CN204817081U - Five robot rubber coating equipment - Google Patents

Five robot rubber coating equipment Download PDF

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Publication number
CN204817081U
CN204817081U CN201520485849.2U CN201520485849U CN204817081U CN 204817081 U CN204817081 U CN 204817081U CN 201520485849 U CN201520485849 U CN 201520485849U CN 204817081 U CN204817081 U CN 204817081U
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glue
automatic
gluing
zhi
workpiece
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韩毅军
时丕林
刘桂红
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Dalian Huagong Innovation Technology Co Ltd
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Dalian Huagong Innovation Technology Co Ltd
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Abstract

The utility model relates to a rubber coating technical field for the two -component polyurethane rubber coating especially relates to a five robot rubber coating equipment, its characterized in that contains five robots, glue feeding device, two ingredient rubber coating head, the duplex automatic rubber coating workstation in position or multistation autogiration rubber coating workstation, plasma treatment facility, washing effluent recovery unit, intelligence control system, five robots are five joint robot, and the work piece is placed on duplex automatic rubber coating workstation in position or multistation autogiration rubber coating workstation, and work piece rigid or work piece can be along a rotation of axes or swing or removals, and the five -axle linkage can be realized to two ingredient rubber coating heads and plasma processing head, glue feeding device includes that the gluey bucket of A, B glue the bucket, a glues measuring pump, the gluey measuring pump of B, rubber tube, confession rubber tube way, pipeline support, a sizing material bucket, B sizing material bucket, the utility model relates to a new face ratio accuracy, adhesive tape stable performance, sealed respond well polyurethane rubber coating equipment and technology.

Description

Wu-zhi-shan pig automatic double surface gluer
Technical field
The utility model relates to gluing technical field, for dual-component polyurethane gluing, particularly relates to a kind of wu-zhi-shan pig automatic double surface gluer.
Background technology
Sealing manufacturing develops rapidly, and manufacturing process is also constantly weeded out the old and bring forth the new, and traditional sealing ring, sealing gasket or are substituted by on-the-spot dual-component polyurethane foaming sealing strip gluing.Polyurethane foam sealing strip hardness range is wide, wear-resisting, oil resistant, good springiness, and adhesion strength is good, and sealing effectiveness is excellent, and range of application is more and more extensive.Product and the industry such as automobile, rack, illumination, electronics, filter, battery, constantly promoting the properties of product of oneself, the method of traditional manual method or simple automatic double surface gluer cannot meet the industrialization step increasingly developed, adopt automation dual-component polyurethane automatic double surface gluer, become the top priority that these industries are current, full-automatic machine people automatic double surface gluer is more and more universal in the application of every profession and trade.Along with the development of the production automation, the quick raising of cost of labor, entreprise cost increases, how to reduce costs, raise the efficiency, realize rapidity, uniformity, uniformity, the automatically theory of unmanned guard gluing be constantly accepted, the wu-zhi-shan pig automatic double surface gluer that special the intelligence controlling system controls will substitute backward manual operations and simple automatic double surface gluer.
Summary of the invention
In order to solve the problem, provide a kind of wu-zhi-shan pig automatic double surface gluer.The utility model is mainly used in the industry field of sealing technology such as automobile, electronics, light fixture and rack, be a kind of proportioning of novelty accurately, adhesive tape stable performance, polyurethane coating equipment and process technology that sealing effectiveness is good.Two component gluing or one-component gluing can be used for.
