CN115502040A - Tail end execution device of automatic gluing robot and gluing method - Google Patents
Tail end execution device of automatic gluing robot and gluing method Download PDFInfo
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- CN115502040A CN115502040A CN202211244970.7A CN202211244970A CN115502040A CN 115502040 A CN115502040 A CN 115502040A CN 202211244970 A CN202211244970 A CN 202211244970A CN 115502040 A CN115502040 A CN 115502040A
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- 238000004026 adhesive bonding Methods 0.000 title claims abstract description 52
- 238000000034 method Methods 0.000 title claims abstract description 25
- 239000003292 glue Substances 0.000 claims abstract description 73
- 238000007789 sealing Methods 0.000 claims abstract description 12
- 239000000565 sealant Substances 0.000 claims description 24
- 239000012636 effector Substances 0.000 claims description 15
- 238000010073 coating (rubber) Methods 0.000 claims description 7
- 239000002184 metal Substances 0.000 claims description 6
- 238000012856 packing Methods 0.000 claims description 6
- 238000007599 discharging Methods 0.000 claims description 3
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims description 2
- 238000004519 manufacturing process Methods 0.000 description 4
- 238000001125 extrusion Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 239000011248 coating agent Substances 0.000 description 1
- 238000000576 coating method Methods 0.000 description 1
- 230000008602 contraction Effects 0.000 description 1
- 230000007797 corrosion Effects 0.000 description 1
- 238000005260 corrosion Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 231100000614 poison Toxicity 0.000 description 1
- 238000003860 storage Methods 0.000 description 1
- 231100000331 toxic Toxicity 0.000 description 1
- 230000002588 toxic effect Effects 0.000 description 1
- 239000003440 toxic substance Substances 0.000 description 1
- 238000009966 trimming Methods 0.000 description 1
Images
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05C—APPARATUS FOR APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05C5/00—Apparatus in which liquid or other fluent material is projected, poured or allowed to flow on to the surface of the work
- B05C5/02—Apparatus in which liquid or other fluent material is projected, poured or allowed to flow on to the surface of the work the liquid or other fluent material being discharged through an outlet orifice by pressure, e.g. from an outlet device in contact or almost in contact, with the work
- B05C5/0208—Apparatus in which liquid or other fluent material is projected, poured or allowed to flow on to the surface of the work the liquid or other fluent material being discharged through an outlet orifice by pressure, e.g. from an outlet device in contact or almost in contact, with the work for applying liquid or other fluent material to separate articles
- B05C5/0212—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 only at particular parts of the articles
- B05C5/0216—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 only at particular parts of the articles by relative movement of article and outlet according to a predetermined path
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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
- B05C11/1013—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 flow or pressure of liquid or other fluent material
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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
- B05C5/0225—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 characterised by flow controlling means, e.g. valves, located proximate the outlet
- B05C5/0237—Fluid actuated valves
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/0075—Manipulators for painting or coating
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- Fluid Mechanics (AREA)
- Coating Apparatus (AREA)
Abstract
The invention discloses an end execution device and a gluing method of an automatic gluing robot.A base of the execution device is arranged on a mechanical arm of an industrial robot, a servo motor is fixed at the end of the base, one side of a fixed support is fixed at the front end of the base, a glue nozzle is fixed at the other side of the fixed support, the centers of the glue nozzle and the fixed support are provided with coaxial through holes, an air cylinder is arranged right above the fixed support, a piston rod in the air cylinder is coaxial with the through holes of the fixed support, the through holes are sequentially provided with the air cylinder, a valve core, a push head, a spring and a cover plate from top to bottom, the cover plate is arranged right below the fixed support, the spring is arranged in the blind hole, the cover plate is used for extruding the spring and the push head to enable the valve core to move upwards, and an annular groove is arranged at the central section of the valve core and used for controlling the opening and closing of the glue nozzle. The tail end execution device drives the tail end execution device to move a fillet or a gap position of a workpiece to be glued according to a digital-analog theoretical position through an off-line processing program generated by the system, and the automatic fillet sealing work of the workpiece is completed.
