CN114100981B

CN114100981B - Clamping and positioning device and glue spraying manipulator

Info

Publication number: CN114100981B
Application number: CN202210091127.3A
Authority: CN
Inventors: 魏印帅; 于磊; 魏令剑
Original assignee: Yantai Zhaoyuan Auto Parts Co ltd
Current assignee: Yantai Zhaoyuan Auto Parts Co ltd
Priority date: 2022-01-26
Filing date: 2022-01-26
Publication date: 2022-06-17
Anticipated expiration: 2042-01-26
Also published as: CN114100981A

Abstract

The invention discloses a clamping and positioning device and a glue spraying manipulator, which belong to the field of glue spraying equipment and comprise a horizontal workbench, wherein a turnover motor is hinged on the horizontal workbench, the turnover motor rotates in a vertical surface, an output shaft of the turnover motor is detachably connected with a fixed block, a lifting cylinder is fixedly arranged below the horizontal workbench, which is close to the fixed block, and a piston rod of the lifting cylinder is abutted against the fixed block. This application sets up the work piece upset that the upset motor drove on fixed block and the fixed block on the workstation, makes work piece both sides edge can upwards overturn certain angle, makes the edge expose, is convenient for spout the glue to the edge, and the anthropomorphic dummy hand operation spouts to glue evenly meticulously, solves the thinner problem of machine spraying edge spraying, improves the spraying homogeneity. The lifting cylinder can support the fixed block, so that shaking is reduced, and the spraying uniformity and precision are improved.

Description

Clamping and positioning device and glue spraying manipulator

Technical Field

The invention relates to the field of spraying equipment, in particular to a clamping and positioning device and a glue spraying manipulator.

Background

In the production process of automobile interiors such as handrails and decorative panels, leather and the like need to be coated on the surfaces of accessories, glue needs to be sprayed on the surfaces of the accessories before coating, and the glue spraying effect directly influences the forming degree of finished products.

The existing product glue spraying is generally carried out by using a manual glue holding gun or a spray head pipe, the requirement on operators is high due to manual glue spraying, the operation is complex, and some glue spraying equipment is used, but the glue spraying equipment is high in accuracy and not high enough in flexibility, so that the spraying effect is influenced.

In view of the above-mentioned related art, the inventor believes that the glue spraying flexibility of the existing device is not as good as manual, and when spraying, the edge of the automobile part is generally bent downwards, so that the spraying effect of the edge is not uniform.

Disclosure of Invention

In order to make the whole and edge of work piece spout gluey even, this application provides a centre gripping positioner and spouts gluey manipulator.

In a first aspect, the clamping and positioning device provided by the present application adopts the following technical scheme:

the utility model provides a clamping and positioning device, includes the horizontal workbench, it has the upset motor to articulate on the horizontal workbench, the upset motor is at vertical in-plane rotation, the output shaft of upset motor can be dismantled and be connected with the fixed block, the horizontal workbench is close to the fixed block below and has set firmly the lift cylinder, the piston rod butt fixed block of lift cylinder.

Through adopting above-mentioned technical scheme, during the use, set up the upset motor and drive the work piece upset on fixed block and the fixed block on the workstation, make work piece both sides edge can upwards overturn certain angle, make the edge expose, be convenient for spout the glue to the edge, the manual operation of anthropomorphic dummy spouts the even careful of glue, reduces the thinner problem of machine spraying edge spraying, improves the spraying homogeneity. The lifting cylinder can support the fixed block, so that shaking is reduced, and the spraying uniformity and precision are improved.

Optionally, the lift cylinder has two, two the lift cylinder is located fixed block below both ends respectively, the fixed block is close to the one end fixedly connected with installation piece of upset motor, the mounting groove has been seted up on the installation piece, the motor shaft of upset motor inserts in the mounting groove, installation piece and motor shaft wear to establish and the swivelling joint has the shank of bolt jointly, threaded connection has the nut on the shank of bolt.

Through adopting above-mentioned technical scheme, two lift cylinders can be followed both ends on the one hand and supported, improve the stability that supports to improve the spraying precision, on the other hand can upwards turn up certain angle respectively through adjusting two lift cylinders's height, carry out the spraying to both ends edge, solve the thin problem of machine spraying edge spraying, improve the spraying effect.