The utility model is solve the problems of the technologies described above the technical scheme taked to be:
A kind of wu-zhi-shan pig automatic double surface gluer, is characterized in that comprising wu-zhi-shan pig, glue feeder, two component gluing head, double automatic glue application workbench or multistation automatic rotation gluing working table, plasma processing, cleaning waste liquid recovery apparatus, automatically lifting workpiece device, intelligence control system;
Described wu-zhi-shan pig is five articulated robots, workpiece is placed on double automatic glue application workbench or multistation automatic rotation gluing working table, workpiece maintains static or workpiece can along one degree of freedom or two freedom degree rotatings or swing or movement, and two component gluing head and plasma treatment head and wu-zhi-shan pig can realize linking; Wu-zhi-shan pig has automatic control operation function, can complete programmable operations, can realize automatic glue application or plasma treatment work; Described workpiece is polyhedron or many curved bodies;
Described glue feeder comprises A glue bucket, B glue bucket, A glue measuring pump, B glue measuring pump, sebific duct, supplies sebific duct road, pipeline support, A sizing material bucket, B sizing material bucket, A glue inside A sizing material bucket is transported in A glue bucket by A glue automatic charging device, and the B glue inside B sizing material bucket is transported in B glue bucket by B glue automatic charging device; The B glue of A glue in A glue bucket in A glue measuring pump and B glue bucket is transported to two component gluing in front respectively through B glue measuring pump, and A glue and B glue are coated onto on workpiece after two component gluing mixes in front;
The described pair of component gluing head can be many component polyurethanes needle-valve water cleaning gluing head or Multi-channel water cleaning double-component gluing head or two component Multifunctional gluing head or one-component gluing head, two component gluing head is fixed on wu-zhi-shan pig, realize automatic glue application, achieve and first clean with water, then by the mode of compressed air cleaning, solvent is eliminated to the healthy threat that brings of operating personnel and pollution on the environment; Two component Multifunctional gluing head or one-component gluing head can adopt water or the cleaning of solvent two media;
Described double automatic glue application workbench or multistation automatic rotation gluing working table, double automatic glue application workbench adopts servomotor or stepper motor or air cylinder driven, workpiece is placed on respectively on two travelling tables and replaces gluing, i.e. a gluing station and a loading and unloading station; Multistation automatic rotation gluing working table has the station of more than 2, and during gluing, workbench stops the rotation, and completes gluing working table and rotates to next station; On the frock clamp that workpiece is fixed on double automatic glue application workbench or multistation automatic rotation gluing working table or workpiece can along one degree of freedom or two freedom degree rotatings or swing or movement, and use frock clamp clamping and positioning, workpiece and wu-zhi-shan pig interlock;
Described plasma processing comprises plasma generator, plasma treatment head, and plasma treatment head aims at gluing workpiece track, and by compressed air, plasma torch is sprayed to the surface of workpiece, plasma treatment head is connected with plasma generator by pipeline; Plasma treatment head is fixed on wu-zhi-shan pig, wu-zhi-shan pig drives plasma treatment head to run, the running orbit of plasma treatment head is consistent with gluing track, plasma surface finishing machine carries out plasma treatment to surface of the work, increase adhesion strength, the adhesive force of polyurethane adhesive tape and workpiece, plasma processing can process metal works or non-metal workpiece;
Described cleaning waste liquid recovery apparatus is provided with recycling bin, by the water after two component gluing head cleaning or solvent recovery;
Described automatic lifting workpiece device comprises the manipulator of lifting workpiece, and manipulator completes the workpiece blanking task after the material loading of workpiece and gluing;
Described intelligence control system comprises robot control cabinet, electrical control cubicles, industrial computer, touch-screen and control software design, control system adopts intelligentized design, automatically controls wu-zhi-shan pig, plasma processing, double automatic glue application workbench or multistation automatic rotation gluing working table, glue feeder, two component gluing head; Adopt numerical control codes technology, the theory of technology Based PC control technology and bus terminal module and TwinCAT automated software and EtherCAT real-time ethernet solution, realize automatically controlling by Ethernet; Smart mobile phone or computer can be utilized by internet, wireless network, Wi-Fi, GPS communication, and Long-distance Control can be realized or consult fast or real time execution monitoring or fault diagnosis, realize quick solution site problems;
By industrial computer, touch-screen, numerical control codes technology, select CAD figure to be processed, first plasma treatment head is adjusted to suitable position, wu-zhi-shan pig, plasma treatment head move along selected graphics track under the commander of intelligence control system, and plasma processing carries out Surface Treatment with Plasma to workpiece glue-coated surface; Two component gluing head is adjusted to suitable position, in gluing process, dual-component polyurethane is transported in gluing head by A glue measuring pump, the accurate measurement of B glue measuring pump, paddle in two component gluing head according to the rotating speed set by two component raw material Homogeneous phase mixing, spue from the nozzle of two component gluing head, wu-zhi-shan pig, the first-class device of two component gluing move along selected graphics track under the commander of intelligence control system, complete gluing; Intelligence control system controls mechanical part and realizes interlock, controls the temperature of adhesive glue, pressure, viscosity, proportioning and reacts hardening time, by accurate metering system, respectively by a certain percentage, and quantitative and even gluing.
The beneficial effects of the utility model are:
1. adopt numerical control codes technology and rationally device layout cleverly, multiple technology is integrated on a set of equipment, adopt wu-zhi-shan pig to realize plasma treatment, the gluing task of automatic control equipment.
2. intelligent: the working procedures such as plasma treatment, gluing process automatically completed on a set of equipment, simplify technique, each operation all adopts Based Intelligent Control, improve more than 30% than traditional handicraft production and processing speed.
3. adopt wu-zhi-shan pig, make robot can fully adapt to different operating modes, give full play to the effect of robot.
