CN117067237B - Gluing manipulator with moving track reproduction function and track reproduction method - Google Patents
Gluing manipulator with moving track reproduction function and track reproduction method Download PDFInfo
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- CN117067237B CN117067237B CN202311340391.7A CN202311340391A CN117067237B CN 117067237 B CN117067237 B CN 117067237B CN 202311340391 A CN202311340391 A CN 202311340391A CN 117067237 B CN117067237 B CN 117067237B
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- mechanical arm
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- 238000000034 method Methods 0.000 title claims abstract description 40
- 238000004026 adhesive bonding Methods 0.000 title claims abstract description 19
- 239000003292 glue Substances 0.000 claims abstract description 89
- 238000006073 displacement reaction Methods 0.000 claims abstract description 25
- 230000008569 process Effects 0.000 claims abstract description 19
- 230000000903 blocking effect Effects 0.000 claims description 18
- 230000008859 change Effects 0.000 claims description 14
- 230000007480 spreading Effects 0.000 claims description 7
- 238000003892 spreading Methods 0.000 claims description 7
- 239000011248 coating agent Substances 0.000 claims description 6
- 238000000576 coating method Methods 0.000 claims description 6
- 230000003028 elevating effect Effects 0.000 claims description 4
- 230000000149 penetrating effect Effects 0.000 claims description 4
- 238000001514 detection method Methods 0.000 claims description 3
- 230000004888 barrier function Effects 0.000 claims description 2
- 238000003756 stirring Methods 0.000 claims description 2
- 238000010586 diagram Methods 0.000 description 4
- 230000000694 effects Effects 0.000 description 3
- 238000010073 coating (rubber) Methods 0.000 description 2
- 230000001771 impaired effect Effects 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 2
- 230000001737 promoting effect Effects 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 239000003990 capacitor Substances 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 238000005476 soldering Methods 0.000 description 1
- 239000003381 stabilizer Substances 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 230000009466 transformation Effects 0.000 description 1
- 238000000844 transformation Methods 0.000 description 1
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
- B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
- B05B15/00—Details of spraying plant or spraying apparatus not otherwise provided for; Accessories
- B05B15/50—Arrangements for cleaning; Arrangements for preventing deposits, drying-out or blockage; Arrangements for detecting improper discharge caused by the presence of foreign matter
-
- 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
- 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
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- 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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Coating Apparatus (AREA)
Abstract
The invention relates to a manipulator, in particular to a gluing manipulator with a running track reproduction function and a track reproduction method, comprising the following steps: a machine body frame, a central processing scheduling unit is arranged at the upper part of the machine body frame; the multi-axis mechanical arm is arranged at the bottom of the central processing scheduling unit; the tail end part of the inclined shaft arm II is provided with a double-shaft clamping jaw; the glue gun is clamped by the double-shaft clamping jaw; the angle displacement sensor is arranged at each joint of the multi-axis mechanical arm to obtain the rotation angle of the axis arm; the universal lifting platform is arranged at the lower part of the machine body frame. According to the invention, under two different states of the multi-axis mechanical arm, the universal lifting platform and the corresponding configuration, the complete track of the charging module for gluing at the fixed position can be directly input into the charging module through the glue gun on the holding mechanical arm in the charging module for different position layout of components, and finally the gluing process can be completed by reversely walking according to the track, so that the device is extremely flexible and has no limitation in use.
Description
Technical Field
The invention relates to a manipulator, in particular to a gluing manipulator with a moving track reproduction function and a track reproduction method.
Background
The charger needs components mainly including a rectifier, a DC-DC voltage stabilizer, a charging management chip, a status indicator lamp, a matched resistor-capacitor, an inductor and the like, and the components are connected to a circuit board in a soldering way and then packaged into a finished product through a shell.
