CN109954627A - Automobile windshield gluing system - Google Patents
Automobile windshield gluing system Download PDFInfo
- Publication number
- CN109954627A CN109954627A CN201910180472.2A CN201910180472A CN109954627A CN 109954627 A CN109954627 A CN 109954627A CN 201910180472 A CN201910180472 A CN 201910180472A CN 109954627 A CN109954627 A CN 109954627A
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- China
- Prior art keywords
- robot
- precoating
- glass
- clamp system
- axis
- Prior art date
- 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.)
- Granted
Links
- 238000004026 adhesive bonding Methods 0.000 title claims abstract description 35
- 239000011521 glass Substances 0.000 claims abstract description 83
- 239000011248 coating agent Substances 0.000 claims abstract description 53
- 238000000576 coating method Methods 0.000 claims abstract description 51
- 239000000463 material Substances 0.000 claims description 41
- 239000003292 glue Substances 0.000 claims description 27
- 238000003892 spreading Methods 0.000 claims description 25
- 238000004140 cleaning Methods 0.000 claims description 22
- 230000007480 spreading Effects 0.000 claims description 22
- 230000007246 mechanism Effects 0.000 claims description 19
- 238000001514 detection method Methods 0.000 claims description 14
- 239000003973 paint Substances 0.000 claims description 14
- 230000005540 biological transmission Effects 0.000 claims description 13
- 238000006073 displacement reaction Methods 0.000 claims description 11
- 238000012545 processing Methods 0.000 claims description 11
- 238000007689 inspection Methods 0.000 claims description 8
- 229910000831 Steel Inorganic materials 0.000 claims description 6
- 239000003381 stabilizer Substances 0.000 claims description 6
- 239000010959 steel Substances 0.000 claims description 6
- 238000005259 measurement Methods 0.000 claims description 5
- 238000003756 stirring Methods 0.000 claims description 4
- 238000009826 distribution Methods 0.000 claims description 3
- 239000004033 plastic Substances 0.000 claims description 3
- 230000036541 health Effects 0.000 abstract description 4
- 238000007599 discharging Methods 0.000 abstract 1
- 210000003128 head Anatomy 0.000 description 26
- 239000003599 detergent Substances 0.000 description 10
- 238000010586 diagram Methods 0.000 description 10
- 239000006087 Silane Coupling Agent Substances 0.000 description 9
- 230000033001 locomotion Effects 0.000 description 7
- 239000003795 chemical substances by application Substances 0.000 description 5
- 238000000034 method Methods 0.000 description 4
- XEKOWRVHYACXOJ-UHFFFAOYSA-N Ethyl acetate Chemical compound CCOC(C)=O XEKOWRVHYACXOJ-UHFFFAOYSA-N 0.000 description 3
- 230000037433 frameshift Effects 0.000 description 3
- 230000008569 process Effects 0.000 description 3
- ZWEHNKRNPOVVGH-UHFFFAOYSA-N 2-Butanone Chemical compound CCC(C)=O ZWEHNKRNPOVVGH-UHFFFAOYSA-N 0.000 description 2
- CSCPPACGZOOCGX-UHFFFAOYSA-N Acetone Chemical compound CC(C)=O CSCPPACGZOOCGX-UHFFFAOYSA-N 0.000 description 2
- CTQNGGLPUBDAKN-UHFFFAOYSA-N O-Xylene Chemical compound CC1=CC=CC=C1C CTQNGGLPUBDAKN-UHFFFAOYSA-N 0.000 description 2
- 238000012790 confirmation Methods 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 2
- 238000010422 painting Methods 0.000 description 2
- SVONRAPFKPVNKG-UHFFFAOYSA-N 2-ethoxyethyl acetate Chemical compound CCOCCOC(C)=O SVONRAPFKPVNKG-UHFFFAOYSA-N 0.000 description 1
- 230000003321 amplification Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 239000006229 carbon black Substances 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 239000013527 degreasing agent Substances 0.000 description 1
- 238000005237 degreasing agent Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 230000007774 longterm Effects 0.000 description 1
- 238000003199 nucleic acid amplification method Methods 0.000 description 1
- 238000002360 preparation method Methods 0.000 description 1
- 230000001681 protective effect Effects 0.000 description 1
- 230000008439 repair process Effects 0.000 description 1
- 239000000126 substance Substances 0.000 description 1
- 238000012360 testing method Methods 0.000 description 1
Classifications
-
- 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
- B05C11/00—Component parts, details or accessories not specifically provided for in groups B05C1/00 - B05C9/00
-
- 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
- B05C13/00—Means for manipulating or holding work, e.g. for separate articles
- B05C13/02—Means for manipulating or holding work, e.g. for separate articles for particular 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
- 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
- B05D—PROCESSES FOR APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05D3/00—Pretreatment of surfaces to which liquids or other fluent materials are to be applied; After-treatment of applied coatings, e.g. intermediate treating of an applied coating preparatory to subsequent applications of liquids or other fluent materials
- B05D3/10—Pretreatment of surfaces to which liquids or other fluent materials are to be applied; After-treatment of applied coatings, e.g. intermediate treating of an applied coating preparatory to subsequent applications of liquids or other fluent materials by other chemical means
- B05D3/104—Pretreatment of other substrates
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05D—PROCESSES FOR APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05D2203/00—Other substrates
- B05D2203/30—Other inorganic substrates, e.g. ceramics, silicon
- B05D2203/35—Glass
Landscapes
- Chemical & Material Sciences (AREA)
- Chemical Kinetics & Catalysis (AREA)
- General Chemical & Material Sciences (AREA)
- Automobile Manufacture Line, Endless Track Vehicle, Trailer (AREA)
- Coating Apparatus (AREA)
- Spray Control Apparatus (AREA)
Abstract
The invention provides an automobile windshield gluing system which comprises a pre-coating robot and a pre-coating device, wherein the pre-coating device is used for discharging a pre-coating agent during pre-coating, the pre-coating robot is used for grabbing glass at a corresponding position and then moving the glass to the lower part of the pre-coating device and driving the glass to move according to a specified track so that the pre-coating agent is coated on the glass, manual operation is replaced by the pre-coating robot and the pre-coating device, and the problems of uneven coating, low efficiency and health damage caused by manual operation are solved.
