CN204182538U - Windshield robot automatic adhesive application system - Google Patents
Windshield robot automatic adhesive application system Download PDFInfo
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- CN204182538U CN204182538U CN201420597109.3U CN201420597109U CN204182538U CN 204182538 U CN204182538 U CN 204182538U CN 201420597109 U CN201420597109 U CN 201420597109U CN 204182538 U CN204182538 U CN 204182538U
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Abstract
The utility model discloses a kind of windshield robot automatic adhesive application system, comprise the pipeline workbench of conveying windshield, workbench is provided with in order primer gluing station, station turning, second gluing station, drying station is provided with between primer gluing station and the second gluing station, drying station is provided with drying unit, drying unit is for drying the windshield after primer gluing, station turning is provided with turning device, turning device is used for overturning the windshield after primer gluing, primer gluing station is provided with assistance mechanical arm, for windshield of taking to primer gluing station, second gluing station is provided with slide plate assembly system, and slide plate assembly system comprises industrial robot, driver's cabin, slide plate, vision positioning system, and robot gripping apparatus, driver's cabin is arranged on slide plate.The utility model has self-protection system function, meets flexibility requirement, and precision is really higher, significantly improves equipment work tempo.
Description
Technical field
The utility model relates to robotics, particularly relates to a kind of windshield robot automatic adhesive application system.
Background technology
Along with the development of science and technology and the progress of society, auto industry also develops rapidly, has higher requirement to the high efficiency of auto production line equipment, flexibility, intellectuality.
The requisite production equipment of automotive automation production line for windshield robot automatic gluing production line, also there is certain defect in flexibility and the high efficiency of existing robot coating equipment, therefore, set up a kind of flexibility degree high, accuracy is good, and the windshield robot automatic adhesive application system that productive temp is fast, raising auto production line automatization level is significant.
Utility model content
The purpose of this utility model is to provide one to have self-protection system function, and meet flexibility requirement, precision is really higher, can significantly improve the windshield robot automatic adhesive application system of equipment work tempo.
For achieving the above object, the technical scheme that the utility model provides is: a kind of windshield robot automatic adhesive application system, comprise the pipeline workbench of conveying windshield, workbench is provided with in order primer gluing station, station turning, drying station, second gluing station, described station turning is provided with turning device, turning device is used for overturning the windshield after primer gluing, described drying station is provided with drying unit, and drying unit is for drying the windshield after primer gluing.
Described primer gluing station is provided with assistance mechanical arm, for windshield of taking to primer gluing station, described assistance mechanical arm comprises column, main frame armed lever, strengthen brace, tracheae, fixture, revolute joint, brake in joint, described column is provided with track, revolute joint and joint brake, described main frame armed lever is connected with column by the joint brake on column, joint brake locks main frame armed lever, main frame armed lever and column at a right angle, moved up and down at column by track, main frame armed lever end is provided with reinforcement brace, strengthen brace, main frame armed lever, column three triangularity, described fixture is vacuum adsorption type fixture, be arranged on main frame armed lever, be connected with tracheae, described second gluing station is provided with slide plate assembly system and the second coating system, and described slide plate assembly system comprises industrial robot, driver's cabin, slide plate, vision positioning system, robot gripping apparatus, robot control cabinet and visual spatial attention cabinet, driver's cabin is arranged on slide plate.
Preferably, described in be that described drying station is provided with pipeline centralising device, comprise alignment table, centering clamp, vacuum cup, cylinder and sensor, centralising device is provided with glass concave surface profiling ball, vacuum cup is used for fixing windshield.
Preferably, described assistance mechanical arm is furnished with fault-operation protection device and manual discharge mechanism, only could unload after windshield is by the supporting of effective bearing-surface, thus windshield and operator safety when guarantee windshield unloads.
Preferably, described assistance mechanical arm is furnished with mistake gas shielded device, and when main air supply source is surprisingly died, steel wire rope can not fall suddenly.
Preferably, described robot gripping apparatus is connected with industrial robot, the profiling jacking block of installation position, robot gripping apparatus two ends displacement sensor, vacuum cup, convex and mechanical stop limiter, and institute's displacement sensors feeds back signal to industrial robot, revise robotic asssembly track, auxiliary assembling; Described vacuum cup fixes windshield; The profiling jacking block of described convex, when adsorbing windshield, the profiling jacking block of convex is avoided glass to collect together carrying out auxiliary integer to glass simultaneously; Described mechanical stop limiter, avoids pressing quick-fried windshield.
