assembly and institute
The other end for stating movable part is connected, the other end of the glue spreading assembly according to the position of the adjustment portion adjust its axis relative to
The angle of vertical direction.
The glue spreading method of embodiment according to a second aspect of the present invention, comprising the following steps: S1, pass through acquisition image to rotation
The coordinate for adjusting component is demarcated；S2, rotation is adjusted into the top that component is moved to arc-shaped workpiece, is obtained by acquisition image
The rotation adjusts the coordinate of component, and adjusts the rotation according to calibration result and adjust the position of component to the reality of the workpiece
Border the center point；S3, the rotation adjust component and rotate along its axis direction, and the rotation adjusts component and drives the glue spreading assembly
Gluing is carried out along arching trajectory on the workpiece.
According to one embodiment of present invention, step S1 includes: S11, passes through mechanical arm for rotation adjusting component shifting
It moves to blank space, the rotation adjusts component and rotates around its axis direction, and the rotation adjusts glue spreading assembly described in Component driver
A circle is drawn along circular motion, the coordinate of the mechanical arm is (X0, Y0)；S12, will be schemed by the mechanical arm
As acquisition component is moved to the circular top, the coordinate of the mechanical arm is (X1, Y1)；S13, it is acquired by described image
Component acquires image, calculates central region deviant (Δ X1, the Δ of the circular circle center distance described image acquisition component
Y1)；S14, the adjustment radius adjust component so that the arc radius drawn out is consistent with the radius of the workpiece；S15, adjustment
The Z axis coordinate of the glue spreading assembly is so that the glue spreading assembly is consistent with the height of the workpiece, the Z axis coordinate of the mechanical arm
Labeled as Z0.
According to one embodiment of present invention, step S2 includes: S21, the central coordinate of circle for obtaining the workpiece, by described
Described image acquisition component is moved to the top of the workpiece by mechanical arm, and the coordinate of the mechanical arm is (X2, Y2)；S22, lead to
Cross the central region deviant (Δ that described image acquisition component calculates the circle center distance described image acquisition component of the workpiece
X2, Δ Y2)；The mobile reality that the workpiece is moved to the rotation center that the rotation is adjusted component of S23, the mechanical arm
The center point；Coordinate X=X0+ (X2+ Δ X2)-(the X1+ Δ X1) of the mechanical arm；Coordinate Y=Y0+ (the Y2+ Δ of the mechanical arm
Y2)-(Y1+ΔY1)；The coordinate Z=Z0 of the mechanical arm.
According to one embodiment of present invention, described image acquisition component is formed as camera.
Additional aspect and advantage of the invention will be set forth in part in the description, and will partially become from the following description
Obviously, or practice through the invention is recognized.
Detailed description of the invention
Above-mentioned and/or additional aspect of the invention and advantage will become from the description of the embodiment in conjunction with the following figures
Obviously and it is readily appreciated that, in which:
Fig. 1 is the structural schematic diagram of glue stations according to an embodiment of the present invention；
Fig. 2 is that the rotation of glue stations according to an embodiment of the present invention adjusts the structural schematic diagram of component；
Fig. 3 is that the radius of glue stations according to an embodiment of the present invention adjusts component and rotation adjusts component and tilt angle
Adjust the schematic diagram of component connection；
Fig. 4 is that the tilt angle of glue stations according to an embodiment of the present invention adjusts the structural schematic diagram of component；
Fig. 5 is the schematic diagram of glue spreading method according to an embodiment of the invention；
Fig. 6 is the schematic diagram of the step S1 of the glue spreading method of another embodiment according to the present invention；
Fig. 7 is the schematic diagram of the step S2 of the glue spreading method of another embodiment according to the present invention.
Appended drawing reference:
Glue stations 100；
Workbench 10；Supporting table 20；Triaxial movement platform 30；
Rotation adjusts component 40；Vertical rotary shaft 41；
Radius adjusts component 50；Horizontal rotation shaft 51；Horizontal drive component 52；Movable part 53；
Tilt angle adjusts component 60；Interconnecting piece 61；Adjustment portion 62；Clamping part 63；Track 64；
Glue spreading assembly 70；
Glue spreading method 200.
Specific embodiment
The embodiment of the present invention is described below in detail, examples of the embodiments are shown in the accompanying drawings, wherein from beginning to end
Same or similar label indicates same or similar element or element with the same or similar functions.Below with reference to attached
The embodiment of figure description is exemplary, and for explaining only the invention, and is not considered as limiting the invention.