Description
Technical Field
The invention belongs to the technical field of airplane assembly automation, and particularly relates to a tail end execution device of an automatic gluing robot and a gluing method.
Background
The structural sealing is an essential technological process in the aircraft assembly process, and plays an extremely important role in the air tightness and corrosion resistance of the aircraft structure. Fillet sealing, a type of sealing in which a sealant is applied to the edge (seam) of a faying surface between parts and shaped to form a continuous corrugated sealant coating, is the predominant type of sealing in aircraft structural seals.
At present, the aircraft manufacturing enterprises in China mainly rely on the manual gluing mode to carry out corner filling and sealing on the aircraft structure, and need to firstly paste a limiting paper tape, glue, shape trimming and the like. The manual gluing process is complex, the sealant is seriously wasted in the gluing process, and the sealant belongs to toxic substances, so that the smell emitted by the sealant can harm the health of human bodies. The manual gluing is not only low in efficiency, but also has higher requirements on the technical level of gluing workers, and is difficult to achieve standard unification. Under the great trend that the requirements of the quality and the productivity of an airplane are continuously improved, an automatic gluing device is urgently needed to finish gluing efficiently and economically, meanwhile, the working environment of gluing workers is improved, and the production efficiency is improved.
Disclosure of Invention
In order to solve the problems, the invention aims to provide a tail end execution device of an automatic gluing robot and a gluing method, so as to solve a series of problems that the traditional manual gluing process is complex in procedure, sealant is wasted, human health is harmed, the gluing standard is difficult to unify, and the like, and achieve the purposes of simplifying the gluing process flow, improving the gluing efficiency, reducing the working cost and the like.
The invention is realized by the following technical scheme:
the utility model provides an automatic rubber coating robot's end effector, the on-line screen storage device comprises a base, servo motor, push away the head, the packing element, the cylinder, the apron, the jiao zui, a fixed support, the case, a spring, push away the head, the pedestal mounting is on industrial robot arm, servo motor is fixed in the base end through threaded connection, a fixed support is a square structure metal block, its one side is fixed in the base front end through threaded connection, the opposite side is opened there is the vallecular cavity, this vallecular cavity shape and jiao zui appearance are mutually matchd, be used for fixing the jiao zui, jiao zui and fixed support center are equipped with coaxial through-hole, the cylinder passes through threaded connection and installs directly over the fixed support through-hole, the piston rod is coaxial with the fixed support through-hole in the cylinder, the through-hole is from last to installing cylinder down in proper order, the case, push away the head, spring and apron, the apron has a blind hole in the apron center, the blind hole center is coaxial with the fixed support through-hole, the apron passes through threaded connection and installs under the fixed support, the spring in the blind hole, the apron is used for extrude the spring and push away the head, make the case upward movement, the case is a metal pin stick, the center section is provided with a ring groove, be used for opening and close of control jiao zui.
Furthermore, the shape of the rubber nozzle is the same as that of a groove cavity of the fixed support, the rubber nozzle is installed in the fixed support, a through hole is formed in the center of the rubber nozzle, a valve core is installed in the through hole and is coaxial with the through hole of the fixed support, the rear end of the rubber nozzle is connected with the rubber cylinder, and the servo motor drives the pushing head to supply rubber by extruding the rubber cylinder.
Further, when the cylinder is closed, the cylinder is in a contraction position, the spring jacks the valve core through the extrusion pushing head, the central annular groove of the valve core is aligned to the center of the glue outlet hole of the glue nozzle, the sealant can be output from the glue nozzle, and the glue nozzle is in an opening state.
Furthermore, when the cylinder is opened, the piston rod in the cylinder extends downwards to compress the valve core and the spring downwards together, the central annular groove of the valve core is staggered with the central glue outlet hole of the glue nozzle, the sealant cannot be output from the glue nozzle, and the glue nozzle is in a closed state.
Further, the base is installed on a mechanical arm of the industrial robot, and the robot drives the end executing device to move a fillet or a gap position of the workpiece to be glued according to the digital-analog theoretical position through an off-line processing program generated by the system, so that the automatic fillet sealing work of the workpiece is completed.
