CN113546811B - Gluing monitoring equipment and gluing quality monitoring method - Google Patents
Gluing monitoring equipment and gluing quality monitoring method Download PDFInfo
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- CN113546811B CN113546811B CN202110912100.1A CN202110912100A CN113546811B CN 113546811 B CN113546811 B CN 113546811B CN 202110912100 A CN202110912100 A CN 202110912100A CN 113546811 B CN113546811 B CN 113546811B
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- gluing
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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
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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
- B05C11/00—Component parts, details or accessories not specifically provided for in groups B05C1/00 - B05C9/00
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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
- 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
- B05C11/1007—Means for controlling supply, i.e. flow or pressure, of liquid or other fluent material to the applying apparatus, e.g. valves responsive to condition of liquid or other fluent material
- B05C11/101—Means for controlling supply, i.e. flow or pressure, of liquid or other fluent material to the applying apparatus, e.g. valves responsive to condition of liquid or other fluent material responsive to weight of a container for liquid or other fluent material; responsive to level of liquid or other fluent material in a container
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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
- B05C13/00—Means for manipulating or holding work, e.g. for separate articles
- B05C13/02—Means for manipulating or holding work, e.g. for separate articles for particular articles
Abstract
The invention belongs to the technical field of engine junction surface sealing, and discloses a gluing monitoring device and a gluing quality monitoring method. The gluing robot is in communication connection with the logic controller; the clamp is detachably connected to the tail end of an operation arm of the gluing robot and is used for obtaining a sampling glue container and spraying sampling glue; the sample gel container bracket is used for supporting the sample gel container; the weighing device is used for weighing the weight of the sample rubber container and is in communication connection with the logic controller; the waste bin is configured to receive the sample gel container after the sample gel is sprayed. The gluing monitoring equipment and the gluing quality monitoring method can effectively monitor whether the glue supply system operates normally and whether the amount of sample glue is normal before gluing production, thereby ensuring the assembly quality of an engine, reducing waste caused by production rework, and having compact equipment structure, simple method implementation steps, reliable monitoring results and less investment.
Description
Technical Field
The invention relates to the technical field of engine joint surface sealing, in particular to gluing monitoring equipment and a gluing quality monitoring method.
Background
In the existing engine assembly line, gluing operation of the joint surfaces of the parts is often performed on some automatic stations by using a gluing robot. For the detection and monitoring of the gluing quality, generally, after the gluing is finished, the machine vision detection or the laser scanning mode is used for carrying out. The two detection modes can detect the process elements such as the track, the diameter and the like of the coated glue line, generally adopt laser line scanning and camera shooting methods to judge the detection modes of the height of the coated glue line, the deviation of the coated glue line and the glue break, and both the detection modes belong to post-detection, are direct detection of a gluing result, cannot monitor gluing equipment, particularly a glue supply system and the glue quality, and if the gluing result is unqualified, rework treatment needs to be carried out on a glued workpiece while the fault problem of the equipment is solved, so that a large amount of waste is caused, and high rework cost is brought.
Disclosure of Invention
The invention aims to provide gluing monitoring equipment and a gluing quality monitoring method, which can effectively detect whether a glue supply system operates normally and whether the amount of sample glue is normal before gluing production, thereby ensuring the assembly quality of an engine and reducing waste caused by production rework.
In order to achieve the purpose, the invention adopts the following technical scheme:
in one aspect, a glue spreading monitoring apparatus is provided, comprising:
the gluing robot is in communication connection with the logic controller;
the clamp is communicated with the glue supply system, the clamp is detachably connected to the tail end of an operating arm of the gluing robot, and the clamp is configured to obtain a sample glue container and spray sample glue;
a gel sample container holder configured to hold the gel sample container;
a weighing device configured to weigh the sample gel container, the weighing device communicatively coupled to the logic controller; and
a waste bin configured to receive the sample gel container after spraying sample gel.
As a preferable configuration of the present invention, the jig includes:
the frame body is detachably connected to the gluing robot;
the sucker bracket is fixedly connected to the frame body;
a plurality of suction cups detachably connected to the suction cup holder, the suction cups being configured to suck up the sample gel containers; and
the glue coating head is communicated with the glue supply system and is configured to spray the sample glue on the sample glue container.
As a preferable structure of the present invention, the suction cup is provided with a suction surface configured to abut against the sample gel container, and the suction surface and the gel application head are arranged at an included angle.
As a preferred structure of the present invention, the present invention further comprises a pneumatic system configured to control the suction cup to suck the sample gel container.
The gluing robot further comprises an alarm system, wherein the alarm system is in communication connection with the gluing robot and is configured to prompt that the gluing quality is unqualified.
