CN111744725A - Five-axis linkage dispensing robot - Google Patents
Five-axis linkage dispensing robot Download PDFInfo
- Publication number
- CN111744725A CN111744725A CN202010754465.1A CN202010754465A CN111744725A CN 111744725 A CN111744725 A CN 111744725A CN 202010754465 A CN202010754465 A CN 202010754465A CN 111744725 A CN111744725 A CN 111744725A
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- China
- Prior art keywords
- dispensing
- axis
- motion platform
- axis motion
- frame mechanism
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- Pending
Links
- 230000033001 locomotion Effects 0.000 claims abstract description 45
- 230000007246 mechanism Effects 0.000 claims abstract description 30
- 239000003292 glue Substances 0.000 claims abstract description 22
- 238000004026 adhesive bonding Methods 0.000 claims 2
- 238000005452 bending Methods 0.000 abstract description 6
- 238000004891 communication Methods 0.000 abstract description 5
- 238000013461 design Methods 0.000 abstract description 5
- 238000013459 approach Methods 0.000 abstract description 2
- 238000000034 method Methods 0.000 description 5
- 230000000694 effects Effects 0.000 description 3
- 230000008569 process Effects 0.000 description 3
- 230000009286 beneficial effect Effects 0.000 description 1
- 239000007788 liquid Substances 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000001105 regulatory effect Effects 0.000 description 1
- 238000007789 sealing Methods 0.000 description 1
- 230000007480 spreading Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
Images
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05C—APPARATUS FOR APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05C5/00—Apparatus in which liquid or other fluent material is projected, poured or allowed to flow on to the surface of the work
- B05C5/02—Apparatus in which liquid or other fluent material is projected, poured or allowed to flow on to the surface of the work the liquid or other fluent material being discharged through an outlet orifice by pressure, e.g. from an outlet device in contact or almost in contact, with the work
- B05C5/0208—Apparatus in which liquid or other fluent material is projected, poured or allowed to flow on to the surface of the work the liquid or other fluent material being discharged through an outlet orifice by pressure, e.g. from an outlet device in contact or almost in contact, with the work for applying liquid or other fluent material to separate articles
-
- 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
- B05C11/10—Storage, supply or control of liquid or other fluent material; Recovery of excess liquid or other fluent material
- B05C11/1002—Means for controlling supply, i.e. flow or pressure, of liquid or other fluent material to the applying apparatus, e.g. valves
-
- 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
Landscapes
- Coating Apparatus (AREA)
Abstract
The invention discloses a five-axis linkage dispensing robot which comprises a four-axis motion platform, a rotary tool, an upper computer, a dispensing bending frame mechanism, a precise dispensing controller and a five-axis motion control system. The invention has reasonable design, connects the dispensing bent frame mechanism with the R shaft, installs the rotary tool on the four-shaft motion platform, can rotate the set angle at will, the needle head can approach the workpiece at any angle, can perform dispensing operation on complex products by a space curve track under the five-shaft linkage control of a five-shaft motion control system, adopts the PID control algorithm to control the stability of output air pressure, realizes closed-loop control of output pressure, controls the glue output quantity in real time, adjusts the glue output quantity in real time according to the motion speed, can keep the thickness of a glue path consistent, improves corner glue piling, interconnects pressure numerical value information with an MES system according to a certain communication protocol, acquires and displays key information of equipment in real time, and improves the informatization and intelligentization level of the equipment.
Description
Technical Field
The invention relates to a dispensing robot, in particular to a five-axis linkage dispensing robot, and belongs to the technical field of dispensing.
Background
The glue dispensing is a process, also called glue applying, glue spreading, glue pouring, glue dripping and the like, and electronic glue, oil or other liquid is smeared, filled and dripped on a product, so that the product has the effects of sticking, filling and sealing, insulating, fixing, smooth surface and the like.
In the process of dispensing, the required dispensing robot is mostly three-axis or four-axis dispensing robot at present, generally dispensing tracks finished for products can only be straight lines, perfect circles, inner and outer walls and the like, and dispensing is required for complex parts by walking a space curve track, and the equipment cannot be realized and is finished by a five-axis linkage dispensing robot. And the current operation information flow of the single machine is in a closed state and cannot be interconnected with the MES system of the enterprise. Therefore, a five-axis linkage dispensing robot is provided for solving the problems.
Disclosure of Invention
The invention aims to solve the problems and provide a five-axis linkage dispensing robot.
The invention achieves the purpose through the following technical scheme, and the five-axis linkage dispensing robot comprises a four-axis motion platform, a rotating tool, a dispensing bent frame mechanism and a five-axis motion control system, wherein the five-axis motion control system is arranged on the four-axis motion platform, the rotating tool is arranged on the four-axis motion platform, the dispensing bent frame mechanism is arranged at the upper end of the rotating tool, an upright post is arranged on the four-axis motion platform, a precise dispensing controller is arranged on one side of the upright post, the precise dispensing controller is connected with a needle cylinder on the dispensing bent frame mechanism, and an upper computer is arranged on the other side wall of the upright post.