In the description of the present invention, it is to be understood that, term " center ", " longitudinal direction ", " transverse direction ", " length ", " width ",
" thickness ", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom" "inner", "outside", " up time
The orientation or positional relationship of the instructions such as needle ", " counterclockwise ", " axial direction ", " radial direction ", " circumferential direction " be orientation based on the figure or
Positional relationship is merely for convenience of description of the present invention and simplification of the description, rather than the device or element of indication or suggestion meaning must
There must be specific orientation, be constructed and operated in a specific orientation, therefore be not considered as limiting the invention.In addition, limit
There is the feature of " first ", " second " to can explicitly or implicitly include one or more of the features surely.Of the invention
In description, unless otherwise indicated, the meaning of " plurality " is two or more.
In the description of the present invention, it should be noted that unless otherwise clearly defined and limited, term " installation ", " phase
Even ", " connection " shall be understood in a broad sense, for example, it may be being fixedly connected, may be a detachable connection, or be integrally connected；It can
To be mechanical connection, it is also possible to be electrically connected；It can be directly connected, can also can be indirectly connected through an intermediary
Connection inside two elements.For the ordinary skill in the art, above-mentioned term can be understood at this with concrete condition
Concrete meaning in invention.
Glue stations 100 according to an embodiment of the present invention and glue spreading method 200 are described below with reference to Fig. 1 to Fig. 7.
As shown in Figures 1 to 4, glue stations 100 according to an embodiment of the present invention, can be used in the inside to arc-shaped workpiece
Or outside carries out gluing, glue stations 100 includes workbench 10, supporting table 20, triaxial movement platform 30, rotation adjusting component
40, radius adjusts component 50, tilt angle adjusts component 60 and glue spreading assembly 70.
Specifically, workbench 10 can be used in placing arc-shaped workpiece, supporting table 20 is located at 10 top of workbench, three axis fortune
Moving platform 30 is movably located in supporting table 20 along X-axis, Y-axis and Z-direction, X-axis and Y-axis difference it is horizontally extending and
Orthogonal, Z axis extends along the vertical direction, and rotation adjusts component 40 and is pivotally arranged on triaxial movement platform 30 about the z axis, and half
Diameter adjust component 50 with rotation adjust component 40 be connected, radius adjusting component 50 around horizontally extending axis pivotably with
Horizontal distance of its at least part relative to Z axis is adjusted, tilt angle adjusts component 60 and is connected with radius adjusting component 50, inclines
Rake angle adjusts angle adjustable of at least part of component 60 relative to vertical direction, glue spreading assembly 70 and tilt angle tune
Component 60 is saved to be connected to be used for gluing.
In other words, glue stations 100 according to an embodiment of the present invention can be used in inside or outside to arc-shaped workpiece
Gluing is carried out, glue stations 100 includes workbench 10, supporting table 20, triaxial movement platform 30, rotation adjusting component 40, radius
It adjusts component 50, tilt angle adjusting component 60 and glue spreading assembly 70, arc-shaped workpiece to be placed on workbench 10, supporting table 20 is set
In the top of workbench 10, triaxial movement platform 30 is located in supporting table 20, and triaxial movement platform 30 can be along X-axis, Y-axis and Z axis
Direction movement, X-axis and Y-axis difference are horizontally extending, and Z axis extends along the vertical direction, and X-axis and Y-axis are mutually perpendicular to, Z axis point
It is not vertical with X-axis and Y-axis, rotation can be equipped in Z-direction and adjusts component 40, and rotation adjusts component 40 and can pivot along Z axis, rotates
It adjusts component 40 to be located on triaxial movement platform 30, adjusts component 40 with rotation and be connected with radius adjusting component 50, radius is adjusted
Component 50 can be set to rotation and adjust 40 lower section of component, and the axis that radius adjusting component 50 can extend around horizontal direction is pivotable, lead to
Crossing, which makes radius adjust component 50, pivots horizontal distance generation of at least part that radius can be made to adjust component 50 relative to Z axis
Change, tilt angle adjusts component 60 and is connected with radius adjusting component 50, and tilt angle adjusts at least part phase of component 60
For the angle adjustable of vertical direction, glue spreading assembly 70 adjusts component 60 with tilt angle and is connected to be used for gluing, that is,
It says, rotating adjusting component 40 by driving can be realized arching trajectory along Z-direction rotation, adjust component 50 by adjusting radius
The size of the adjustable arching trajectory of horizontal distance relative to Z axis changes tilt angle and adjusts component 60 relative to vertical side
To angle can adjust the gluing angle of glue spreading assembly 70.