Description
Technical field
The present invention relates to auto assembly technical fields, more particularly to a kind of windshield coating system.
Background technique
It on the general assembly line of windshield, first has to precoat glass, mainly detergent and silane coupling agent
Coating, then gluing is carried out, finally installed.It is all from expecting on frame by employee by glass in existing vehicle glass general assembly line
Glass is transported to carrier chain, by manually carrying out the confirmation of detergent, the coating of silane coupling agent and coating quality to glass with writing brush, then
Gluing is carried out using six-joint robot, and is installed using six-joint robot.Prior art automatization level is low, not only people
Member's cost increase, production efficiency is low, and what detergent generallyd use is glass degreasing agent (main component acetone), and silane coupling agent is adopted
It is intensive (main component carbon black, butanone, ethyl acetate, acetic acid -2-ethoxy-ethyl ester and dimethylbenzene), detergent and bottom
Paint belongs to dangerous chemical, harmful to human body Long Term Contact.
Summary of the invention
Place in view of the deficiency of the prior art, the object of the present invention is to provide a kind of automatic coating detergent and bottoms
The windshield coating system of paint.
In order to solve the above technical problems, windshield coating system provided by the invention is including precoating robot and in advance
Coating device, the precoating device is for precoating paint out when precoating, after the precoating robot is used to grab the glass of corresponding position
It is moved to the lower section of the precoating device and the glass is driven to move according to intended trajectory, the precoating paint is made to be applied to institute
It states on glass.
It preferably, further include the first feeding device, feeding robot, centralising device, the second feeding device and painting
Glue robot, the material frame that first feeding device is used to place glass is moved to the front of the feeding robot, described
Feeding robot, which is used to grab after glass on the material frame, to be placed into the centralising device and carries out positioning centering, the precoater
Device people grabs from the centralising device to be placed into the precoating device after glass and precoats and place after the completion of precoating
Onto second feeding device, second feeding device be used to be moved to glass in front of the Glue Spreading Robot and
Glass is removed after the completion of gluing, gluing head is connected in the Glue Spreading Robot, the gluing head is used for plastic emitting when gluing, institute
Glue Spreading Robot is stated for driving gluing head gluing on glass.
Preferably, first feeding device includes mobile platform, guide rail, X-axis clamp system and Y-axis clamping machine
Structure, the mobile platform are slidably disposed on the guide rail, the first side on the mobile platform and adjacent thereto
Two sides are equipped with divider, and the X-axis clamp system and the Y-axis clamp system are set on the mobile platform, the X-axis folder
Tight mechanism is parallel to second side of the mobile platform and is arranged corresponding thereto, and the Y-axis clamp system is parallel to the movement
First side of platform and it is arranged corresponding thereto, the X-axis clamp system is used to pushing the material frame the to the mobile platform
The movement of two sides, the Y-axis clamp system is for pushing the material frame to move to the first side of the mobile platform, the X-axis folder
Tight mechanism is equipped with X-axis displacement sensor, and the Y-axis clamp system is equipped with Y-axis displacement sensor.
Preferably, first feeding device further includes the pallet of four stabilizer blades for placing the material frame,
Four pallets are movably disposed at four corners of the mobile platform respectively, are provided with square on the mobile platform
Several steel ball idler wheels of shape array distribution, the pallet are set to above the steel ball idler wheel, the X-axis clamp system and the Y
Axis clamping mechanism is all set in the outside of the pallet.
Preferably, the feeding robot includes the fixture with crawl sucker, for stirring on the material frame
The driving lever and driving lever detection structure of bar, the driving lever detection structure include elastic component and touch sensor, and the driving lever can axis
To being movably set on the fixture, it is arranged with link block outside the driving lever, the elastic component is connected under the driving lever
There is active force between side and the bottom of the link block and to the driving lever, the touch sensor is mounted on the link block
Top that is upper and being located at the driving lever.
