CN203874963U - Floating calibration glue coating machine - Google Patents
Floating calibration glue coating machine Download PDFInfo
- Publication number
- CN203874963U CN203874963U CN201420296155.XU CN201420296155U CN203874963U CN 203874963 U CN203874963 U CN 203874963U CN 201420296155 U CN201420296155 U CN 201420296155U CN 203874963 U CN203874963 U CN 203874963U
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- lift cylinder
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Abstract
The utility model relates to an electromechanical device for coating glue on a workpiece, and particularly relates to a glue coating machine which is used for automatically coating glue on a workpiece on an automatic production line. The glue coating machine comprises a glue coating head unit arranged on a moving arm of a robot, wherein the glue coating head unit is arranged on the moving arm of the robot through a single-side limit low-pair mechanism, the single-side limit low-pair mechanism comprises a sliding rail backboard and a sliding rail arranged on the sliding rail backboard, a sliding block capable of sliding along the sliding rail is arranged on the sliding rail, a sliding block limiting device used for limiting the sliding block and fixed on the sliding rail backboard is arranged below the sliding block, and the sliding rail backboard is arranged on the moving arm of the robot through a lifting cylinder sliding table. Due to a gravity action, the sliding block and the glue coating head unit downwards move and stop when reaching a position set by the sliding block limiting device; when the glue coating head unit collides with a surface to be subjected to glue coating for the workpiece, the sliding block leaves the position set by the sliding block limiting device to upwards move, and thus equipment and the workpiece are prevented from being damaged. The glue coating machine disclosed by the utility model is low in cost and long in service life.
Description
Technical field
The utility model relates to a kind of electromechanical assembly to workpiece gluing, especially workpiece is carried out the glue spreader of automatic glue application on automatic assembly line.
Background technology
At present, known glue spreader is made up of robot running gear, controller, gluing head unit, confession colloid system, frock clamp and structural member etc., wherein gluing head unit is fixed on the transfer arm of robot, move by fixing track, and the in good time glue valve in opening and closing gluing head unit, thereby treat that at the workpiece being fixed on frock clamp coated face forms predetermined tree lace track.The operation principle of first generation playback robot application system that Here it is, it requires to keep fixing position relationship between workpiece and frock clamp and robot.If because displacement appears in certain reason workpiece, gently because tree lace skew causes gluing defective, severe one is damaged because equipment and workpiece appear in gluing head unit and workpiece collision.For addressing the above problem, in second-generation system, a large amount of use detected and control technology, as visual sensing technology, workpiece attitude carried out to comprehensive detection, then tree lace track carried out to dynamic compensation, although this can deal with problems, cause the significantly rising of equipment cost.
Utility model content
The purpose of this utility model is to provide that a kind of equipment cost is cheap, the unsteady calibration glue spreader of long service life.
The technical solution of the utility model is achieved in that a kind of calibration glue spreader that floats, comprise: be arranged on the gluing head unit on robot transfer arm, described gluing head unit comprises glue valve installing plate, glue valve and plastic pin, gluing head unit is arranged on described robot transfer arm by a monolateral spacing low counter gear, described monolateral spacing low counter gear comprises slide rail backboard and is arranged on the slide rail on slide rail backboard, on slide rail, be provided with the slide block that can slide along slide rail, described slide block below is provided with carries out spacing and is fixed on the slide block stopping means on slide rail backboard slide block, described slide rail backboard is arranged on robot transfer arm by a lift cylinder slide unit.
Further, described slide block stopping means comprises the stop screw seat being fixed on slide rail backboard, on described stop screw seat, be provided with the stop screw corresponding with slide block lower end, described stop screw seat lower end is provided with the locking nut that stop screw is locked.
Further, described slide block stopping means comprises the limiting plate being fixed on slide rail backboard, and described limiting plate and slide block correspondence are provided with the first screw and the second screw, and described the first screw and the second screw position are relatively and be connected by a spring.