Preferably, described pipeline workbench is provided with glue spreading apparatus for subsequent use, comprises the manual gluing working table of windshield and attached vacuum cup, canned glue heated oven and electric colloidal gun.
A technical scheme tool in technique scheme has the following advantages or beneficial effect:
In the apparatus arrangement region of 1, automatic adhesive application system, logistics is smooth and easy, without interfering, intersecting.
2, system has self-protection function: the design of whole system must consider unexpected power failure, prevention under state of stopping the supple of gas or steam and salvo, must not occur that such as glass drops from robot gripping apparatus, the phenomenon of landing in the case.During system, fixture, assistance mechanical arm is all arranged loses gas shielded device, manual discharge mechanism.
3, system flexibilityization requires: assistance mechanical arm adopts vacuum cup clamping, and each sucker is equipped with independently vacuum generator, and mechanical arm entirety makes sofening treatment, avoids causing glass and peripheral equipment colliding with and scratching.In windshield conveying, gluing, assembling process, scuffing and the breakage of glass body can not be caused.
4, accuracy is higher: while oven dry action is carried out, and pipeline centralising device carries out centering location to windshield, to guarantee that robot captures the positional precision of glass at every turn.
5, reliability is stronger: increase electric robot gripping apparatus in positions to be assembled such as driver's cabin stoppings a set of, guarantee in robotic asssembly process, driver's cabin place slide plate can not be subjected to displacement.Robot gripping apparatus pinching action automatically carries out after driver's cabin puts in place, has clamped rear feedback signal to robot system.
6, robot puts in place after clamping signal receiving driver's cabin, captures glass from pipeline, and carries glass carry out gluing operation on glue pump.Glue pumps glue action and robot run action interlocks, and namely when robot carries glass arrival glue sites, glue pump starts plastic emitting automatically, and after completing to glass glue-spreading, glue pump stops plastic emitting automatically.Capture glass to working time of the complete whole workflow of gluing from robot and be less than 50 seconds.
Accompanying drawing explanation
In order to be illustrated more clearly in the utility model embodiment or technical scheme of the prior art, simple introduction is done below by the accompanying drawing used required in embodiment or description of the prior art, apparently, accompanying drawing in the following describes is embodiments more of the present utility model, for those of ordinary skill in the art, under the prerequisite not paying creative work, other accompanying drawing can also be obtained according to these accompanying drawings.
Accompanying drawing 1 is the syndeton schematic diagram of the utility model embodiment;
Accompanying drawing 2 is the assistance mechanical arm structural representation of the utility model embodiment;
Accompanying drawing 3 is the assistance mechanical arm operation chart of the utility model embodiment;
In figure 1, assistance mechanical arm; 2, rotary elevating platform; 3, windshield feeding station; 4, transport trolley; 5, button box is run; 6, turning device; 7, alignment table; 8, robot gripping apparatus; 9, the second automatic double surface gluer; 10, industrial robot; 11, automatic gel resin system; 12, safety door; 13, robot control cabinet; 14, visual spatial attention cabinet; 15, glue pumping system switch board; 16, glue pump; 17, air supply unit; 18, control box; 19, waste material delivery platform; 20, waste material support; 21, robot workspace; 22, primer gluing station; 23, station turning; 24, drying station.25, fixture; 26, column; 27, joint brake; 28, revolute joint; 29, tracheae; 30, brace is strengthened; 31, main frame armed lever.
Detailed description of the invention
The purposes of a kind of windshield robot automatic adhesive application system that the utility model embodiment provides is: under the prerequisite of 1 people's operation, and windshield pickup assistance mechanical arm meets and to be captured from working position apparatus by windshield and to be placed into the function on gluing pipeline; Windshield gluing pipeline can realize centering, the conveying function of windshield glass, can meet on the conveyor line manually to carry out primer and smear the job requirements with sealing strip assembling simultaneously; Windshield gluing/industrial robot, the second automatic double surface gluer and Robot visual location system can realize following operation:
A, industrial robot capture glass from pipeline;
B, industrial robot carry glass and smear at the enterprising oozy glass glue of the second automatic double surface gluer;
C, robot carry gluing glass and are assembled on driver's cabin.