Further, the motor is controlled through a set of control system, the control system can accurately control the glue outlet amount, the rotating speed and the torque magnitude of the servo motor are controlled, the glue outlet amount in the glue nozzle is controlled, the servo motor is provided with a pressure protection function, when the pressure in the glue cylinder exceeds a pressure protection value set by a program, the control system controls the servo motor to stop rotating, the pushing head stops feeding, when the pushing head feeds to the farthest position, the sealant in the glue cylinder is exhausted at the moment, the servo motor rotates in the reverse direction, the pushing head is driven to recover to the initial position, meanwhile, the control system sends out a prompt to remind an operator to replace the glue cylinder, the control system can control the opening and closing of the glue nozzle through controlling the opening and closing of the air cylinder.
The method for gluing by using the tail end execution device of the automatic gluing robot comprises the following steps:
1 before the gluing starts, an operator firstly retracts the push head to an initial position through the control system. Then connecting the rubber cylinder with the rubber nozzle;
2 when the rubber coating begins, operating personnel starts the rubber coating procedure, and servo motor begins the rotation, begins to drive the pushing head and moves forward, pushes away the extrusion packing element afterbody blanking cover of packing element, and the blanking cover extrudees the interior sealant of packing element for the sealant is exported from the jiao zui. Meanwhile, the robot drives the tail end execution device to move the fillet or gap position of the workpiece to be coated with glue according to the digital-analog theoretical position, and the automatic fillet sealing work of the workpiece is completed;
3 after the gluing operation is finished, an operator closes the gluing program, the air cylinder is started, a piston rod in the air cylinder extends downwards to compress the valve core and the spring downwards, the central annular groove of the valve core is staggered with the central glue outlet hole of the glue nozzle, the glue nozzle is closed, and the tail end execution device stops supplying glue; meanwhile, the servo motor starts to rotate reversely to drive the push head to recover to the initial position;
and 4, resetting the mechanical arm, detaching the rubber cylinder by an operator, and finishing the rubber coating process.
The invention has the beneficial effects that:
1) The invention controls the rotating speed and the torque of the servo motor through the control system so as to accurately control the feeding of the push head and the glue discharging amount of the tail end. Meanwhile, the servo motor has a pressure protection function, when the pressure in the rubber cylinder exceeds a pressure protection value set by a program, the servo motor stops rotating, and the push head stops feeding. When the push head is fed to the farthest position, the sealant in the rubber tube is exhausted at the moment, the control system sends out a prompt to remind an operator to replace the rubber tube, and convenience is brought to the operator in use.
2) The gluing tail end device simplifies the gluing process flow, improves the gluing efficiency and reduces the working cost of enterprises.
3) By using the gluing end device, the labor intensity of operators is reduced, the working environment is improved, and the problem that the toxic sealant harms health in the gluing process of the operators is solved.
The invention of the present application is described in further detail below with reference to the accompanying drawings of embodiments:
drawings
Fig. 1 is an isometric view of an end effector according to the present patent.
Fig. 2 is a block diagram of an end effector according to the present invention.
Fig. 3 is a cross-sectional view of the end effector cylinder shut-off configuration of the present invention.
Fig. 4 is a sectional view showing the structure of the cylinder opening of the end effector according to the present invention.
Fig. 5 is a flow chart of the gluing operation of the end effector of the present invention.
The numbering in the figures illustrates: 1-base, 2-servo motor, 3-pushing head, 4-rubber cylinder, 5-cylinder, 6-cover plate, 7-rubber nozzle, 8-fixed support, 9-valve core, 10-spring and 11-pushing head.
Detailed Description
In order to make the purposes and schemes of the invention clearer, the technical scheme in the application example is clearly and specifically described in the specification and drawings in the application example.