In a preferred embodiment of the present invention, the weighing device has a weighing accuracy of 0.02g to 0.05g.
As a preferred structure of the present invention, the sample glue container is a flat paperboard provided with a sample glue application area configured to receive the sample glue.
On the other hand, the gluing quality monitoring method is applied to the gluing monitoring equipment, and is characterized by comprising the following steps of:
s1, starting a production line, and sending a sampling glue container execution command to a gluing robot by a logic controller after a first engine reaches a gluing station;
s2, the gluing robot controls the clamp to place the sample glue container on a weighing device;
s3, the weighing device weighs the sample gel container for the first time and feeds data back to the logic controller;
s4, the gluing robot executes a trial gluing program and coats sample glue on the sample glue container within a fixed time;
s5, weighing the weight of the sample rubber container for the second time by the weighing device, and feeding back data to the logic controller;
and S6, the logic controller compares the weight data of the first weighing and the second weighing, judges and sends a judgment result to the gluing robot.
As a preferred embodiment of the present invention, after the step S6, the method further includes:
s7, if the gluing robot receives a result that the gluing quality is qualified, sucking the sample glue container to discard the sample glue container in a waste material barrel, and executing a normal gluing command; and if the gluing robot receives a result that the gluing quality is not qualified, controlling an alarm system to send an alarm signal.
In a preferred embodiment of the present invention, in the step S4, the fixed time is in a range of 5 seconds to 10 seconds.
The invention has the beneficial effects that: the gluing monitoring equipment provided by the invention utilizes the flexibility of a gluing robot, a multifunctional clamp is arranged at the tail end of an arm of the gluing robot, the functions of automatic feeding and automatic sample glue coating of a sample glue container are realized through the clamp, a weighing device is used for weighing the sample glue container twice before and after sample glue coating, the weight difference value obtained by weighing twice is automatically calculated and judged through a logic controller, whether the glue supply system and the sample glue amount are normal is judged, and the judgment result is fed back to the gluing robot, so that the quality monitoring of the gluing system and the glue source is realized. The gluing quality monitoring method has the advantages of simple implementation steps, reliable monitoring result and less investment, and can reduce the waste caused by production rework.
Drawings
FIG. 1 is a top view of a gluing monitoring device according to an embodiment of the present invention;
FIG. 2 is a schematic structural diagram of a clamp according to an embodiment of the present invention;
fig. 3 is a schematic flow chart of a gluing quality monitoring method according to an embodiment of the present invention.
In the figure:
1. a gluing robot; 2. a clamp; 21. a frame body; 22. a suction cup holder; 23. a suction cup; 231. an adsorption surface; 24. gluing heads; 3. a sample gel container support; 31. a sample rubber container; 4. a weighing device; 41. an electronic scale; 42. a weighing bracket; 5. a waste bin;
100. an engine.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the invention and are not limiting of the invention. It should be further noted that, for the convenience of description, only some of the structures related to the present invention are shown in the drawings, not all of the structures.
In the description of the present invention, unless expressly stated or limited otherwise, the terms "connected," "connected," and "fixed" are to be construed broadly, e.g., as meaning permanently connected, removably connected, or integral to one another; can be mechanically or electrically connected; either directly or indirectly through intervening media, either internally or in any other relationship. The specific meanings of the above terms in the present invention can be understood in a specific case to those of ordinary skill in the art.
In the present invention, unless otherwise expressly stated or limited, "above" or "below" a first feature means that the first and second features are in direct contact, or that the first and second features are not in direct contact but are in contact with each other via another feature therebetween. Also, the first feature "on," "above" and "over" the second feature may include the first feature being directly above and obliquely above the second feature, or simply indicating that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature includes the first feature being directly under and obliquely below the second feature, or simply meaning that the first feature is at a lesser elevation than the second feature.
In the description of the present embodiment, the terms "upper", "lower", "left", "right", and the like are used based on the orientations and positional relationships shown in the drawings, and are only for convenience of description and simplicity of operation, but do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first" and "second" are used only for descriptive purposes and are not intended to be limiting.