When automatic adhesive application system breaks down, gluing working table for subsequent use can meet the whole workflow of manually carrying out windshield gluing, assembling.
A kind of windshield robot automatic adhesive application system that the utility model embodiment provides is specially adapted to Dongfeng Motor Group Co D760 series, Part No. is: 5206019-C6100, size (long × wide × thick): 2.4m × 1.0m × 0.006m, vehicle body positioning precision: front and back positioning precision: +/-100MM, right positioning precision: +/-60MM, offset error: 5 °, mechanical system can be utilized as utilized the locating hole of vehicle body self, feature locations improves vehicle body precision, machinery also can be adopted to add electric means and improved vehicle body precision.
Below by specific embodiment, the utility model is further described.
As shown in Figure 1, a kind of windshield robot automatic adhesive application system, comprise the pipeline workbench of conveying windshield, workbench is provided with in order primer gluing station 22, station turning 23, drying station 24, primer gluing station 22 is provided with assistance mechanical arm 1, for windshield of taking to primer gluing station 22
as shown in Fig. 3 and Fig. 2, assistance mechanical arm 1 comprises column 26, main frame armed lever 31, strengthen brace 30, tracheae 29, fixture 25, revolute joint 28, joint brake 27, column 26 is provided with track (not shown), revolute joint 28 and joint brake 27, main frame armed lever 31 is connected with column 26 by the joint brake 27 on column 26, the joint 27 pairs of main frame armed levers 31 that brake lock, main frame armed lever 31 is at a right angle with column 26, moved up and down at column 26 by track, main frame armed lever 31 end is provided with strengthens brace 30, strengthen brace 30, main frame armed lever 31, column 26 three triangularity, fixture 25 is vacuum adsorption type fixture, each sucker is equipped with independently vacuum generator, mechanical arm entirety makes sofening treatment, avoid causing glass and peripheral equipment colliding with and scratching, fixture 25 is arranged on main frame armed lever 31, be connected with tracheae 29.Windshield pickup assistance mechanical arm 1 can meet single pickup easily operation; and assistance mechanical arm is equipped with mistake gas shielded device and manual discharge mechanism; when total source of the gas is surprisingly died; main frame armed lever 31 can not fall suddenly; fixture 25 can not unclamp; when front windshield is moved to home by workman, can unload button be operated, front windshield is put down safely.Only could unload after windshield is by the supporting of effective bearing-surface, thus windshield and operator safety when guarantee windshield unloads.Fixture 25 adopts unloaded balance/load balance auto-changeover control mode, after windshield is effectively clamped, system automatically switches to by unloaded poised state the load balanced state that presets and arranges status indicator lamp, assistance mechanical arm 1 any position in stroke is all in quick condition, operator easily can pull with hand assistance mechanical arm 1 and move up and down, and realizes the location of windshield.Mechanical arm joins safety valve fault-operation protection device simultaneously, and only have and put in place when glass is placed, by release button, windshield just can be unloaded, ensures job safety.
Assistance mechanical arm 1 runs control box 5 and adopts IRB-158 type air-balance eyeball, and system adopts UP/DOWN control mode, presses UP button, and windshield rises; Press DOWN button, windshield declines.Be suitable for variable load precise manipulation.Run control box and be furnished with load display, after load is raised, display takes on a red color.The load of assistance mechanical arm system nominal is: G=158kg (under 7kgf supply gas pressure), can lift stroke be: H=2000mm, service radius is: R=2000mm.
As shown in Figure 1, windshield feeding station 3, this part mainly carries out the installation of sealing strips for windshield and glass primer is smeared, and material loading end workbench is rotary elevating platform 2, avoids the interference of transport trolley 4,
Possess and rotate and rotate locking function.Lift operation platform, rise just positioner, install windshield, vacuum cup is fixed, and first positioner is fallen, concave upright simultaneously, and one side operates end, rotary table, continues another side work.At the end of operation, control box 18 li is provided with control button, and press the button, workbench is fallen, and windshield is placed on transport trolley 4 sucker, and transport trolley 4 sucker is fixed windshield and delivered to station turning 23, whole operating process, and manual pushbutton controls.