Further, described slide block stopping means comprises screw-type linear stepping motor, and the screw mandrel of described screw-type linear stepping motor and glue valve installing plate lean.
Further, on described lift cylinder slide unit, run through and be provided with lift cylinder slide bar, and this lift cylinder slide bar and described lift cylinder slide unit are slidably matched, described lift cylinder slide bar upper end is provided with lift cylinder, described lift cylinder is arranged on robot transfer arm by a lift cylinder backboard, and described lift cylinder backboard lower end is provided with photoelectric sensor.
Further, described lift cylinder backboard is provided with step cylinder slide unit, on described step cylinder slide unit, run through and be provided with step cylinder slide bar, and this step cylinder slide bar and described step cylinder slide unit are slidably matched, described step cylinder slide bar upper end is provided with step cylinder, and described step cylinder is arranged on robot transfer arm by a step cylinder backboard.
In work, due to Action of Gravity Field, slide block and gluing head unit move downward, to slide block stopping means set position time stop, gravity serves as thrust, and slide block and gluing head unit are pressed on slide block stopping means.When glue spreader work, first lift cylinder slide unit rises to a high position, robot drives glue head assembly to the workpiece of lift cylinder, monolateral spacing low counter gear, gluing head cell formation to treat coated face top, then lift cylinder slide unit drops to low level, then glue valve is opened, simultaneously robot drives glue valve to draw track, so just treats to coat on coated face predetermined tree lace at workpiece.When lift cylinder slide unit drops to low level under normal circumstances, plastic pin bottom treats that with workpiece coated face leaves space, if below workpiece is upwards subjected to displacement and exceedes predetermined space because of fault, plastic pin bottom treats that with workpiece coated face will bump, at this moment slide block moves up the position of leaving the setting of slide block stopping means along the track of slide rail, thereby avoid the damage of plastic pin, workpiece and miscellaneous equipment, increase the service life of glue spreader, thereby it is cheap to have realized equipment cost, long service life object.
Brief description of the drawings
In order to be illustrated more clearly in the utility model embodiment or technical scheme of the prior art, to the accompanying drawing of required use in embodiment or description of the Prior Art be briefly described below, apparently, accompanying drawing in the following describes is only embodiment more of the present utility model, for those of ordinary skill in the art, do not paying under the prerequisite of creative work, can also obtain according to these accompanying drawings other accompanying drawing.
Fig. 1 is structural representation of the present utility model;
Fig. 2 is the local enlarged diagram at A position in Fig. 1.
Wherein, 100 is gluing head unit, 101 is glue valve, 102 is glue valve installing plate, 103 is plastic pin, 104 is the first screw, 201 is slide rail, 202 is slide block, 203 is stop screw, 204 is locking nut, 205 is spacing screw base, 206 is slide rail backboard, 207 is the second screw, 300 is lift cylinder, 301 is lift cylinder slide unit, 302 is lift cylinder slide bar, 303 is lift cylinder backboard, 305 is step cylinder, 306 is step cylinder backboard, 307 is step cylinder slide bar, 308 is step cylinder slide unit, 309 is robot transfer arm slide block, 401 is workpiece, 501 is screw-type linear stepping motor, 601 is photoelectric sensor.
Detailed description of the invention
Below in conjunction with the accompanying drawing in the utility model embodiment, the technical scheme in the utility model embodiment is clearly and completely described, obviously, described embodiment is only the utility model part embodiment, instead of whole embodiment.Based on the embodiment in the utility model, those of ordinary skill in the art are not making the every other embodiment obtaining under creative work prerequisite, all belong to the scope of the utility model protection.
