CN111136044B - Glue wiping method - Google Patents

Abstract

The invention discloses a glue wiping method which comprises the following steps of feeding a product, feeding a wiping cloth, matching the wiping cloth to form a glue wiping end, and controlling the glue wiping end to wipe the product according to a preset glue wiping track. According to the invention, the wiping end formed by matching the wiping cloth can move according to the preset wiping track through the preset wiping track, so that the position of the product to be wiped with the glue can be wiped comprehensively, and the completeness and the quality of the wiping are ensured.

Description

Glue wiping method

Technical Field

The invention relates to the technical field of frictioning, in particular to a frictioning method.

Background

When electronic products are manufactured, related elements are often required to be attached and assembled through glue, and residual glue, such as residual glue on the periphery of a screen of a smart phone, is left behind by the assembled glue. In order to ensure the quality of electronic products, the residual glue for mounting needs to be removed. The wiping mode in the prior art is only to control the wiping cloth to perform simple linear reciprocating motion on the wiping position, and the comprehensiveness and the wiping quality of the wiping can not be ensured.

Disclosure of Invention

Aiming at the defects of the prior art, the invention provides a glue wiping method.

The invention discloses a glue wiping method, which comprises the following steps:

feeding the product;

loading the wiping cloth and matching the wiping cloth to form a wiping end;

and controlling the glue wiping end to wipe the product according to the preset glue wiping track.

According to an embodiment of the present invention, before loading the product, the method further comprises the following steps:

and positioning the product.

According to one embodiment of the invention, loading the wipe and mating the wipe into a wipe end comprises the sub-steps of:

releasing the wipe;

the released wiping cloth is wound on the wiping head;

rolling the wiping cloth which bypasses the wiping rubber head;

the rubber head with the rubber cloth is wound to form a rubber end.

According to an embodiment of the invention, the released wiping cloth is wound before the rubber wiping head, and the method further comprises the following steps:

adding cleaning liquid into the wiping cloth.

According to an embodiment of the invention, before rolling the wiping cloth bypassing the wiping head, the method further comprises the following steps:

the cleaning liquid is collected.

According to an embodiment of the invention, controlling the glue wiping end to wipe the product according to the preset glue wiping track comprises the following steps:

presetting a glue wiping track of a product according to a position of the product to be wiped with glue;

the frictioning end is attached to or pressed on the position of a product to be frictionized;

and according to the glue wiping track of the product, the glue wiping end wipes the product.

According to an embodiment of the present invention, presetting the wiping track of the product comprises the following substeps:

presetting a virtual track;

calculating a central point motion variable of the product according to the virtual track;

and forming a glue wiping track according to the movement variable of the central point of the product.

According to one embodiment of the invention, the movement variables of the central point and the glue wiping end of the product are calculated according to the virtual track;

and forming a glue wiping track according to the central point of the product and the movement variable of the glue wiping end.

According to one embodiment of the invention, the product is rubbed by the glue wiping end according to the glue wiping track of the product, and the method comprises the following steps:

and (3) enabling the frictioning end to be fixed, and enabling the product to move around the frictioning end according to the frictioning track so as to enable the frictioning end to frictionize the product.

According to one embodiment of the invention, the product is rubbed by the glue wiping end according to the glue wiping track of the product, and the method comprises the following steps:

and the frictioning end and the product move in a matching way according to the frictioning track so that the frictioning end rubs the product.

This application is through predetermineeing the frictioning orbit for the frictioning end that the rag cooperation formed can be according to predetermineeing the motion of frictioning orbit, and then comprehensive treating the product frictioning position and carry out the frictioning, has guaranteed frictioning wholeness and frictioning quality.

Drawings

The accompanying drawings, which are included to provide a further understanding of the application and are incorporated in and constitute a part of this application, illustrate embodiment(s) of the application and together with the description serve to explain the application and not to limit the application. In the drawings:

FIG. 1 is a schematic structural diagram of a glue spreading apparatus according to a first embodiment;

FIG. 2 is a schematic structural diagram of a frictioning device and a supporting and mounting device according to an embodiment;

fig. 3 is a schematic structural view of a feeding positioning device in the first embodiment;

FIG. 4 is a schematic structural diagram of a supporting mechanism according to a first embodiment;

FIG. 5 is a schematic structural diagram of a glue wiping mechanism according to an embodiment;

FIG. 6 is a schematic view of a dispensing assembly according to an embodiment;

FIG. 7 is a schematic structural view of a wind-up and wind-down device and a supporting and mounting device according to a first embodiment;

FIG. 8 is a schematic structural diagram of a unwinding shaft according to an embodiment;

FIG. 9 is another schematic structural diagram of a glue spreading device according to an embodiment;

FIG. 10 is a flowchart showing a method of applying a paste according to a second embodiment;

FIG. 11 is a flowchart illustrating a process of applying glue according to a glue applying track according to the second embodiment;

FIG. 12 is a schematic diagram illustrating the shape of a virtual trace according to a second embodiment;

FIG. 13 is a relationship curve of motion variables in the third embodiment.

Detailed Description

In the following description, for purposes of explanation, numerous implementation details are set forth in order to provide a thorough understanding of the various embodiments of the present invention. It should be understood, however, that these implementation details are not to be interpreted as limiting the invention. That is, in some embodiments of the invention, such implementation details are not necessary. In addition, some conventional structures and components are shown in simplified schematic form in the drawings.

It should be noted that all the directional indications such as up, down, left, right, front and rear … … in the embodiment of the present invention are only used to explain the relative positional relationship, movement, etc. between the components in a specific posture as shown in the drawings, and if the specific posture is changed, the directional indication is changed accordingly.

In addition, the descriptions related to the first, the second, etc. in the present invention are only used for description purposes, do not particularly refer to an order or sequence, and do not limit the present invention, but only distinguish components or operations described in the same technical terms, and are not understood to indicate or imply relative importance or implicitly indicate the number of indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In addition, technical solutions between various embodiments may be combined with each other, but must be realized by a person skilled in the art, and when the technical solutions are contradictory or cannot be realized, such a combination should not be considered to exist, and is not within the protection scope of the present invention.

In order to further understand the contents, features and effects of the present invention, the following embodiments are illustrated and described in detail with reference to the accompanying drawings:

example one

Referring to fig. 1, fig. 1 is a schematic structural diagram of a first embodiment of a glue wiping apparatus. The glue wiping equipment in the embodiment comprises a feeding positioning device 1, a glue wiping device 2 and a winding and unwinding device 3. The feeding positioning device 1 is arranged on the feeding side of the glue wiping device 2, and the winding and unwinding device 3 is adjacent to the glue wiping device 2. The feeding positioning device 1 is used for positioning a feeding product, and the wiping device 2 respectively receives the positioned product and the wiping cloth released by the winding and unwinding device 3 and controls the wiping cloth to wipe the product.

Through the cooperation setting of material loading positioner 1, frictioning device 2 and receipts unwinding device 3, realize having promoted the frictioning efficiency of product to the quick frictioning of product, fix a position the material loading of product through material loading positioner 1 moreover, guaranteed the accuracy of follow-up frictioning. The product in this embodiment is a smart phone, for example, a full-screen, curved-screen or normal-screen cell phone, and the glue is used to wipe off the residual glue around the cell phone screen.