Preferably, the upper end and the R axle of bent frame mechanism are connected to the point, and the R axle sets up on the motor, just the motor is installed at the top of stand, just a side wall mounting of motor has the apparent manometer.
Preferably, the upper computer is provided with a display screen and is movably connected with the side wall of the upright post through a hinge.
Preferably, the precise dispensing controller is fixed on the bottom plate through a bolt, and one side of the bottom plate is fixedly connected with one side wall of the upright post through a bolt.
Preferably, the four-axis motion platform mainly comprises an X axis, a Y axis and a Z axis, and the rotary tool is a pneumatic three-jaw chuck type rotary tool.
Preferably, the precise dispensing controller is connected with a needle cylinder on the dispensing bending frame mechanism through a pressure guide pipe, a pressure sensor is arranged on the pressure guide pipe, and the pressure sensor is electrically connected with a digital display pressure gauge.
Preferably, the upper computer is electrically connected with the MES system and the upper computer is electrically connected with the digital display pressure gauge.
Preferably, the precise dispensing controller is located on one side of the rotating tool, and the rotating tool is provided with a U shaft.
Preferably, four-axis motion platform installs the regulation foot in the bottom, just the bottom of adjusting the foot is provided with the rubber pad, just four-axis motion platform installs on the workstation.
The invention has the beneficial effects that:
1. this kind of robot is glued to five-axis linkage point reasonable in design, bent frame mechanism is connected with the R axle with the point, and the R axle sets up on the motor, make point glue bent frame mechanism can do the rotation of 360 the biggest round the R axle, then adjust the position of syringe needle on the bent frame, thereby adjust the different angular position of syringe needle, be applicable to the point glue of different products, then with the work piece centre gripping on rotatory frock, rotatory frock design has the U axle, and rotatory frock is installed on four-axis motion platform, and four-axis motion platform mainly contains the X axle, the Y axle, the Z axle, make the angle that can rotate the settlement at will, the syringe needle can be close the work piece with arbitrary angle, under five-axis linkage control of five-axis motion control system, reach five-axis linkage's effect, can glue the operation to complicated product with space curve orbit.
2. This kind of robot is glued to five-axis linkage point reasonable in design, accurate point is glued the controller and is glued the cylinder connection on the bent frame mechanism through the connecting pipe with point, accurate point is glued the controller and is glued the cylinder output malleation and negative pressure in the bent frame mechanism for point is glued to accurate point in the bent frame mechanism point, owing to adopt PID's control algorithm, the stability of control output atmospheric pressure, output pressure has realized closed-loop control, go out gluey volume real time control, according to the velocity of motion, adjust out gluey volume size in real time, keep gluey way thickness unanimous, improve turning heap and glue, steady voltage goes out gluey volume and can reach 0.01mL at minimum.
3. This kind of robot is glued to five-axis linkage point reasonable in design, in-process at the point is glued, through sensor and digital display manometer telecom connection, the pressure numerical value information of collecting the receiving arrangement sensor, read and show in real time, then through digital display manometer and host computer electric connection, can pass through a communication singlechip with gathering pressure signal and pass to the host computer, then through host computer and MES system electric connection, can be with pressure numerical value information and MES system interconnection according to certain communication protocol, real-time acquisition, display device key information, the information-based and intelligent level of equipment has been improved.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without inventive exercise.
FIG. 1 is a schematic view of the overall structure of the present invention;
FIG. 2 is a schematic view of a connection structure of a four-axis motion platform and a rotary tool according to the present invention;
fig. 3 is a schematic view of a connection structure of a precise dispensing controller and a base plate according to the present invention.
In the figure: 1. the automatic glue dispensing device comprises a four-axis motion platform, a machine loading position, a rotating tool, a glue dispensing bent frame mechanism, a precision glue dispensing controller, a five-axis motion control system, a vertical column, a motor, a regulating pin, a display screen, a bottom plate and a digital display pressure gauge, wherein the four-axis motion platform is 3, the machine loading position is 2, the rotating tool is 4, the glue dispensing bent frame mechanism is 5, the precision glue dispensing controller is.
Detailed Description
In order to make the objects, features and advantages of the present invention more obvious and understandable, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the embodiments described below are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The technical scheme of the invention is further explained by the specific implementation mode in combination with the attached drawings.
In the description of the present invention, it is to be understood that the terms "upper", "lower", "top", "bottom", "inner", "outer", and the like, indicate orientations or positional relationships based on those shown in the drawings, and are used only for convenience in describing the present invention and for simplicity in description, and do not indicate or imply that the referenced devices or elements must have a particular orientation, be constructed and operated in a particular orientation, and thus, are not to be construed as limiting the present invention.