Because components and parts on the circuit board are different in size, the connection mode that depends only is through tiny stitch connection on the components and parts on the circuit board, when the charger receives external collision in the use, very probably lead to inside components and parts to take place to shake and lead to the stitch impaired and connect the wire on the circuit board to drop, in order to avoid this kind of condition to take place, can be through dripping insulating firm glue in the stitch of vulnerable components and parts and wire junction in the production process generally, utilize firm glue to keep the connection firm of vulnerable components and parts and wire, and the point need the workman to hold the point gum rifle and look for the stitch clearance point gum of fixed components and parts, therefore this point gum process is comparatively slow, the speed is difficult to obtain promoting, utilize traditional manipulator to carry out the point gum and need to deal with the different and complex angular adjustment of each components and parts on the circuit board and place difference, technological realization difficulty, simultaneously can't accomplish unified use to the overall arrangement of non-type components and parts, have very high limitation.
Disclosure of Invention
Aiming at overcoming the defects that the existing manipulator is difficult to find an angle in the gluing process and has great limitation on different products, the gluing manipulator with the running track reproduction function and the track reproduction method are provided.
The technical scheme of the invention is as follows: a glue manipulator with trajectory reproduction function, comprising: a machine body frame, a central processing scheduling unit is arranged at the upper part of the machine body frame; the multi-axis mechanical arm is formed by sequentially connecting a rotating base, an inclined axis arm I, a straight axis arm and an inclined axis arm II and is arranged at the bottom of the central processing scheduling unit; the tail end part of the inclined shaft arm II is provided with a double-shaft clamping jaw; the glue gun is clamped by the double-shaft clamping jaw; the angle displacement sensor is arranged at each joint of the multi-axis mechanical arm to obtain the rotation angle of the axis arm; the universal lifting platform is arranged at the lower part of the machine body frame, the middle part of the table top is supported by a single supporting shaft, and a plurality of linear push rods are uniformly arranged between the table top and the base to support the table top; the linear displacement sensor is arranged on the linear push rod and used for acquiring the linear movement amount of the linear push rod movable rod; the multi-axis mechanical arm and the universal lifting platform comprise an input state in which all driving pieces are in a non-self-locking state and an execution state in which all driving pieces are in a self-locking to-be-executed state; the supporting plate is arranged on the table top, and a lifting plate is arranged on the supporting plate.
Preferably, the end part of the inclined shaft arm I is arranged on the rotating base in a hinged swinging mode, the straight shaft arm is rotatably arranged at the end part of the other end of the inclined shaft arm I, and the end part of the inclined shaft arm II is continuously arranged at the end part of the straight shaft arm in a hinged swinging mode.
Preferably, the method further comprises: the pneumatic pushing pieces are symmetrically arranged on two sides of the supporting plate; the clamping plate is connected to the movable rod of the pneumatic pushing piece penetrating out of the side wall of the supporting plate, and a protruding part for limiting the object from shifting is arranged on the clamping plate.
Preferably, the method further comprises: the blocking plate is arranged at the edge of the supporting plate in a sliding manner, and a protruding block is arranged on the blocking plate; the wedge-shaped jacking block is arranged on the clamping plate and is in fit contact with the protruding block.
Preferably, the method further comprises: the support piece is movably arranged on the double-shaft clamping jaw, and the sliding distance is adjusted through a screw rod to support the lower part of the glue gun in a matching manner.
Preferably, the method further comprises: the conveyors are symmetrically arranged at the lower part of the machine body frame, so that the supporting plates are arranged between the two conveyors; the side blocking plates are symmetrically arranged on the conveyor; the linear drivers I are symmetrically arranged on the conveyor at one side far away from the blocking plate; the proximity sensor is arranged at the lower part of the machine body frame, and the detection area faces the direction of the supporting plate; the movable pushing piece is arranged at the end part of the movable rod of the linear driver I, and the corresponding side blocking plate is provided with a guide notch for the movable pushing piece to slide along a preset route.
Preferably, the movable pushing piece comprises a shell and a pushing block arranged in the shell in a sliding manner, the pushing block penetrates through the guide notch, and a spring is arranged between the pushing block and the shell.
Preferably, the method further comprises: the linear driver II is arranged on the elevating plate; the elastic hook piece is arranged at the end part of the movable rod of the linear driver II.
Preferably, the method further comprises: the driving motor is arranged at the lower part of the machine body frame; the swing arm is arranged on the output shaft of the driving motor; the electric hairbrush is arranged on the swing arm and is contacted with the gun head of the glue gun along with the rotation of the swing arm driven by the driving motor.