One is as shown in Figures 1 and 2 floated and is calibrated glue spreader, comprise: be arranged on the gluing head unit 100 on robot transfer arm, gluing head unit 100 has comprised the glue valve installing plate 102 being fixed on slide block 202, on described glue valve installing plate 102, be provided with glue valve 101, on glue valve 101, be provided with plastic pin 103, open glue valve 101, by plastic pin 103, workpiece 401 is carried out to gluing, gluing head unit 100 is arranged on described robot transfer arm by a monolateral spacing low counter gear, described monolateral spacing low counter gear comprises slide rail backboard 206 and is arranged on the slide rail 201 on slide rail backboard 206, on slide rail 201, be provided with the slide block 202 that can slide along slide rail 201, described slide block 202 belows are provided with carries out spacing and is fixed on the slide block stopping means on slide rail backboard 206 slide block 202, described slide rail backboard 206 is arranged on robot transfer arm by a lift cylinder slide unit 301.
Due to Action of Gravity Field, slide block 202 and gluing head unit 100 move downward, to slide block stopping means set position time stop, gravity serves as thrust, and slide block 202 and gluing head unit 100 are pressed on slide block stopping means.When glue spreader work, first lift cylinder slide unit 301 rises to a high position, robot drives monolateral spacing low counter gear, gluing head unit 100 to workpiece 401 to treat coated face top, then lift cylinder slide unit 301 drops to low level, simultaneously robot drives gluing head unit 100 to draw track, so just treats to coat on coated face predetermined tree lace at workpiece 401.When lift cylinder slide unit 301 drops to low level under normal circumstances, plastic pin 103 bottoms and workpiece 401 are treated the about 1-5mm of coated face gap, if workpiece 401 is upwards subjected to displacement and exceedes predetermined gap because of fault, plastic pin 103 treats that with workpiece 401 coated face will bump, at this moment slide block 202 moves up the position of leaving the setting of slide block stopping means along the track of slide rail 201, thereby avoids the damage of plastic pin 103, workpiece 401 and miscellaneous equipment.
The realization of slide block stopping means function, can realize by mechanical, hand-driven and the automatic two kinds of modes of motor, wherein mechanical, hand-driven mode realizes and can be: described slide block stopping means comprises the stop screw seat 205 being fixed on slide rail backboard 206, on described stop screw seat 205, be provided with the stop screw 203 corresponding with slide block 202 lower ends, described stop screw seat 205 lower ends are provided with the locking nut 204 that stop screw 203 is locked.Wherein, slide block 202 and gluing head unit 100 are because gravity pressure is on stop screw 203, thereby stop screw 203 has played spacing effect to slide block 202 and gluing head list 100, for avoiding stop screw 203 in use loosening, use locking nut 204 to lock it, ensure normally carrying out of work; Equally, described slide block stopping means comprises the limiting plate being fixed on slide rail backboard 206, described limiting plate and slide block 202 correspondences are provided with the first screw 104 and the second screw 207, described the first screw 104 and the second screw 207 positions are relatively and be connected by a spring, preferably, the first screw 104 and the second screw 207 are located at respectively to the homonymy of described limiting plate and slide block 202.In the time of gravity-pressing slide block 202 and gluing head unit 100, this spring plays spacing effect like this.In addition, in the time that this calibration glue spreader that floats is worked on non-vertical direction, such as specifically in the horizontal direction time, at this moment can not relend and slide block 202 and gluing head unit 100 are pressed on slide block stopping means with gravity, can realize pressuring action to it by the tightening force of spring or elastic force, thereby normally carry out gluing work.
Motor automated manner is realized: described slide block stopping means comprises screw-type linear stepping motor 501, and the glue valve installing plate 102 on the screw mandrel of described screw-type linear stepping motor 501 and gluing head unit 100 leans.In the time of Action of Gravity Field, withstand glue valve installing plate 102 by screw mandrel and carry out spacing to slide block 202 and gluing head unit 100.