Preferably, the centralising device includes horizontal clamping mechanism, longitudinal clamp system, support column, support suction
Disk and measuring device, the horizontal clamping mechanism are set to above longitudinal clamp system and hang down with longitudinal clamp system
Directly,
The horizontal clamping mechanism and longitudinal clamp system include centering cylinder, the first clamping component and the second folder
Tight component, first clamping component and second clamping component are connected by transmission gear, and first clamping component
With second clamping component using the transmission gear as symmetry axis center symmetric setting, the centering cylinder and the first clamping group
Part connection；
First clamping component and second clamping component respectively include slide unit, pressure bar, centering guide rail and cunning
Block, the sliding block are slidably disposed on the centering guide rail, and the slide unit is connected to the top of the sliding block, the clamping
Stick is vertical on the slide unit, and the pressure bar of first clamping component, the pressure bar of second clamping component and institute
The center for stating transmission gear is located along the same line, and the side of the slide unit is provided with the engagement engaged with the transmission gear
Tooth, the support column and the support sucker are located in the region that each pressure bar line is formed, the support sucker and suction
Device of air connection；
The measuring device includes encoder and rack gear, and the rack gear is set to the top of the slide unit of first clamping component
And extend along its length, the encoder is set to the side of the slide unit of first clamping component, the encoder
The measurement gear engaged with the rack gear is set on projecting shaft.
Preferably, the precoating device includes column, linking arm, cleaning head and primary coat head, the linking arm
One end is connected on the support column, and the other end of the linking arm is provided with mounting rack, and the cleaning head is connected to the peace
It shelves, the primary coat head can be set to up or down on the mounting rack, and the cleaning head and the primary coat head lead to respectively
It crosses connecting tube to connect with respective feed bin, the feed flow of the cleaning head and the primary coat head is controlled using PLC system.
Preferably, the first cylinder is provided on the mounting rack, the primary coat head is connected to first cylinder
Piston rod on, the bottom of the support column is provided with the second cylinder, and the piston rod of second cylinder is parallel with the column,
The linking arm is connected on the piston rod of second cylinder.
It preferably, further include vision inspection apparatus, the vision inspection apparatus includes camera, image procossing mould
Block and display screen, the camera are connected in the Glue Spreading Robot, and the camera is connect with described image processing module,
Described image processing module is connect with the display screen.
Preferably, second feeding device includes conveyer belt, the precoating robot and the gluing machine
People is arranged respectively close to the both ends of the conveyer belt.
Beneficial effects of the present invention are as follows:
1, of the invention by setting precoating device and precoating robot, glass to be coated is grabbed by precoating robot and is put
The lower section of the precoating device of precoating paint is set out, then glass is grasp by precoating robot and is moved, precoating paint is allowed to be applied to glass
The position specified on glass solves the coating of manual work bring by precoating robot and precoating device instead of manual work
Unevenly, low efficiency and the problem of Health cost.
2, coating system of the invention by the first feeding device, feeding robot, centralising device, the second feeding device and
Glue Spreading Robot realizes whole processes of glass glue-spreading, only needs employee that the material frame for placing glass is placed into the first feeding device
The coating for carrying out detergent, silane coupling agent and glue automatically can be carried out, high degree of automation optimizes work flow, improves
Gluing efficiency guarantees gluing quality, and reduces costs.
3, the present invention on the first feeding device by being arranged X-axis clamping structure and Y-axis clamp system, by X-axis clamping machine
Structure will expect that frame shifts second side of mobile platform onto, Y-axis clamp system will expect that frame shifts the first side of mobile platform onto, make to expect frame to move
First side of moving platform and the intersection point of second side are the placement of one vertex, and pass through X-axis displacement sensor and Y-axis sensor
The shift length for measuring both direction obtains the size of material frame, so that the moving distance of controllable mobile platform, makes to expect that frame is located at
The front of first feeding robot.In addition, the bar of the detectable material frame of the driving lever testing agency being arranged in feeding robot is
It is no to be opened, protect feeding robot and vehicle glass.Glass thereon can be carried out centralized positioning by centralising device, make precoater
Device people can grab the designated position of glass, and then make precoating paint that can be applied to the designated position of glass, the measurement on centralising device
Device can measure the size of glass, obtain the type of glass, facilitate the motion track of planning precoating robot.It precoats same on device
When be equipped with cleaning head and primary coat head, can by uniform machinery people complete detergent and silane coupling agent coating, reduce the use of robot,
Cost is reduced, and workshop can be simplified.In addition, also setting up vision inspection apparatus, detergent, primary coat can be carried out before gluing
Glue application quality determination after the coating quality confirmation of agent and gluing, employee check that image processing module is handled by display screen
The image crossed can amplify, reinforce and clearly present the problem of naked eyes can not distinguish.
Detailed description of the invention
Fig. 1 is the schematic diagram of the windshield coating system of embodiment.
Fig. 2 is the schematic diagram of the first feeding device of embodiment.
Fig. 3 is the setting schematic diagram on the mobile platform of embodiment.
Fig. 4 is the schematic diagram at Fig. 3 A.
Fig. 5 is the feeding robot of embodiment and the schematic diagram of material frame.
Fig. 6 is the setting schematic diagram on the fixture of embodiment.
Fig. 7 is the schematic diagram of the centralising device of embodiment.
Fig. 8 is the schematic diagram at Fig. 7 B.
Fig. 9 is the top view of Fig. 7.
Figure 10 is the schematic diagram of the precoating device of embodiment.
Figure 11 is the schematic diagram of the Glue Spreading Robot of embodiment.