The track reproduction method of the gluing manipulator with the running track reproduction function comprises the following steps:
s1, parameter value setting: the method comprises the steps of classifying and storing data acquired by all the angle displacement sensors and all the linear displacement sensors, wherein the data are divided into an initial value and a dynamic value, the initial value is an original value of the multi-axis mechanical arm and the universal lifting platform which are in an execution state and are not moved, and the dynamic value is a value of the multi-axis mechanical arm and the universal lifting platform which are in an input state after the movement of the parts;
s2, track input: placing a charging module to be glued on a supporting plate, starting a multi-axis mechanical arm and a universal lifting table to be in an input state, starting a central processing scheduling unit to record motion change values of a displacement sensor in real time and store the motion change values as dynamic values, immediately holding a glue gun clamped by a double-axis clamping jaw by one hand, gluing along a gap between elements on the charging module, adjusting an inclination angle by the other hand when the angle of the charging module needs to be adjusted in an inclined manner, stirring the supporting plate until the glue gun is lifted up by the other hand until the glue gun is glued, independently recording the values of all parts corresponding to the position of the original point after motion, switching to an execution state to enable a driving part to be self-locked, recording all angle change values of the multi-axis mechanical arm clamping glue gun in a glue dispensing process of the charging module, and simultaneously recording the inclination change values of the supporting plate when the glue gun is matched for use;
s3, circularly executing playback: the central processing scheduling unit calls each driving piece and drives reversely according to the recorded dynamic value, the glue gun discharges glue at a constant speed in the process until the monitored motion value coincides with the initial value, so that the glue coating is completed, and then the glue gun is moved to the original point position to wait for the next charging module to be coated to repeatedly coat the glue.
The invention brings the following effects:
1. according to the invention, under two different states of the multi-axis mechanical arm, the universal lifting platform and the corresponding configuration, a user can directly input a complete track of the charging module for gluing at a fixed position through a glue gun on the holding mechanical arm when the charging module is arranged at different positions of the components, and finally the gluing process can be completed by reversely walking according to the track, so that the device is extremely flexible in use, free of limitation and free of difficulty in finding a gluing angle.
2. According to the invention, the charging module arranged on the supporting plate can not easily slide out through the clamping plate and the pneumatic pushing piece, so that the situation that the charging module falls in the gluing process is avoided.
3. According to the invention, the clamped glue gun is stabilized at the fixed position through the support piece arranged on the double-shaft clamping jaw, and the clamped glue gun can be directly placed at the accurate position in the subsequent process of replacing the glue gun, so that the problem that the track needs to be re-input due to the change of the position of the glue gun is avoided.
4. According to the invention, the electric hairbrush arranged on the machine body frame can keep the gun head of the glue gun clean all the time, so that the problem of blocking a glue outlet caused by residual glue is avoided.
Drawings
FIG. 1 is a schematic diagram of the present invention.
Fig. 2 is a schematic view of another view of the present invention.
FIG. 3 is a partial schematic view of the present invention.
Fig. 4 is a schematic view of the frame of fig. 3 with the body frame removed according to the present invention.
Fig. 5 is a schematic diagram of a charging module according to the present invention.
Fig. 6 is a schematic diagram of a charging module according to the present invention placed on a pallet.
Fig. 7 is a schematic diagram of the charge removing module of fig. 6 according to the present invention.
Fig. 8 is a schematic view showing a specific position of the blocking plate according to the present invention.
Figure 9 is a schematic view of a barrier panel of the present invention.
FIG. 10 is a schematic view showing the specific positions of the holder, brush and linear actuator I according to the present invention.
FIG. 11 is a schematic view showing the specific location of the elastic hook member of the present invention.
Fig. 12 is a schematic view of a specific structure of the movable pushing member according to the present invention.