On described lift cylinder slide unit 301, run through and be provided with lift cylinder slide bar 302, and described lift cylinder slide unit 301 can be done elevating movement along lift cylinder slide bar 302, lift cylinder slide bar 302 upper ends are provided with lift cylinder 300, lift cylinder 300 is arranged on robot transfer arm by a lift cylinder backboard 303, and lift cylinder backboard 303 lower ends are provided with photoelectric sensor 601.In the time that needs carry out gluing to workpiece 401, lift cylinder 300 drives lift cylinder slide unit 301 along lift cylinder slide bar 302 upward slidings, thereby drive monolateral spacing low counter gear and gluing head unit 100 to be positioned at workpiece 401 tops, adjust the position of lift cylinder slide unit 301 and treat the distance of coated face and gluing head unit 100 to determine workpiece 401, when workpiece 401 is in the time that the distance of coated face and gluing head unit 100 is determined, described photoelectric sensor 601 remains unchanged with the relative position of 100 bottoms, gluing head unit.On automatic assembly line time, due to frock clamp foozle, there is a little random deviation workpiece 401 positions that arrive gluing station, when gluing, need to first carry out workpiece 401 position probing.Lift cylinder backboard 303 is arranged on the robot moving slider 309 of robot transfer arm, then drive lift cylinder backboard 303 and photoelectric sensor 601 to move by robot transfer arm slide block 309, its small luminous point sending is scanned near workpiece 401 edges.Due to have workpiece 401 places with without the difference of workpiece 401 place's reflectivity, luminous point moves while passing through workpiece 401 edge photoelectric sensor 601 can output signals, the XY coordinate of robot when controller records this signal and occurs, the position that just can measure workpiece 401 edges.So detect the edge of workpiece 401 at X, Y both direction, and compare with the position of prior storage, just can calculate the skew of workpiece 401.Controller is revised gluing track according to this skew, can complete the dynamic compensation of X, Y-direction, and then controller manipulation robot, by the track gluing after compensating, can obtain satisfied effect.
In the time that needs carry out many kinds gluing, can on described lift cylinder backboard 303, be provided with step cylinder slide unit 308, on described step cylinder slide unit 308, run through and be provided with step cylinder slide bar 307, and this step cylinder slide bar 307 is slidably matched with described step cylinder slide unit 308, described step cylinder slide bar 307 upper ends are provided with step cylinder 305, and described step cylinder 305 is arranged on robot transfer arm by a step cylinder backboard 306.Because be many kinds gluing, so workpiece 401 treats that the position of coated face comprises that height may change.When workpiece 401 is in the time that the position of coated face comprises Level Change, the position of adjusting lift cylinder backboard 303 and gluing head unit 100 by the slip of robot transfer arm slide block 309 and the change of step cylinder slide unit 308 height comprises height, wherein the change of step cylinder slide unit 308 height makes step cylinder slide unit 308 slide up and down to realize on step cylinder slide bar 307 by step cylinder 305, also synchronous change of the height of photoelectric sensor 601 in this course, and photoelectric sensor 601 keeps relative static with gluing head unit 100, because gluing head unit 100 and the required distance of workpiece 401 faces to be coated with remain unchanged, thereby make photoelectric sensor 601 and workpiece 401 treat that the distance of coated face remains unchanged, thereby ensure the small of luminous point, then carry out according to the work of GN Normal Alignment gluing, can obtain satisfied effect.
The utility model is simple in structure, both overcome first generation system and occurred displacement because of certain reason workpiece 401, gently because tree lace skew causes gluing defective, severe one is because colliding and occur the shortcoming that equipment and workpiece 401 are damaged with workpiece 401 in gluing head unit 100, also cheaper than the equipment cost of second-generation system, thereby it is low to have realized equipment cost, long service life object.
The foregoing is only preferred embodiment of the present utility model; not in order to limit the utility model; all within spirit of the present utility model and principle, any amendment of doing, be equal to replacement, improvement etc., within all should being included in protection domain of the present utility model.