4. breach traditional automatic double surface gluer can only on simple workpiece gluing present situation, interlock is realized by intelligence control system, Industrial Computer Control mechanical part, control the temperature of adhesive glue, pressure, viscosity, proportioning and react hardening time, by accurate metering system, respectively by a certain percentage, quantitative and even gluing.
5. automatic servo motor drives double automatic glue application workbench and the interlock of multistation automatic rotation gluing working table, frock clamp and wu-zhi-shan pig, and what the gluing of complex part was become is more prone to.
6. adopt many component polyurethanes needle-valve water cleaning gluing head or Multi-channel water cleaning double-component gluing head to realize automatic glue application.Achieve first with water cleaning, then by the mode of compressed air cleaning, scavenging period shortens, and eliminates solvent to the healthy threat that brings of operating personnel and pollution on the environment, simple and compact for structure, easy for installation, and fast, stability improves in maintenance.Realize the polyurethane in use water cleaning gluing head, utilize light water to clean, substitute solvent clean, reduce production cost, saved the energy, reduce solvent to the pollution of environment.
Accompanying drawing explanation
Fig. 1 is the wu-zhi-shan pig of the utility model wu-zhi-shan pig automatic double surface gluer or the double automatic glue application Working table structure schematic front view of six-joint robot.
Fig. 2 is the wu-zhi-shan pig of the utility model wu-zhi-shan pig automatic double surface gluer or the double automatic glue application Working table structure diagrammatic top view of six-joint robot.
Fig. 3 is the wu-zhi-shan pig of the utility model wu-zhi-shan pig automatic double surface gluer or the multistation automatic rotation gluing working table structural representation front view of six-joint robot.
Fig. 4 is the wu-zhi-shan pig of the utility model wu-zhi-shan pig automatic double surface gluer or the multistation automatic rotation gluing working table structural representation top view of six-joint robot.
In figure, 1, wu-zhi-shan pig, 2, for sebific duct road, 3, pipeline support, 4, sebific duct, 5, plasma treatment head, 6, two component gluing head, 7, frock clamp, 8, double automatic glue application workbench, 9, glue feeder, 10, A glue bucket, 11, B glue bucket, 12, A glue measuring pump, 13, B glue measuring pump, 14, robot control cabinet, 15, electrical control cubicles, 16, cleaning waste liquid recovery apparatus, 17, A glue automatic charging device, 18, B glue automatic charging device, 19, workpiece, 20, plasma processing, 21, A sizing material bucket, 22, B sizing material bucket, 23, multistation automatic rotation gluing working table.
Detailed description of the invention
Detailed description of the invention one: as shown in figures 1-4, a kind of wu-zhi-shan pig automatic double surface gluer, is characterized in that comprising wu-zhi-shan pig 1, glue feeder 9, two component gluing head 6, double automatic glue application workbench 8 or multistation automatic rotation gluing working table 23, plasma processing 20, cleaning waste liquid recovery apparatus 16, intelligence control system;
Described wu-zhi-shan pig 1 is five articulated robots, workpiece 19 is placed on double automatic glue application workbench 8 or multistation automatic rotation gluing working table 23, workpiece 19 maintains static or workpiece 19 can along one degree of freedom or two freedom degree rotatings or swing or movement, and two component gluing head 6 and plasma treatment 5 can realize linking with wu-zhi-shan pig 1; Wu-zhi-shan pig 1 has automatic control operation function, can complete programmable operations, can realize automatic glue application or plasma treatment work; Employing wu-zhi-shan pig 1 gluing of workpiece 19 gluing track complexity, makes wu-zhi-shan pig 1 adapt to the operating mode of different client, gives full play to the effect of wu-zhi-shan pig 1, reach and make the best use of everything; Described workpiece 19 is polyhedron or many curved bodies;
Described glue feeder 9 comprises A glue bucket 10, B glue bucket 11, A glue measuring pump 12, B glue measuring pump 13, sebific duct 4, supplies sebific duct road 2, pipeline support 3, A sizing material bucket 21, B sizing material bucket 22, A glue inside A sizing material bucket 21 is transported to 10 li, A glue bucket by A glue automatic charging device 17, and the B glue inside B sizing material bucket 22 is transported to 11 li, B glue bucket by B glue automatic charging device 18; The A glue of 10 li, A glue bucket is transported to two component gluing head 6 li through the B glue of A glue measuring pump 12 and 11 li, B glue bucket respectively through B glue measuring pump 13, and A glue and B glue are coated onto on workpiece 19 after mixing in two component gluing head 6;
The described pair of component gluing head 6 can be many component polyurethanes needle-valve water cleaning gluing head or Multi-channel water cleaning double-component gluing head or two component Multifunctional gluing head or one-component gluing head, two component gluing head 6 is fixed on wu-zhi-shan pig 1, realize automatic glue application, achieve and first clean with water, then by the mode of compressed air cleaning, scavenging period shortens, eliminate solvent to the healthy threat that brings of operating personnel and pollution on the environment, simple and compact for structure, easy for installation, maintenance fast, stability improves, or the polyurethane that can realize in use water cleaning gluing head, light water is utilized to clean, substitute solvent clean, reduce production cost, save the energy, reduce solvent to the pollution of environment, two component Multifunctional gluing head or one-component gluing head can adopt water or the cleaning of solvent two media, expand the scope of application of gluing head,