The reference symbols in the drawings: the device comprises a 00-charging module, a 1-machine body frame, a 01-central processing dispatching unit, a 20-rotating base, a 21-inclined shaft arm I, a 22-straight shaft arm, a 23-inclined shaft arm II, a 24-double-shaft clamping jaw, a 3-glue gun, a 4-angle displacement sensor, a 5-universal lifting platform, a 50-straight push rod, a 51-supporting shaft, a 52-straight displacement sensor, a 53-table top, a 6-supporting plate, a 60-elevating plate, a 7-pneumatic pushing piece, a 71-clamping plate, a 72-protruding part, an 8-blocking plate, a 80-protruding block, a 81-wedge-shaped jacking block, a 9-supporting piece, a 10-conveyor, a 101-side blocking plate, a 102-straight line driver I, a 103-approaching sensor, a 104-movable pushing piece, a 1041-pushing block, a 105-guiding notch, a 111-straight line driver II, a 112-elastic hook piece, a 12-driving motor, a 121-swinging arm and a 122-electric brush.
Detailed Description
In the description of the present application, it should be understood that the terms "center," "longitudinal," "transverse," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," etc. indicate or are based on the orientation or positional relationship shown in the drawings, merely for convenience of description and to simplify the description, and do not indicate or imply that the devices or elements referred to must have a specific orientation, be configured and operated in a specific orientation, and thus should not be construed as limiting the present application. Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include one or more of the described features. In the description of the present application, the meaning of "a plurality" is two or more, unless explicitly defined otherwise.
The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. It is to be understood that the specific embodiments described herein are for purposes of illustration only and are not limiting. It should be further noted that, for convenience of description, only some, but not all of the structures related to the present application are shown in the drawings. All other embodiments, which can be made by one of ordinary skill in the art based on the embodiments herein without making any inventive effort, are intended to be within the scope of the present application.
When the charger receives external collision in the use, very much probably lead to inside components and parts to take place to shake and lead to the stitch impaired and connect the wire on the circuit board to drop, in order to avoid this kind of condition to take place, can be through the pin of fragile components and parts and wire junction dropwise add insulating firm glue in the production process generally, it is firm to keep the connection of fragile components and parts and wire to utilize firm glue, and the point is glued and is needed the workman to hold the pin clearance point that glues rifle 3 and look for fixed components and parts, therefore this point glues the process comparatively slowly, the speed is difficult to obtain promoting, utilize traditional manipulator to carry out the point to glue and need to deal with each components and parts place on the circuit board and be different and carry out complicated angular adjustment, technological realization difficulty, can't accomplish unified use to the overall arrangement of non-type components and parts simultaneously, have very high limitation.
The present disclosure provides a glue spreading manipulator with a moving track reproduction function, as shown with reference to fig. 1 to 6, including: the multi-axis mechanical arm comprises a rotary base 20, an inclined axis arm I21, a straight axis arm 22 and an inclined axis arm II 23 which are sequentially connected, wherein the end part of the inclined axis arm I21 is arranged on the rotary base 20 in a hinged swinging mode, so that the rotary base 20 can swing in the rotating process of the inclined axis arm I21, the straight axis arm 22 is rotatably arranged at the end part of the other end of the inclined axis arm I21, and the end part of the inclined axis arm II 23 is continuously arranged at the end part of the straight axis arm 22 in a hinged swinging mode, thereby enabling the multi-axis mechanical arm to realize multi-angle movement; the tail end part of the inclined shaft arm II 23 is provided with a double-shaft clamping jaw 24, and the double-shaft clamping jaw 24 mainly comprises a rotary driving disc and an electric clamping jaw which is arranged on the rotary driving disc and can swing, so that the object clamped by the double-shaft clamping jaw 24 can be rotated and inclined in a small range;
the glue gun 3 is clamped by a double-shaft clamping jaw 24, is connected to the glue gun 3 through external glue supply equipment and is extruded through the glue gun 3 at a constant speed; the angle displacement sensor 4 is arranged at each joint of the multi-axis mechanical arm to acquire the rotation angle of the shaft arm, and when the angles of the shaft arms are changed, the data are acquired through the angle displacement sensor 4 and fed back to the central processing scheduling unit 01; the universal lifting table 5 is arranged at the lower part of the machine body frame 1, the middle part of the table top 53 is supported by a single supporting shaft 51, four linear push rods 50 are uniformly arranged between the table top 53 and the base to support the table top 53, the table top 53 takes the supporting shaft 51 as a supporting point, the four linear push rods 50 are fixed on the base, the movable rod of the linear push rod 50 is connected with the table top 53 through a universal ball joint, the movable rod of the linear push rod 50 can float