CN113245145A - Dynamic automatic glue supply robot - Google Patents

Abstract

The invention discloses a dynamic automatic glue supply robot, which comprises a feeder assembly arranged on a manipulator, wherein the feeder assembly comprises a rack, a metering cylinder body is arranged on the rack, and two working cavities are arranged in the metering cylinder body; the material manifold comprises a body arranged on the rack, a material cavity with a piston is arranged in the body, two ends of the material cavity corresponding to the movement direction of the piston are respectively communicated with the two working cavities of the metering cylinder body, and a first valve assembly is arranged on a pipeline between the material manifold and the metering cylinder body; the feeder assembly also comprises a nozzle, the nozzle is arranged at the working end of the manipulator and is communicated with the metering cylinder body through a pipeline, and a second valve assembly is arranged on the pipeline between the nozzle and the metering cylinder body; the nozzle is provided with a third valve assembly. The invention can ensure that the colloid material is in an internal circulation state under the non-use state, and can prevent the colloid material from denaturation to influence the gluing effect by matching the temperature control effect of the Peltier device, thereby ensuring the gluing working quality.

Description

Dynamic automatic glue supply robot

Technical Field

The invention relates to the technical field of automobile production and manufacturing assembly line equipment, in particular to a dynamic automatic glue supply robot.

Background

The automatic gluing system has high intelligence degree, high efficiency and stable quality, and is widely applied to gluing production industries of windshields, automobile fireproof plates, automobile doors, automobile lamps and the like at present. The automatic gluing system mainly comprises a robot and a glue supply system, a software package special for gluing of the robot can quickly move out of an accurate track along a complex space curve of a workpiece, gluing of each surface of the workpiece is completed in one-time positioning, glue quantity is accurately controlled, the consistency of adhesive tapes is better, production takt is faster, product yield is obviously improved, and meanwhile workers are liberated from toxic and harmful environments.

The glue supply system of the existing automatic gluing system mostly utilizes a pipeline to convey a colloid material from a raw material cavity to a glue outlet device, but the automatic gluing system is generally matched with assembly line operation, so that the gluing work has certain intermittence. That is, between the time when the gluing of one workpiece is finished and the time when the gluing of the next workpiece is finished, the colloid material in the pipeline and the glue outlet device generates thixotropy due to static state, which not only affects the performance of the colloid material, but also may affect the normal operation of the glue supply system and even the whole gluing system in serious cases.

Disclosure of Invention

In order to solve the defects in the prior art, the invention provides a dynamic automatic glue supply robot, which has the following specific scheme:

the automatic feeder comprises a manipulator arranged on a base seat, wherein a feeder assembly is arranged on the manipulator, the feeder assembly comprises a rack arranged on the manipulator, a metering cylinder body is arranged on the rack, and a working cavity is arranged in the metering cylinder body;

the feeder assembly further comprises a material manifold, the material manifold comprises a body arranged on the rack, a material cavity with a piston is arranged in the body, the material cavity is communicated with a working cavity of the metering cylinder body through a pipeline, and a first valve assembly is arranged on a pipeline between the material manifold and the metering cylinder body; the material cavity is also connected with a raw material bin through a pipeline, and a one-way valve is arranged on the pipeline between the material cavity and the raw material bin;

the feeder assembly further comprises a nozzle, the nozzle is arranged at the working end of the manipulator and is communicated with the metering cylinder body through a pipeline, and a second valve assembly is arranged on the pipeline between the nozzle and the metering cylinder body;

the feeder assembly further comprises a driving device, the driving device comprises a ball screw rod arranged along the axial direction of the body, a power machine is connected to the screw rod of the ball screw rod in a transmission mode, and a nut of the ball screw rod is connected with the piston.

Furthermore, the number of the working cavities in the metering cylinder body is two, a first port and a second port are respectively arranged at two ends of the material cavity corresponding to the motion direction of the piston, and the first port and the second port are respectively communicated with the two working cavities of the metering cylinder body;

the first valve assembly comprises two supply valves, the second valve assembly comprises two discharge valves, and the nozzle is provided with a third valve assembly.

Furthermore, a safety port is further formed in the working cavity of the metering cylinder body, and a safety diaphragm is arranged on the safety port.