With continuing reference to fig. 1 and 2, fig. 2 is a schematic structural diagram of a frictioning device and a supporting and mounting device according to a first embodiment. Further, the frictioning device in this embodiment further includes a supporting and mounting device 4. The support mounting device 4 includes a support mounting base plate 41, a first support mounting riser 42, a second support mounting riser 43, two first support mounting side plates 44, and two second support mounting side plates 45. The first supporting installation vertical plate 42 is perpendicular to the supporting installation bottom plate 41, the first supporting installation vertical plate 42 is located at one end of the supporting installation bottom plate 41, and the longitudinal sections of the first supporting installation vertical plate 42 and the supporting installation bottom plate 41 are in an L shape. In this embodiment, a directional coordinate concept is introduced to better understand that, when a user faces the "L" shaped side faces of the first supporting and mounting vertical plate 42 and the supporting and mounting bottom plate 41, a direction parallel to the supporting and mounting bottom plate 41 and perpendicular to the first supporting and mounting vertical plate 42 is a direction of the X axis, a direction parallel to the supporting and mounting bottom plate 41 and parallel to the first supporting and mounting vertical plate 42 is a direction of the Y axis, a direction perpendicular to the supporting and mounting bottom plate 41 and parallel to the first supporting and mounting side plate 42 is a direction of the Z axis, a rotation direction parallel to a plane of the XY axis is a C angle direction, and a rotation direction parallel to a plane of the ZX axis is an a angle direction.

The second support mounting riser 43 is located on the side of the first support mounting riser 42 away from the support mounting base plate 41, and the second support mounting riser 43 is parallel to the first support mounting riser 42. The second supporting and mounting vertical plate 43 and the first supporting and mounting vertical plate 42 are fixedly connected through two first supporting and mounting side plates 44 respectively. Specifically, the two first supporting installation side plates 44 are parallel to each other, and the two sides of the second supporting installation vertical plate 43 and the two sides of the first supporting installation vertical plate 42 are respectively fixedly connected with the opposite side walls of the two first supporting installation side plates 44, so that the cross sections of the first supporting installation vertical plate 42, the second supporting installation vertical plate 43 and the two first supporting installation side plates 44 form a rectangular frame structure. Preferably, the winding and unwinding mounting plates 441 are respectively disposed at the upper ends of the first supporting and mounting side plates 44, and the winding and unwinding mounting plates 441 are located at the upper ends of the first supporting and mounting side plates 44 and extend from the first supporting and mounting vertical plate 42 to a side far away from the second supporting and mounting vertical plate 43. Preferably, the winding and unwinding mounting plate 441 and the first supporting and mounting side plate 44 are integrally formed, and preferably, the winding and unwinding mounting plate 441 and the first supporting and mounting side plate 44 are approximately L-shaped plates. The two second supporting installation side plates 45 are respectively vertically arranged on the surface of the supporting installation bottom plate 41, the two second supporting installation side plates 45 are parallel to each other, the second supporting installation side plates 45 are parallel to the first supporting installation side plates 44, and preferably, the two second supporting installation side plates 45 are respectively positioned on the outer sides of the two first supporting installation side plates 44.

With continuing reference to fig. 1 and 3, fig. 3 is a schematic structural diagram of a feeding positioning device in the first embodiment. Further, the feeding positioning device 1 is disposed on the support mounting bottom plate 41 and between the two second support mounting side plates 45, and the feeding end of the feeding positioning device 1 faces the first support mounting vertical plate 42. Preferably, the loading fixture 1 is adjacent to the side of the support mounting floor 41 remote from the first support mounting riser 42. The feeding positioning device 1 includes a positioning mechanism 11 and a positioning driving mechanism 12. The output end of the positioning driving mechanism 12 is connected with the positioning mechanism 11. The positioning mechanism 11 positions the loaded product, and the positioning driving mechanism 12 drives the positioning mechanism 11 to transfer the positioned product from the positioning mechanism 11 to the glue wiping device 2. Preferably, the positioning mechanism 11 includes a positioning groove 111, and the positioning groove 111 is used for supporting and positioning the product. Specifically, the positioning mechanism 11 is a U-shaped structure, and includes a connecting portion 11a, a first positioning portion 11b and a second positioning portion 11c, where the connecting portion 11a is connected to an execution end of the positioning driving mechanism 12, the first positioning portion 11b and the second positioning portion 11c are parallel to each other and disposed on two sides of the connecting portion 11a, the positioning groove 111 is disposed on one side where the first positioning portion 11b and the second positioning portion 11c are close to each other, and has a length smaller than that of the first positioning portion 11b and the second positioning portion 11c, and a distance between the positioning groove 111 disposed on the first positioning portion 11b and the positioning groove 111 disposed on the second positioning portion 11c is adapted to a width of the product, so that two sides of the product are just supported by the positioning grooves 111 on the first positioning portion 11b and the second positioning portion 11c, and the product is limited by the first positioning portion 11b and the second positioning portion. Preferably, the positioning mechanism 11 is further provided with an introduction groove 112, the introduction groove 112 is disposed above the positioning groove 111 and is communicated with the positioning groove 111, and the inner wall of the introduction groove 112 is obliquely disposed, so that the width of the end of the introduction groove 112 far away from the positioning groove 111 is larger than the width of the connecting end of the introduction groove 112 and the positioning groove 111. When the product is placed toward the positioning groove 111, the product enters the positioning groove 111 through the introduction groove 112. The introduction groove 112 makes it easier for the product to enter the positioning groove 111. In specific application, the product can be loaded and placed in the positioning groove 111 through the cooperation of the external linear module and the manipulator. Preferably, in order to facilitate the product to be placed into the positioning groove 111, the introduction groove 112 extends upward and penetrates the upper surfaces of the first positioning portion 11b and the second positioning portion 11 c.

Referring to fig. 1 and fig. 3 again, further, the positioning driving assembly 12 includes a positioning driving mechanism 121 and a positioning supporting plate 122, the positioning driving mechanism 121 is disposed on the positioning supporting plate 122, an actuating end of the positioning driving mechanism 121 is connected to the positioning mechanism 11 to drive the positioning mechanism 11 to ascend or descend, and when the positioning mechanism 11 descends, the product on the positioning mechanism 11 is blanked. The positioning driving mechanism 121 adopts a driving cylinder, the driving cylinder is arranged on the positioning supporting plate 122, and the execution end is connected with the positioning mechanism 11. When the driving cylinder is started, the positioning mechanism 11 ascends or descends along with the execution end of the driving cylinder, and the product is discharged when the positioning mechanism descends. Preferably, the positioning support plate 122 is provided with a positioning guide slot 1221, an execution end of the positioning driving mechanism 121 is connected with a positioning driving guide 1211, the positioning driving mechanism 121 is arranged at one side of the positioning support plate 122, and the positioning driving guide 1211 passes through the positioning guide slot 1221 and is connected with the positioning mechanism 11. When the positioning drive mechanism 121 is activated, the positioning drive guide 1211 slides along the positioning guide groove 1221, and moves the positioning mechanism 11. Preferably, the positioning support plate 122 is provided with a positioning guide rail 1222, the positioning mechanism 11 is provided with a positioning slider 113, and the positioning slider 113 is slidably connected to the positioning guide rail 1222. When the positioning driving mechanism 121 drives the positioning mechanism 11 to move, the positioning slider 113 slides along the positioning guide rail 1222, so that the positioning mechanism 11 moves smoothly.