up and down along with the random inclination of the edge of the table top 53, and a linear displacement sensor 52 which is arranged on the linear push rod 50 and used for acquiring the linear movement amount of the movable rod of the linear push rod 50 floating up and down feeds back measurement data to the central processing scheduling unit 01; the multi-axis mechanical arm and the universal lifting platform 5 comprise an input state in which all driving parts are in a non-self-locking state and an execution state in which all driving parts are in a self-locking state to be executed, in the input state, all driving parts are in an unlocked state, all shaft arms of the mechanical arm can be directly rocked by manpower and the universal lifting platform 5 can be pushed at will, the linear displacement sensor 52 and the displacement sensor can monitor the moving distance and rotating angle data of parts driven by all driving parts in real time, the data are fed back to the central processing scheduling unit 01 in time, in the execution state, all driving parts are in the self-locking state, the driving can only be controlled through electric signals, therefore, in use, the charging module 00 integrated with a circuit board and various components to be glued is placed on the supporting plate 6 installed on the table 53, the supporting plate 6 is symmetrically and fixedly connected with the lifting plate 60, the lifting plate 60 can suspend pins of the circuit board in the charging module 00, and the pins of the charging module 00 are prevented from being placed unstably due to the fact that the length is different; the driving part refers to a motor and a linear driver which are exposed or not exposed, wherein the motor is hidden in the shaft arm or covered by the shell and cannot be seen; the angular displacement sensor 4 and the linear displacement sensor 52 are referred to above, and hereinafter collectively referred to as "displacement sensor".
The track reproduction method of the gluing manipulator with the running track reproduction function specifically comprises the following steps:
s1, parameter value setting: the data collected by all displacement sensors are classified and stored, and the data are divided into an initial value and a dynamic value, wherein the initial value is an original value of the multi-axis mechanical arm and the universal lifting platform 5 which are in an execution state and are not moved, and the dynamic value is a value of the multi-axis mechanical arm and the universal lifting platform 5 which are in an input state after the movement of the parts;
s2, track input: a charging module 00 to be glued is placed on the supporting plate 6, and the multi-axis mechanical arm and the universal lifting platform 5 are opened to be in an input state; the central processing scheduling unit 01 can be provided with a corresponding one-key recording switch to support the switching of the recording state and the executing state, and can be provided with a stop switch for processing the emergency in the recording state or the executing state; after entering an input state, the central processing scheduling unit 01 starts to record the motion change value of a component in real time and stores the motion change value as a dynamic value, then a single hand holds the glue gun 3 clamped by the double-shaft clamping jaw 24 to glue along the component gap on the charging module 00, the multi-shaft mechanical arm moves along the track of the glue gun 3 and correspondingly changes, the angle change can be measured by the displacement sensor and recorded, when the glue cannot be coated under the horizontal angle of the charging module 00, the inclined angle can be adjusted by the other hand to enable the charging module 00 to incline so as to facilitate the glue coating, the moving distance of the linear push rod 50 arranged on the universal lifting platform 5 is recorded until the glue gun 3 is lifted, the final stop point of the glue gun 3 is the origin, the numerical value after the movement of each component corresponding to the original point position is singly recorded, then the multi-shaft mechanical arm is switched to the execution state so as to enable all driving pieces to be self-locked, the displacement sensor records the angle change value of each component in the glue gun 3 to the point glue feeding process of the charging module 00, and simultaneously records the inclined change value of each component 6 when the universal lifting platform 5 is matched with the glue gun 3 for use;
s3, circularly executing playback: the central processing scheduling unit 01 calls each driving piece and drives reversely by taking the recorded original position as a starting point according to the recorded dynamic value, the glue gun 3 discharges glue at a constant speed in the process until the positions of the parts monitored by the displacement sensor coincide with the initial values, and then the glue coating is completed, and then the glue gun 3 is moved to the original position to wait for the next charging module 00 to be coated to repeatedly coat the glue.
Through setting up under multiaxis arm, universal elevating platform 5 and two kinds of different states of corresponding configuration for the user is at the complete orbit of battery module 00 under fixed position of gluing can be directly input to battery module 00 to the overall arrangement of components and parts different positions through the gluey rifle 3 on the manipulator of holding, can accomplish the rubber coating process according to the reverse walking of this orbit at last, and is very nimble not limited in the use, does not also have the difficult problem of seeking the rubber coating angle simultaneously.