Described double automatic glue application workbench 8 or multistation automatic rotation gluing working table 23, double automatic glue application workbench 8 adopts servomotor or stepper motor or air cylinder driven, workpiece 19 is placed on respectively on two travelling tables and replaces gluing, i.e. a gluing station and a loading and unloading station; Multistation automatic rotation gluing working table 23 has the station (in figure 4 stations) of more than 2, and during gluing, workbench stops the rotation, and completes gluing working table and rotates to next station; On the frock clamp 7 that workpiece 19 is fixed on double automatic glue application workbench 8 or multistation automatic rotation gluing working table 23 or workpiece 19 can along one degree of freedom or two freedom degree rotatings or swing or movement, and by frock clamp 7 clamping and positioning, workpiece 19 and wu-zhi-shan pig 1 link, realize material loading, location, plasma treatment, gluing and blanking task, adapt to the requirement of different client, different product, production efficiency significantly improves; The accurate location of double automatic glue application workbench 8 or multistation automatic rotation gluing working table 23, actuating speed stepless time adjustment, spin coating workbench maximum gauge can reach 10 meters;
Described plasma processing 20 comprises plasma generator, plasma treatment 5, plasma treatment 5 alignment pieces 19 track, by compressed air, plasma torch is sprayed to the surface of workpiece 19, plasma treatment 5 is connected with plasma generator by pipeline; Plasma treatment 5 is fixed on wu-zhi-shan pig 1, wu-zhi-shan pig 1 drives plasma treatment 5 to run, and the running orbit of plasma treatment 5 is consistent with gluing track, and plasma surface finishing machine carries out plasma treatment to workpiece 19 surface, increase adhesion strength, the adhesive force of polyurethane adhesive tape and workpiece 19, gluing workpiece 19, without any need for adhesive or silane coupling agent, saves operation, effectively reduces costs, speed of production is faster, production efficiency is higher, pollution-free, is conducive to environmental protection; Workpiece 19 is after plasma treatment, and the adhesive strength of adhesive tape significantly improves more than 50%, and gluing quality is obviously improved, and plasma processing 20 can process metal works or non-metal workpiece;
Described cleaning waste liquid recovery apparatus 16 is provided with recycling bin, the water after being cleaned by two component gluing head 6 or solvent recovery;
Described automatic lifting workpiece device comprises the manipulator of lifting workpiece, and manipulator completes the workpiece 19 blanking task after the material loading of workpiece 19 and gluing;
Described intelligence control system comprises robot control cabinet 14, electrical control cubicles 15, industrial computer, touch-screen and control software design, control system adopts intelligentized design, adopt numerical control codes technology and reasonable layout cleverly, the course of action of equipment and gluing chemical technology are organically combined, by material loading, location, plasma treatment, multiple technology such as gluing and blanking is integrated on a set of equipment and completes, automatic control wu-zhi-shan pig 1, plasma processing 20, double automatic glue application workbench 8 or multistation automatic rotation gluing working table 23, glue feeder 9, two component gluing head 6, adopt numerical control codes technology, the theory of technology Based PC control technology and bus terminal module and TwinCAT automated software and EtherCAT real-time ethernet solution, realize automatically controlling by Ethernet, smart mobile phone or computer can be utilized by internet, wireless network, Wi-Fi, GPS communication, and Long-distance Control can be realized or consult fast or real time execution monitoring or fault diagnosis, realize quick solution site problems, significant for growing gluing industry,
By industrial computer, touch-screen, numerical control codes technology, select CAD figure to be processed, first plasma treatment 5 is adjusted to suitable position, wu-zhi-shan pig 1, plasma treatment 5 is moved along selected graphics track under the commander of intelligence control system, and plasma processing 20 pairs of workpiece 19 glue-coated surface carry out Surface Treatment with Plasma; Two component gluing head 6 is adjusted to suitable position, in gluing process, dual-component polyurethane is transported in gluing head by A glue measuring pump 12, the accurate measurement of B glue measuring pump 13, paddle in two component gluing head 6 according to the rotating speed set by two component raw material Homogeneous phase mixing, spue from the nozzle of two component gluing head 6, the devices such as wu-zhi-shan pig 1, two component gluing head 6 move along selected graphics track under the commander of intelligence control system, complete gluing; Complete gluing and take off workpiece 19, place after waiting for a period of time, adhesive tape foaming, polyurethane adhesive tape and workpiece 19 are bonded together, and reach technology and technological requirement; Intelligence control system controls mechanical part and realizes interlock, controls the temperature of adhesive glue, pressure, viscosity, proportioning and reacts hardening time, by accurate metering system, respectively by a certain percentage, and quantitative and even gluing; Double automatic glue application workbench 8 and multistation automatic rotation gluing working table 23, frock clamp 7 and wu-zhi-shan pig 1 link, and what the gluing of complex part 19 was become is more prone to.