Please refer to fig. 1-3, a five-axis linkage dispensing robot includes a four-axis motion platform 1, a rotary tool 2, a dispensing bent frame mechanism 4 and a five-axis motion control system 6, wherein the five-axis motion control system 6 is disposed on the four-axis motion platform 1, the rotary tool 2 is mounted on the four-axis motion platform 1, the dispensing bent frame mechanism 4 is mounted at the upper end of the rotary tool 2, a vertical column 7 is mounted on the four-axis motion platform 1, a precise dispensing controller 5 is mounted on one side of the vertical column 7, the precise dispensing controller 5 is connected with a needle cylinder on the dispensing bent frame mechanism 4, and an upper computer 3 is mounted on the other side wall of the vertical column 7, so as to reasonably utilize space.
The upper end of the dispensing bent frame mechanism 4 is connected with an R shaft, the R shaft is arranged on a motor 8, the motor 8 is arranged at the top of the upright post 7, the dispensing bent frame mechanism 4 rotates along with the R shaft, and a pressure display gauge 12 is arranged on one side wall of the motor 8; the upper computer 3 is provided with a display screen 10, and the upper computer 3 is movably connected with the side wall of the upright post 7 through a hinge, so that the upper computer 3 can move conveniently, the upper computer 3 can reach a proper angle conveniently, and the watching is facilitated; the precise dispensing controller 5 is fixed on the bottom plate 11 through a bolt, and one side of the bottom plate 11 is fixedly connected with one side wall of the upright post 7 through a bolt, so that the precise dispensing controller 5 is convenient to fix; the four-axis motion platform 1 mainly comprises an X axis, a Y axis and a Z axis, and the rotary tool 2 is a pneumatic three-jaw chuck type rotary tool which is convenient to fix; the precise dispensing controller 5 is connected with a needle cylinder on the dispensing bent frame mechanism 4 through a pressure guide pipe, a pressure sensor is arranged on the pressure guide pipe, and the pressure sensor is electrically connected with a digital display pressure gauge 12, so that the pressure numerical value can be displayed in real time conveniently; the upper computer 3 is electrically connected with the MES system, and the upper computer 3 is electrically connected with the digital display pressure gauge 12, so that key information of the equipment is acquired and displayed in real time, and the informatization and intelligentization level of the equipment is improved; the precise dispensing controller 5 is positioned at one side of the rotating tool 2, and the rotating tool 2 is provided with a U shaft, so that the rotating tool 2 rotates to facilitate dispensing on a workpiece; adjusting foot 9 is installed to four-axis motion platform 1 bottom, just the bottom of adjusting foot 9 is provided with the rubber pad, can be with the firm fixing on the workstation of four-axis motion platform 1 through the rubber pad, just four-axis motion platform 1 installs on the workstation, convenient to use.
When the invention is used, firstly, all the electrical components in the device are externally connected with a control switch and a power supply, the dispensing bent frame mechanism 4 is connected with the R shaft, and the R shaft is arranged on the motor 8, so that the dispensing bending frame mechanism 4 can rotate 360 degrees around the R shaft, then the position of the needle head on the bent frame is adjusted, thereby adjusting different angle positions of the needle head, being suitable for dispensing of different products, then clamping the workpiece on a rotary tool 2, wherein the rotary tool 2 is provided with a U shaft, the rotary tool 2 is arranged on a four-shaft motion platform 1, and the four-axis motion platform 1 mainly comprises an X axis, a Y axis and a Z axis, so that the set angle can be rotated at will, the needle head can approach the workpiece at any angle, under the five-axis linkage control of the five-axis motion control system 6, the effect of five-axis linkage is achieved, and the dispensing operation can be performed on complex products through a space curve track;
the precise dispensing controller 5 is connected with a needle cylinder on the dispensing bending frame mechanism 4 through a pressure guide pipe, the precise dispensing controller 5 outputs positive pressure and negative pressure for the needle cylinder in the dispensing bending frame mechanism 4 of the dispensing bending frame mechanism 4, the stability of output air pressure is controlled due to the adoption of a PID control algorithm, the closed-loop control of the output pressure is realized, the dispensing quantity is controlled in real time, the dispensing quantity is adjusted in real time according to the movement speed, the thickness of a glue path is kept consistent, the glue piling at corners is improved, and the minimum stable pressure dispensing quantity can reach 0.01 mL;
simultaneously at the in-process of point, through sensor and digital display manometer 12 telecommunications connection, with the pressure numerical value information that receiving equipment sensor gathered, read and show in real time, then through digital display manometer 12 and host computer 3 electric connection, can pass through a communication singlechip with the pressure signal of gathering to host computer 3, then through host computer 3 and MES system electric connection, can be with pressure numerical value information and MES system interconnection according to certain communication protocol, gather in real time, display equipment key information, the information-based and intelligent level of equipment has been improved.