Optionally, the fixed block is provided with a jack for inserting a workpiece, and a clamping assembly for fixedly inserting the workpiece into the jack is arranged in the fixed block and close to the jack.

Through adopting above-mentioned technical scheme, insert the jack with the partial subassembly of work piece, the centre gripping subassembly in the jack can carry out the centre gripping to the work piece, reduces rocking of upset in-process work piece and shifts, improves the precision of spraying.

Optionally, the centre gripping subassembly is including covering the gasbag that the jack lateral wall set up, gasbag shape laminating jack lateral wall sets up, the gasbag intercommunication has same gas tube, the gasbag surface is surface high frictional force materials such as silica gel.

Through adopting above-mentioned technical scheme, when the gasbag was not aerifyd, insert the work piece, then aerify the gasbag, the gasbag surface is high friction material such as silica gel, the simple operation, and the clamping face is wide, and clamping stability is high, can improve the precision of spraying.

Optionally, the fixed block has been seted up the centre gripping groove near the position of jack, the centre gripping subassembly is including rotating to connect in the centre gripping groove near the bullet piece of jack position, be equipped with the torsional spring between the cell wall in bullet piece and centre gripping groove jointly, work as when the torsional spring is in natural state, bullet piece part stretches into in the jack.

Through adopting above-mentioned technical scheme, when inserting the jack with the work piece, the bullet piece is pushed and gets into the centre gripping inslot, and the work piece inserts the back, and the bullet piece supports tight work piece under the effect of torsional spring, realizes firm effect, improves the spraying precision.

In a second aspect, the present application provides a glue spraying manipulator.

The utility model provides a spout gluey manipulator, includes above-mentioned centre gripping positioner, still includes the base, it is connected with first support arm to rotate on the base, first support arm is at vertical in-plane rotation, it is connected with the second support arm to rotate on the first support arm, the second support arm is at the coplanar rotation with first support arm, the second support arm is scalable, it is connected with the third support arm to rotate on the second support arm, the third support arm is at the vertical in-plane rotation at second support arm place, be equipped with the shower nozzle on the third support arm, the shower nozzle is located the fixed block top.

Through adopting above-mentioned technical scheme, during the use, rotate through setting up multistage support arm, it can be more convenient nimble to rotate the process, and the second support arm is scalable simultaneously, has further improved the home range of manipulator, makes the manipulator more nimble, is convenient for carry out the spraying to the work piece on the fixed block.

Optionally, be connected with the nozzle pipe on the shower nozzle, the nozzle pipe is the hose, be equipped with the telescopic cylinder on second support arm and the third support arm, the telescopic cylinder is the bellows material, the nozzle pipe passes from the telescopic cylinder and communicates with the shower nozzle.

Through adopting above-mentioned technical scheme, the setting of telescopic cylinder can be convenient for spout the rubber tube and pass, reduces the manipulator activity in-process and spouts the damage that the rubber tube was hung etc. and causes, can show improvement and spout gluey flexibility and effect. The telescopic cylinder made of the corrugated pipe is convenient to move, can flexibly stretch and rotate in all directions, and can stretch and move to attach to all support arms of the manipulator.

Optionally, the second support arm includes a rotating portion rotatably connected to the first support arm, the rotating portion has the same rotating direction as the first support arm, the rotating portion is rotatably connected to a horizontal portion, the horizontal portion rotates in a vertical plane, and a plane where the horizontal portion rotates is perpendicular to a plane where the first support arm rotates.

Through adopting above-mentioned technical scheme, the second support arm is whole to rotate through turning block and first support arm, and the rotation place plane of the horizontal part of second support arm is perpendicular with the rotation place plane of turning block simultaneously, can realize that the tip that the first support arm was kept away from to the second support arm is at the removal of a plurality of directions in the vertical plane, further improves the flexibility ratio of manipulator.

Optionally, the horizontal part includes the telescopic cylinder that the level set up, telescopic cylinder's jar seat with the rotation part rotates to be connected, telescopic cylinder's piston rod fixedly connected with articulates the piece, articulate the piece with the third support arm is articulated.