Detailed description of the invention two: as shown in figures 1-4, described wu-zhi-shan pig automatic double surface gluer, is characterized in that comprising wu-zhi-shan pig 1, glue feeder 9, two component gluing head 6, double automatic glue application workbench 8 or multistation automatic rotation gluing working table 23, cleaning waste liquid recovery apparatus 16, intelligence control system; Only automatic glue application work is realized to workpiece 19, do not carry out surface plasma process.Other composition and annexation identical with detailed description of the invention one.
Detailed description of the invention three: as shown in figures 1-4, described wu-zhi-shan pig automatic double surface gluer, it is characterized in that described intelligence control system comprises robot control cabinet 14, electrical control cubicles 15, industrial computer, touch-screen and control software design, control system adopts intelligentized design, automatically controls wu-zhi-shan pig 1, plasma processing 20, double automatic glue application workbench 8 or multistation automatic rotation gluing working table 23, glue feeder 9, two component gluing head 6.Other composition and annexation and detailed description of the invention one, two identical.
Detailed description of the invention four: as shown in figures 1-4, described wu-zhi-shan pig automatic double surface gluer, it is characterized in that described double automatic glue application workbench 8 or multistation automatic rotation gluing working table 23 replace with single station automatic glue application workbench, single station automatic glue application workbench maintains static, on the frock clamp 7 that workpiece 19 is fixed on workbench or workpiece 19 can along one degree of freedom or two freedom degree rotatings or swing or movement, and by frock clamp 7 clamping and positioning, workpiece 19 and wu-zhi-shan pig 1 link.Other composition and annexation and detailed description of the invention one, two or three identical.
Detailed description of the invention five: as shown in figures 1-4, described wu-zhi-shan pig automatic double surface gluer, is characterized in that not having A glue automatic charging device 17 and B glue automatic charging device 18, manually A glue and B glue is added in A glue bucket 10 and B glue bucket 11.Other composition and annexation and detailed description of the invention one, two, three or four identical.
Detailed description of the invention six: as shown in figures 1-4, described wu-zhi-shan pig automatic double surface gluer, is characterized in that not having described automatic lifting workpiece device, takes artificial lifting workpiece to reduce equipment manufacturing cost.Other composition and annexation and detailed description of the invention one, two, three, four or five identical.
Detailed description of the invention seven: as shown in figures 1-4, described wu-zhi-shan pig automatic double surface gluer, is characterized in that being used for two component gluing or one-component gluing.Other composition and annexation and detailed description of the invention one, two, three, four, five or six identical.
Detailed description of the invention eight: as shown in figures 1-4, described wu-zhi-shan pig automatic double surface gluer, it is characterized in that replacing wu-zhi-shan pig 1 with six-joint robot, described six-joint robot is six articulated robots, workpiece 19 is placed on double automatic glue application workbench 8 or multistation automatic rotation gluing working table 23, workpiece 19 maintain static or workpiece 19 along one degree of freedom or two freedom degree rotatings or swing or movement, workpiece 19, two component gluing head 6 and plasma treatment 5 can realize linking with six-joint robot, six-joint robot has automatic control operation function, programmable operations can be completed, automatic glue application or plasma treatment work can be realized.Other composition and annexation and detailed description of the invention one, two, three, four, five, six or seven identical.
It is can understand for the ease of the those of ordinary skill of technical field and apply the utility model that above-described embodiment describes.Those of ordinary skill in the art easily can make various amendment to these embodiments, and General Principle described herein are applied in other embodiments and need not through creative work.Therefore, the utility model is not limited to above-mentioned detailed description of the invention, and the equivalents that every art technology obtains according to technology enlightenment of the present utility model or the technical scheme that equivalence is replaced, all drop within the utility model rights protection scope.