With continuing reference to fig. 2 and 4, fig. 4 is a schematic structural diagram of a bearing mechanism according to a first embodiment. Further, the glue spreading device 2 includes a glue spreading mechanism 21 and a carrying mechanism 22. The glue wiping mechanism 21 is adjacent to the bearing mechanism 22. The bearing mechanism 22 includes a bearing driving assembly 221 and a bearing assembly 222. The output end of the carrier driving assembly 221 is connected with the carrier assembly 222. The bearing assembly 222 is used for receiving and bearing the positioned product, and the bearing driving assembly 221 drives the bearing assembly 222 to move, so as to drive the product to move around the glue wiping end of the glue wiping mechanism 21, so that the glue wiping mechanism 21 wipes the product. The bearing component 222 driven by the bearing driving component 221 moves around the glue wiping end of the glue wiping mechanism 21, so that the glue wiping end of the glue wiping mechanism 21 can be fully wiped around a product, the glue wiping quality is ensured, and the product quality is further ensured.

Referring back to fig. 2 and 4, further, the carriage drive assembly 221 includes an X-axis drive 2211 and a Y-axis drive 2212. The output end of the X-axis driver 2211 is connected to the Y-axis driver 2212, and the output end of the Y-axis driver 2212 is connected to the carrier assembly 222. The X-axis driver 2211 cooperates with the Y-axis driver 2212 to drive the carriage assembly 222 in a bi-axial motion. Specifically, the X-axis driving element 2211 is laid on the surface of the supporting and mounting bottom plate 41 along the X-axis direction and located between the two second supporting and mounting side plates 45, one end of the X-axis driving element 2211 is opposite to the feeding positioning device 1, and the other end of the X-axis driving element 2211 is opposite to the first supporting and mounting vertical plate 42. The X-axis driving component 2211 in this embodiment may adopt a linear module, or adopt the cooperation of a motor, a driving wheel, a synchronous belt, a driven wheel, a screw rod, a sliding rail and a sliding table. The Y-axis driving member 2212 is disposed on the sliding table of the X-axis driving member 2211 along the Y-axis direction, and the structure and the operation principle of the Y-axis driving member 2212 are the same as those of the X-axis driving member 2211, and are not described herein again. The carrier assembly 222 is disposed on a slide of the Y-axis drive 2212. Thus, when the X-axis driving component 2211 and the Y-axis driving component 2212 are driven in a matching manner, the bearing component 222 can perform biaxial movement in two directions of the X-axis and the Y-axis, that is, linear movement in the plane of the XY-axis, so as to adjust the position of the mobile phone screen borne on the bearing component 222, and the periphery of the mobile phone screen moves around the glue wiping end of the glue wiping mechanism 1, thereby realizing comprehensive glue wiping, and preferably adapting to a common rectangular screen mobile phone. When the bearing assembly 222 bears the product, the X-axis driving element 2211 and the Y-axis driving element 2212 are firstly matched with each other to drive the bearing assembly 222 to move to the position below the positioning groove 111 of the positioning mechanism 11, then the positioning driving mechanism 121 drives the positioning mechanism 11 to descend, so that the product in the positioning groove 111 accurately falls on the bearing assembly 222, the bearing assembly 222 carries out adsorption on the product, the positioning and feeding process is completed, and the accuracy of subsequent glue wiping is ensured.

Referring back to fig. 2 and 4, further, the carrier drive assembly 221 further includes a C-angle drive 2213. The output of the Y-axis drive 2212 is connected to the C-angle drive 2213, and the output of the C-angle drive 2213 is connected to the carrier assembly 222. The three of the X-axis driver 2211, the Y-axis driver 2212 and the C-angle driver 2213 cooperate to drive the carrier assembly 222 to move in three axes. Specifically, the C-angle driver 2213 is disposed on a sliding table of the Y-axis driver 2212. The C-angle drive 2213 includes a C-angle carrier 22131, a C-angle driver 22132, a C-angle drive transmission 22133, and a C-angle drive spindle 22134. The C-angle carriage 22131 is provided on a slide table of the Y-axis driver 2212. The C-angle driver 22132 is disposed on the C-angle bearing frame 22131, an output end of the C-angle driver 22132 is connected to the C-angle driving rotating shaft 22134 through the C-angle driving transmission member 22133, the C-angle driving transmission member 22133 in this embodiment is a driving wheel, a synchronous belt and a driven wheel, the C-angle driver 22132 is a motor, the driving wheel is coaxially connected to an output shaft of the motor, the driven wheel is disposed on one side of the driving wheel, the driven wheel is sleeved outside the C-angle driving rotating shaft 22134 and synchronously wound around the driving wheel and the driven wheel, respectively, so as to achieve linkage between the driving wheel and the driven wheel, the C-angle driving rotating shaft 22134 is rotatably connected to the bearing frame 2132, the bearing assembly 222 is disposed above an upper end of the C-angle bearing frame 22131 and is parallel to the supporting. C angle driver 22132 drives C angle driving transmission member 22133 to rotate C angle driving shaft 22134, which in turn drives bearing assembly 222 to rotate along a direction parallel to supporting and mounting base plate 41, i.e. bearing assembly 222 rotates in C angle direction. Thus, when the X-axis driver 2211, the Y-axis driver 2212 and the C-angle driver 2213 are driven in a matching manner, the bearing assembly 222 can perform three-axis motion along three directions of the X-axis, the Y-axis and the C-angle, that is, linear motion and rotation in the plane of the XY-axis, so as to adjust the position of the mobile phone screen borne on the bearing assembly 222, so that the periphery of the mobile phone screen moves around the glue wiping end of the glue wiping mechanism 21, thereby realizing full glue wiping, and preferably adapting to a rectangular screen mobile phone with an R-angle.

Preferably, the carrier assembly 222 includes a carrier 2221 and an absorption portion 2222 disposed on the carrier 2221. The plummer 2221 is parallel to the support mounting base plate 41, and the middle portion thereof is connected to the upper end of the C-angle driving rotation shaft 22134. The specific shape of the supporting platform 2221 in this embodiment can be adapted to the shape of the product to be supported, and the supporting platform 2221 in this embodiment is rectangular block-shaped. The absorption portion 2222 is a plurality of vacuum suction cups embedded in the supporting platform 2221, and can absorb and fix the product supported on the supporting platform 2221, and preferably, the plurality of vacuum suction cups are uniformly distributed on the surface of the supporting platform 2221. Preferably, the bearing assembly 222 further comprises a bearing detector 2223. The bearing detection piece 2223 is disposed on the C-angle bearing frame 22131 and located below the bearing table 2221, the detection end of the bearing detection piece 2223 is opposite to the bearing table 2221, the bearing table 2221 is provided with a detection through hole 22211 at a position corresponding to the bearing detection piece 2223, and the detection light of the bearing detection piece 2223 can penetrate through the detection through hole 22211 to detect whether the bearing table 2221 bears a product. The load detector 2223 in this embodiment may employ a photoelectric sensor.