Claims (6)
1. the calibration glue spreader that floats, comprise: be arranged on the gluing head unit (100) on robot transfer arm, described gluing head unit (100) comprises glue valve installing plate (102), glue valve (101) and plastic pin (103), it is characterized in that: gluing head unit (100) are arranged on described robot transfer arm by a monolateral spacing low counter gear, described monolateral spacing low counter gear comprises slide rail backboard (206) and is arranged on the slide rail (201) on slide rail backboard (206), on slide rail (201), be provided with the slide block (202) that can slide along slide rail (201), described slide block (202) below is provided with carries out spacing and is fixed on the slide block stopping means on slide rail backboard (206) slide block (202), described slide rail backboard (206) is arranged on robot transfer arm by a lift cylinder slide unit (301).
2. one according to claim 1 is floated and is calibrated glue spreader, it is characterized in that: described slide block stopping means comprises the stop screw seat (205) being fixed on slide rail backboard (206), on described stop screw seat (205), be provided with the stop screw (203) corresponding with slide block (202) lower end, described stop screw seat (205) lower end is provided with the locking nut (204) that stop screw (203) is locked.
3. one according to claim 1 is floated and is calibrated glue spreader, it is characterized in that: described slide block stopping means comprises the limiting plate being fixed on slide rail backboard (206), described limiting plate and slide block (202) correspondence is provided with the first screw (104) and the second screw (207), and described the first screw (104) and the second screw (207) position are relatively and be connected by a spring.
4. one according to claim 1 is floated and is calibrated glue spreader, it is characterized in that: described slide block stopping means comprises screw-type linear stepping motor (501), the screw mandrel of described screw-type linear stepping motor (501) and glue valve installing plate (102) lean.
5. float and calibrate glue spreader according to the one described in claim 1-4 any one, it is characterized in that: on described lift cylinder slide unit (301), run through and be provided with lift cylinder slide bar (302), and this lift cylinder slide bar (302) is slidably matched with described lift cylinder slide unit (301), described lift cylinder slide bar (302) upper end is provided with lift cylinder (300), described lift cylinder (300) is arranged on robot transfer arm by a lift cylinder backboard (303), described lift cylinder backboard (303) lower end is provided with photoelectric sensor (601).
6. one according to claim 5 is floated and is calibrated glue spreader, it is characterized in that: described lift cylinder backboard (303) is provided with step cylinder slide unit (308), on described step cylinder slide unit (308), run through and be provided with step cylinder slide bar (307), and this step cylinder slide bar (307) is slidably matched with described step cylinder slide unit (308), described step cylinder slide bar (307) upper end is provided with step cylinder (305), described step cylinder (305) is arranged on robot transfer arm by a step cylinder backboard (306).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420296155.XU CN203874963U (en) | 2014-06-05 | 2014-06-05 | Floating calibration glue coating machine |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420296155.XU CN203874963U (en) | 2014-06-05 | 2014-06-05 | Floating calibration glue coating machine |
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| Publication Number | Publication Date |
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| CN203874963U true CN203874963U (en) | 2014-10-15 |
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| CN201420296155.XU Active CN203874963U (en) | 2014-06-05 | 2014-06-05 | Floating calibration glue coating machine |