As shown in Figure 1, station turning 23 is provided with turning device 6, and turning device 6 is for overturning the windshield after primer gluing.Drying station 23 is provided with pipeline centralising device and drying unit, and drying unit is for drying the windshield after primer gluing.Pipeline centralising device comprises alignment table 7, centering clamp, vacuum cup, cylinder and sensor, centralising device is provided with glass concave surface profiling ball, precision is greater than +/-0.15mm, before windshield carries out precise alignment, fully take into account the uncertainty of artificial placing glass, carry out pre-centering process.The vacuum cup that centering clamp is arranged is for fixing windshield, and drying unit is located on centralising device alignment table 7.Manually proceed to upturned position by button control glass, windshield drops on transport trolley, on dolly, vacuum cup fixes windshield, centralising device drying position place (convex upwards) delivered to by windshield by turning device 6, hot-air seasoning scope can meet the position that all primers of glass edge are smeared, and bottom-uply carries out drying and processing to glass.Adopt hot-air seasoning, can think protective device, the concentration of escaping gas is far below the concentration of burning and blast, and bake out temperature controls at 35 ± 5 °, carries out its control of whether drying by switch.When selecting to dry, drying unit detects glass and to put in place signal, and automatically carry out drying and processing, oven dry action stops after continuing 3min automatically, and drying time parameter possesses and manually arranges function, and signal transmission is to industrial robot, can capture glass.In the region that glass primer is smeared and dried, primer volatilization gas exhaust device is set, comprises filter and active carbon, to avoid impacting site environment.The purification adsorption effect of active carbon reaches 90%, and the overall appearance of gas exhaust device is designed beautifully simultaneously, meets the vivid requirement of factory.While oven dry action is carried out, pipeline centralising device carries out centering location to windshield, to guarantee that industrial robot captures the positional precision of glass at every turn.
The second time gluing of windshield is realized by industrial robot 10, completes robot workspace 21.Second gluing station is provided with slide plate assembly system and the second coating system.
Slide plate assembly system comprises industrial robot 10, driver's cabin, slide plate, vision positioning system, robot gripping apparatus 8, robot control cabinet 13 and visual spatial attention cabinet 14, driver's cabin is arranged on slide plate, industrial robot 10 is connected with robot gripping apparatus 8, and installation position, robot gripping apparatus two ends displacement sensor, feeds back signal to industrial robot 10, the setting of robot gripping apparatus is guaranteed in industrial robot assembling process, and driver's cabin place slide plate can not be subjected to displacement.Industrial robot 10 capture windshield and the action carrying out gluing after receiving the signal that puts in place of driver's cabin, then to start, avoid the too early gluing caused owing to stopping the factors such as line, the slide plate line signal that puts in place adds vehicle body position sensor signal as enabling signal.Robot gripping apparatus pinching action automatically carries out after driver's cabin puts in place, has clamped rear feedback signal to vision positioning system and has started scanning.Vision positioning system scans cab windshield seam characteristic portion, by comparing of scan-data and a reference value, determines windshield seam plane, calculate the rectification vector (X of current plane and theoretical aximuthpiston, Y, Z, RX, RY, RZ), and result of calculation is fed back to robot control system, calibrates, working trajectory when adjusting its glassing, auxiliary assembling, the positioning precision of vision positioning system is ± 0.1mm.Visual spatial attention cabinet 14 is provided with control button, can arrange vision positioning system and adjust.Robot control cabinet 13 is provided with control button, can carry out controlling and adjustment to industrial machine human action.Robot gripping apparatus 8 is provided with vacuum cup, fixing windshield; Robot gripping apparatus 8 is provided with the profiling jacking block of convex, and when adsorbing glass, the profiling jacking block of convex is avoided glass to collect together carrying out auxiliary integer to glass simultaneously; Robot gripping apparatus 8 is provided with mechanical position limitation, avoids pressing quick-fried windshield.