Glue stations 100 according to an embodiment of the present invention as a result, can be used in the inside of arc-shaped workpiece or outside into
Row gluing, glue stations 100 include workbench 10, supporting table 20, triaxial movement platform 30, rotation adjusting component 40, radius tune
Save component 50, tilt angle adjusts component 60 and glue spreading assembly 70, can not only inside to arc-shaped workpiece or outside carry out
Gluing, additionally it is possible to gluing is fast implemented, it is easy to operate.
As shown in Fig. 2, according to one embodiment of present invention, rotation adjusting component 40 is including vertical rotary shaft 41 and vertically
Driving assembly.
Specifically, vertical rotary shaft 41 extends along Z-direction, and vertical driving assembly is connected to drive with vertical rotary shaft 41
Vertical rotary shaft 41 is rotated around its axis direction.
As shown in figure 3, it includes horizontal rotation shaft that radius, which adjusts component 50, in certain specific embodiments of the invention
51, horizontal drive component 52 and movable part 53.
Specifically, horizontal rotation shaft 51 adjusts component 40 with rotation horizontally extendingly and is connected, horizontal drive component
52 are connected to drive horizontal rotation shaft 51 to rotate around its axis direction with horizontal rotation shaft 51,53 horizontal rotation shaft of movable part, 51 phase
Connect, movable part 53 can pivotably be adjusted around the axis of horizontal rotation shaft 51 and the horizontal distance of Z axis, being capable of quick buffer rail
The radius size of mark.
As shown in figure 4, further, tilt angle adjusts component 60 and includes interconnecting piece 61, adjustment portion 62 and clamping part 63,
Interconnecting piece 61 is connected with movable part 53, and adjustment portion 62 is movably connected with interconnecting piece 61, and clamping part 63 can clamp gluing group
Part 70, clamping part 63 are connected with adjustment portion 62 and adjust glue spreading assembly 70 relative to vertical direction according to the position of adjustment portion 62
Angle, that is to say, that horizontal drive component 52 can by driving movable part 53 rotation drive tilt angle adjust component 60 with
And 70 activity of glue spreading assembly that component 60 is connect is adjusted with tilt angle, realize arc trajectory gluing.
Optionally, interconnecting piece 61 is equipped with substantially along horizontally extending track 64, and adjustment portion 62 can along track 64
It is actively located on interconnecting piece 61, adjustment portion 62 is movable along track 64, and track 64 is formed as linear type or arc line type.
According to one embodiment of present invention, glue spreading assembly 70 is formed as column, one end of glue spreading assembly 70 and movable part
53 other end is connected, and the other end of glue spreading assembly 70 adjusts its axis relative to vertical direction according to the position of adjustment portion 62
Angle can adjust glue sites.
To sum up, glue stations 100 according to an embodiment of the present invention can inside to arc-shaped workpiece or outside into
Row gluing overcomes the disadvantage of the four-axle linked interpolation algorithm complexity of tradition and teaching track difficulty, can fast implement circular arc
Interior outside gluing, operation process are succinct, reliable.
As shown in Figures 5 to 7, the glue spreading method 200 of the glue stations 100 of any of the above-described embodiment according to the present invention, packet
Include following steps:
S1, it is demarcated by the coordinate that acquisition image adjusts component 40 to rotation.
S2, rotation is adjusted into the top that component 40 is moved to arc-shaped workpiece, rotation is obtained by acquisition image and adjusts component
40 coordinate, and rotation is adjusted according to calibration result and adjusts the position of component 40 to the practical the center point of workpiece.
S3, rotation adjust component 40 and rotate along its axis direction, and rotation adjusts component 40 and drives glue spreading assembly 70 in workpiece
On along arching trajectory carry out gluing.
In other words, glue spreading method 200 according to an embodiment of the present invention mainly includes the following steps that, firstly, adjusting to rotation
The coordinate position of component 40 is demarcated, and the mode of acquisition image can be used in scaling method, and then, adjustment rotation adjusts component 40
To the practical center location of workpiece, when adjusting to practical center location, acquisition image can be passed through obtain rotation and adjust component
40 coordinate adjusts the position that rotation adjusts component 40 according to the calibration result of step S1, finally, passing through driving rotation adjusting group
Part is rotated along Z-direction, and rotation adjusts component 40 and is able to drive glue spreading assembly 70 on workpiece along arc during rotation
Shape track carries out gluing.