In one preferred embodiment, as shown in fig. 7 and 8, the device further comprises a pneumatic pushing piece 7, wherein the pneumatic pushing piece 7 is a pneumatic sliding block, and the pneumatic sliding blocks are symmetrically arranged on two sides of the supporting plate 6; the clamping plate 71 is connected to the movable rod of the pneumatic pushing member 7 penetrating out from the side wall of the supporting plate 6, and a protruding part 72 for limiting the object from shifting is arranged on the clamping plate 71, the clamping plate 71 is pushed out by utilizing the pneumatic sliding block, so that the circuit board of the charging module 00 placed on the supporting plate 6 is clamped by the clamping plate 71, and meanwhile, the protruding part 72 also limits the up-and-down movement of the charging module 00 to keep the charging module 00 stable, so that the sliding in the gluing process is avoided.
In one of the preferred embodiments, as shown in fig. 8 and 9, further comprising: the blocking plate 8 is arranged at the edge of the supporting plate 6 in a manner of sliding up and down, and a protruding block 80 is arranged on the blocking plate 8; the wedge-shaped jacking block 81 is arranged on the clamping plate 71 and is in matched contact with the protruding block 80, when the clamping plate 71 is pushed out by the pneumatic sliding block, the wedge-shaped jacking block 81 jacks up the protruding block 80 from bottom to top, and then the blocking plate 8 is carried to be lifted integrally, in this way, the edge of the charging module 00 can be limited at a designated position, and the inaccuracy of the gluing position caused by the large deviation of the placing position of the charging module 00 is avoided.
In one preferred embodiment, as shown in fig. 10, the method further comprises: the support 9 is movably arranged on the double-shaft clamping jaw 24, the support 9 comprises a square plate, a screw rod and a guide rod, the guide rod is fixed on the double-shaft clamping jaw 24, the square plate is slidably arranged on the guide rod in a penetrating mode, the screw rod thread penetrates through the square plate to be rotationally connected with the double-shaft clamping jaw 24, the position of the square plate on the guide rod can be adjusted through rotating the screw rod, the lower portion of the glue gun 3 is supported in a matched mode, when the glue gun 3 needs to be replaced, the glue gun 3 can be placed on the support 9 after the double-shaft clamping jaw 24 is unfolded, and the position of the square plate can keep the placement of the glue gun 3 to be consistent with the previous position.
In one preferred embodiment, as shown in fig. 10-12, the method further comprises: the conveyors 10 are symmetrically arranged at the lower part of the machine body frame 1, so that the supporting plate 6 is arranged between the two conveyors 10, and the charging module 00 can be continuously conveyed by the conveyors 10; side dams 101 symmetrically disposed on the conveyor 10 for preventing the charging module 00 from falling off from the side; the linear drivers I102 are symmetrically arranged on the conveyor 10 at the side far away from the blocking plate 8; the proximity sensor 103 is arranged at the lower part of the machine body frame 1, the detection area faces the direction of the supporting plate 6, when the charging module 00 is not arranged on the supporting plate 6, the proximity sensor is fed back to the central processing scheduling unit 01, and then the central processing scheduling unit 01 is utilized to make a calling instruction for the linear driver; the movable pushing piece 104 arranged at the end part of the movable rod of the linear driver I102 is pushed out, a guide notch 105 for the movable pushing piece 104 to slide along a set route is formed in the corresponding side blocking plate 101, the pushed-out movable pushing piece 104 is contacted with the charging module 00 under the action of the guide notch 105 and pushes the charging module 00 onto the supporting plate 6, the proximity sensor 103 detects the charging module 00 and feeds back to the central processing scheduling unit 01 to enable the conveyor 10 to stop conveying, the movable rod of the linear driver I102 is retracted, and then the charging module 00 is clamped and fixed and then is glued; the movable pushing piece 104 comprises a shell and a pushing block 1041 which is arranged in the shell in a sliding manner, the pushing block 1041 passes through the guide notch 105, a spring is arranged between the pushing block 1041 and the shell, when the movable pushing piece 104 is pushed out, the pushing block 1041 moves downwards along the guide notch 105 and directly contacts with a circuit board of the charging module 00 after moving downwards, and the circuit board is pushed to move, so that the self-feeding effect is realized.