With continuing reference to fig. 2 and 5, fig. 5 is a schematic structural diagram of a first embodiment of a glue wiping mechanism. Further, the glue wiping mechanism 21 includes a glue driving member 211 and a glue wiping assembly 212. The output end of the frictioning driving piece 211 is connected with a frictioning assembly 212. The frictioning end of frictioning assembly 212 faces the load end of load bearing assembly 222. The frictioning driving member 211 drives the frictioning assembly 212 to move, so that the frictioning assembly 212 cooperates with the carrying assembly 222 to frictionize the product. The frictioning assembly 212 is driven by the frictioning driving piece 211, so that the frictioning assembly 212 moves and is matched with a product borne by the bearing assembly 222, the frictioning end of the frictioning assembly 212 can rub the frictioning end of the product around the to-be-frictioning position of the product through multi-axis linkage, and the completeness and the frictioning quality of the frictioning are further improved. Specifically, the wipe driving member 211 includes a Z-axis driving member 2111. The output end of the Z-axis driving member 2111 is connected to the frictioning assembly 212, which drives the frictioning assembly 212 to move in a single axis. The Z-axis driving component 2111 is laid on the side of the first supporting and mounting vertical plate 42 facing the supporting and mounting bottom plate 41 along the Z-axis direction, and drives the frictioning component 212 to move along the Z-axis direction. Thus, when the X-axis driver 2211, the Y-axis driver 2212 and the C-angle driver 2213 are matched to drive the carrier assembly 222, the Z-axis driver 2111 is synchronously matched to drive the frictioning assembly 212, so that the product carried by the carrier assembly 222 and the frictioning assembly 212 move relatively, and four-axis movement in four directions of the X-axis, the Y-axis, the Z-axis and the C-angle is realized, that is, the mobile phone screen carried by the carrier assembly 222 moves linearly and rotates in the plane of the XY-axis, and the frictioning end of the frictioning assembly 212 moves in the Z-axis direction, so as to adjust the positions of the mobile phone screen carried by the carrier assembly 222 and the frictioning end of the frictioning assembly 212, thereby realizing full frictioning, and preferably adapting to a rectangular screen mobile phone. Preferably, the wipe driving member 211 further includes an a-angle driving member 2112. The output of the Z-axis drive 2111 is connected to the A-angle drive 2112, and the output of the A-angle drive 2112 is connected to the frictioning assembly 212. The Z-axis drive 2111 cooperates with the A-angle drive 2112 to drive the wipe assembly 212 in a bi-axial motion. Specifically, the a-angle driving member 2112 is provided on the slide table of the Z-axis driving member 2111. The A angle drive 2112 includes an A angle carriage 21121, an A angle drive 21122, an A angle drive transmission 21123, and an A angle drive shaft 21124. The A-angle bearing frame 21121 is arranged on a sliding table of the Z-axis driving element 2111 and is vertical to the first supporting and mounting vertical plate 42. The a-angle carriage 21121 in this embodiment is approximately "U" shaped in cross section. The A-angle driver 21122 is provided on the A-angle carriage 21121, and the output end thereof is connected to the A-angle drive shaft 21124 through an A-angle drive transmission 21123. Two ends of the a-angle driving rotating shaft 21124 are rotatably connected to the open end of the a-angle carrier 21121, the a-angle driving rotating shaft 21124 is parallel to the first supporting and mounting riser 42 and the supporting and mounting base plate 41, one end of the a-angle driving rotating shaft 21124 passes through the open end of the a-angle carrier 21121 and then is connected to one end of the a-angle driving transmission member 21123, and the other end of the a-angle driving transmission member 21123 is connected to the output end of the a-angle driver 21122 passing through the a-angle carrier 1121. The angle a driver 21122 in this embodiment is a motor, and the structure and the operation principle of the angle a driving transmission member 21123 are the same as those of the angle C driving transmission member 2133, and are not described herein again. The frictioning assembly 212 is connected to the angle a driving shaft 21124, so that the angle a driving member 21123 is driven by the angle a driving member 2112 to rotate the angle a driving shaft 21124, and further the frictioning assembly 212 is driven to rotate in the angle a direction. Thus, through the matching drive of the Z-axis driving component 2111 and the a-angle driving component 2112, the biaxial movement of the frictioning component 212 in the Z-axis and a-angle directions is realized, and then the frictioning component is matched with the bearing component 222 which is driven by the X-axis driving component 2211, the Y-axis driving component 2212 and the C-angle driving component 2213 to perform the triaxial movement, so that the five-axis movement of the product relative to the frictioning component 212 in five directions of the X-axis, the Y-axis, the Z-axis, the C-angle and the a-angle is realized, that is, the mobile phone screen borne by the bearing component 222 linearly moves and rotates in the plane of the XY-axis, and the frictioning end of the frictioning component 212 linearly moves and rotates in the plane of the ZX-axis to match, so as to adjust the positions of the mobile phone screen borne on the bearing component 222 and the frictioning end of the frictioning component 212.

With continuing reference to fig. 5 and 6, fig. 6 is a schematic structural diagram of a frictioning assembly according to a first embodiment. Further, the rubbing assembly 212 includes a rubbing member 2121 and a rubbing-cloth holding member 2122 disposed at both sides of the rubbing member 2121. The rubbing cloth covers the surface of the rubbing rubber 2121, and the rubbing cloth holding member 2122 holds the rubbing cloth. Preferably, the wipe assembly 212 further includes a wipe gripping drive 2123. The output end of the wiper holding driving member 2123 is connected to the wiper holding member 2122, and drives the wiper holding member 2122 to hold or release the wiper. Preferably, the frictioning assembly 212 also includes a cleaning fluid 2124. The cleaning liquid 2124 is used to add cleaning liquid to the wipe prior to gripping. Specifically, the frictioning assembly 212 further includes a frictioning carrier 2120. The rubbing bearing 2120 is disposed on the angle a driving rotating shaft 21124, the rubbing bearing 2120 in this embodiment is block-shaped, and both ends of the angle a driving rotating shaft 21124 respectively penetrate through the rubbing bearing 2120 and then are connected to the angle a bearing 21121. The rubbing member 2121 is located below the rubbing carrier 2120, and preferably, the rubbing member 2121 is rotatably connected to the rubbing carrier 2120. The number of the wiper holders 2122 is two, and the two wiper holders 2122 are respectively located on opposite sides of the wiper 2121 and are both located below the wiper carrier 2120. The lower end of the wipe carrier 2120 is provided with a sliding protrusion 2120 corresponding to the two wipe holders 2122, and a sliding groove 21221 corresponding to the sliding protrusion 21201 is provided on the wipe holder 2122. The sliding protrusion 2120 is slidably coupled with the sliding groove 21221, and the wiper holder 2122 is spaced apart from the lower end of the wiper carrier 2120 to facilitate passing of the wiper. The wiper driving member 2123 is disposed on one side of the wiper bearing 2120, and its output end is respectively connected to the two wiper clamping members 2122, which drives the two wiper clamping members 2122 to move linearly relative to the lower end of the wiper bearing 2120, so that the wiper clamping members 2122 and the wiper bearing 2120 form a clamping fit, and further clamp the wiper. The wiper holder 2122 in this embodiment is plate-shaped. In a specific application, one end of the wiper penetrates through the gap between one of the wiper holders 2122 and the lower end of the wiper carrier 2120, then is wound around the surface of the wiper 2121, and then penetrates through the gap between the other wiper holder 2122 and the lower end of the wiper carrier 2120, and the wiper holder driving member 2123 drives the two wiper holders 2122 to hold the wiper, so that the wiper is tightened and forms an approximate "V" shape for wiping. The driving member 2123 for holding the wiping cloth in this embodiment may be an air cylinder, and the wiping cloth may be a dust-free cloth. Preferably, a surface of the wipe holder 2122 facing the lower end of the wipe carrier 2120 is provided with an anti-slip pattern 21222 to increase a friction force between the lower end of the wipe carrier 2120 and the wipe holder 2122, thereby ensuring stable gripping of the wipe. The rubbing member 2121 includes a rubbing head 21211 and a rubbing base 21212. The glue holder 21212 is located at the lower end of the glue bearing member 2120, and is a base with an arc-shaped groove, preferably a base with a semicircular groove, and the glue head 21211 is in a roller shape and forms a rotational connection relationship with the arc-shaped groove of the glue holder 21212 through the cooperation of the rotating shaft and the support, so that the glue head 21211 can rotate. Of course, the squeegee head 21211 may also be in the form of a block that is directly set into a fixed position by the squeegee base 21212. The rubbing head 21211 in this embodiment is made of a soft material, so that the rubbing head itself can deform, and when the rubbing head is used for a mobile phone screen, the rubbing head can sink into the mobile phone screen to form a wrapping shape on the periphery of the mobile phone screen, thereby further increasing the comprehensiveness of the rubbing. The cleaning liquid 2124 is disposed on the scrub pad 21212. Specifically, the cleaning liquid piece 2124 includes a cleaning outlet hole 21241 and a cleaning inlet hole 21242, and the cleaning outlet hole 1241 is connected to the cleaning inlet hole 21242. The cleaning outlet 21241 is arranged on the wall of the arc groove of the rubber seat 21212 and faces the wiping cloth; the cleaning inlet 21242 is formed on the base of the rubber seat 21212, and the cleaning inlet 21242 is used for the inlet of a cleaning liquid, which is alcohol in this embodiment. Preferably, the frictioning assembly 212 also includes a frictioning drive 2125. The output end of the wiping driving member 2125 is connected to the wiping member 2121, and the wiping driving member 2125 drives the wiping member 2121 to linearly move in a direction perpendicular to and supporting the mounting substrate 41. Specifically, the rubbing driving member 2125 is disposed on the other side of the rubbing carrier 2120, and its output end is connected to the rubbing base 21212. The wiping driving member 2125 in this embodiment may be an air cylinder. After the wiping cloth is clamped, the wiping driving member 2125 drives the wiping head 21211 to move downwards, so as to ensure the tight state of the wiping cloth.