As shown in fig. 6, further, when arching trajectory is formed as circular trace, step S1 includes:
S11, rotation adjusting component 40 is moved to by blank space by mechanical arm, rotation adjusts component 40 around its axis direction
Rotation, rotation adjust component 40 and glue spreading assembly 70 are driven to draw a circle along circular motion, and the coordinate of mechanical arm is
(X0,Y0)。
S12, image collection assembly is moved to by circular top by mechanical arm, the coordinate of mechanical arm is (X1, Y1).
S13, image is acquired by image collection assembly, in the visual field for calculating circular circle center distance image collection assembly
Heart deviant (Δ X1, Δ Y1).
S14, adjustment radius adjust component 50 so that the arc radius drawn out is consistent with the radius of workpiece.
S15, the Z axis coordinate of glue spreading assembly 70 is adjusted so that glue spreading assembly 70 is consistent with the height of workpiece, the Z axis of mechanical arm
Coordinate is labeled as Z0.
As shown in fig. 7, optionally, step S2 includes:
Image collection assembly, the top of workpiece is moved to by mechanical arm by S21, the central coordinate of circle for obtaining workpiece, mechanical
The coordinate of arm is (X2, Y2).
S22, calculated by image collection assembly workpiece circle center distance image collection assembly central region deviant
(Δ X2, Δ Y2).
The mobile practical the center point that workpiece is moved to the rotation center that rotation is adjusted component 40 of S23, mechanical arm.
At this point, coordinate X=X0+ (X2+ Δ X2)-(the X1+ Δ X1) of mechanical arm；Coordinate Y=Y0+ (the Y2+ Δ of mechanical arm
Y2)-(Y1+ΔY1)；The coordinate Z=Z0 of mechanical arm.
According to one embodiment of present invention, image collection assembly is formed as camera, and can be taken pictures acquisition figure by camera
Picture.
To sum up, glue spreading method 200 according to an embodiment of the present invention can inside to round piece or outside into
Row gluing overcomes the problems such as four-axle linked interpolation algorithm of tradition is complicated, teaching track is difficult, under the auxiliary of vision, only needs
The center of circle, radius and height are demarcated, calibration and teaching process can be greatly simplified, it can be quickly real under vision auxiliary
Outside gluing in existing circular arc, without multi-shaft interlocked, operation process is succinct, reliable.
In the description of this specification, reference term " one embodiment ", " some embodiments ", " illustrative examples ",
The description of " example ", " specific example " or " some examples " etc. means specific features described in conjunction with this embodiment or example, knot
Structure, material or feature are included at least one embodiment or example of the invention.In the present specification, to above-mentioned term
Schematic representation may not refer to the same embodiment or example.Moreover, specific features, structure, material or the spy of description
Point can be combined in any suitable manner in any one or more of the embodiments or examples.
Although an embodiment of the present invention has been shown and described, it will be understood by those skilled in the art that: not
A variety of change, modification, replacement and modification can be carried out to these embodiments in the case where being detached from the principle of the present invention and objective, this
The range of invention is defined by the claims and their equivalents.
Claims (10)
1. a kind of glue stations can be used in carrying out gluing to the inside of arc-shaped workpiece or outside, which is characterized in that the painting
Adhesive dispenser includes:
Workbench, the workbench can be used in placing arc-shaped workpiece；
Supporting table, the supporting table are located above the workbench；
Triaxial movement platform, the triaxial movement platform are movably set on the supporting table along X-axis, Y-axis and Z-direction,
The X-axis and Y-axis difference are horizontally extending and orthogonal, and the Z axis extends along the vertical direction；
Rotation adjusts component, and the rotation adjusts component and is pivotally arranged on the triaxial movement platform around the Z axis；
Radius adjusts component, and the radius adjusts component and is connected with rotation adjusting component, and the radius adjusts component around edge
The axis that horizontal direction extends is pivotably to adjust horizontal distance of its at least part relative to the Z axis；
Tilt angle adjusts component, and the tilt angle adjusts component and is connected with radius adjusting component, the tilt angle
Adjust angle adjustable of at least part of component relative to vertical direction；
Glue spreading assembly, the glue spreading assembly adjust component with the tilt angle and are connected for gluing.
2. glue stations according to claim 1, which is characterized in that the rotation adjusts component and includes:
Vertical rotary shaft, the vertical rotary shaft extend along the Z-direction；
Vertical driving assembly, the vertical driving assembly are connected to drive the vertical rotary shaft around it with the vertical rotary shaft
Axis direction rotation.
3. glue stations according to claim 1, which is characterized in that the radius adjusts component and includes:
Horizontal rotation shaft, the horizontal rotation shaft adjust component with the rotation horizontally extendingly and are connected；
Horizontal drive component, the horizontal drive component are connected to drive the horizontal rotation shaft around it with the horizontal rotation shaft
Axis direction rotation；
Movable part, the movable part are pivotly connected with the horizontal rotation shaft around the axis of the horizontal rotation shaft to adjust
With the horizontal distance of the Z axis.