Wherein, the first feeding device of 1-, 101- guide rail, 102- mobile platform, 103- divider, the first push plate of 104-, 105-
First clamping cylinder, the second push plate of 106-, the second clamping cylinder of 107-, 108- push plate stretches out cylinder, 109- pallet；2- feeder
Device people, 201- fixture, 202- driving lever, 203- elastic component, 204- touch sensor, 205- link block, 206- supersonic sensing
Device, 207- driving lever stretches out cylinder；3- centralising device, 301- centering cylinder, 302- transmission gear, 303- slide unit, 304- are clamped
Stick, 305- centering guide rail, 306- sliding block, 307- encoder, 308- rack gear, 309- measure gear, 3010- support column, 3011-
Sucker；4- precoats robot；5- precoats device, 501- column, 502- linking arm, 503- cleaning head, 504- primary coat head, 505-
First cylinder, the second cylinder of 506-, 507- through-hole；The second feeding device of 6-, 7- Glue Spreading Robot, 701- gluing head；8- expects frame,
801- bar, 802- cross bar, 803- vertical bar, 804- bar detection device, 9- feed bin, 10- camera.
Specific embodiment
In the description of the present invention, it should be noted that term " center ", " longitudinal direction ", " transverse direction ", "upper", "lower",
The orientation or positional relationship of the instructions such as "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom" "inner", "outside" is
It is based on the orientation or positional relationship shown in the drawings, is merely for convenience of description of the present invention and simplification of the description, rather than instruction or dark
Show that signified device or element must have a particular orientation, be constructed and operated in a specific orientation, therefore should not be understood as pair
Limitation of the invention.In addition, term " first ", " second ", " third " are used for description purposes only, and it should not be understood as instruction or dark
Show relative importance.
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.
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment shall fall within the protection scope of the present invention.
Referring to Fig. 1 to Figure 11, the windshield coating system of the present embodiment includes precoating robot 4 and precoating device
5, precoating device 5 is for precoating paint, precoating robot 4 to be moved to pre-coating after being used to grab the glass of corresponding position out when precoating
It sets 5 lower section and glass is driven to move according to intended trajectory, be applied to precoating paint on glass.The present embodiment is pre- by setting
Coating device 5 and precoating robot 4 grab the precoating device 5 that glass to be coated is placed into out precoating paint by precoating robot 4
Lower section, then glass is grasp by precoating robot 4 and is moved, allow precoating paint to be applied to the position specified on glass, by precoating
Robot 4 and precoating device 5 instead of manual work, solve manual work bring be unevenly coated, low efficiency and health
The problem of damage.
The coating system of the present embodiment further includes the first feeding device 1, feeding robot 2, centralising device 3, the second feeding
Device 6 and Glue Spreading Robot 7, the material frame 8 that the first feeding device 1 is used to place glass are moved to the front of feeding robot 2,
Feeding robot 2, which is used to grab after glass on material-taking rack 8, to be placed into centralising device 3 and carries out positioning centering, precoating robot 4 from
Precoating device 5 is placed on centralising device 3 after crawl glass to carry out precoating and being placed into after the completion of precoating the second feeding dress
It sets on 6, the second feeding device 6 is used to for glass being moved to 7 front of Glue Spreading Robot and removes glass after the completion of gluing,
Gluing head 701 is connected in Glue Spreading Robot 7, gluing head 701 is used for plastic emitting when gluing, and Glue Spreading Robot 7 is for driving gluing
First 701 on glass gluing.The coating system of the present embodiment by the first feeding device 1, feeding robot 2, centralising device 3,
Second feeding device 6 and Glue Spreading Robot 7 realize whole processes of glass glue-spreading, only need employee that will place the material frame 8 of glass
Being placed into the first feeding device 1 can carry out carrying out gluing automatically, and high degree of automation optimizes work flow, improves painting
Glue efficiency, and the coating of detergent, silane coupling agent and glue is all made of machine progress, ensure that gluing quality, and reduce
Cost.
In addition, first feeding device 1 and the second feeding device 6 of the present embodiment are oppositely arranged, feeding robot 2, centering
Device 3, precoating robot 4 and precoating device 5 are successively set between the first feeding device 1 and the second feeding device 6, feeder
Device people 2 is set to the front of the first feeding device 1, and the front of the second feeding device 6 is arranged in Glue Spreading Robot 7, in this implementation
In example, the second feeding device 6 includes conveyer belt 601, precoats robot 4 and Glue Spreading Robot 7 respectively close to the two of conveyer belt 601
End setting, keeps the progress of process rigorously orderly, effectively shortens producing line length, make full use of production space.