With continuing reference to fig. 1 and 7, fig. 7 is a schematic structural view of a winding and unwinding device and a supporting and mounting device according to a first embodiment. Further, the winding and unwinding device 3 includes an unwinding mechanism 31 and a winding mechanism 32. The unwinding mechanism 31 and the winding mechanism 32 are respectively disposed on two opposite sides of the glue spreading device 2. The unwinding mechanism 31 releases the wiping cloth, and the released wiping cloth is firstly wound at the wiping end of the wiping device 2 and then wound by the winding mechanism 32. The unwinding mechanism 31 and the winding mechanism 32 are respectively arranged on two sides of the frictioning device 2, so that the frictioning device 2 matched with the unwinding mechanism 3 in an adaptive mode can release the frictioning cloth, the size of the whole frictioning device is saved, and the occupied area is reduced. Specifically, the unwinding mechanism 31 and the winding mechanism 32 are respectively disposed on the two first supporting and mounting side plates 44. The unwinding mechanism 31 includes an unwinding driving assembly 311, an unwinding assembly 312, and an unwinding direction changing assembly 313. The output end of the unwinding driving assembly 311 is connected to the unwinding assembly 312. Unwinding direction changing assembly 313 is located at one side of unwinding assembly 312, and preferably, unwinding direction changing assembly 313 is located below unwinding assembly 312. The coiled wipe is sleeved on the unreeling component 312, the unreeling driving component 311 drives the unreeling component 312 to rotate, so that the coiled wipe is released, and the released wipe turns backward through the unreeling turning component 313 and extends towards the direction of the gap between the wipe clamping piece 2122 and the lower end of the wipe carrier 2120. Specifically, the unwinding driving assembly 311 includes an unwinding driving member 3111 and an unwinding linkage (not shown), the unwinding driving member 3111 is disposed on the upper end of the second supporting and mounting vertical plate 43, the unwinding linkage is disposed on the inner wall of the first supporting and mounting side plate 44, and the unwinding assembly 312 is rotatably connected to the outer wall of the unwinding mounting plate 441. The output end of the unwinding driving member 3111 is connected to the unwinding assembly 312 through an unwinding linkage member. The unreeling driving member 3111 in this embodiment adopts a motor, and the unreeling linkage member is a cooperation of a driving wheel, a synchronous belt and a driven wheel. The unwinding assembly 312 includes an unwinding shaft 3121 and an unwinding reel 3122. One end of the unreeling shaft 3121 vertically penetrates through the reeling and unreeling mounting plate 441 and then is connected with the unreeling linkage piece, the unreeling disc 3122 is sleeved at the other end of the unreeling shaft 3121, the unreeling shaft 3121 is rotatably connected with the reeling and unreeling mounting plate 441, and the unreeling disc 3122 is parallel to the reeling and unreeling mounting plate 441. The unwinding direction changing assembly 313 includes a direction changing mounting plate 3131 and a direction changing rotation shaft 3132. The direction-changing mounting plate 3131 is disposed on an outer wall of the first support mounting side plate 44 and below the unwinding reel 3122, one end of the direction-changing rotating shaft 3132 is rotatably connected to the direction-changing mounting plate 3131, and the other end thereof extends obliquely toward the lower side of the unwinding reel 3122 and continues to extend above the first support mounting vertical plate 42. Preferably, the angle between the direction-changing rotating shaft 3132 and the first supporting and mounting vertical plate 42 is 45 degrees. The direction-changing rotation shaft 3132 in the present embodiment may employ a roller. Preferably, unwinding direction changing assembly 313 further includes transition element 3133. The transition 3133 serves to transition the wipe passing through the direction-changing rotation shaft 3132 so that the wipe smoothly passes through the space between the wipe holder 2122 and the lower end of the wipe carrier 2120. The transition part 3133 in this embodiment includes a plurality of staggered transition rollers, which are located between the glue wiping mechanism 21 and the direction-changing rotating shaft 3132, and are vertically and rotatably connected to the surface of the first supporting and mounting riser 42.

With continuing reference to fig. 7 and 8, fig. 8 is a schematic structural view of the unwinding shaft in the first embodiment. Further, the unreeling shaft 3121 includes a shaft body 31211 and an adjusting block 31212. The shaft body 31211 includes a mounting shaft 312111 and an expansion shaft seat 312112. The expansion shaft seat 312112 is sleeved on the mounting shaft 312111, preferably, the two are integrally formed. The expansion shaft seat 312112 is provided with an adjusting block mounting groove 312112a, and the adjusting block mounting groove 312112a is a strip-shaped groove axially arranged on the surface of the expansion shaft seat 312112 along the expansion shaft seat 312112. The number of the adjusting block mounting grooves 312112a in this embodiment is three, three adjusting block mounting grooves 312112a are sequentially arranged at intervals along the radial direction of the expansion shaft seat 312112, and the distance between two adjacent adjusting block mounting grooves 312112a is the same. Each adjusting block mounting groove 312112a is correspondingly provided with an adjusting block 31212 with a shape adapted, the height of the adjusting block 31212 is greater than the depth of the adjusting block mounting groove 312112a, so that when the adjusting block 31212 is arranged in the adjusting block mounting groove 312112a, the upper end thereof is exposed in the adjusting block mounting groove 312112 a. The adjusting block mounting groove 312112a is provided with an adjusting hole 312112b, the adjusting holes 312112b are blind holes radially opened along the mounting shaft 312111, the adjusting holes 312112c in the embodiment are two arranged side by side, and the bottom of the adjusting hole 312112c is provided with a thread. The adjusting hole 312112c is provided inside with an adjusting elastic member 31213, and the adjusting elastic member 31213 in this embodiment is a spring. A fastening member (not shown) is disposed in the adjusting hole 312112c, the adjusting elastic member 31213 is sleeved outside the fastening member, and the fastening member abuts against the adjusting elastic member 31213, in this embodiment, the fastening member is a screw. Expand axle seat 312112 is located to the inner circle cover of unreeling dish 3122 to with regulating block 31212 butt, when concrete application, through the degree of depth of adjustment fastener screw in regulation hole 312112c, and then the height that regulating block mounting groove 312112a was exposed to the upper end of regulating block 31212, so, can realize carrying out compatibly to the inner circle of unreeling dish 3122 unidimensional, increase its suitability. Preferably, the mounting shaft 312111 is further sleeved with a bearing member 31214, the bearing member 31214 is adjacent to the expansion shaft base 312112, the bearing member 31214 is used for rotatably connecting the unwinding shaft 3121 and the unwinding and winding mounting plate 441, and the bearing member 31214 is a bearing. On the side of the bearing member 31214 away from the expansion shaft seat 312112, the mounting shaft 312111 is sleeved with a driven wheel of the unwinding linkage member.