An end effector of an automatic gluing robot, comprising:
referring to fig. 1 and 2, the embodiment provides an automatic gluing device, which includes a base 1, a servo motor 2, a pushing head 3, a rubber cylinder 4, a cylinder 5, a cover plate 6, a rubber nozzle 7, a fixed support 8, a valve core 9, a spring 10, and a pushing head 11. Base 1 installs on industrial robot arm, and servo motor 2 is fixed in base 1 end through threaded connection. The fixed support 8 is a metal block with a cubic structure, one side of the fixed support is fixed at the front end of the base 1 through threaded connection, the other side of the fixed support is provided with a groove cavity, and the shape of the groove cavity is matched with the shape of the rubber nozzle 7 for fixing the rubber nozzle 7. Simultaneously, the center of the rubber nozzle 7 and the center of the fixed support 8 are provided with a through hole and the two through holes are coaxial, the air cylinder 5 is installed right above the through hole of the fixed support 8 through threaded connection, a piston rod in the air cylinder 5 is coaxial with the through hole of the fixed support 8, and the through hole is sequentially provided with the air cylinder 5, the valve core 9, the pushing head 11, the spring 10 and the cover plate 6 from top to bottom. The center of the cover plate 6 is provided with a blind hole, the center of the blind hole is coaxial with a through hole of the fixed support 8, the cover plate 6 is installed under the fixed support 8 through threaded connection, a spring 10 is installed in the blind hole, and the cover plate 6 is used for extruding the spring 10 and pushing a head 11, so that the valve core 9 moves upwards. The valve core 9 is a metal pin, and the central section is provided with an annular groove for controlling the opening and closing of the rubber nozzle 7. The shape of the rubber nozzle 7 is the same as that of a groove cavity of the fixed support 8, the rubber nozzle 7 is installed in the fixed support 8, a through hole is formed in the center of the rubber nozzle 7, and a valve core 9 is installed in the through hole and is coaxial with the through hole of the fixed support 8. The rear end of the rubber nozzle 7 is connected with the rubber cylinder 4, and the servo motor drives the pushing head 3 to supply rubber by extruding the rubber cylinder 4.
As shown in fig. 3, when the air cylinder 5 is closed, the air cylinder is in a contracted position, the spring 10 pushes up the valve core 9 by extruding the push head 11, at this time, the central annular groove of the valve core 9 is aligned with the center of the glue outlet hole of the glue nozzle 7, the sealant can be output from the glue nozzle 7, and the glue nozzle 7 is in an open state.
As shown in fig. 4, when the air cylinder 5 is opened, the piston rod in the air cylinder 5 extends downward to compress the valve core 9 and the spring 10 downward together, at this time, the central annular groove of the valve core 9 is staggered with the central glue outlet hole of the glue nozzle 7, the sealant cannot be output from the glue nozzle 7, and the glue nozzle 7 is in a closed state.
The tail end execution device is installed on a mechanical arm of an industrial robot through a base 1, and the robot drives the tail end execution device to move a fillet or a gap position of a workpiece to be glued according to a digital-analog theoretical position through an off-line processing program generated by the system, so that the automatic fillet sealing work of the workpiece is completed.
The servo motor is controlled by a set of control system, the control system can accurately control the glue outlet amount, the rotating speed and the torque of the servo motor 2 are controlled, the glue outlet amount in the glue nozzle 7 is controlled, the servo motor 2 is provided with a pressure protection function, when the pressure in the glue cylinder 4 exceeds a pressure protection value set by a program, the control system controls the servo motor 2 to stop rotating, the pushing head 3 stops feeding, when the pushing head 3 feeds to the farthest position, the sealant in the glue cylinder 4 is exhausted at the moment, the servo motor 2 rotates reversely, the pushing head 3 is driven to recover to the initial position, meanwhile, the control system sends out a prompt to remind an operator to replace the glue cylinder 4, the control system can control the opening and closing of the glue nozzle 7 through controlling the opening and closing of the air cylinder 5.
The automatic gluing process of the end effector, as shown in fig. 5, mainly comprises the following steps:
1) The operator first retracts the pusher head 3 to the initial position by means of the control system. The glue cylinder 4 is then connected with the glue nozzle 7.