In the present embodiment, the first feeding device includes guide rail 101, mobile platform 102, X axis clamping mechanism and Y-axis folder
Tight mechanism, mobile platform 102 are slidably disposed on guide rail 101, the first side on mobile platform 102 and adjacent thereto
Second side is equipped with divider 103, and X-axis clamp system and Y-axis clamp system are set on mobile platform 102, X-axis clamp system
It is parallel to second side of mobile platform 102 and is arranged corresponding thereto, Y-axis clamp system is parallel to the first side of mobile platform 102
And be arranged corresponding thereto, X-axis clamp system is for pushing material frame 8 to move to second side of mobile platform 102, Y-axis clamp system
For pushing material frame 8 to move to the first side of mobile platform 102, X-axis clamp system is equipped with X-axis displacement sensor, Y axle clamp
Tight mechanism is equipped with Y-axis displacement sensor.When employee will expect that frame 8 is placed on the first feeding device 1 with fork truck, the first feeding is filled
The X-axis clamp system and the mobile material frame 8 of Y-axis clamp system on 1 mobile platform 102 are set, material frame 8 is moved to scheduled position
It sets, and is slided on guide rail 101 by mobile platform 102, will expect that frame 8 is moved to the front of feeding robot 2, make feeder
Device people 2 smoothly can grab glass from material frame 8, not only it is not necessary that material frame 8 is manually navigated to 2 front of feeding robot, can avoid
Feeding robot 2 is protected in the collision of fork truck and feeding robot 2, and can guarantee material 8 accurate positioning of frame.The X-axis of the present embodiment is pressed from both sides
Tight mechanism includes two the first push plates 104 and two the first clamping cylinders 105, and first push plate 104 is connected to one first
On the piston rod of clamping cylinder 105, the first push plate 104 is parallel with second side of mobile platform 12, two the first clamping cylinders 105
Fourth side opposite with second side of mobile platform 102 is set and respectively close to the first side of mobile platform 102, third side
Setting.Y-axis clamp system includes four the second push plates 106 and four the second clamping cylinders 107, the second push plate 106 connection
On the piston rod of second clamping cylinder 107, the second clamping cylinder of two of them 107 is set to the of mobile platform 102
Three sides and it is arranged respectively close to second side of mobile platform 102, the 4th side, other two second clamping cylinder 107 is respectively set
In second side of mobile platform 102 and the 4th side and the two is oppositely arranged, and second positioned at the 4th side of mobile platform 102 clamps
Cylinder 107 is connected to the first push plate 104 on the piston rod of the first clamping cylinder 105 and being located at first clamping cylinder 105
Rear.In addition, be set to mobile platform second side, the 4th side the second clamping cylinder 107 piston rod on be connected with push plate and stretch
Cylinder 108 out, the second push plate 106 are connected on the piston rod of push plate stretches out cylinder 108.The piston rod of first clamping cylinder 105
It is parallel with the piston rod of push plate stretches out cylinder 108, the piston of the piston rod of the first clamping cylinder 105 and the second clamping cylinder 107
Bar is vertical.By the flexible of piston rod, push plate is mobile, pushes material frame 8 mobile by push plate.Due between two stabilizer blades of material frame 8
There are certain space lengths, and the position for being located at the second clamping cylinder 107 of 102 third side of mobile platform is fixed, it may appear that
The case where second push plate 106 of this two the second clamping cylinder 107 connections is staggered with the stabilizer blade for expecting frame 8, so in mobile platform
102 second side and the 4th side are respectively arranged second clamping cylinder 107, when the first clamping cylinder 105 pushes, the second folder
Tight cylinder 107 with the piston rod movement to the stabilizer blade for expecting frame 8 of the first clamping cylinder 105 near, and then avoid Y direction that from cannot pushing away
Dynamic problem.The present embodiment is also provided with push rod stretches out cylinder 108, can avoid material frame 8 when the first push plate 104 pushes material frame 8
With the collision of the second push plate 107.It will expect that frame 8 shifts second side of mobile platform 102, Y-axis clamp system by X-axis clamp system
To expect that frame shifts the first side of mobile platform 102 onto, make to expect frame 8 with the intersection point of the first side of mobile platform 102 and second side its
It places on one vertex.The X-axis displacement sensor and Y-axis displacement sensor of the present embodiment are respectively used to the first push plate 104 of measurement, the
The displacement of two push plates 106, according to the first push plate 104, the second push plate 106 displacement compared with initial range, can obtain material frame 8
Size make the front for expecting that frame 8 is located at feeding robot 2, to allow and move rail to control the moving distance of mobile platform 102
The fixed feeding robot 2 of mark smoothly can grab glass from material frame 8, avoid feeding robot 2 and expect the collision of frame 8.This
Outside, the present embodiment is provided with two mobile platforms 102 on guide rail 101, and robot is placed in a wherein mobile platform 102
When expecting to grab glass on frame 8, logistics personnel can will expect that frame 8 is placed on another mobile platform 102 with fork truck, improve work effect
Rate.
In addition, the first feeding device 1 further includes the pallet 109 of four stabilizer blades for putting feeding rack, four pallets 109
It is movably disposed at four corners of mobile platform 102 respectively, if being provided with rectangular array distribution on mobile platform 102
Dry steel ball idler wheel (not shown), pallet 109 are set to above steel ball idler wheel, and X-axis clamp system and Y-axis clamp system are respectively provided with
In the outside of pallet 109.When X-axis clamp system, Y-axis clamp system push material frame 8, pallet 4 is moved with the movement of material frame 8
It is dynamic, reduce the friction of material frame 8 and mobile platform 102, and material frame 8 can be pushed with lesser thrust.
Material frame 8 generally includes bar 801, the cross bar for separating glass and being arranged on by overturning fixed mechanism
802 and two vertical bars 803, the both ends of cross bar 802 be connected on two vertical bars 803, bar 801 is logical for axis with cross bar 802
It crosses overturning fixed mechanism to be rotatably connected on cross bar 802, in glass feeding, feeding robot 2 is needed to stir material frame 8
Bar 801 open the overturning fixed mechanism of bar 801, overturn bar 801, then feeding robot 2 is again from material frame 8
Upper crawl glass.The present embodiment is provided with the bar detection device 804 that detection bar 801 is overturn on material frame 8, the present embodiment
Bar detection device 804 uses laser sensor, and bar detection device 804 is arranged on vertical bar 803 and is located on bar 801
Side, detection bar 801 whether come to judge whether bar 801 is opened before bar detection device 804, if bar 801 not by
Success is opened and the movement of feeding robot 2 does not stop, and can damage vehicle glass and feeding robot 2, and bar detection device is arranged
804 can sound an alarm in time and stop feeding robot 2, protect vehicle glass and feeding robot 2.