Second coating system comprises the second automatic double surface gluer 9, glue pump 16, glue pumping system switch board 15, automatic gel resin system 11 and air supply unit 17, adopt the version that twin-tub automatically switches, namely the glue pump 16 of glass cement uses two barrels, after finishing using when first barrel, glue pump 16 automatically switches use second barrel.In glue barrel, set lower limit capacity, report to the police in advance.Meanwhile, after glue pump 16 automatically switches the use of glue bucket, warning system alert carries out the replacing of glue bucket.Glue pump is equipped with automatic and manual binder removal mouth; Glue pumping system switch board 15 possesses quantitative parameter set-up function, and going out flow adhesive can manually set, and flow control accuracy is ± 1%; Glue pumping system switch board 15 possesses the artificial set-up function of temperature controller parameter, setting range is 20 ~ 60 ° of C, and adopt electrical heating, temperature control precision is ± 1 ° of C, automatic monitoring being carried out to short circuit, open circuit, actual temperature, power supply and fuse, possessing warning function when occurring abnormal; Glue pumping system switch board 15 is provided with glue-type checkout gear, in order to detect gluing glue-type, require that alarm is pointed out when gluing glue shape does not meet setting, underproof for gluing glass is automatically placed on waste material delivery platform 19 by industrial robot 10, is then delivered to waste material support 20 by transport trolley; Glue pump 16 possesses display in real time and is coated with the information such as flow adhesive, gluing pressure, heating-up temperature and glue bucket residual capacity; Second coating system is provided with the automatic gel resin system 11 possessing automatic gel resin function, for glue rifle muzzle Automatic clearance, avoids under the state of quitting work, the stifled rifle phenomenon caused; Second automatic double surface gluer 9 gum outlet can regulate height by button, can meet the height requirement that standing carries out spot check and consumable accessory replacing on the ground.
Pipeline workbench is provided with glue spreading apparatus for subsequent use, is a kind of equipment of roundabout production, is equipped with the manual gluing working table of windshield and attached vacuum cup, canned glue heated oven and electric colloidal gun etc.Manual gluing working table, canned glue heated oven possesses the artificial set-up function of temperature controller parameter, and setting range is 20 ~ 60 ° of C, can meet the function that 20 tank glue heat simultaneously, and must consider the conveniency that glue tank picks and places and the safeguard procedures that glue tank scalds one's hand.
Industrial robot 10 puts in place after clamping signal receiving driver's cabin, captures windshield from pipeline, and carries windshield carry out gluing operation on the second automatic double surface gluer 9.Glue pump 16 plastic emitting action and industrial robot 10 run action interlock, and namely when robot carries windshield arrival glue sites, glue pump 16 starts plastic emitting automatically, and to after windshield gluing completes, glue pump 16 stops plastic emitting automatically.Capture windshield to working time of the complete whole workflow of gluing from industrial robot 10 and be less than 50 seconds.
After windshield gluing completes, industrial robot 10, according to the feedback information of vision positioning system, carries windshield and goes to driver's cabin directly to carry out the assembling work of windshield.During assembling, the pressing amount of windshield glue is 6mm, industrial robot 10 windshield glue laminated close to keep under attitude 30 seconds static, possess artificial set-up function (0 ~ 1min) quiescent time.
In industrial robot 10 actuating range, there are safety barrier and the safety door 12 with safety switch, and are furnished with safety door button box.When safety door 12 is opened, personal security is guaranteed in industrial robot 10 stopping action immediately.
Whole system reserves the real-time data acquisition interface of each equipment running status in system.For factory's group network system, equipment is implemented to the collection of operation information.
The windshield robot automatic adhesive application system of embodiment, comprises following operation:
1) assistance mechanical arm is used to capture windshield with from working position apparatus;
2) assistance mechanical arm is used to be placed on by windshield on pipeline workbench, concave upright;
3) manually clean windshield edge and assemble sealing strips for windshield;
4) manually smear windshield primer, then by button control, windshield is delivered to station turning;
5) pipeline turning device absorption windshield carries out upset conveying, makes windshield convex surface upwards;
6) drying unit automatically detects windshield and puts in place, evenly dries windshield concave edge primer, dries after 3 minutes, and oven dry action stops automatically;
7) windshield centering is located by pipeline centralising device simultaneously;
8) industrial robot detects that driver's cabin puts in place after signal, automatically captures windshield from convex surface;
9) industrial robot carries windshield and carries out windshield glue to the second automatic double surface gluer place and smear;
10) simultaneously, vision positioning system scans cab windshield seam position industrial robot gluing, and transmission scan data are to robot control system;
11) industrial robot receives the scan-data of vision positioning system, Auto-mounting windshield.