The first control box comprises a first box body arranged on the manipulator, a first control main board is arranged in the first box body, and a first receiving module, a first judging module and a first executing module are carried on the first control main board; and a vision camera electrically connected with the first receiving module is arranged on one side of the nozzle, and a control motor of each joint of the manipulator is electrically connected with the first executing module.

Further, the vision camera is used for collecting image information right in front of the nozzle, the first receiving module is used for preprocessing the image information collected by the vision camera and then sending the preprocessed image information to the first judging module, the first judging module is used for judging whether the right in front of the nozzle is right opposite to a working position, and the first executing module is used for sending a working instruction to the first valve assembly, the second valve assembly, the third valve assembly or a control motor of each joint of the manipulator according to a judgment result;

the first judging module comprises a first extracting unit, a first storage unit and a comparison unit, the first extracting unit is used for extracting the actual features of the image information sent by the first receiving module and sending the actual features to the comparison unit, the first storage unit is used for storing the standard features of the designated reference object of the working position and supplying the standard features to the comparison unit for calling, and the comparison unit is used for comparing the actual features with the standard features and sending comparison results to the first executing module.

The second control box comprises a second box body arranged on the manipulator, a second control main board is arranged in the second box body, and a second receiving module, a second judging module and a second executing module are carried on the second control main board; and a position sensor electrically connected with the second receiving module is arranged on a nut of the ball screw, and the first valve assembly, the second valve assembly and the third valve assembly are electrically connected with the second executing module.

Further, the position sensor is configured to collect position information of a nut of the ball screw, the second receiving module is configured to pre-process the position information collected by the position sensor and send the pre-processed position information to the second determining module, the second determining module is configured to determine a movement interval of the nut, and the second executing module is configured to send a working instruction to the first valve assembly, the second valve assembly, or the third valve assembly according to a determination result;

the second judgment module comprises a second extraction unit, a second storage unit, a timing unit and a difference unit, the second extraction unit is used for extracting actual position information sent by the second receiving module and sending the actual position information to the timing unit, the second storage unit is used for storing standard time information and calling the difference unit, the timing unit is used for counting the time interval of the nut between two positions and sending a counting result to the difference unit, and the difference unit is used for calculating the difference between the counting result and the standard time information and sending the calculating result to the second execution module.

Further, a first Peltier device is arranged on the manipulator, and a pipeline between the material cavity and the raw material bin is in contact with a heat conduction part of the first Peltier device; the first Peltier device is electrically connected with a first temperature sensor, and the first temperature sensor is arranged in a pipeline between the material cavity and the raw material bin.

Further, a second Peltier device is arranged on the machine frame, and the metering cylinder is in contact with a heat conducting part of the second Peltier device; the second Peltier device is electrically connected with a second temperature sensor which is arranged in the working cavity of the metering cylinder body.

Further, the feeder assembly has two working modes of glue supply and self circulation:

when the glue supply mode is adopted, the first valve component and the second valve component which are communicated with one working chamber are closed, the first valve component and the second valve component which are communicated with the other working chamber are opened, and the third valve component is opened; the driving device drives the piston to move along the axial direction of the material cavity, so that the colloid material in the material cavity is continuously output to a specified position through the working cavity and the nozzle in sequence; when the driving device drives the piston to move along the opposite direction of the material cavity, the colloid material in the raw material bin can be automatically supplemented into the material cavity due to the negative pressure state in the material cavity;

when in the self-circulation mode, the third valve assembly is closed, and both the first valve assembly and the second valve assembly are open; the driving device drives the piston to move along the axial direction of the material cavity, so that the colloid material in the material cavity is output to the nozzle through the working cavity and then returns to the other working cavity through the nozzle; when the driving device drives the piston to move along the opposite direction of the material cavity, the colloid material in the material cavity is output to the nozzle through the other working cavity and then returns to the first working cavity through the nozzle, and in the process, because the pressure in the material cavity is not changed, the colloid material in the raw material bin cannot be supplemented into the material cavity.

The invention has the beneficial effects that:

the application provides a pair of dynamic automatic glue feeding robot can guarantee that colloidal material is in the inner loop state under non-user state, and the control by temperature change effect of cooperation Peltier device can prevent that colloidal material from taking place the denaturation and influencing the rubberizing effect, guarantees gummed operating mass with rated load.