Feeding robot 2 further includes the fixture 201 with sucker, the driving lever 202 for stirring bar 801 and driving lever detection knot
Structure, driving lever detection structure include elastic component 203 and touch sensor 204, and driving lever 202 is axially displaceably set to fixture 201
On, it is arranged with link block 204 outside driving lever 202, elastic component 203 is connected between the downside of driving lever 202 and the bottom of link block 205
And there is active force to driving lever 202, touch sensor 204 is mounted on the top on link block 205 and being located at driving lever 202.Feeding
When bar 801 is stirred by robot 2, the fixture 201 of feeding robot 2 is moved to 801 top of bar, and tilts down certain angle
Degree, driving lever 202 stretch out, and driving lever 202 is contacted with bar 801, and fixture 201 moves obliquely, and driving lever 202 is made to impose bar 801
One power obliquely opens the overturning fixed mechanism of bar 801, and fixture 201 then moves to the lower section of bar 801, then to
Upper movement shifts the overturning of bar 801 onto, opens bar 801.Expect that the opening of bar 801 of frame 8 causes during transportation in order to prevent
The bar 801 for expecting frame 8 can be bundled with fixing belt and be opened to prevent gear-stopping bar 801 by the case where glass is fallen, producer, and fixing belt 8
Above bar 801, when vehicle glass feeding, material personnel is needed to open fixing belt, then by feeding robot by bar
801 push aside overturn bar 801 can.If the fixing belt of 801 top of bar is not switched on, driving lever 202 is by than normal work
The active force for making Shi Geng great makes driving lever 202 overcome the pulling force of elastic component 203 and move up, touches the touching being located above
Sensor 204 stops feeding robot 2 to communicate information to control system, protects feeding robot 2 and vehicle glass.
In addition, ultrasonic sensor 206 is also provided on fixture 201, the position for detecting glass He judging glass and bar 801,
Allow feeding robot 2 being capable of accurate driving lever and crawl glass.In addition, being connected to driving lever on the fixture 201 of the present embodiment stretches out gas
Cylinder 207, one end of driving lever 207 are connected on the piston rod of driving lever stretches out cylinder 207, and the other end of driving lever 207 installs link block
205。
In the present embodiment, centralising device 3 includes horizontal clamping mechanism, longitudinal clamp system support column 3010, sucker
3011 and and measuring device, horizontal clamping mechanism be set to it is above longitudinal clamp system and vertical with longitudinal clamp system, laterally
Clamp system and longitudinal clamp system include centering cylinder 301, the first clamping component and the second clamping component, the first clamping group
Part and the second clamping component are connected by transmission gear 302, and the first clamping component and the second clamping component are with transmission gear 302
For symmetry axis center symmetric setting, centering cylinder 301 is connect with the first clamping component；First clamping component and the second clamping component
Slide unit 303, pressure bar 304, centering guide rail 305 and sliding block 306 are respectively included, sliding block 306 is slidably disposed on leads in
On rail 305, slide unit 303 is connected to the top of sliding block 306, and pressure bar 304 is vertical on slide unit 303, and the first clamping group
The pressure bar 304 of part, the pressure bar 304 of the second clamping component and the center of transmission gear 302 are located along the same line, slide unit
303 side is provided with the engaging tooth engaged with transmission gear 302, and support column 3010 and sucker 3011 are located at each pressure bar 304
In the region that line is formed, sucker 3011 is connect with getter device；Measuring device includes encoder 307 and rack gear 308, rack gear
308 are set to the top of the slide unit 303 of the first clamping component and extend along its length, and encoder 307 is set to the first clamping
The side of the slide unit 303 of component is set with the measurement gear 309 engaged with rack gear 308 on the projecting shaft of encoder 307.When
Feeding robot 2 puts glass to the support column 3010 of centralising device 3, and transmission gear 302 rotates, and drives the first clamping component
Slide unit 303 and the slide unit 303 of the second component inwardly moved with identical speed, pressure bar 304 pushes glass mobile, thus
So that the center of glass is directed at scheduled position, so that precoating robot 4 is accurately grabbed glass and confirmation center of glass, and encode
Device 307 is capable of measuring the moving distance of slide unit 303, to obtain the size of glass, coating system is enable to judge type of glass and ruler
It is very little and control precoating robot 4 grasps the mobile track of glass accordingly, enable the scheduled application place of glass and precoating device 5
Accurate contact.