4. glue stations according to claim 3, which is characterized in that the tilt angle adjusts component and includes:
Interconnecting piece, the interconnecting piece are connected with the movable part；
Adjustment portion, the adjustment portion are movably connected with the interconnecting piece；
Clamping part, the clamping part can clamp the glue spreading assembly, and the clamping part is connected with the adjustment portion and according to institute
The position for stating adjustment portion adjusts angle of the glue spreading assembly relative to vertical direction.
5. glue stations according to claim 4, which is characterized in that the interconnecting piece is equipped with horizontally extending
Track, the adjustment portion are movably located on the interconnecting piece along the track.
6. glue stations according to claim 5, which is characterized in that the glue spreading assembly is formed as column, the gluing
One end of component is connected with the other end of the movable part, and the other end of the glue spreading assembly is according to the position tune of the adjustment portion
Save angle of its axis relative to vertical direction.
7. a kind of glue spreading method of glue stations according to claim 1 to 6, which is characterized in that including following
Step:
S1, it is demarcated by the coordinate that acquisition image adjusts component to rotation；
S2, rotation is adjusted into the top that component is moved to arc-shaped workpiece, obtains the rotation adjusting component by acquiring image
Coordinate, and the rotation is adjusted according to calibration result and adjusts the position of component to the practical the center point of the workpiece；
S3, the rotation adjust component and rotate along its axis direction, and the rotation adjusts component and drives the glue spreading assembly in institute
It states and carries out gluing along arching trajectory on workpiece.
8. the method according to the description of claim 7 is characterized in that step S1 includes:
S11, rotation adjusting component is moved to by blank space by mechanical arm, the rotation adjusts component around its axis direction
Rotation, the rotation adjust glue spreading assembly described in Component driver and draw a circle, the mechanical arm along circular motion
Coordinate be (X0, Y0)；
S12, image collection assembly is moved to by the circular top by the mechanical arm, the coordinate of the mechanical arm is
(X1,Y1)；
S13, image is acquired by described image acquisition component, calculates the circular circle center distance described image acquisition component
Central region deviant (Δ X1, Δ Y1)；
S14, the adjustment radius adjust component so that the arc radius drawn out is consistent with the radius of the workpiece；
S15, the adjustment glue spreading assembly Z axis coordinate so that the glue spreading assembly is consistent with the height of the workpiece, the machine
The Z axis coordinate of tool arm is labeled as Z0.
9. according to the method described in claim 8, it is characterized in that, step S2 includes:
S21, the central coordinate of circle for obtaining the workpiece, are moved to the workpiece for described image acquisition component by the mechanical arm
Top, the coordinate of the mechanical arm is (X2, Y2)；
S22, the circle center distance described image acquisition component that the workpiece is calculated by described image acquisition component the visual field in
Heart deviant (Δ X2, Δ Y2)；
The mobile practical center of circle that the workpiece is moved to the rotation center that the rotation is adjusted component of S23, the mechanical arm
Place；
Coordinate X=X0+ (X2+ Δ X2)-(the X1+ Δ X1) of the mechanical arm；
Coordinate Y=Y0+ (Y2+ Δ Y2)-(the Y1+ Δ Y1) of the mechanical arm；
The coordinate Z=Z0 of the mechanical arm.
10. according to the method any in claim 7 to 9, which is characterized in that described image acquisition component is formed as phase
Machine.
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| CN201811153991.1A CN109107833B (en) | 2018-09-30 | 2018-09-30 | Glue stations and its glue spreading method |
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|---|---|---|---|
| CN201811153991.1A CN109107833B (en) | 2018-09-30 | 2018-09-30 | Glue stations and its glue spreading method |
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| CN110385237A (en) * | 2019-08-21 | 2019-10-29 | 常州铭赛机器人科技股份有限公司 | Double-station tilts apparatus for coating and its coating method |
| CN111097660A (en) * | 2019-11-01 | 2020-05-05 | 成都乐创自动化技术股份有限公司 | Visual positioning deviation rectifying method based on rotary dispensing device |
| CN113814128A (en) * | 2021-11-03 | 2021-12-21 | 包头江馨微电机科技有限公司 | Full-automatic glue sprayer and glue spraying method |
| CN113894002A (en) * | 2021-11-03 | 2022-01-07 | 包头江馨微电机科技有限公司 | Dispensing machine and dispensing method |
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