Drawings

Figure 1 is a schematic structural view of the present invention,

figure 2 is an enlarged view of the feeder assembly of the present invention,

figure 3 is a schematic diagram of the internal structure of the feeder assembly of the present invention,

figure 4 is a schematic diagram of the operation of the feeder assembly of the present invention,

figure 5 is a schematic structural view of a first control box of the present invention,

FIG. 6 is a schematic connection diagram of a first control motherboard according to the present invention,

FIG. 7 is a schematic diagram of the connection of a first determining module according to the present invention,

figure 8 is a schematic view of the structure of a second control box of the present invention,

FIG. 9 is a schematic diagram of the connection of the main board of the second control box of the present invention,

FIG. 10 is a schematic diagram of the connection of a second determining module according to the present invention,

fig. 11 is a schematic structural diagram of other embodiments of the present invention.

Figure number and name: 1. a base, 2, a robot, 21, a first peltier device, 22, a second peltier device, 3, a feeder assembly, 31, a frame, 32, a metering cylinder, 33, a working chamber, 34, a material manifold, 341, a body, 342, a piston, 343, a material chamber, 344, a first port, 345, a second port, 35, a nozzle, 36, a driving device, 361, a ball screw, 4, a first valve assembly, 5, a second valve assembly, 6, a third valve assembly, 7, a first control box, 71, a first box, 72, a first control board, 73, a first receiving module, 74, a first determining module, 741, a first extracting unit, 742, a first storage unit, 743, an alignment unit, 75, a first executing module, 76, a vision camera, 8, a second control box, 81, a second box, 82, a second control board, 83, a second receiving module, 84, and a feeder assembly, The second judgment module 841, the second extraction unit 842, the second storage unit 843, the timing unit 844, the difference unit 85, the second execution module 86 and the position sensor.

Detailed Description

To explain the technical content, structural features, attained objects and effects of the present invention in detail, the embodiments are exemplified below with reference to the accompanying drawings.

With reference to fig. 1 to 4, the dynamic automatic glue supply robot described in the present application includes a manipulator 2 disposed on a base 1, a feeder assembly 3 is disposed on the manipulator 2, the feeder assembly 3 includes a frame 31 disposed on the manipulator 2, a metering cylinder 32 is disposed on the frame 31, and two working chambers 33 are disposed in the metering cylinder 32; the feeder assembly 3 further comprises a material manifold 34, the material manifold 34 comprises a body 341 arranged on the frame 31, a material cavity 343 with a piston 342 is arranged in the body 341, the material cavity 343 is communicated with the working cavity 33 of the metering cylinder 32 through a pipeline, and a first valve assembly 4 is arranged on the pipeline between the material manifold 34 and the metering cylinder 32; the material cavity 343 is also connected with a raw material bin (not shown in the drawing) through a pipeline, and a one-way valve is arranged on the pipeline between the material cavity 343 and the raw material bin; the feeder assembly 3 further comprises a nozzle 35, the nozzle 35 is arranged at the working end of the manipulator 2, the nozzle 35 is communicated with the metering cylinder 32 through a pipeline, and a second valve assembly 5 is arranged on the pipeline between the nozzle 35 and the metering cylinder 32; the feeder assembly 3 further comprises a driving device 36, the driving device 36 comprises a ball screw 361 arranged along the axial direction of the body, a power machine (the power machine can be an output motor carried by a mechanical hand) is connected to the screw transmission of the ball screw 361, and a nut of the ball screw 361 is connected with the piston 342. (the pipe line is not drawn with the wire in the figure)

The two ends of the material cavity 343 corresponding to the movement direction of the piston 342 are respectively provided with a first port 344 and a second port 345, and the first port 344 and the second port 345 are respectively communicated with the two working cavities of the metering cylinder body 32;

the first valve assembly 4 comprises two feed valves, the second valve assembly 5 two discharge valves and the nozzle 35 is provided with a third valve assembly 6.

The working chamber of the metering cylinder 32 is also provided with a safety port provided with a safety diaphragm (not shown in the drawings). The rupture disc is mounted in the metering cylinder to prevent excessive pressure within the metering cylinder, and if the rupture disc bursts, immediate attention needs to be paid to pressure changes and to possible resulting spillage of process material from the film rupture.