The precoating device of the present embodiment includes column 501, linking arm 502, cleaning head 503 and primary coat head 504, linking arm
502 one end is connected on column 501, and the other end of linking arm 502 is provided with mounting rack, and cleaning head 503 is connected to mounting rack
On, primary coat head 504 can be set on mounting rack up or down, and cleaning head 503 and primary coat head 504 are respectively by connecting tube and each
From feed bin 9 connect, the feed flow of cleaning head 503 and primary coat head 504 is using PLC system control.The first gas is provided on mounting rack
Cylinder 505, primary coat head 504 are connected on the piston rod of the first cylinder 505, and the bottom of column 501 is provided with the second cylinder 506, the
The piston rod of two cylinders 506 is parallel with column 501, and linking arm 502 is connected on the piston rod of the second cylinder 506, can on move down
Dynamic first linking arm 502, it is easy to repair.Cleaning head 503 and primary coat head 504 are mounted on same mounting rack, and primary coat head 504
Setting can be moved up and down, when coat clean agent makes, primary coat head 504 is located at 503 top of cleaning head, makes when being coated with silane coupling agent, primary coat
First 504 are located at 503 lower section of cleaning head, and cleaning is independent of each other with primary coat, can cut down a coating robot, simplify producing line.This reality
The precoating robot 4 for applying example is that six-joint robot carries out overturning shifting by precoating robot 4 in coat clean agent and silane coupling agent
It is dynamic, so that the material agent of cleaning head 503 and primary coat head 504 is applied to the marginal position of glass.In addition, the column 501 of the present embodiment
It is hollow structure with linking arm 502, and the both ends on the bottom of column 501 and top, linking arm 502 are respectively equipped with and its internal phase
Same through-hole 507, connecting tube enter in column 501 from the bottom of column 501, then stretch out from the through-hole 507 on 501 top of column,
The through-hole 507 from linking arm 502 close to column 501 enters in linking arm 502 again, finally from the through-hole of 502 other end of linking arm
507 stretch out, then connect with cleaning head 503, primary coat head 504, can protective conduit.In addition, the linking arm 502 of the present embodiment includes two
A linkage section, a linkage section are vertically connected on column 501, another linkage section is angled to be connected to the linkage section
On, it can avoid precoating robot 4 and column 501 collide.
In addition, the present embodiment is provided with other set linking arm 502, cleaning head 503 and primary coat head also on column 501
504, two linking arms 502, cleaning head 503 and primary coat head 504 are located at the opposite two sides of column 501.The vapour of the present embodiment
The first feeding device 1, feeding robot 2, centralising device 3, precoating robot 4, the precoating device of car bumper wind glass glue-spreading system
5, the second feeding device 6 is respectively provided with that structure is two sets identical, and two set of first feeding device 1, two is put on Glue Spreading Robot 7
Expect 2, two sets of robot, 3, two sets of centralising device precoating robot, 4, two sets of 5, two set of second feeding devices 6 of precoating device and two sets
Glue Spreading Robot 7 is distributed in the two sides of column 501 using the straight line where column 501 as symmetry axis respectively, and feed bin 9 is set to two sets
Between first feeding device 1, the coating of two blocks of glass can be carried out simultaneously, makes full use of space.
The windshield coating system of the present embodiment further includes vision inspection apparatus, and vision inspection apparatus includes camera shooting
First 10, image processing module and display screen, camera 10 are connected in Glue Spreading Robot 7, camera 10 and image processing module
Connection, image processing module are connect with display screen.Image processing module can camera 10 acquire image on amplification, reinforce and
Clear that coating locus is presented, employee checks the processed image of image processing module by display screen, can check clear and accurately
The problem of naked eyes can not distinguish out carries out gluing after carrying out detergent, the coating quality inspection of silane coupling agent and gluing before gluing
Quality examination guarantees coating quality.The coating robot 7 of the present embodiment is six-joint robot, and gluing head 701 and camera 10 are equal
It is connected in the T shaft member of coating robot 7.
To sum up, the present embodiment passes through setting precoating device 5 and precoating robot 4, is grabbed by precoating robot 4 to be coated
Glass be placed into out precoating paint precoating device 5 lower section, then glass is grasp by precoating robot 4 and is moved, allow precoating
Agent is applied to the position specified on glass, by precoating robot 4 and precoating device 5 instead of manual work, solves artificial work
Industry bring is unevenly coated, low efficiency and the problem of Health cost.
The above is only a preferred embodiment of the present invention, it is noted that for the ordinary skill people of the art
For member, without departing from the technical principles of the invention, several improvement and replacement can also be made, these are improved and replacement
Also it should be regarded as protection scope of the present invention.
Claims (10)
1. a kind of windshield coating system, which is characterized in that including precoating robot and precoating device, the pre-coating
Precoating paint, the precoating robot are moved to the precoating device after being used to grab the glass of corresponding position out when setting for precoating
Lower section and drive the glass to move according to intended trajectory, be applied to the precoating paint on the glass.
2. windshield coating system according to claim 1, which is characterized in that further include the first feeding device,
Feeding robot, centralising device, the second feeding device and Glue Spreading Robot, first feeding device will be for that will place glass
Material frame is moved to the front of the feeding robot, and the feeding robot is used to after grabbing the glass on the material frame be placed into
The centralising device carries out positioning centering, the precoating robot grabbed from the centralising device be placed into after glass it is described pre-
Coating device precoat and be placed on second feeding device after the completion of precoating, and second feeding device is used for will
Glass is moved in front of the Glue Spreading Robot and removes glass after the completion of gluing, is connected in the Glue Spreading Robot
Gluing head, the gluing head are used for plastic emitting when gluing, and the Glue Spreading Robot is for driving gluing head gluing on glass.
3. windshield coating system according to claim 2, which is characterized in that first feeding device includes
Mobile platform, guide rail, X-axis clamp system and Y-axis clamp system, the mobile platform are slidably disposed on the guide rail,
The first side and second side adjacent thereto on the mobile platform are equipped with divider, the X-axis clamp system and Y-axis folder
Tight mechanism is set on the mobile platform, the X-axis clamp system be parallel to second side of the mobile platform and with its phase
To setting, the Y-axis clamp system is parallel to the first side of the mobile platform and is arranged corresponding thereto, the X-axis clamping machine
Structure is for pushing the material frame to move to second side of the mobile platform, and the Y-axis clamp system is for pushing the material frame
It is moved to the first side of the mobile platform, the X-axis clamp system is equipped with X-axis displacement sensor, the Y-axis clamp system
It is equipped with Y-axis displacement sensor.