Operation principle
Application numerical control codes technology and rationally device layout cleverly, multiple to plasma treatment, gluing etc. technology is integrated on a set of equipment, adopt wu-zhi-shan pig, double automatic glue application workbench or multistation automatic rotation gluing working table reasonable coordination, realize the plasma treatment of automatic control equipment, gluing task.The working procedures such as plasma treatment, gluing process automatically completed on a set of equipment, simplify technique, each operation all adopts Based Intelligent Control.Breach traditional automatic double surface gluer can only on simple workpiece gluing present situation, interlock is realized by Industrial Computer Control mechanical part, control the temperature of adhesive glue, pressure, viscosity, proportioning and react hardening time, by accurate metering system, by dual-component polyurethane by a certain percentage, quantitative and even gluing.Double automatic glue application workbench or multistation automatic rotation gluing working table coordinate wu-zhi-shan pig interlock, and the frock clamp adapting to above-mentioned gluing accurately locates clamping, makes gluing working table and the perfect adaptation of robot coating equipment.

Claims (13)

1. a wu-zhi-shan pig automatic double surface gluer, is characterized in that comprising wu-zhi-shan pig (1), glue feeder (9), two component gluing head (6), double automatic glue application workbench (8) or multistation automatic rotation gluing working table (23), plasma processing (20), cleaning waste liquid recovery apparatus (16), intelligence control system;
Described wu-zhi-shan pig (1) is five articulated robots, workpiece (19) is placed on double automatic glue application workbench (8) or multistation automatic rotation gluing working table (23), workpiece (19) maintain static or workpiece (19) along one degree of freedom or two freedom degree rotatings or swing or movement, two component gluing head (6) and plasma treatment head (5) can realize linking with wu-zhi-shan pig (1); Wu-zhi-shan pig (1) has automatic control operation function, can complete programmable operations, can realize automatic glue application or plasma treatment work; Described workpiece (19) is polyhedron or many curved bodies;
Described glue feeder (9) comprises A glue bucket (10), B glue bucket (11), A glue measuring pump (12), B glue measuring pump (13), sebific duct (4), supplies sebific duct road (2), pipeline support (3), A sizing material bucket (21), B sizing material bucket (22), it is inner that the A glue of A sizing material bucket (21) the inside is transported to A glue bucket (10) by A glue automatic charging device (17), and it is inner that the B glue of B sizing material bucket (22) the inside is transported to B glue bucket (11) by B glue automatic charging device (18); It is inner that the inner A glue of A glue bucket (10) is transported to two component gluing head (6) through A glue measuring pump (12) and the inner B glue of B glue bucket (11) respectively through B glue measuring pump (13), and A glue and B glue are coated onto on workpiece (19) after the inner mixing of two component gluing head (6);
The described pair of component gluing head (6) is many component polyurethanes needle-valve water cleaning gluing head or Multi-channel water cleaning double-component gluing head or two component Multifunctional gluing head or one-component gluing head, two component gluing head (6) is fixed on wu-zhi-shan pig (1), realize automatic glue application, achieve and first clean with water, then by the mode of compressed air cleaning, solvent is eliminated to the healthy threat that brings of operating personnel and pollution on the environment; Two component Multifunctional gluing head or one-component gluing head can adopt water or the cleaning of solvent two media;
Described double automatic glue application workbench (8) or multistation automatic rotation gluing working table (23), double automatic glue application workbench (8) adopts servomotor or stepper motor or air cylinder driven, workpiece (19) is placed on respectively on two travelling tables and replaces gluing, i.e. a gluing station and a loading and unloading station; Multistation automatic rotation gluing working table (23) has the station of more than 2, and during gluing, workbench stops the rotation, and completes gluing working table and rotates to next station; Workpiece (19) is fixed on the upper or workpiece (19) of the frock clamp (7) of double automatic glue application workbench (8) or multistation automatic rotation gluing working table (23) along one degree of freedom or two freedom degree rotatings or swing or movement, and by frock clamp (7) clamping and positioning, workpiece (19) and wu-zhi-shan pig (1) interlock;
Described plasma processing (20) comprises plasma generator, plasma treatment head (5), plasma treatment head (5) alignment pieces (19) track, by compressed air, plasma torch is sprayed to the surface of workpiece (19), plasma treatment head (5) is connected with plasma generator by pipeline; Plasma treatment head (5) is fixed on wu-zhi-shan pig (1), wu-zhi-shan pig (1) drives plasma treatment head (5) to run, the running orbit of plasma treatment head (5) is consistent with gluing track, plasma surface finishing machine carries out plasma treatment to workpiece (19) surface, increase adhesion strength, the adhesive force of polyurethane adhesive tape and workpiece (19), plasma processing (20) can process metal works or non-metal workpiece;
Described cleaning waste liquid recovery apparatus (16) is provided with recycling bin, the water after being cleaned by two component gluing head (6) or solvent recovery;