Through adopting above-mentioned technical scheme, the horizontal part is equipped with telescopic cylinder and can realizes the flexible of horizontal part to improve the scope of manipulator activity, telescopic cylinder's setting is convenient for control through the programming, thereby improves the precision.

Optionally, one end of the first supporting arm, which is far away from the base, is fixedly connected with a second stepping motor, and an output shaft of the second stepping motor is fixedly connected with the rotating part.

Through adopting above-mentioned technical scheme, second step motor can drive the rotation portion and rotate, and then drives the second support arm and rotates, realizes accurate angle modulation effect.

To sum up, the application comprises the following beneficial technical effects:

1. during the use, set up the upset motor and drive the work piece upset on fixed block and the fixed block on the workstation, make work piece both sides edge can upwards overturn certain angle, make the edge expose, be convenient for spout the glue to the edge, the imitative manual operation spouts that the glue is even careful, reduces the thinner problem of machine spraying edge spraying, improves the spraying homogeneity. The lifting cylinder can support the fixed block, so that the shaking is reduced, and the spraying uniformity and precision are improved;

2. the lifting cylinders can support from two ends, so that the supporting stability is improved, the spraying precision is improved, and the two ends of the workpiece can be respectively turned upwards by adjusting the heights of the two lifting cylinders to spray the edges of the two ends, so that the problem of thin spraying of the spraying edges of a machine is reduced, and the spraying effect is improved;

3. insert the jack with the partial subassembly of work piece, the centre gripping subassembly in the jack can carry out the centre gripping to the work piece, reduces rocking of upset in-process work piece and shifts, improves the precision of spraying.

Drawings

Fig. 1 is a schematic structural diagram of a clamping and positioning device according to an embodiment 1 of the present application.

Fig. 2 is an enlarged view of a portion a in fig. 1.

Fig. 3 is a partial sectional view of a protruded lifting cylinder of embodiment 1 of a clamping and positioning device of the present application.

FIG. 4 is a partial cross-sectional view of a protruding clamp assembly of embodiment 2 of a clamp positioning device of the present application.

Fig. 5 is an enlarged view of a portion B in fig. 4.

Fig. 6 is a schematic structural diagram of a glue spraying manipulator according to the present application.

Fig. 7 is a partial cross-sectional view of a spray head of a glue spraying robot according to the present application.

Description of reference numerals:

1. a horizontal work table; 11. a fixed block; 111. mounting blocks; 113. a jack; 12. turning over a motor; 121. a bolt shank; 122. a nut; 13. a lifting cylinder; 14. a clamping assembly; 141. an air bag; 142. a clamping groove; 143. a spring block; 144. a torsion spring; 2. a base; 21. a first support arm; 211. a first step motor; 22. a second support arm; 221. a second stepping motor; 222. a rotating part; 223. a horizontal portion; 2231. a telescopic cylinder; 2232. a hinged block; 224. a fourth stepping motor; 23. a third support arm; 231. a third step motor; 232. a spray head; 24. a glue spraying pipe; 241. connecting blocks; 242. connecting holes; 25. a telescopic cylinder.

Detailed Description

The present application is described in further detail below with reference to figures 1-7.

The embodiment of the application discloses a clamping and positioning device.

Example 1

Referring to fig. 1 and 2, the clamping and positioning device includes a horizontal table 1. The horizontal workbench 1 is hinged with a turnover motor 12, the turnover motor 12 rotates in a vertical surface, and an output shaft of the turnover motor 12 is detachably connected and rotatably connected with a fixed block 11. When the device is used, the fixed block 11 is driven to turn over in a vertical plane through the turning motor 12, so that two sides of a workpiece can be turned over upwards, the edges of two sides of the workpiece can be conveniently sprayed, manual operation of a human is simulated, and the uniformity of spraying of the edges of the workpiece is improved.