As shown in fig. 1-2, an embodiment of the present invention provides a gluing monitoring apparatus, which includes a gluing robot 1, a clamp 2, a sample glue container support 3, a weighing device 4, and a waste bin 5. The gluing robot 1 is in communication connection with the logic controller, receives a control program sent by the logic controller and executes a corresponding command. The clamp 2 is communicated with the glue supply system and is detachably connected to the tail end of the operation arm of the gluing robot 1, and the clamp 2 is configured to obtain a sample glue container 31 and spray sample glue. The sample gel container holder 3 is configured to support the sample gel container 31, and facilitate the grip 2 to suck the sample gel container 31 and apply the gel thereto. The weighing device 4 is configured to weigh the sample gel container 31, the weighing device 4 being communicatively connected to the logic controller. The waste bin 5 is configured to accommodate the sample gel container 31 after the sample gel is sprayed. The logic controller adopts industrial PLC, has the functions of programming and logical operation, can calculate weighing data and carry out logical judgment, and outputs a judgment result to the gluing robot 1. The logic controller is the prior art in the field, and the specific structure and control principle thereof are not described herein again.
The gluing monitoring equipment of the embodiment of the invention utilizes the flexibility of the gluing robot 1, the multifunctional clamp 2 is arranged at the tail end of the arm of the gluing robot 1, the automatic feeding and the automatic sample glue coating of the sample glue container 31 are realized through the clamp 2, the weighing device 4 is used for weighing the sample glue container 31 twice before and after the sample glue coating, the weight difference value obtained by weighing twice is automatically calculated and judged through the logic controller, whether the glue supply system and the sample glue amount are normal is judged, and the judgment result is fed back to the gluing robot 1, so that the quality monitoring of the gluing system and the glue source is realized.
Further, the jig 2 includes a frame body 21, a suction cup support 22, a plurality of suction cups 23, and a gluing head 24. The frame body 21 is detachably connected to the gluing robot 1; the suction cup bracket 22 is fixedly connected with the frame body 21; the suction cup 23 is detachably connected to the suction cup holder 22, and the suction cup 23 is configured to suck the sampling glue container 31; the glue spreading head 24 is configured to spray the sample glue on the sample glue container 31, and the glue spreading head 24 is communicated with the glue supply system. Preferably, a plurality of suckers 23 are evenly arranged around the sucker bracket 22 at intervals, so that the sample gel container 31 can be more stably sucked. Automatic feeding and gluing can be realized through the clamp 2, the structure is compact, and the economy is strong.
Further, the suction cup 23 is provided with an adsorption surface 231, the adsorption surface 231 is configured to abut against the sample glue container 31, and the adsorption surface 231 and the glue spreading head 24 are arranged at an included angle, so that the clamp 2 does not interfere with each other during the feeding and glue spreading operations. After the sample glue container 31 is placed on the weighing device 4, the jig 2 rotates the frame body 21, and the sample glue container 31 is aligned by the glue applying head 24.
Further, the glue monitoring device further comprises a pneumatic system (not shown in the figures) configured to control the suction cups 23 to suck up the sample glue containers 31. The pneumatic system sucks the sample glue container 31 through the sucking disc 23 in a vacuum adsorption mode, so that the obtaining action of the gluing robot 1 is simple and easy to implement.
Further, the gluing monitoring device further comprises an alarm system (not shown in the figure), the alarm system is in communication connection with the gluing robot 1, and the alarm system is configured to prompt that the gluing quality is unqualified. When the gluing monitoring equipment detects that the gluing quality is unqualified, the logic controller sends an unqualified signal to the gluing robot 1, and the gluing robot 1 controls the alarm system to send an alarm signal to inform an operator of the reason for the abnormity in field inspection.
Further, the measuring accuracy of the weighing device 4 is 0.02g to 0.05g. Preferably, the weighing apparatus 4 comprises an electronic scale 41 and a weighing bracket 42, and the weighing bracket 42 provides stable support for the electronic scale 41 to ensure the accuracy of the weighing result. The electronic scale 41 is a high-precision electronic scale, the measurement precision range is 0.02 g-0.05 g, and the weight and the change of the sample glue container 31 can be accurately measured.
Further, the sample glue container 31 is a plane cardboard, which is convenient for the suction cup 23 to adsorb, and the plane cardboard comprises a sample glue coating area configured to contain sample glue, so that the operator can observe the coated sample glue.
Meanwhile, the embodiment of the invention also provides a gluing quality monitoring method, which applies the gluing monitoring equipment and comprises the following steps as shown in fig. 3:
step S1, a production line is started, when a first engine 100 reaches a gluing station, a logic controller sends a sample adjusting glue container 31 execution command to a gluing robot 1;
through the step S1, the gluing quality monitoring method is guaranteed to be adopted for monitoring before production, so that the abnormity of the glue supply system and the sample glue quality can be found as soon as possible, and the normal gluing operation can be conveniently carried out.
S2, the gluing robot 1 controls the clamp 2 to place the sample glue container 31 on the weighing device 4;
through the step S2, the glue spreading robot 1 executes the procedure of the sampling glue container 31 sent by the logic controller, sucks the sampling glue container 31 by using the plurality of vacuum suction cups of the jig 2, and places the container on the electronic scale 41 of the weighing device 4. The placing position of the glue container 31 is set by the control system and executed by the gluing robot 1, which is not described herein in detail in this embodiment.