In one preferred embodiment, as shown in fig. 11, the method further comprises: a linear actuator ii 111 mounted on the elevating plate 60; the elastic hook 112 is arranged at the end part of the movable rod of the linear driver II 111, the movable rod of the linear driver II 111 in the initial state is in an extending state, the upper part of the elastic hook 112 slides over the linear driver I102 in the process of pushing the charging module 00 onto the supporting plate 6 until the charging module 00 enters onto the supporting plate 6, the elastic hook 112 hooks the charging module 00, after the glue coating is finished, the central processing scheduling unit 01 calls the pneumatic sliding block to loosen the clamping plate 71, the blocking plate 8 also falls down automatically, then calls the linear driver II 111 to retract the movable rod, and the movable hook pulls the charging module 00 from the supporting plate 6 to the conveyor 10 far away from the side provided with the linear driver I102, so that the effect of self-feeding is realized.
In one preferred embodiment, as shown in fig. 10, the method further comprises: a driving motor 12 arranged at the lower part of the machine body frame 1; a swing arm 121 mounted on an output shaft of the driving motor 12; the electric brush 122 is arranged on the swing arm 121, after the charging module 00 is pushed away after being coated with glue, the driving motor 12 drives the swing arm 121 to rotate, so that the electric brush 122 is in contact with the gun head of the glue gun 3, then the electric brush 122 is started to be in contact with the glue outlet of the glue gun 3, and residual glue on the gun head of the glue gun 3 is brushed away in the rotating process of the electric brush 122, so that the glue outlet is prevented from being blocked by residual glue.
It will be appreciated by persons skilled in the art that the above embodiments are not intended to limit the invention in any way, and that all technical solutions obtained by means of equivalent substitutions or equivalent transformations fall within the scope of the invention.
Claims (8)
1. A glue manipulator with trajectory reproduction function, comprising: a machine body frame (1) with a central processing scheduling unit (01) arranged at the upper part; the method is characterized in that: further comprises: the multi-axis mechanical arm is formed by sequentially connecting a rotating base (20), an inclined axis arm I (21), a straight axis arm (22) and an inclined axis arm II (23), and is arranged at the bottom of the central processing scheduling unit (01); the tail end part of the inclined shaft arm II (23) is provided with a double-shaft clamping jaw (24); a glue gun (3) clamped by the double-shaft clamping jaw (24); the angular displacement sensor (4) is arranged at each joint of the multi-axis mechanical arm to acquire the rotation angle of the axis arm; the universal lifting table (5) is arranged at the lower part of the machine body frame (1), the middle part of the table top (53) is supported by a single supporting shaft (51), and a plurality of linear push rods (50) are uniformly arranged between the table top (53) and the base to support the table top (53); a linear displacement sensor (52) arranged on the linear push rod (50) for acquiring the linear movement amount of the movable rod of the linear push rod (50); the multi-axis mechanical arm and the universal lifting platform (5) comprise an input state in which all driving parts are in a non-self-locking state and an execution state in which all driving parts are in a self-locking to-be-executed state; a supporting plate (6) which is arranged on the table top (53), wherein a heightening plate (60) is arranged on the supporting plate (6);
further comprises: the pneumatic pushing pieces (7) are symmetrically arranged at two sides of the supporting plate (6); a clamping plate (71) connected to the movable rod of the pneumatic pushing piece (7) penetrating out from the side wall of the supporting plate (6), wherein a protruding part (72) for limiting the deflection of the object is arranged on the clamping plate (71);
further comprises: the blocking plate (8) is arranged at the edge of the supporting plate (6) in a sliding manner, and a protruding block (80) is arranged on the blocking plate (8); and a wedge-shaped top block (81) which is arranged on the clamping plate (71) and is in matched contact with the protruding block (80).
2. The glue spreading manipulator with a running track reproduction function according to claim 1, wherein: the end part of the inclined shaft arm I (21) is arranged on the rotating base (20) in a hinged swinging mode, the straight shaft arm (22) is rotatably arranged at the end part of the other end of the inclined shaft arm I (21), and the end part of the inclined shaft arm II (23) is continuously arranged at the end part of the straight shaft arm (22) in a hinged swinging mode.