4. windshield coating system according to claim 3, which is characterized in that first feeding device also wraps
The pallet of four stabilizer blades for placing the material frame is included, four pallets are movably disposed at the mobile platform respectively
Four corners, several steel ball idler wheels of rectangular array distribution are provided on the mobile platform, the pallet is set to described
Steel ball idler wheel top, the X-axis clamp system and the Y-axis clamp system are all set in the outside of the pallet.
5. windshield coating system according to claim 2, which is characterized in that the feeding robot includes band
Grab fixture, the driving lever and driving lever detection structure for stirring the bar on the material frame of sucker, the driving lever detection structure
Including elastic component and touch sensor, the driving lever is axially displaceably set on the fixture, is arranged with outside the driving lever
Link block, the elastic component, which is connected between the downside of the driving lever and the bottom of the link block and has to the driving lever, to be made
Firmly, the touch sensor is mounted on the top on the link block and being located at the driving lever.
6. windshield coating system according to claim 2, which is characterized in that the centralising device includes laterally
Clamp system, longitudinal clamp system, support column, support sucker and measuring device, the horizontal clamping mechanism are set to described vertical
It is above to clamp system and vertical with longitudinal clamp system,
The horizontal clamping mechanism and longitudinal clamp system include centering cylinder, the first clamping component and the second clamping group
Part, first clamping component and second clamping component are connected by transmission gear, and first clamping component and institute
The second clamping component is stated using the transmission gear as symmetry axis center symmetric setting, the centering cylinder and the first clamping component connect
It connects；
First clamping component and second clamping component respectively include slide unit, pressure bar, centering guide rail and sliding block, institute
It states sliding block to be slidably disposed on the centering guide rail, the slide unit is connected to the top of the sliding block, and the pressure bar hangs down
It is directly set on the slide unit, and the pressure bar of the pressure bar of first clamping component, second clamping component and the biography
The center of moving gear is located along the same line, and the side of the slide unit is provided with the engaging tooth engaged with the transmission gear, institute
It states support column and the support sucker is located in the region that each pressure bar line is formed, the support sucker and getter device
Connection；
The measuring device includes encoder and rack gear, and the rack gear is set to the top of the slide unit of first clamping component and edge
Its length direction extends, and the encoder is set to the side of the slide unit of first clamping component, the stretching of the encoder
The measurement gear engaged with the rack gear is set on axis.
7. windshield coating system according to claim 2, which is characterized in that the precoating device includes vertical
Column, linking arm, cleaning head and primary coat head, one end of the linking arm are connected on the support column, the linking arm it is another
End is provided with mounting rack, and the cleaning head is connected on the mounting rack, and the primary coat head can be set to described up or down
On mounting rack, the cleaning head and the primary coat head pass through connecting tube respectively and connect with respective feed bin, the cleaning head and institute
The feed flow for stating primary coat head is controlled using PLC system.
8. windshield coating system according to claim 7, which is characterized in that be provided on the mounting rack
One cylinder, the primary coat head are connected on the piston rod of first cylinder, and the bottom of the support column is provided with the second cylinder,
The piston rod of second cylinder is parallel with the column, and the linking arm is connected on the piston rod of second cylinder.
9. windshield coating system according to claim 2, which is characterized in that it further include vision inspection apparatus,
The vision inspection apparatus includes camera, image processing module and display screen, and the camera is connected to the gluing machine
On people, the camera is connect with described image processing module, and described image processing module is connect with the display screen.
10. windshield coating system according to claim 2, which is characterized in that the second feeding device packet
The both ends that conveyer belt, the precoating robot and the Glue Spreading Robot are included respectively close to the conveyer belt are arranged.
Priority Applications (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910180472.2A CN109954627B (en) | 2019-03-11 | 2019-03-11 | Automobile windshield gluing system |
| JP2021537888A JP7224473B2 (en) | 2019-03-11 | 2020-02-20 | Automotive Windshield Adhesive Dispensing System |
| PCT/CN2020/076067 WO2020181970A1 (en) | 2019-03-11 | 2020-02-20 | Adhesive coating system for automobile windscreen |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910180472.2A CN109954627B (en) | 2019-03-11 | 2019-03-11 | Automobile windshield gluing system |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109954627A true CN109954627A (en) | 2019-07-02 |
| CN109954627B CN109954627B (en) | 2021-04-30 |
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ID=67024217
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910180472.2A Active CN109954627B (en) | 2019-03-11 | 2019-03-11 | Automobile windshield gluing system |
Country Status (3)
| Country | Link |
|---|---|
| JP (1) | JP7224473B2 (en) |
| CN (1) | CN109954627B (en) |
| WO (1) | WO2020181970A1 (en) |
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Also Published As
| Publication number | Publication date |
|---|---|
| WO2020181970A1 (en) | 2020-09-17 |
| JP2022516104A (en) | 2022-02-24 |
| CN109954627B (en) | 2021-04-30 |
| JP7224473B2 (en) | 2023-02-17 |
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