12) industrial robot keeps Installation posture after 30 seconds, enters next circulation.
Slide plate assembly system comprises following operation:
D760 or other vehicle is selected by artificial rotary switch.
A, when selecting other vehicle, slide plate line runs by existing program.
B, when select D760 vehicle time, slide plate assembly line runs according to following technological process.
1) slide plate carries driver's cabin when entering quick progressive position, sends and puts signal in place to industrial robot;
2) slide plate carries driver's cabin and enters the stopping of elevator lifting position completely, and robot gripping apparatus clamping slide plate, sends a signal to vision positioning system simultaneously;
3) industrial robot puts in place after signal receiving driver's cabin, carries windshield and starts gluing;
4), after vision positioning system receives slide plate clamping signal, start to scan cab position;
5) industrial robot Auto-mounting windshield;
6) system automatically detects windshield and installs end, and industrial robot leaves, and now robot gripping apparatus is opened, and slide plate assembly line recovers existing program and runs, and enters next circulation.
Claims (6)
1. a windshield robot automatic adhesive application system, comprise the pipeline workbench of conveying windshield, workbench is provided with in order primer gluing station, station turning, drying station, the second gluing station, described station turning is provided with turning device, turning device is used for overturning the windshield after primer gluing, and described drying station is provided with drying unit, and drying unit is for drying the windshield after primer gluing; It is characterized in that:
Described primer gluing station is provided with assistance mechanical arm, for windshield of taking to primer gluing station, described assistance mechanical arm comprises column, main frame armed lever, strengthen brace, tracheae, fixture, revolute joint, brake in joint, described column is provided with track, revolute joint and joint brake, described main frame armed lever is connected with column by the joint brake on column, joint brake locks main frame armed lever, main frame armed lever and column at a right angle, moved up and down at column by track, main frame armed lever end is provided with reinforcement brace, strengthen brace, main frame armed lever, column three triangularity, described fixture is vacuum adsorption type fixture, be arranged on main frame armed lever, be connected with tracheae, described second gluing station is provided with slide plate assembly system and the second coating system, and described slide plate assembly system comprises industrial robot, driver's cabin, slide plate, Robot visual location system, robot gripping apparatus, robot control cabinet and visual spatial attention cabinet, driver's cabin is arranged on slide plate.
2. a kind of windshield robot according to claim 1 automatic adhesive application system, it is characterized in that described drying station is provided with pipeline centralising device, comprise alignment table, centering clamp, vacuum cup, cylinder and sensor, centralising device is provided with glass concave surface profiling ball, vacuum cup is used for fixing windshield.
3. a kind of windshield robot according to claim 1 automatic adhesive application system, is characterized in that described assistance mechanical arm is furnished with fault-operation protection device and manual discharge mechanism.
4. windshield robot according to claim 1 automatic adhesive application system, is characterized in that: described assistance mechanical arm is furnished with mistake gas shielded device.
5. a kind of windshield robot according to claim 1 automatic adhesive application system, it is characterized in that: described robot gripping apparatus is connected with industrial robot, the profiling jacking block of installation position, robot gripping apparatus two ends displacement sensor, vacuum cup, convex and mechanical stop limiter, institute's displacement sensors feeds back signal to industrial robot, revise robotic asssembly track, auxiliary assembling; Described vacuum cup fixes windshield; The profiling jacking block of described convex, when adsorbing windshield, the profiling jacking block of convex is avoided glass to collect together carrying out auxiliary integer to glass simultaneously; Described mechanical stop limiter, avoids pressing quick-fried windshield.
6. a kind of windshield robot according to claim 1 automatic adhesive application system, its feature is characterized in that: described pipeline workbench is provided with glue spreading apparatus for subsequent use, comprises the manual gluing working table of windshield and attached vacuum cup, canned glue heated oven and electric colloidal gun.
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| CN201420597109.3U CN204182538U (en) | 2014-10-16 | 2014-10-16 | Windshield robot automatic adhesive application system |
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| CN201420597109.3U CN204182538U (en) | 2014-10-16 | 2014-10-16 | Windshield robot automatic adhesive application system |
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| CN105537067A (en) * | 2016-02-02 | 2016-05-04 | 武汉和盛汽车零部件有限公司 | Automatic gluing and baking equipment for triangle window glass of automobiles |
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