Referring back to fig. 1 and fig. 7, further, the winding mechanism 32 includes a winding driving component 321, a winding component 322 and a winding direction-changing component 323. The output end of the winding driving component 321 is connected with the winding component 322, the winding direction changing component 323 is located at one side of the winding component 322, and preferably, the winding direction changing component 323 is located below the winding component 322. In this embodiment, the winding driving component 321, the winding component 322, and the winding direction changing component 323 are respectively symmetrically disposed with the unwinding driving component 311, the unwinding component 312, and the unwinding direction changing component 313, and the structures and actuation principles of the winding driving component 321, the winding component 322, and the winding direction changing component 323 are respectively consistent with those of the unwinding driving component 311, the unwinding component 312, and the unwinding direction changing component 313, and are not further described herein.

The winding and unwinding process in this embodiment is as follows: the unreeling driving member 3111 drives the unreeling linkage member, the unreeling linkage member drives the unreeling disc 3122 to rotate through the unreeling shaft 3121, so that the wiping cloth is released, the released wiping cloth is firstly turned by the turning rotating shaft 3132, then is stably transited by the transition member 3133, then passes through the interval between the wiping cloth clamping member 2122 and the lower end of the wiping cloth bearing member 2120, then is wound on the wiping head 21211, then passes through the interval between the other wiping cloth clamping member 2122 and the lower end of the wiping cloth bearing member 2120, and is turned by the reeling turning member 323, and then is reeled by the reeling member 322. Before the rubber is wiped, outside alcohol is firstly sprayed to the dust-free cloth between one of the rubber clamping pieces 2122 and the rubber head 21211 through the cleaning holes 21241, at the moment, the alcohol can permeate the dust-free cloth to moisten the dust-free cloth, then the dust-free cloth is folded and unfolded for a certain length, so that the dust-free cloth section of the humid alcohol moves to the surface of the rubber head 21211, then the rubber clamping driving piece 2123 drives the rubber clamping pieces 2122 to clamp and fix the dust-free cloth, the rubber driving piece 2125 drives the rubber head 21211 to move downwards, the dust-free cloth in a moist state is tightly stretched on the rubber head 21211, and then the rubber wiping action is carried out. After the rubber is wiped, alcohol is sprayed again, and then the dust-free cloth is put in and taken off for a certain length, so that the new wet dust-free cloth can be moved to the surface of the rubber head 21211, and the dust-free cloth which is just wiped is moved to a position between the other rubber clamping piece 2122 and the rubber head 21211. The dust-free cloth after being rubbed with the glue can be rolled up by reciprocating.

Fig. 9 is another schematic structural diagram of the glue spreading device according to the first embodiment. Further, the cleaning fluid 2124 further comprises a cleaning reservoir 21243, wherein the cleaning reservoir 21243 is disposed on the first support mounting riser 42 and above the glue wiping mechanism 21. The cleaning reservoir 21243 is a vessel for storing alcohol, which communicates with the cleaning inlet 21242 through a pipe to supply alcohol cleaning liquid for cleaning. Preferably, the frictioning device 2 further comprises a frictioning protection cover 23. The frictioning protective cover 23 is arranged on the first supporting installation vertical plate 42 and covers the frictioning mechanism 21, and one side of the frictioning protective cover 23 facing the bearing mechanism 22 is in an open shape. The sidewall of the frictioning protective cover 23 is opened with a suction port 231, and the suction port 231 is communicated with an external negative pressure air suction device. The frictioning protection cover 23 is used for being sleeved on a frictioning working area, and the outside negative pressure air suction device sucks out volatile alcohol in the frictioning process, so that the pollution of the alcohol to equipment or products is avoided. Preferably, the frictioning device 2 further comprises a frictioning fluid collector 24. Frictioning liquid collector 24 is rectangular shape basin form, and it locates first support installation riser 42 and is located frictioning safety cover 23 under, and it is used for receiving the alcohol cleaning solution that rubs the workspace and drip, avoids the pollution of alcohol to equipment or product.

The rubbing process in this example is as follows: the dust-free cloth is first wetted with alcohol and then tightened on the rubbing head 21211. After the mobile phone is positioned and arranged on the carrying platform 2221, the Z-axis driving component 2111 and the a-angle driving component 2112 drive the rubber wiping head 21211 to adhere to the periphery of the mobile phone screen, and at this time, the rubber wiping head 21211 is in a deformed state, so that the dust-free cloth covers the periphery of the mobile phone screen. If the mobile phone screen is a non-curved-surface screen mobile phone, the Z-axis driving component 2111 and the a-angle driving component 2112 are kept unchanged, and the X-axis driving component 2211, the Y-axis driving component 2212 and the C-angle driving component 2213 are matched with the bearing table 2221 to move along the peripheral track of the mobile phone screen, so that the peripheral edge of the mobile phone screen always moves around the glue wiping head 21211, the joint state of the glue wiping head 21211 and the peripheral edge of the mobile phone screen is kept, and the glue wiping on the peripheral edge of the mobile phone screen is completed. If the mobile phone screen is a curved-surface screen mobile phone, when passing through the curved-surface track of the mobile phone screen, the Z-axis driving component 2111 and the a-angle driving component 2112 are synchronously matched with each other to drive the glue wiping head 21211 to move up and down and swing while the X-axis driving component 2211, the Y-axis driving component 2212 and the C-angle driving component 2213 are matched with each other to make the glue wiping head 21211 and the curved edge of the mobile phone screen in a fit state, so that the glue wiping of the mobile phone screen is completed.

Example two

Referring to fig. 10, fig. 10 is a flowchart of a second embodiment of the method for applying a glue. The glue wiping method in the embodiment is based on the glue wiping device in the first embodiment. The invention discloses a glue wiping method which comprises the following steps:

and S1, feeding the product.

And S2, loading the wiping cloth and matching the wiping cloth to form a wiping glue end.

And S3, controlling the glue wiping end to wipe the product according to the preset glue wiping track.

Through presetting the frictioning orbit for the frictioning end that the rag cooperation formed can be according to presetting the motion of frictioning orbit, and then comprehensive to treating the product frictioning the position and carrying out the frictioning, guaranteed frictioning wholeness and frictioning quality.

Referring back to fig. 10, further, before the step S1 of feeding the product, the method further includes the following steps:

and S0, positioning the product. The loaded product is positioned, so that the position of the loaded product is accurate, the accurate determination of the frictioning position in subsequent frictioning is further ensured, and the frictioning quality is further ensured.