When the nozzle is in a non-working state, the colloid material is input into the spray gun from the feeder assembly and then returns to the other working chamber, and in this way, the material is forced to flow, and the circulation flow can keep the temperature consistency to the maximum extent, so that the thixotropy of the material caused by the shearing force is avoided.

With reference to fig. 1, 5 and 6, the robot further includes a first control box 7 for controlling the robot 2, the first control box 7 includes a first box 71 disposed on the robot 2, a first control main board 72 is disposed in the first box 71, and a first receiving module 73, a first determining module 74 and a first executing module 75 are mounted on an upper board of the first control main board 72; a vision camera 76 electrically connected to the first receiving module 73 is provided at one side of the nozzle 35, and a control motor of each joint of the robot 2 is electrically connected to the first executing module 75.

The vision camera 76 is used for collecting image information right in front of the nozzle 35, the first receiving module 73 is used for preprocessing the image information collected by the vision camera 76 and sending the preprocessed image information to the first judging module 74, the first judging module 74 is used for judging whether the right in front of the nozzle 35 is right opposite to the working position, and the first executing module 75 is used for sending a working instruction to the control motors of the first valve assembly 4, the second valve assembly 5, the third valve assembly 6 or each joint of the manipulator 2 according to the judgment result;

as shown in fig. 7, the first determining module 74 includes a first extracting unit 741, a first storage unit 742 and a comparing unit 743, the first extracting unit 741 is configured to extract an actual feature of the image information sent by the first receiving module 73 and send the actual feature to the comparing unit 743, the first storage unit 742 is configured to store a standard feature (e.g., a specific groove shape and size) of a reference object specified by the working position and be called by the comparing unit 743, and the comparing unit 743 is configured to compare the actual feature with the standard feature and send a comparison result to the first executing module 75.

With reference to fig. 1, 3, 8 and 9, the robot further includes a second control box 8 for controlling the first valve assembly 4, the second valve assembly 5 and the third valve assembly 6, the second control box 8 includes a second box 81 disposed on the robot 2, a second control main board 82 is disposed in the second box 81, and a second receiving module 83, a second determining module 84 and a second executing module 85 are mounted on the second control main board 82; the nut of the ball screw 361 is provided with a position sensor 86 electrically connected with the second receiving module 83, and the first valve assembly 4, the second valve assembly 5 and the third valve assembly 6 are electrically connected with the second executing module 85.

The position sensor 86 is used for collecting position information of a nut of the ball screw 361, the second receiving module 83 is used for preprocessing the position information collected by the position sensor 86 and then sending the position information to the second judging module 84, the second judging module 84 is used for judging the movement interval of the nut, and the second executing module 85 is used for sending a working instruction to the first valve assembly 4, the second valve assembly 5 or the third valve assembly 6 according to the judgment result;

as shown in fig. 10, the second determining module 84 includes a second extracting unit 841, a second storage unit 842, a timing unit 843, and a difference unit 844, the second extracting unit 841 is configured to extract actual position information sent by the second receiving module 83 and send the actual position information to the timing unit 843, the second storage unit 842 is configured to store standard time information and provide the standard time information for the difference unit 844 to call, the timing unit 843 is configured to count a time interval between two positions of the nut and send a count result to the difference unit 844, and the difference unit 844 is configured to perform a difference calculation between the count result and the standard time information and send a calculation result to the second performing module 85.

In other embodiments of the present application, as shown in fig. 11, the robot 2 is provided with a first peltier device 21, and the piping between the material chamber 343 and the raw material bin (which may be mounted on a base) is in contact with the heat conducting portion of the first peltier device 21; the first peltier device 21 is electrically connected to a first temperature sensor which is arranged in a conduit between the material chamber 343 and the raw material silo. The frame is provided with a second Peltier device 22, and the metering cylinder 32 is in contact with the heat conducting part of the second Peltier device 22; the second peltier device 22 is electrically connected to a second temperature sensor which is disposed within the working chamber 33 of the metering cylinder 32.