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Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104757745A (en) * | 2015-03-09 | 2015-07-08 | 佛山市锦德机械设备有限公司 | Automatic glue injection device for automatic shoe manufacturing production line |
| CN105397478A (en) * | 2015-12-14 | 2016-03-16 | 广东统一机器人智能股份有限公司 | Automatic rubber cap box assembling machine |
| CN105598684A (en) * | 2015-12-14 | 2016-05-25 | 广东统一机器人智能股份有限公司 | Automatic eight-station assembly machine |
| CN105909639A (en) * | 2016-06-28 | 2016-08-31 | 中机中联工程有限公司 | Multi-station digital pasting system for lost foam and pasting method of multi-station digital pasting system |
| CN106862009A (en) * | 2017-03-09 | 2017-06-20 | 广州协鸿工业机器人技术有限公司 | Integrated glue spreader and its operating method |
| CN106891146A (en) * | 2017-04-20 | 2017-06-27 | 北京正木激光设备有限公司 | A kind of novel spot gluing assembles combination machine |
| CN107433447A (en) * | 2017-07-28 | 2017-12-05 | 比优特（苏州）塑胶科技有限公司 | A kind of middle beam core automatic assembling |
| CN107777455A (en) * | 2016-08-26 | 2018-03-09 | 利江特能(北京)设备有限公司 | A kind of warm edge strip storage device |
| CN110342028A (en) * | 2019-08-16 | 2019-10-18 | 南京斯杩克机器人技术有限公司 | A kind of detonation tool packaging system gluing joint sealing assembly line and its gluing joint sealing method |
| CN111822249A (en) * | 2020-07-24 | 2020-10-27 | 苏州天准科技股份有限公司 | Novel glue dispensing device |
| CN113058812A (en) * | 2021-03-31 | 2021-07-02 | 上汽通用五菱汽车股份有限公司 | Spraying device for automobile skirt glue |
| CN116493190A (en) * | 2023-03-13 | 2023-07-28 | 上海拔山自动化技术有限公司 | Automobile gluing robot system and gluing method |
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2014
- 2014-06-05 CN CN201420296155.XU patent/CN203874963U/en active Active
Cited By (15)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104757745A (en) * | 2015-03-09 | 2015-07-08 | 佛山市锦德机械设备有限公司 | Automatic glue injection device for automatic shoe manufacturing production line |
| CN105397478A (en) * | 2015-12-14 | 2016-03-16 | 广东统一机器人智能股份有限公司 | Automatic rubber cap box assembling machine |
| CN105598684A (en) * | 2015-12-14 | 2016-05-25 | 广东统一机器人智能股份有限公司 | Automatic eight-station assembly machine |
| CN105909639B (en) * | 2016-06-28 | 2017-11-24 | 中机中联工程有限公司 | Evaporative pattern multiplexing bit digitizing viscose glue system and its adhesive means |
| CN105909639A (en) * | 2016-06-28 | 2016-08-31 | 中机中联工程有限公司 | Multi-station digital pasting system for lost foam and pasting method of multi-station digital pasting system |
| CN107777455A (en) * | 2016-08-26 | 2018-03-09 | 利江特能(北京)设备有限公司 | A kind of warm edge strip storage device |
| CN106862009A (en) * | 2017-03-09 | 2017-06-20 | 广州协鸿工业机器人技术有限公司 | Integrated glue spreader and its operating method |
| CN106891146A (en) * | 2017-04-20 | 2017-06-27 | 北京正木激光设备有限公司 | A kind of novel spot gluing assembles combination machine |
| CN107433447A (en) * | 2017-07-28 | 2017-12-05 | 比优特（苏州）塑胶科技有限公司 | A kind of middle beam core automatic assembling |
| CN107433447B (en) * | 2017-07-28 | 2024-02-13 | 比优特（苏州）塑胶科技有限公司 | Automatic assembly machine for middle beam core |
| CN110342028A (en) * | 2019-08-16 | 2019-10-18 | 南京斯杩克机器人技术有限公司 | A kind of detonation tool packaging system gluing joint sealing assembly line and its gluing joint sealing method |
| CN110342028B (en) * | 2019-08-16 | 2020-08-25 | 南京斯杩克机器人技术有限公司 | Gluing and box sealing assembly line for detonating tool boxing system and gluing and box sealing method thereof |
| CN111822249A (en) * | 2020-07-24 | 2020-10-27 | 苏州天准科技股份有限公司 | Novel glue dispensing device |
| CN113058812A (en) * | 2021-03-31 | 2021-07-02 | 上汽通用五菱汽车股份有限公司 | Spraying device for automobile skirt glue |
| CN116493190A (en) * | 2023-03-13 | 2023-07-28 | 上海拔山自动化技术有限公司 | Automobile gluing robot system and gluing method |
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