It is well within the skill of those in the art to implement and protect the present invention without undue experimentation and without undue experimentation that the present invention is directed to software and process improvements.
It will be evident to those skilled in the art that the invention is not limited to the details of the foregoing illustrative embodiments, and that the present invention may be embodied in other specific forms without departing from the spirit or essential attributes thereof. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned.
The above-mentioned embodiments are only used for illustrating the technical solutions of the present invention, and not for limiting the same; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.
Claims (9)
1. The utility model provides a five-axis linkage point robot which characterized in that: including four-axis motion platform (1), rotatory frock (2), point and glue curved frame mechanism (4) and five-axis motion control system (6), five-axis motion control system (6) set up on four-axis motion platform (1), install rotatory frock (2) on four-axis motion platform (1), the upper end of rotatory frock (2) is installed and is glued curved frame mechanism (4), just install stand (7) on four-axis motion platform (1), just accurate point gluing controller (5) is installed to one side of stand (7), accurate point gluing controller (5) and point are glued the cylinder on curved frame mechanism (4) and are connected, just another side wall mounting of stand (7) has host computer (3).
2. The five-axis linkage dispensing robot of claim 1, wherein: the upper end and the R axle of putting bent frame mechanism (4) are glued to the point are connected, and the R axle sets up on motor (8), just motor (8) are installed at the top of stand (7), just a side wall mounting of motor (8) has apparent manometer (12).
3. The five-axis linkage dispensing robot of claim 1, wherein: the display screen (10) is installed on the upper computer (3), and the upper computer (3) is movably connected with the side wall of the upright post (7) through a hinge.
4. The five-axis linkage dispensing robot of claim 1, wherein: the precise dispensing controller (5) is fixed on the bottom plate (11) through a bolt, and one side of the bottom plate (11) is fixedly connected with one side wall of the upright post (7) through a bolt.
5. The five-axis linkage dispensing robot of claim 1, wherein: four-axis motion platform (1) mainly contains X axle, Y axle, Z axle, just rotatory frock (2) are the rotatory frock of pneumatic three-jaw chuck formula.
6. The five-axis linkage dispensing robot of claim 1, wherein: the precise dispensing controller (5) is connected with a needle cylinder on the dispensing bent frame mechanism (4) through a pressure guide pipe, a pressure sensor is arranged on the pressure guide pipe, and the pressure sensor is electrically connected with a digital display pressure gauge (12).
7. The five-axis linkage dispensing robot of claim 1, wherein: the upper computer (3) is electrically connected with the MES system, and the upper computer (3) is electrically connected with the digital display pressure gauge (12).
8. The five-axis linkage dispensing robot of claim 1, wherein: the precise dispensing controller (5) is located on one side of the rotating tool (2), and the rotating tool (2) is provided with a U shaft.
9. The five-axis linkage dispensing robot of claim 1, wherein: four-axis motion platform (1) bottom is installed and is adjusted foot (9), just the bottom of adjusting foot (9) is provided with the rubber pad, just four-axis motion platform (1) is installed on the workstation.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010754465.1A CN111744725A (en) | 2020-07-30 | 2020-07-30 | Five-axis linkage dispensing robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010754465.1A CN111744725A (en) | 2020-07-30 | 2020-07-30 | Five-axis linkage dispensing robot |
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| Publication Number | Publication Date |
|---|---|
| CN111744725A true CN111744725A (en) | 2020-10-09 |
Family
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010754465.1A Pending CN111744725A (en) | 2020-07-30 | 2020-07-30 | Five-axis linkage dispensing robot |
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| CN (1) | CN111744725A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112974153A (en) * | 2021-04-19 | 2021-06-18 | 苏州希盟科技股份有限公司 | Optimal path interpolation method for five-axis linkage dispensing track rotating shaft and application |
| CN114100973A (en) * | 2021-11-29 | 2022-03-01 | 安徽奥弗医疗设备科技股份有限公司 | Automatic rubber coating device of puncture ware sleeve pipe |
| CN114505207A (en) * | 2022-01-14 | 2022-05-17 | 苏州希盟科技股份有限公司 | Motion control method and system for uniform coating dispenser |
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| CN103357543A (en) * | 2013-07-15 | 2013-10-23 | 浙江联宜电机股份有限公司 | Automatic rubber coating machine of motor end cover |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN112974153A (en) * | 2021-04-19 | 2021-06-18 | 苏州希盟科技股份有限公司 | Optimal path interpolation method for five-axis linkage dispensing track rotating shaft and application |
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| CN114505207A (en) * | 2022-01-14 | 2022-05-17 | 苏州希盟科技股份有限公司 | Motion control method and system for uniform coating dispenser |
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