S3, weighing the sample rubber container 31 by the weighing device 4 for the first time, and feeding back data to the logic controller;
in step S3, the electronic scale 41 of the weighing device 4 weighs the sample rubber container 31 for the first time, and transmits the data to the logic controller as initial data.
Step S4, the gluing robot 1 executes a gluing program and glues the sample glue container 31 within a fixed time;
through this step S4, the gluing robot 1 executes a trial gluing process to apply the sample glue in the sample glue application area of the sample glue container 31 within a fixed time. Preferably, the fixed time range is 5 seconds to 10 seconds, the glue supply system can stably discharge glue through the clamp 2 within the time range, and a certain amount of sample glue is sprayed for weighing. Before step S4, the gluing robot 1 needs to turn over the fixture 2 to align the gluing head 24 with the sample glue container 31, so as to facilitate the gluing operation.
S5, weighing the sample rubber container 31 by the weighing device 4 for the second time, and feeding back data to the logic controller;
in step S5, the weighing device 4 weighs the sample gel container 31 coated with the sample gel for the second time, and also transmits the data to the logic controller.
S6, comparing the first weighed weight with the second weighed weight by the logic controller, judging, and sending a judgment result to the gluing robot 1;
through the step S6, the logic controller calculates and judges the weight difference value of the two times of weighing, judges whether the glue supply system and the sample glue amount are normal or not, and feeds back the judgment result to the gluing robot 1.
Further, after step S6, the method further includes:
s7, if the gluing robot 1 receives a result that the gluing quality is qualified, the sample glue sucking container 31 is discarded in the waste material barrel 5, and a normal gluing command is executed; and if the gluing robot 1 receives the result that the gluing quality is not qualified, controlling an alarm system to send out an alarm signal.
In this step S7, the gluing robot 1 performs different subsequent operations according to different determination results sent by the logic controller. If the logic controller judges that the weight difference of the two times of weighing is within the normal range, the glue supply system and the sample glue amount are judged to be normal, an OK signal is sent to the gluing robot 1 to indicate that the gluing quality is qualified, at the moment, the gluing robot 1 receives the OK signal, discards the sample glue container 31 in the waste barrel 5, and executes a normal gluing command to the engine 100 on the production line; if the logic controller judges that the weight difference of the two times of weighing exceeds the normal range, the logic controller judges that at least one of the glue supply system and the sample glue amount is abnormal, sends an NOK signal to the gluing robot 1 to indicate that the gluing quality is unqualified, and at the moment, the gluing robot 1 receives the NOK signal and controls the alarm system to send an alarm signal to inform an operator of the reason of abnormality in field inspection, so that the cost waste caused by production rework is avoided.
The gluing quality monitoring method provided by the embodiment of the invention has the advantages of simple implementation steps, reliable monitoring results and less investment, and can effectively detect whether a glue supply system normally operates and whether the amount of sample glue is normal before production, thereby ensuring the assembly quality of the engine 100 and reducing the waste caused by production rework.
It should be understood that the above-described embodiments of the present invention are merely examples for clearly illustrating the present invention, and are not intended to limit the embodiments of the present invention. Numerous obvious variations, adaptations and substitutions will occur to those skilled in the art without departing from the scope of the invention. And are neither required nor exhaustive of all embodiments. Any modification, equivalent replacement, and improvement made within the spirit and principle of the present invention should be included in the protection scope of the claims of the present invention.
Claims (8)
1. A gluing quality monitoring method applies a gluing monitoring device, and is characterized in that the gluing monitoring device comprises:
the gluing robot (1), the said gluing robot (1) communicates and connects the logic controller;
the clamp (2) is communicated with a glue supply system, the clamp (2) is detachably connected to the tail end of an operation arm of the gluing robot (1), and the clamp (2) is configured to obtain a sample glue container (31) and spray sample glue;
a sample glue container support (3), wherein the sample glue container support (3) is configured to support the sample glue container (31), the sample glue container (31) is a plane paperboard, the plane paperboard is provided with a sample glue coating area, and the sample glue coating area is configured to contain the sample glue;
a weighing device (4), wherein the weighing device (4) is configured to weigh the sample gel container (31), and the weighing device (4) is in communication connection with the logic controller; and
a waste bucket (5), wherein the waste bucket (5) is configured to contain the sample gel container (31) after sample gel is sprayed;
the gluing quality monitoring method comprises the following steps:
s1, a production line is started, and after a first engine (100) reaches a gluing station, a logic controller sends a sampling glue container (31) to execute a command to a gluing robot (1);
s2, the gluing robot (1) controls a clamp (2) to place the sample glue container (31) on a weighing device (4);
s3, weighing the sample rubber container (31) for the first time by the weighing device (4), and feeding back data to the logic controller;
s4, the gluing robot (1) executes a trial gluing program, and sample glue is coated on the sample glue container (31) within a fixed time;
s5, weighing the sample rubber container (31) for the second time by the weighing device (4), and feeding back data to the logic controller;
and S6, comparing the weight data of the first weighing and the second weighing by the logic controller, judging and sending a judgment result to the gluing robot (1).