Described automatic lifting workpiece device comprises the manipulator of lifting workpiece, and manipulator completes workpiece (19) the blanking task after the material loading of workpiece (19) and gluing;
Described intelligence control system comprises robot control cabinet (14), electrical control cubicles (15), industrial computer, touch-screen and control software design, control system adopts intelligentized design, automatically controls wu-zhi-shan pig (1), plasma processing (20), double automatic glue application workbench (8) or multistation automatic rotation gluing working table (23), glue feeder (9), two component gluing head (6); Adopt numerical control codes technology, the theory of technology Based PC control technology and bus terminal module and TwinCAT automated software and EtherCAT real-time ethernet solution, realize automatically controlling by Ethernet; Smart mobile phone or computer can be utilized by internet, wireless network, Wi-Fi, GPS communication, and Long-distance Control can be realized or consult fast or real time execution monitoring or fault diagnosis, realize quick solution site problems;
By industrial computer, touch-screen, numerical control codes technology, select CAD figure to be processed, first plasma treatment head (5) is adjusted to suitable position, wu-zhi-shan pig (1), plasma treatment head (5) move along selected graphics track under the commander of intelligence control system, and plasma processing (20) carries out Surface Treatment with Plasma to workpiece (19) glue-coated surface; Two component gluing head (6) is adjusted to suitable position, in gluing process, dual-component polyurethane is transported in gluing head by A glue measuring pump (12), B glue measuring pump (13) accurate measurement, paddle in two component gluing head (6) according to the rotating speed set by two component raw material Homogeneous phase mixing, spue from the nozzle of two component gluing head (6), wu-zhi-shan pig (1), two component gluing head (6) move along selected graphics track under the commander of intelligence control system, complete gluing; Intelligence control system controls mechanical part and realizes interlock, controls the temperature of adhesive glue, pressure, viscosity, proportioning and reacts hardening time, by accurate metering system, respectively by a certain percentage, and quantitative and even gluing.
2. wu-zhi-shan pig automatic double surface gluer according to claim 1, is characterized in that comprising wu-zhi-shan pig (1), glue feeder (9), two component gluing head (6), double automatic glue application workbench (8) or multistation automatic rotation gluing working table (23), cleaning waste liquid recovery apparatus (16), intelligence control system; Only automatic glue application work is realized to workpiece (19), do not carry out surface plasma process.
3. wu-zhi-shan pig automatic double surface gluer according to claim 1, it is characterized in that described intelligence control system comprises robot control cabinet (14), electrical control cubicles (15), industrial computer, touch-screen and control software design, control system adopts intelligentized design, automatically controls wu-zhi-shan pig (1), plasma processing (20), double automatic glue application workbench (8) or multistation automatic rotation gluing working table (23), glue feeder (9), two component gluing head (6).
4. wu-zhi-shan pig automatic double surface gluer according to claim 2, it is characterized in that described intelligence control system comprises robot control cabinet (14), electrical control cubicles (15), industrial computer, touch-screen and control software design, control system adopts intelligentized design, automatically controls wu-zhi-shan pig (1), plasma processing (20), double automatic glue application workbench (8) or multistation automatic rotation gluing working table (23), glue feeder (9), two component gluing head (6).
5. wu-zhi-shan pig automatic double surface gluer according to claim 1, it is characterized in that described double automatic glue application workbench (8) or multistation automatic rotation gluing working table (23) replace with single station automatic glue application workbench, single station automatic glue application workbench maintains static, workpiece (19) is fixed on the upper or workpiece (19) of the frock clamp (7) of workbench along one degree of freedom or two freedom degree rotatings or swing or movement, and by frock clamp (7) clamping and positioning, workpiece (19) and wu-zhi-shan pig (1) interlock.
6. wu-zhi-shan pig automatic double surface gluer according to claim 2, it is characterized in that described double automatic glue application workbench (8) or multistation automatic rotation gluing working table (23) replace with single station automatic glue application workbench, single station automatic glue application workbench maintains static, workpiece (19) is fixed on the upper or workpiece (19) of the frock clamp (7) of workbench along one degree of freedom or two freedom degree rotatings or swing or movement, and by frock clamp (7) clamping and positioning, workpiece (19) and wu-zhi-shan pig (1) interlock.
7. wu-zhi-shan pig automatic double surface gluer according to claim 1, it is characterized in that there is no A glue automatic charging device (17) and B glue automatic charging device (18), manually A glue and B glue are added in A glue bucket (10) and B glue bucket (11).
8. wu-zhi-shan pig automatic double surface gluer according to claim 2, it is characterized in that there is no A glue automatic charging device (17) and B glue automatic charging device (18), manually A glue and B glue are added in A glue bucket (10) and B glue bucket (11).