2) An operator starts a gluing program through a control system;
3) The cylinder 5 is closed, and simultaneously the servo motor 2 starts to rotate to drive the push head 3 to feed forwards at a constant speed;
4) The pushing head 3 is used for accumulating the rubber cylinder 4, so that the sealant in the rubber cylinder 4 starts to be output from the rubber nozzle 7; meanwhile, the robot drives the tail end execution device to move the fillet or gap position of the workpiece to be coated with glue according to the digital-analog theoretical position, and the automatic fillet sealing work of the workpiece is completed.
5) After the gluing process is finished, the operator finishes the gluing process through the control system;
6) After the gluing process is finished, the air cylinder 5 is started, a piston rod in the air cylinder extends downwards, the valve core 9 and the spring 10 are compressed downwards, a central annular groove of the valve core 9 is staggered with a central glue outlet hole of the glue nozzle 7, the glue nozzle 7 is closed, and the tail end execution device stops supplying glue; meanwhile, the servo motor 2 starts to rotate reversely to drive the push head 3 to recover to the initial position;
7) The mechanical arm resets, and operating personnel pulls down packing element 4, and the rubber coating process ends.
In the description of the present application, it should be noted that the embodiments provided in the drawings are not intended to be exhaustive of the invention, but merely represent some of the forms selected by the patent. The invention is not limited to the embodiments described herein, but rather, may be modified in various ways without departing from the scope of the invention.
The gluing machine is simple in structural form, low in manufacturing cost and simple in operation, effectively solves the problems that manual gluing efficiency is low, sealant is wasted, the sealant harms human health and the like in the existing airplane component assembly, can simplify the gluing process flow, improve the gluing efficiency, reduce the production cost of enterprises, can be generally applied to airplane component assembly, and has a certain popularization value.
Claims (7)
1. The utility model provides an automatic rubber coating robot's end effector, its characterized in that includes the base, servo motor, push the head, the packing element, the cylinder, the apron, the jiao zui, the fixing support, the case, a spring, push the head, the pedestal mounting is on industrial robot arm, servo motor passes through threaded connection to be fixed in the base end, the fixing support is a square structure metal block, its one side is fixed in the base front end through threaded connection, the opposite side is opened there is the vallecular cavity, this vallecular cavity shape and jiao zui appearance are mutually matchd, be used for fixing the jiao zui, jiao zui and fixing support center are equipped with coaxial through-hole, the cylinder passes through threaded connection and installs directly over the fixing support through-hole, piston rod and fixing support through-hole are coaxial in the cylinder, the through-hole is from last to installing cylinder, the case, push the head, spring and apron in proper order down, the apron center has a blind hole, the blind hole center is coaxial with the fixing support through-hole, the apron passes through threaded connection and installs under the fixing support, install the spring in the blind hole, the apron is used for extruding spring and push the head, make the case upwards move, the case is a metal round pin stick, the center section is provided with a ring groove, be used for opening and close of control jiao zui opening and is closed.
2. The end effector of an automatic gluing robot as claimed in claim 1, wherein the glue nozzle has the same shape as the cavity of the fixed support, the glue nozzle is installed in the fixed support, the center of the glue nozzle has a through hole, a valve core is installed in the through hole, the through hole is coaxial with the through hole of the fixed support, the rear end of the glue nozzle is connected with the glue cylinder, and the servo motor drives the pushing head to supply glue by extruding the glue cylinder.
3. The end effector of an automatic gluing robot as claimed in claim 1, wherein when the cylinder is closed, the cylinder is in a retracted position, the spring pushes the plunger up by squeezing the pusher, and the annular groove in the center of the plunger is aligned with the center of the glue outlet of the glue nozzle, so that the sealant can be discharged from the glue nozzle, and the glue nozzle is in an open state.
4. The end effector of an automatic gluing robot as claimed in claim 1, wherein when the cylinder is opened, the piston rod in the cylinder extends downward to compress the spool and the spring together, the annular groove in the center of the spool is staggered with the glue outlet hole in the center of the glue nozzle, the sealant cannot be discharged from the glue nozzle, and the glue nozzle is closed.
5. The end effector of the automatic gluing robot as claimed in claim 1, wherein the base is mounted on a mechanical arm of the industrial robot, and the robot drives the end effector to move a fillet or a gap position of a workpiece to be glued according to a digital-analog theoretical position through an off-line processing program generated by the system, so as to complete automatic fillet sealing of the workpiece.