2. Gluing quality monitoring method according to claim 1, characterized in that said gripper (2) comprises:
the frame body (21), the frame body (21) is detachably connected to the gluing robot (1);
the sucker support (22), the sucker support (22) is fixedly connected to the frame body (21);
a plurality of suction cups (23), the suction cups (23) being detachably connected to the suction cup holder (22), the suction cups (23) being configured to suck up the sample gel containers (31); and
the gluing head (24), the gluing head (24) is communicated with the glue supply system, and the gluing head (24) is configured to spray the sample glue on the sample glue container (31).
3. Gluing quality monitoring method according to claim 2, wherein the suction cup (23) is provided with a suction surface (231), the suction surface (231) being configured to abut against the sample glue container (31), the suction surface (231) being arranged at an angle to the gluing head (24).
4. Gluing quality monitoring method according to claim 2, further comprising a pneumatic system configured to control the suction cup (23) to suck up the sample glue containers (31).
5. Gluing quality monitoring method according to claim 1, further comprising an alarm system communicatively connected to the gluing robot (1), the alarm system being configured to indicate a faulty gluing quality.
6. Gluing quality monitoring method according to any one of claims 1 to 5, characterised in that the weighing precision of the weighing device (4) is between 0.02g and 0.05g.
7. The gluing quality monitoring method according to claim 1, further comprising, after the step S6:
s7, if the gluing robot (1) receives a result that the gluing quality is qualified, absorbing the sample glue container (31) and discarding the sample glue container in a waste material barrel (5), and executing a normal gluing command; and if the gluing robot (1) receives the result that the gluing quality is not qualified, controlling an alarm system to send an alarm signal.
8. The gluing quality monitoring method according to claim 1, wherein in the step S4, the fixed time is in a range of 5 seconds to 10 seconds.
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| CN202110912100.1A CN113546811B (en) | 2021-08-10 | 2021-08-10 | Gluing monitoring equipment and gluing quality monitoring method |
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| CN115007374A (en) * | 2022-05-10 | 2022-09-06 | 东风柳州汽车有限公司 | Glue nozzle cleaning control method and device for gluing robot and glue nozzle cleaning mechanism |
| CN115354947A (en) * | 2022-08-17 | 2022-11-18 | 南京中车浦镇城轨车辆有限责任公司 | Method for monitoring automatic bonding pretreatment of rail vehicle glass |
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| JP4379509B2 (en) * | 2007-10-01 | 2009-12-09 | セイコーエプソン株式会社 | Capping jig |
| CN106622870A (en) * | 2017-01-09 | 2017-05-10 | 大连扬天科技有限公司 | Six-axis robot glue application system and technique |
| CN207463572U (en) * | 2017-11-06 | 2018-06-08 | 厦门市诺盛测控技术有限公司 | Automatic glue spreaders |
| CN207872505U (en) * | 2017-11-24 | 2018-09-18 | 天津美森电子有限公司 | A kind of automatic glue filling production line of charactron |
| CN110013946B (en) * | 2019-04-29 | 2021-09-10 | 陈俊 | Automatic rubber coating production line in duplex position |
| CN110328114A (en) * | 2019-07-16 | 2019-10-15 | 延锋伟世通汽车电子有限公司 | Robot automatic glue painting device and its glue spreading method |
| CN212263750U (en) * | 2020-07-27 | 2021-01-01 | 苏州上声电子股份有限公司 | Gluing equipment |
| CN112025677B (en) * | 2020-07-28 | 2023-09-26 | 武汉象点科技有限公司 | Automatic guiding glue supplementing system and method based on visual detection |
| CN213700577U (en) * | 2020-10-27 | 2021-07-16 | 苏州赛腾菱欧智能科技有限公司 | Automatic gluing equipment for condenser |
| CN113083620A (en) * | 2021-04-30 | 2021-07-09 | 武汉飞恩微电子有限公司 | Assembling equipment and packaging equipment |
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