3. The glue spreading manipulator with a running track reproduction function according to claim 2, characterized in that: further comprises: the support piece (9) is movably arranged on the double-shaft clamping jaw (24), and the sliding distance is adjusted through a screw rod to support the lower part of the glue gun (3) in a matching manner.
4. A glue spreading manipulator with a running track reproduction function according to claim 3, characterized in that: further comprises: the conveyor (10) is symmetrically arranged at the lower part of the machine body frame (1), and the supporting plate (6) is arranged between the two conveyors (10); side barrier plates (101) symmetrically arranged on the conveyor (10); the linear drivers I (102) are symmetrically arranged on the conveyor (10) at one side far away from the blocking plate (8); a proximity sensor (103) arranged at the lower part of the machine body frame (1) and the detection area faces the direction of the supporting plate (6); the movable pushing piece (104) is arranged at the end part of the movable rod of the linear driver I (102), and the corresponding side blocking plate (101) is provided with a guide notch (105) for the movable pushing piece (104) to slide along a preset route.
5. The glue spreading manipulator with a running track reproduction function according to claim 4, wherein: the movable pushing piece (104) comprises a shell and a pushing block (1041) arranged in the shell in a sliding mode, the pushing block (1041) penetrates through the guide notch (105), and a spring is arranged between the pushing block (1041) and the shell.
6. The glue spreading manipulator with a running track reproduction function according to claim 5, wherein: further comprises: a linear actuator II (111) mounted on the elevating plate (60); and the elastic hook piece (112) is arranged at the end part of the movable rod of the linear driver II (111).
7. The glue spreading manipulator with a running track reproduction function according to claim 6, wherein: further comprises: a driving motor (12) arranged at the lower part of the machine body frame (1); the swing arm (121) is arranged on the output shaft of the driving motor (12); and the electric hairbrush (122) is arranged on the swing arm (121), and the electric hairbrush (122) is contacted with the gun head of the glue gun (3) along with the rotation of the swing arm (121) driven by the driving motor (12).
8. The method for reproducing the track of the gluing manipulator with the track reproduction function according to any one of claims 1 to 7, comprising the steps of:
s1, parameter value setting: the method comprises the steps of classifying and storing data acquired by all angle displacement sensors (4) and linear displacement sensors (52), wherein the data are divided into an initial value and a dynamic value, the initial value is an original value of the multi-axis mechanical arm and the universal lifting platform (5) which are in an execution state and are stationary, and the dynamic value is a value of the multi-axis mechanical arm and the universal lifting platform (5) after the movement of the parts in an input state is changed;
s2, track input: a charging module (00) to be glued is placed on a supporting plate (6), a multi-axis mechanical arm and a universal lifting table (5) are started to be in an input state, a central processing scheduling unit (01) starts to record a motion change value of a displacement sensor in real time and stores the motion change value into a dynamic value, a glue gun (3) clamped by a double-axis clamping jaw (24) is clamped by one hand immediately to glue along a gap of an element on the charging module (00), when the angle of the charging module (00) needs to be obliquely adjusted, the other hand stirs the supporting plate (6) to adjust the inclination angle until the glue gun (3) is lifted after the glue coating is completed, the final stop point of the glue gun (3) is an original point, the numerical value of each part corresponding to the original point position is independently recorded, then the central processing scheduling unit (01) is switched to an execution state to enable a driving part to be self-locked, and the multi-axis mechanical arm clamping glue gun (3) is recorded in the process to carry out each angle change value of the glue dispensing process of the charging module (00), and meanwhile the inclination change value of the matched glue gun (3) is recorded when in use;
s3, circularly executing playback: the central processing scheduling unit (01) calls each driving piece and drives reversely according to the recorded dynamic value, the glue gun (3) discharges glue at a constant speed in the process until the monitored motion value coincides with the initial value, so that the glue coating is completed, and then the glue gun (3) is moved to the original point position to wait for the next to-be-coated charging module (00) to repeatedly coat the glue.
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| CN117067237A (en) | 2023-11-17 |
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