The feeder assembly 3 has two working modes of glue supply and self circulation:

when the glue supply mode is adopted, the first valve component and the second valve component which are communicated with one working chamber are closed, the first valve component and the second valve component which are communicated with the other working chamber are opened, and the third valve component is opened; the driving device drives the piston to move along the axial direction of the material cavity, so that the colloid material in the material cavity is continuously output to a specified position through the working cavity and the nozzle in sequence; when the driving device drives the piston to move along the opposite direction of the material cavity, the colloid material in the raw material bin can be automatically supplemented into the material cavity due to the negative pressure state in the material cavity;

when in the self-circulation mode, the third valve assembly is closed, and both the first valve assembly and the second valve assembly are open; the driving device drives the piston to move along the axial direction of the material cavity, so that the colloid material in the material cavity is output to the nozzle through the working cavity and then returns to the other working cavity through the nozzle; when the driving device drives the piston to move along the opposite direction of the material cavity, the colloid material in the material cavity is output to the nozzle through the other working cavity and then returns to the initial working cavity through the nozzle, and in the process, because the pressure in the material cavity is not changed, the colloid material in the raw material bin cannot (or is not required to) be supplemented into the material cavity.

Therefore, the invention is not limited to the specific embodiments and examples, but rather, all equivalent variations and modifications are within the scope of the invention as defined in the claims and the specification.

Claims (9)

1. The utility model provides a dynamic automatic glue feeding robot which characterized in that: the automatic feeder comprises a mechanical arm (2) arranged on a base (1), wherein a feeder assembly (3) is arranged on the mechanical arm (2), the feeder assembly (3) comprises a rack (31) arranged on the mechanical arm (2), a metering cylinder body (32) is arranged on the rack (31), and a working cavity (33) is arranged in the metering cylinder body (32);

the feeder assembly (3) further comprises a material manifold (34), the material manifold (34) comprises a body (341) arranged on the frame (31), a material cavity (343) with a piston (342) is arranged in the body (341), the material cavity (343) is communicated with the working cavity (33) of the metering cylinder (32) through a pipeline, and a first valve assembly (4) is arranged on the pipeline between the material manifold (34) and the metering cylinder (32); the material cavity (343) is also connected with a raw material bin through a pipeline, and a one-way valve is arranged on the pipeline between the material cavity (343) and the raw material bin;

the feeder assembly (3) further comprises a nozzle (35), the nozzle (35) is arranged at the working end of the manipulator (2), the nozzle (35) is communicated with the metering cylinder (32) through a pipeline, and a second valve assembly (5) is arranged on the pipeline between the nozzle (35) and the metering cylinder (32);

the feeder assembly (3) further comprises a driving device (36), wherein the driving device (36) comprises a ball screw (361) arranged along the axial direction of the body, a power machine is connected with the screw transmission of the ball screw (361), and a nut of the ball screw (361) is connected with the piston (342);

the number of the working cavities in the metering cylinder body (32) is two, a first port (344) and a second port (345) are respectively arranged at two ends of the material cavity (343) corresponding to the movement direction of the piston (342), and the first port (344) and the second port (345) are respectively communicated with the two working cavities of the metering cylinder body (32);

the first valve assembly (4) comprises two supply valves, the second valve assembly (5) comprises two discharge valves, and the nozzle (35) is provided with a third valve assembly (6).

2. The dynamic automatic glue supply robot as claimed in claim 1, wherein: the working cavity of the metering cylinder body (32) is also provided with a safety port, and the safety port is provided with a safety diaphragm.

3. The dynamic automatic glue supply robot as claimed in claim 1, wherein: the manipulator control system is characterized by further comprising a first control box (7) used for controlling the manipulator (2), wherein the first control box (7) comprises a first box body (71) arranged on the manipulator (2), a first control main board (72) is arranged in the first box body (71), and a first receiving module (73), a first judging module (74) and a first executing module (75) are carried on the first control main board (72); a visual camera (76) electrically connected with the first receiving module (73) is arranged on one side of the nozzle (35), and a control motor of each joint of the manipulator (2) is electrically connected with the first executing module (75).