6. The tail end execution device of the automatic gluing robot as claimed in claim 1, wherein the motor is controlled by a set of control system, the control system can precisely control the glue discharging amount, the glue discharging amount in the glue nozzle is controlled by controlling the rotating speed and the torque of the servo motor, the servo motor is provided with a pressure protection function, when the pressure in the glue cylinder exceeds a pressure protection value set by a program, the control system controls the servo motor to stop rotating, the pushing head stops feeding, when the pushing head feeds to the farthest position, the sealant in the glue cylinder is exhausted, the servo motor rotates reversely to drive the pushing head to return to the initial position, and meanwhile, the control system gives a prompt to remind an operator to replace the glue cylinder.
7. Method for gluing using an end effector of an automatic gluing robot according to any of claims 1-6, characterised in that it comprises the following steps:
7-1 before gluing begins, an operator firstly retracts the push head to an initial position through the control system. Then connecting the rubber cylinder with the rubber nozzle;
7-2 when gluing begins, an operator starts a gluing program, a servo motor starts to rotate to drive a push head to move forward, the push head extrudes a plug cover at the tail of a rubber cylinder, and the plug cover extrudes sealant in the rubber cylinder, so that the sealant is output from a rubber nozzle. Meanwhile, the robot drives the tail end execution device to move the fillet or gap position of the workpiece to be coated with glue according to the digital-analog theoretical position, and the automatic fillet sealing work of the workpiece is completed;
7-3, after the gluing operation is finished, an operator closes the gluing program, the air cylinder is started, the piston rod in the air cylinder extends downwards, the valve core and the spring are compressed downwards, the central annular groove of the valve core is staggered with the central glue outlet hole of the glue nozzle, the glue nozzle is closed, and the tail end execution device stops supplying glue; meanwhile, the servo motor starts to rotate reversely to drive the push head to recover to the initial position;
7-4, resetting the mechanical arm, detaching the rubber cylinder by an operator, and finishing the rubber coating process.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211244970.7A CN115502040A (en) | 2022-10-12 | 2022-10-12 | Tail end execution device of automatic gluing robot and gluing method |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202211244970.7A CN115502040A (en) | 2022-10-12 | 2022-10-12 | Tail end execution device of automatic gluing robot and gluing method |
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| CN115502040A true CN115502040A (en) | 2022-12-23 |
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| CN202211244970.7A Pending CN115502040A (en) | 2022-10-12 | 2022-10-12 | Tail end execution device of automatic gluing robot and gluing method |
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| DE2633097A1 (en) * | 1976-07-23 | 1978-01-26 | Hermann Marr | Adhesive applicator used inside bores - has support table and applicator fingers, rotated relative to each other |
| CN102049369A (en) * | 2010-12-19 | 2011-05-11 | 山东德建集团有限公司 | Novel glue smearing gun |
| CN107321555A (en) * | 2017-08-16 | 2017-11-07 | 马鞍山英维爱生态科技有限公司 | A kind of glue spreader |
| CN208878956U (en) * | 2018-08-27 | 2019-05-21 | 深圳市世椿智能装备股份有限公司 | A kind of glue feeder of multicomponent glue and spot gluing equipment with it |
| CN209597574U (en) * | 2019-01-30 | 2019-11-08 | 伟尔奥拓机电科技(昆山)有限公司 | A kind of robot coating replaces packing element rubber pipe device automatically |
| CN211070662U (en) * | 2019-07-09 | 2020-07-24 | 无锡市大鱼电气科技有限公司 | Automatic gluing system |
| CN213670263U (en) * | 2020-09-24 | 2021-07-13 | 福建御格科技有限公司 | Glue spraying gun |
| CN216322961U (en) * | 2021-09-30 | 2022-04-19 | 中国航空工业集团公司北京长城航空测控技术研究所 | Robot rubber coating end effector |
| CN216025988U (en) * | 2021-10-11 | 2022-03-15 | 贵州装备制造职业学院 | Construction equipment is paintd to building sealant |
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