Referring to fig. 2 and 3, the horizontal workbench 1 is provided with two lifting cylinders 13 below the fixed block 11, the piston rods of the lifting cylinders 13 are abutted to the fixed block 11, and the two lifting cylinders 13 are respectively located at two ends below the fixed block 11. The one end fixedly connected with installation piece 111 that fixed block 11 is close to upset motor 12 has seted up the mounting groove on the installation piece 111, and in the motor shaft of upset motor 12 inserted the mounting groove, installation piece 111 and motor shaft wore to establish jointly and the swivelling joint has shank of bolt 121, and threaded connection has nut 122 on the shank of bolt 121. After 11 fixed block position fixes, the piston rod that can rise lift cylinder 13 makes its butt to fixed block 11 on to realize the supporting role, improve stability, improve the spraying precision, also can make 11 both ends of fixed block upwards upset through the articulated relation of the high cooperation of adjustment lift cylinder 13, to work piece both ends edge spraying, anthropomorphic dummy hand operation, the simple operation, the spraying precision is high.

Referring to fig. 3, the fixing block 11 is provided with an insertion hole 113. The insertion hole 113 is matched with a fixture block below the workpiece. The fixing block 11 is provided with a clamping component 14 near the insertion hole 113 for fixing a workpiece inserted into the insertion hole 113. When fixing the workpiece, the workpiece can be clamped on the fixing block 11 through the insertion hole 113, and then the workpiece is fixed through the clamping component 14.

Referring to fig. 3, the clamping assembly 14 includes an air bag 141 covering the sidewall of the insertion hole 113, the shape of the air bag 141 is fitted to the sidewall of the insertion hole 113, the air bags 141 are all communicated with a same inflation tube, and the surface of the air bag 141 is made of a high-friction material such as silicone rubber. Aerify through gasbag 141 and extrude fixedly to the work piece part in the jack 113, area of contact is wide, and is good to the steadiness of work piece, when overturning, reduces and rocks, can improve the spraying precision.

The implementation principle of the embodiment 1 of the clamping and positioning device is as follows: when the clamping fixture is used, the clamping fixture on the workpiece is inserted into the insertion hole 113 in an aligning manner, the air bag 141 is inflated to fix the position of the workpiece, and the workpiece is clamped and fixed. In the spraying process, both sides limit upset up is realized through upset motor 12, realizes work piece both ends upset up through lift cylinder 13, is convenient for carry out the spraying to the work piece edge, and the spraying is effectual, and gasbag 141 can improve stability in the upset in-process, improves the spraying precision.

Example 2

Referring to fig. 4 and 5, the present embodiment is different from embodiment 1 in the structure of the clamp assembly 14. The fixing block 11 is provided with a clamping groove 142 near the insertion hole 113, the clamping assembly 14 comprises an elastic block 143 rotatably connected to the clamping groove 142 near the insertion hole 113, a torsion spring 144 is fixedly arranged between the elastic block 143 and the groove wall of the clamping groove 142, and when the torsion spring 144 is in a natural state, the elastic block 143 partially extends into the insertion hole 113. When inserting the work piece into the jack 113, the elastic block 143 is extruded into the clamping groove 142, and after the work piece is inserted, the elastic block 143 tightly supports the work piece under the action of the torsion spring 144, so that the stable effect is realized, and the spraying precision is improved.

The embodiment of the application also discloses a glue spraying mechanical arm.

Referring to fig. 6, the glue spraying manipulator includes the above-described clamping and positioning device. Still including setting up and being equipped with base 2 in 1 one side of horizontal table, the last rotation of base 2 is connected with first support arm 21, and first support arm 21 rotates in vertical face. The one end that base 2 was kept away from to first support arm 21 rotates and is connected with second support arm 22, and second support arm 22 is the same with the direction of rotation of first support arm 21, and second support arm 22 is scalable, and the one end that first support arm 21 was kept away from to second support arm 22 rotates and is connected with third support arm 23, and third support arm 23 is at the vertical rotation in face at second support arm 22 place, has set firmly shower nozzle 232 on the third support arm 23, and shower nozzle 232 is located horizontal table 1 top. During the use, will spout the subassembly such as the embedded plate that glues and place on the fixed block 11 of horizontal table 1, stretch out and draw back the rotation through each support arm of program control manipulator, control shower nozzle 232's position carries out accurate spraying to the subassembly, can realize automatic spraying effect.