9. wu-zhi-shan pig automatic double surface gluer according to claim 1, is characterized in that not having described automatic lifting workpiece device.
10. wu-zhi-shan pig automatic double surface gluer according to claim 2, is characterized in that not having described automatic lifting workpiece device.
11. wu-zhi-shan pig automatic double surface gluers according to claim 1, is characterized in that being used for two component gluing or one-component gluing.
12. wu-zhi-shan pig automatic double surface gluers according to claim 2, is characterized in that being used for two component gluing or one-component gluing.
13. wu-zhi-shan pig automatic double surface gluers according to claim arbitrary in claim 1 to 12, it is characterized in that replacing wu-zhi-shan pig (1) with six-joint robot, described six-joint robot is six articulated robots, workpiece (19) is placed on double automatic glue application workbench (8) or multistation automatic rotation gluing working table (23), workpiece (19) maintain static or workpiece (19) along one degree of freedom or two freedom degree rotatings or swing or movement, workpiece (19), two component gluing head (6) and plasma treatment head (5) can realize linking with six-joint robot, six-joint robot has automatic control operation function, programmable operations can be completed, automatic glue application or plasma treatment work can be realized.
CN201520485849.2U 2015-07-03 2015-07-03 Five robot rubber coating equipment Withdrawn - After Issue CN204817081U (en)

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Cited By (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN104971862A (en) * 2015-07-03 2015-10-14 大连华工创新科技股份有限公司 Five-axis robot gumming equipment and technology
CN105032710A (en) * 2015-07-03 2015-11-11 大连华工创新科技股份有限公司 Full-automatic robot gluing equipment and process technology
CN106914383A (en) * 2017-04-20 2017-07-04 浙江诚康钢管有限公司 A kind of cast(ing) surface processing unit
CN106914898A (en) * 2017-04-14 2017-07-04 成都福莫斯佰龙智能科技有限公司 The control method of foldable intelligent robot instructional device
CN106985151A (en) * 2017-04-14 2017-07-28 成都福莫斯佰龙智能科技有限公司 The novel robot control system acted on storage
CN107127116A (en) * 2017-07-07 2017-09-05 江苏冠达通电子科技有限公司 Accurate two-component point gum machine
CN107138308A (en) * 2017-07-10 2017-09-08 烟台市三立工业有限公司 The special equipment of novel intelligent thermal spraying is wear-resistant workpiece
CN112894807A (en) * 2021-01-13 2021-06-04 深圳市玄羽科技有限公司 Industrial automation control device and method
CN113791528A (en) * 2021-10-21 2021-12-14 深圳大学 Robot-based lithography apparatus and lithography method
CN114515666A (en) * 2022-01-18 2022-05-20 深圳大学 Gluing device and gluing method based on robot

Cited By (14)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN105032710B (en) * 2015-07-03 2017-09-19 大连华工创新科技股份有限公司 Full-automatic machine people automatic double surface gluer and technology
CN105032710A (en) * 2015-07-03 2015-11-11 大连华工创新科技股份有限公司 Full-automatic robot gluing equipment and process technology
CN104971862A (en) * 2015-07-03 2015-10-14 大连华工创新科技股份有限公司 Five-axis robot gumming equipment and technology
CN104971862B (en) * 2015-07-03 2017-12-15 大连华工创新科技股份有限公司 Wu-zhi-shan pig automatic double surface gluer and technology
CN106914898A (en) * 2017-04-14 2017-07-04 成都福莫斯佰龙智能科技有限公司 The control method of foldable intelligent robot instructional device
CN106985151A (en) * 2017-04-14 2017-07-28 成都福莫斯佰龙智能科技有限公司 The novel robot control system acted on storage
CN106914383B (en) * 2017-04-20 2019-02-01 浙江诚康钢管有限公司 A kind of cast(ing) surface processing unit
CN106914383A (en) * 2017-04-20 2017-07-04 浙江诚康钢管有限公司 A kind of cast(ing) surface processing unit
CN107127116A (en) * 2017-07-07 2017-09-05 江苏冠达通电子科技有限公司 Accurate two-component point gum machine
CN107138308A (en) * 2017-07-10 2017-09-08 烟台市三立工业有限公司 The special equipment of novel intelligent thermal spraying is wear-resistant workpiece
CN112894807A (en) * 2021-01-13 2021-06-04 深圳市玄羽科技有限公司 Industrial automation control device and method
CN113791528A (en) * 2021-10-21 2021-12-14 深圳大学 Robot-based lithography apparatus and lithography method
CN113791528B (en) * 2021-10-21 2023-11-03 深圳大学 Robot-based lithography device and lithography method
CN114515666A (en) * 2022-01-18 2022-05-20 深圳大学 Gluing device and gluing method based on robot

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