Referring back to fig. 1, 3 and 10, further, in step S0, positioning of the product is performed by the feeding positioning device 1. In step S1, the loading of the product is performed by the loading positioning device 1 cooperating with the carrying mechanism 22. Specifically, step S0 in this embodiment includes the following sub-steps: s01, transferring the product to the positioning groove 111 of the positioning mechanism 11. And S02, positioning the product by the positioning groove 111. Step S1 in the present embodiment includes the following substeps: s11, the X-axis driver 2211 and the Y-axis driver 2212 cooperate to drive the carriage assembly 222 to move to a position directly below the positioning slot 111 of the positioning mechanism 11. S12, the positioning driving mechanism 121 drives the positioning mechanism 11 to descend, so that the product in the positioning slot 111 faces the loading platform 2221 of the loading assembly 222. S13, the load detector 2223 detects that the product is in place. S14, the absorption part 2222 absorbs the product and fixes it on the platform 2221.

With continued reference to fig. 1, 5, 6 and 7. In step S2 of this embodiment, the wiping cloth is loaded and matched to form the wiping end, which is realized by matching the winding and unwinding device 3 with the wiping mechanism 21. Specifically, step S2 in this embodiment includes the following sub-steps:

and S21, releasing the wiping cloth. In step S21, releasing the wipe includes the sub-steps of: s211, the unwinding driving assembly 311 drives the unwinding assembly 312 to rotate, so that the rolled wiping cloth is released. S212, the unwinding assembly 312 rotates the released wiping cloth to change the direction of the wiping cloth via the direction-changing rotation shaft 3132, so that the wiping cloth changes the direction of the wiping cloth and extends toward the position of the wiping head 21211. S213, the changed-back wipe transitions through transition 3133. S214, the transitional wipe passes through the space between the wipe holder 2122 and the lower end of the wipe carrier 2120.

And S22, winding the released wiping cloth on the wiping head. Specifically, after step S214, the wiping cloth passing through the gap between the wiping cloth holder 2122 and the lower end of the wiping cloth holder 2120 is wound around the surface of the wiping head 21211. And then continues to extend toward and through the space between the other wipe holder 2122 and the lower end of the wipe carrier 2120.

And S23, rolling the wiping cloth which bypasses the wiping head. Specifically, the wipe cloth after step S22 is first turned by the winding turning component 323, and then wound by the winding component 322 driven by the winding driving component 321.

And S24, forming a wiping end around the wiping head provided with the wiping cloth. Specifically, the wiping cloth clamping driving member 2123 drives the wiping cloth clamping member 2122 to clamp and fix the wiping cloth, and the wiping cloth driving member 2125 drives the wiping head 21211 to move down, so that the wiping cloth is stretched on the wiping head 21211, and a wiping cloth is stably wound on the surface of the wiping head 21211 to form a wiping end.

Preferably, in step S22, the method further includes the following steps before the released wipe is wound around the head:

s22', adding cleaning liquid to the wiping cloth. Specifically, the cleaning liquid stored in the cleaning reservoir 21243 is sprayed onto the wiper through the cleaning inlet 21242 and the cleaning outlet 21241 in sequence, so that the cleaning liquid infiltrates the wiper.

Preferably, in step S24, before rolling the wiping cloth bypassing the wiping head, the method further includes the following steps:

s24', collecting the cleaning liquid. Specifically, the collection may be performed by an external negative pressure suction means communicating with the suction port 231. The cleaning liquid is added to improve the rubbing effect of the rubbing cloth.

With continuing reference to fig. 2, 4, 5, 6, 11, and 12, fig. 11 is a flowchart of performing a wipe according to a wipe track in the second embodiment, and fig. 12 is a schematic view of a shape of a virtual track in the second embodiment. Further, in step S3 of this embodiment, controlling the glue applying end to apply glue to the product according to the preset glue applying track includes the following sub-steps:

and S31, presetting a gluing track of the product according to the position of the product to be glued.

And S32, attaching or pressing the glue wiping end to the position to be wiped of the product.

And S33, according to the product wiping track, wiping the product by the wiping end.

Only by presetting the frictioning track can the frictioning end be attached to or pressed in the frictioning position of the product to carry out frictioning movement, so that comprehensive frictioning is realized, and the frictioning quality is ensured.

In step S31, the step of presetting the rubbing track of the product includes the following substeps:

and S311, presetting a virtual track.

And S312, calculating the central point motion variable of the product according to the virtual track.

And S313, forming a glue wiping track according to the motion variable of the central point of the product.

In step S33, according to the rubbing track of the product, the rubbing end rubs the product, which includes the following steps: and (3) enabling the frictioning end to be fixed, and enabling the product to move around the frictioning end according to the frictioning track so as to enable the frictioning end to frictionize the product.

It can be understood that the position of the product to be wiped is different according to the difference of the product, and in order to fully wipe the wiping position of the product, a corresponding wiping track needs to be formed according to the wiping position of the product. The product in this embodiment is a rectangular screen bar phone or a rectangular screen bar phone with an R corner, and the wiping position is the periphery of the phone screen, so the wiping track formed by the product is a rectangular wire frame or a rectangular wire frame with an R corner, therefore, if the rectangular screen bar phone is to be wiped completely, the wiping end of the wiping mechanism 21 needs to be attached or pressed around the rectangular wire frame or the rectangular wire frame with an R corner, and the wiping track formed by the product is a rectangular track or a rectangular track with an R corner. On the contrary, if the glue wiping end of the glue wiping mechanism 21 is not moved, the rectangular-screen bar phone or the rectangular-screen bar phone with the R corner needs to move around the glue wiping end of the glue wiping mechanism 21, and finally a reverse wiping track is formed, so that the rectangular-screen bar phone moves along the wiping track, and finally the complete glue wiping of the rectangular-screen bar phone or the rectangular-screen bar phone with the R corner is completed.

In step S311, a preset virtual track is a wiping track to be formed by wiping the position to be wiped with glue of the product, which is fixed to the product, if the product is a bar phone with an R-angle screen, a rectangular frame-shaped wiping track with an R-angle, which is shown in fig. 12, is formed, that is, a virtual track, where the R-angle in this embodiment is an arc angle, and the virtual track of the bar phone with the R-angle screen is a rectangle with a semi-arc angle.

In step S312, a motion variable of the center point of the product is calculated according to the virtual trajectory. When the glue wiping end of the glue wiping mechanism 1 is not moved, the periphery of the bar phone with the screen having the angle R is attached to or pressed with the glue wiping end of the glue wiping mechanism 1 to move, the central point of the product, namely the central point of the bar phone, can move along with the movement of the phone, and the displacement of the central point of the product in unit time is the movement variable of the central point of the product. The motion variable of the product center point is correspondingly mapped to the plane of the XY axis to form three motion variables, namely three motion variables of delta X, delta Y and delta C, wherein the delta X is the displacement of the product center point in the X axis direction within unit time, the delta Y is the displacement of the product center point in the Y axis direction within unit time, and the delta C is the angle of rotation by taking the product center point as a circular point within unit time, and the rotation is in the plane of the XY axis.

In step S313, a rubbing trajectory is formed according to the movement variable of the center point of the product. As time goes on, the three motion variables of the center point of the product gradually form respective trajectories, and when the respective trajectories are mapped to the plane where the XY axes are located, the frictioning trajectory shown in fig. 12 is formed, which is approximately a fan shape, wherein the directions of the arrows indicate two adjacent turning positions and turning angles in the trajectory.