Referring to fig. 6, a first stepping motor 211 is fixedly disposed on the base 2, and an output shaft of the first stepping motor 211 is fixedly connected to the first arm 21. One end of the first support arm 21 close to the second support arm 22 is fixedly connected with a second stepping motor 221, and an output shaft of the second stepping motor 221 is fixedly connected with the second support arm 22. A third step motor 231 is fixedly connected to the second arm 22 near the third arm 23, and an output shaft of the third step motor 231 is fixedly connected to the third arm 23. The first stepping motor 211 may drive the first arm 21 to rotate, the second stepping motor 221 may drive the second arm 22 to rotate, and the third stepping motor 231 may drive the third arm 23 to rotate.

Referring to fig. 6, the second arm 22 includes a rotating portion 222 rotatably coupled to the first arm 21, the rotating portion 222 rotates in the same direction as the first arm 21, and an output shaft of the second stepping motor 221 is fixedly coupled to the rotating portion 222. One end of the rotating part 222 is rotatably connected with a horizontal part 223, the horizontal part 223 rotates in a vertical plane, the plane of the rotating part 223 is perpendicular to the plane of the rotating part 21, the rotating part 222 is fixedly connected with a base of a fourth stepping motor 224, and an output shaft of the fourth stepping motor 224 is fixedly connected with the horizontal part 223. The fourth stepping motor 224 can drive the horizontal part 223 to rotate, so that the rotation in the other direction in the vertical plane is realized, and the flexibility of glue spraying at the front end of the manipulator is improved.

Referring to fig. 6, the horizontal portion 223 includes a horizontally disposed telescopic cylinder 2231, a cylinder base of the telescopic cylinder 2231 is rotatably connected to the rotating portion 222, a piston rod of the telescopic cylinder 2231 is fixedly connected to a hinge block 2232, the hinge block 2232 is hinged to the third arm 23, and the third stepping motor 231 is fixed to the hinge block 2232. The telescopic cylinder 2231 realizes the function of extension and contraction of the second support arm 22, improves the range of motion of the manipulator and realizes zero-activity glue spraying.

Referring to fig. 6, the second arm 22 and the third arm 23 are provided with a telescopic cylinder 25, and the telescopic cylinder 25 is made of a corrugated pipe material. The nozzle 232 is fixedly connected and communicated with a glue spraying pipe 24, the glue spraying pipe 24 is a hose, and the glue spraying pipe 24 penetrates through the telescopic cylinder 25. The hose-arranged glue spraying pipe 24 can move along with the movement of the manipulator, so that a good glue spraying effect is realized. The activity of bellows material is more nimble, and when the manipulator moved, the activity of adaptation manipulator that the bellows can be fine effectively reduced and spout the winding of rubber tube 24 in the motion process.

Referring to fig. 6 and 7, the inside of the nozzle 232 is hollow, at least two glue spraying pipes 24 are provided, the positions where the glue spraying pipes 24 are communicated with the nozzle 232 are fixedly connected with connecting blocks 241, connecting holes 242 are formed in the connecting blocks 241, the connecting holes 242 are communicated with the glue spraying pipes 24 and the nozzle 232, and the diameter of the connecting holes 242 is smaller than the inner diameter of the glue spraying pipes 24. The ends of all the connection holes 242 remote from the nozzle tube 24 are close to each other. The nozzle 232 is hollow, and the glue can be sprayed out from the connecting hole 242 through the glue spraying pipes 24 which are opposite to each other, so that impact force can be uniformly mixed with each other, and a good mixing effect is realized.

An implementation principle of a glue spraying manipulator is as follows: during the use, the work piece of spraying as required selects suitable fixed block 11, assemble fixed block and upset motor 12, it is spacing on horizontal table 1 with the work piece through fixed block 11, through the rotation of programming control manipulator each part, because the manipulator divide into first support arm 21, second support arm 22 and third support arm 23, wherein second support arm 22 can stretch out and draw back, second support arm 22 can be at another vertical rotation of in-plane, realize the nimble motion in the vertical plane, overturn through upset motor 12 and lift cylinder 13 simultaneously, make the work piece rotate, the edge spraying of being convenient for is even, the existence of telescopic tube 25 can reduce the wire winding, the spout pipe 24 that shower nozzle 232 is different can be through valve control flow, realize the accurate even allotment of glue.