4. The dynamic automatic glue supply robot as claimed in claim 3, wherein: the vision camera (76) is used for collecting image information right in front of the nozzle (35), the first receiving module (73) is used for preprocessing the image information collected by the vision camera (76) and then sending the preprocessed image information to a first judging module (74), the first judging module (74) is used for judging whether the right in front of the nozzle (35) is opposite to a working position, and the first executing module (75) is used for sending a working instruction to the first valve assembly (4), the second valve assembly (5), the third valve assembly (6) or a control motor of each joint of the manipulator (2) according to a judgment result;

the first judging module (74) includes a first extracting unit (741), a first storage unit (742) and a comparison unit (743), the first extracting unit (741) is configured to extract an actual feature of the image information sent by the first receiving module (73) and send the actual feature to the comparison unit (743), the first storage unit (742) is configured to store a standard feature of a reference object specified by a working position and be called by the comparison unit (743), and the comparison unit (743) is configured to compare the actual feature with the standard feature and send a comparison result to the first executing module (75).

5. The dynamic automatic glue supply robot as claimed in claim 1, wherein: the mechanical arm control system is characterized by further comprising a second control box (8) used for controlling the first valve assembly (4), the second valve assembly (5) and the third valve assembly (6), wherein the second control box (8) comprises a second box body (81) arranged on the mechanical arm (2), a second control main board (82) is arranged in the second box body (81), and a second receiving module (83), a second judging module (84) and a second executing module (85) are mounted on the second control main board (82); and a position sensor (86) electrically connected with the second receiving module (83) is arranged on a nut of the ball screw (361), and the first valve assembly (4), the second valve assembly (5) and the third valve assembly (6) are electrically connected with the second executing module (85).

6. The dynamic automatic glue supply robot as claimed in claim 5, wherein: the position sensor (86) is used for collecting position information of a nut of the ball screw (361), the second receiving module (83) is used for preprocessing the position information collected by the position sensor (86) and then sending the position information to the second judging module (84), the second judging module (84) is used for judging the movement interval of the nut, and the second executing module (85) is used for sending a working instruction to the first valve assembly (4), the second valve assembly (5) or the third valve assembly (6) according to the judgment result;

the second judging module (84) comprises a second extracting unit (841), a second storage unit (842), a timing unit (843) and a difference unit (844), the second extracting unit (841) is used for extracting the actual position information sent by the second receiving module (83) and sending the actual position information to the timing unit (843), the second storage unit (842) is used for storing standard time information and calling the difference unit (844), the timing unit (843) is used for counting the time interval of the nut between two positions and sending the counting result to the difference unit (844), and the difference unit (844) is used for calculating the difference between the counting result and the standard time information and sending the calculating result to the second executing module (85).

7. The dynamic automatic glue supply robot as claimed in claim 1, wherein: a first Peltier device (21) is arranged on the manipulator (2), and a pipeline between the material cavity (343) and the raw material bin is in contact with a heat conduction part of the first Peltier device (21); the first peltier device (21) is electrically connected to a first temperature sensor which is arranged in a line between the material chamber (343) and the raw material silo.

8. The dynamic automatic glue supply robot as claimed in claim 1, wherein: a second Peltier device (22) is arranged on the frame, and the metering cylinder (32) is in contact with a heat conducting part of the second Peltier device (22); the second Peltier device (22) is electrically connected to a second temperature sensor, which is arranged in a working chamber (33) of the metering cylinder (32).

9. A dynamic automatic glue-supplying robot as claimed in any one of claims 1 to 8, characterized in that said feeder assembly (3) has two operating modes, glue-supplying and self-circulation:

when the glue supply mode is adopted, the first valve component and the second valve component which are communicated with one working chamber are closed, the first valve component and the second valve component which are communicated with the other working chamber are opened, and the third valve component is opened; the driving device drives the piston to move along the axial direction of the material cavity, so that the colloid material in the material cavity is continuously output to a specified position through the working cavity and the nozzle in sequence; when the driving device drives the piston to move along the opposite direction of the material cavity, the colloid material in the raw material bin can be automatically supplemented into the material cavity due to the negative pressure state in the material cavity;

when in the self-circulation mode, the third valve assembly is closed, and both the first valve assembly and the second valve assembly are open; the driving device drives the piston to move along the axial direction of the material cavity, so that the colloid material in the material cavity is output to the nozzle through the working cavity and then returns to the other working cavity through the nozzle; when the driving device drives the piston to move along the opposite direction of the material cavity, the colloid material in the material cavity is output to the nozzle through the other working cavity and then returns to the first working cavity through the nozzle, and in the process, because the pressure in the material cavity is not changed, the colloid material in the raw material bin cannot be supplemented into the material cavity.

Images