In step S31, a wiping track of the product is preset, and then in step S32, the wiping end is attached to or pressed against the position of the product to be wiped, that is, the X-axis driving element 2211 and the Y-axis driving element 2212 cooperate to drive the carrier 2221 to move, so that the mobile phone carried by the carrier 2221 is attached to or pressed against the wiping head 21211 wound with the wiping cloth. Then, in step S33, the bearing driving assembly 21 drives the bearing assembly 22 to move according to the rubbing track of the product, so that the rubbing end of the rubbing mechanism 21 rubs the product carried by the bearing assembly 222. Specifically, when the X-axis driving element 2211, the Y-axis driving element 2212 and the C-angle driving element 2213 cooperate to drive the bearing table 2221 to perform three-axis motion along the X-axis direction, the Y-axis direction and the C-angle direction, the product moves in the plane of the XY-axis along the glue-applying track formed by three motion variables, i.e., Δ X, Δ Y and Δ C, so that the full glue application can be realized.

EXAMPLE III

With continuing reference to fig. 2, 4, 5, 6 and 13, fig. 13 is a graph of the relationship of the motion variables in the third embodiment. The difference between the glue wiping method in the embodiment and the second embodiment is that: in step S31, presetting the rubbing track of the product includes the following sub-steps:

and S311, presetting a virtual track.

And S312, calculating the central point of the product and the motion variable of the glue wiping end according to the virtual track.

And S313, forming a glue wiping track according to the central point of the product and the motion variable of the glue wiping end.

In step S33, according to the rubbing track of the product, the rubbing end rubs the product, including the following steps: and the frictioning end and the product move in a matching way according to the frictioning track so that the frictioning end rubs the product.

It can be understood that when the position of the product to be rubbed is not in a plane, for example, when the glue is rubbed on the curved screen of the curved-screen mobile phone, only the three motion variables Δ X, Δ Y, and Δ C in the second embodiment are such that the glue rubbing end cannot be stuck to the outer edge of the three-dimensional space of the curved-screen mobile phone for rubbing, at this time, two variables Δ Z and Δ a need to be introduced to form five-axis linkage for rubbing, where Δ Z is the displacement of the glue rubbing head 21211 of the glue rubbing assembly 212 in the Z-axis direction in unit time, and Δ a is the rotation angle of the glue rubbing head 21211 in the plane where the ZX-axis is located in unit time. Specifically, a virtual track of the mobile phone with the rubber coating curved-surface screen is preset, five motion variables of a product center point, namely delta X, delta Y, delta C, delta Z and delta A, are calculated according to the virtual track, then the three motion variables of delta X, delta Y and delta C are mapped to a plane where an XY axis is located to form a motion track of the product center point, the two motion variables of delta Z and delta A are mapped to a plane where a ZX axis is located to form a motion track of a rubber coating head 21211, and the motion track of the product center point and the motion track of the rubber coating head are combined to form the rubber coating track. The five motion variables in this embodiment can be shown in fig. 13, and the principal axis displacement is defined as the displacement of the preset virtual trajectory in unit time, the axis displacement is the displacement of Δ X, Δ Y and Δ C mapped to the plane of the XY axis in the same unit time, and Δ Z and Δ a are mapped to the displacement of the plane of the ZX axis. During specific control, according to the frictioning track of the product, while the bearing driving assembly 221 drives the bearing assembly 222 to move, the frictioning driving assembly 211 drives the frictioning assembly 212 to move, so that the frictioning end of the frictioning assembly 212 rubs the product borne by the bearing assembly 222. The rubbing driving assembly 211 drives the rubbing assembly 212 to perform a biaxial motion along the Z-axis and the a-angle directions. The carrier driving assembly 221 drives the carrier assembly 222 to perform three-axis motion along the X-axis, the Y-axis and the C-angle directions. That is, the X-axis driver 2211, the Y-axis driver 2212, the C-angle driver 2213, the Z-axis driver 2111, and the a-angle driver 2112 are controlled by the motion variables Δ X, Δ Y, Δ C, Δ Z, and Δ a, respectively, per unit time.

In conclusion, through the positioning and feeding of the product, the cleaning liquid is added to the wiping cloth and then the wiping cloth is tightly fixed on the wiping head, then the three-axis linkage of the X-axis direction, the Y-axis direction and the C-angle direction of the product is realized, the double-axis linkage of the wiping head in the Z-axis direction and the A-angle direction is realized, the five-axis linkage is realized through the cooperation of the cleaning head and the wiping head, the preset wiping track moves, the wiping head is always attached to the track position of the product to be wiped, and the comprehensiveness and the wiping quality of the wiping cloth are guaranteed.

The above is merely an embodiment of the present invention, and is not intended to limit the present invention. Various modifications and alterations to this invention will become apparent to those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention should be included in the scope of the claims of the present invention.

Claims (7)

1. A glue wiping method is characterized by comprising the following steps:

feeding the product;

loading the wiping cloth and matching the wiping cloth to form a wiping end;

controlling the rubbing end to rub the product according to a preset rubbing track;

the method for controlling the frictioning end to frictionize the product according to the preset frictioning track comprises the following steps of:

presetting a glue wiping track of the product according to the position of the product to be wiped with glue;

the frictioning end is attached to or pressed on a position to be frictionized of the product;

according to the product rubbing track, rubbing the product by the rubbing end;

presetting the frictioning track of the product comprises the following substeps:

presetting a virtual track;

calculating the central point of the product and the motion variable of the frictioning end according to the virtual track;

forming the frictioning track according to the central point of the product and the motion variable of the frictioning end;

the motion variables of the product center point comprise delta X, delta Y and delta C, wherein the delta X is the displacement of the product center point in the X-axis direction within unit time, the delta Y is the displacement of the product center point in the Y-axis direction within unit time, and the delta C is the angle of rotation by taking the product center point as a circular point within unit time; the motion variables of the glue wiping end comprise delta Z and delta A, wherein the delta Z is the displacement of the glue wiping head in the Z-axis direction within unit time, and the delta A is the rotation angle of the glue wiping head in the ZX-axis plane within unit time.

2. The frictioning method according to claim 1, characterized in that before loading the product, it further comprises the following steps:

and positioning the product.

3. A method of wiping a wipe according to claim 1, characterized in that the sub-steps of loading a wipe and cooperatively forming the wipe as a wiping end comprise:

releasing the wipe;

the released wiping cloth is wound on the wiping head;

winding the wiping cloth bypassing the wiping head;

the rubber wiping end is formed by winding the rubber wiping head provided with the wiping cloth.

4. The method for wiping rubber according to claim 3, wherein the step of releasing the wiping cloth before being wound on the wiping head further comprises the following steps:

adding a cleaning solution to the wipe.

5. The method for wiping rubber according to claim 4, characterized by further comprising the following steps before rolling the wiping cloth bypassing the wiping head:

collecting the cleaning liquid.

6. The method for frictioning a product according to claim 1, wherein the frictioning end frictioning the product according to a frictioning trajectory of the product, comprising the steps of:

and the product moves around the frictioning end according to the frictioning track so as to enable the frictioning end to frictionize the product.

7. The method for frictioning a product according to claim 1, wherein the frictioning end frictioning the product according to a frictioning trajectory of the product, comprising the steps of:

and enabling the frictioning end and the product to move in a matched mode according to the frictioning track, so that the frictioning end rubs the product.

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