The above are preferred embodiments of the present application, and the scope of protection of the present application is not limited thereto, so: all equivalent changes made according to the structure, shape and principle of the present application shall be covered by the protection scope of the present application.

Claims

1. A clamping and positioning device is characterized in that: the lifting mechanism comprises a horizontal workbench (1), wherein a turnover motor (12) is hinged to the horizontal workbench (1), the turnover motor (12) rotates in a vertical plane, an output shaft of the turnover motor (12) is detachably connected with a fixed block (11), a vertically arranged lifting cylinder (13) is fixedly arranged below the horizontal workbench (1) close to the fixed block (11), and a piston rod of the lifting cylinder (13) is abutted to the fixed block (11);

the number of the lifting cylinders (13) is two, the two lifting cylinders (13) are respectively located at two ends below the fixed block (11), one end, close to the overturning motor (12), of the fixed block (11) is fixedly connected with an installation block (111), an installation groove is formed in the installation block (111), a motor shaft of the overturning motor (12) is inserted into the installation groove, the installation block (111) and the motor shaft are jointly penetrated and rotatably connected with a bolt rod (121), and a nut (122) is connected to the bolt rod (121) in a threaded mode;

the upper end of the fixing block (11) is provided with a jack (113) for inserting a workpiece, and a clamping component (14) for fixing the workpiece is arranged in the fixing block (11) close to the jack (113).

2. A clamping and positioning device according to claim 1, characterised in that: centre gripping subassembly (14) is including gasbag (141) that covers jack (113) lateral wall setting, gasbag (141) shape laminating jack (113) lateral wall setting, gasbag (141) intercommunication has same root gas tube, gasbag (141) surface is friction materials such as silica gel.

3. A clamping and positioning device as claimed in claim 1, wherein: clamping groove (142) have been seted up in fixed block (11) position near jack (113), centre gripping subassembly (14) are including rotating elastic block (143) of connecting in clamping groove (142) near jack (113) position, be equipped with torsional spring (144) jointly between the cell wall of elastic block (143) and clamping groove (142), work as torsional spring (144) are in when natural state, elastic block (143) part stretches into in jack (113).

4. The utility model provides a spout gluey manipulator, characterized in that, includes a centre gripping positioner of any one of claims 1-3, still includes base (2), it is connected with first support arm (21) to rotate on base (2), first support arm (21) is at vertical in-plane rotation, it is connected with second support arm (22) to rotate on first support arm (21), second support arm (22) are the same with the plane of rotation of first support arm (21), second support arm (22) are scalable, it is connected with third support arm (23) to rotate on second support arm (22), the plane of rotation of third support arm (23) is the vertical plane at second support arm (22) place, be equipped with shower nozzle (232) on third support arm (23), shower nozzle (232) are located fixed block (11) top.

5. The glue spraying manipulator as claimed in claim 4, wherein: be equipped with spout rubber tube (24) on shower nozzle (232), spout rubber tube (24) are the hose, be equipped with telescopic cylinder (25) on second support arm (22) and third support arm (23), telescopic cylinder (25) are the bellows material, spout rubber tube (24) pass from telescopic cylinder (25) and communicate with shower nozzle (232).

6. The glue spraying manipulator of claim 4, wherein: the second support arm (22) comprises a rotating part (222) rotatably connected with the first support arm (21), the rotating part (222) is identical to the rotating direction of the first support arm (21), the rotating part (222) is rotatably connected with a horizontal part (223), and the rotating surface of the horizontal part (223) is perpendicular to the rotating surface of the first support arm (21).

7. The glue spraying manipulator according to claim 6, wherein: horizontal part (223) including the telescopic cylinder (2231) that the level set up, the jar seat and the rotation portion (222) of telescopic cylinder (2231) rotate to be connected, the articulated piece (2232) of piston rod fixedly connected with of telescopic cylinder (2231), articulated piece (2232) are articulated with third support arm (23).

8. The glue spraying manipulator of claim 6, wherein: one end, far away from the base (2), of the first support arm (21) is fixedly connected with a second stepping motor (221), and an output shaft of the second stepping motor (221) is fixedly connected with the rotating part (222).