CN205701287U - A kind of intelligence gluing end effector - Google Patents
A kind of intelligence gluing end effector Download PDFInfo
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- CN205701287U CN205701287U CN201620383688.0U CN201620383688U CN205701287U CN 205701287 U CN205701287 U CN 205701287U CN 201620383688 U CN201620383688 U CN 201620383688U CN 205701287 U CN205701287 U CN 205701287U
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- housing
- gluing
- end effector
- vision camera
- glue
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Abstract
This utility model relates to a kind of intelligence gluing end effector, and including housing, scanning laser sensor, pressure glue bucket, piston type glue dispensing valve and vision camera, wherein vision camera is arranged on housing side, and scanning laser sensor is installed on housing opposite side；Enclosure interior is located at by pressure glue bucket, and upper end is connected with external compression air trachea；Piston type glue dispensing valve is arranged between enclosure interior, the front end of whole executor, and pressure glue bucket by hose connection.This utility model can accurately determine glue sites, can revise gluing track in real time, it is ensured that gluing accuracy, is greatly saved the inclined repair of painting, it is ensured that gluing tree lace and glue-type quality, eliminates the process of artificial handling, improves production efficiency.
Description
Technical field
This utility model relates to a kind of intelligence glue spreader manufacturing technology, a kind of intelligence
Gluing end effector.
Background technology
In production manufacture process, it is sometimes referred to that workpiece gluing is bonding and workpiece gluing seals,
For guaranteeing that it is bonding firmly, sealing position gluing steady quality, concordance are good, need gluing
Amount and gluing position realize accurately controlling.
At present, in process of production for low dose of gluing mainly use manual gluing form or
Special point gum machine.Special point gum machine is mainly by designing special work for the confirmation at gluing position
Dress ensures.But said method there is problems in that manual gluing form gluing quality cannot be protected
Card, is mainly affected by operative's level, and concordance is poor.Special point gum machine to lean on special work
Dress ensures gluing precision, and autgmentability is poor, and glue bearing areas critical constraints.Certain for existing
The workpiece of foozle, special point gum machine easily occurs being coated with inclined phenomenon.Efficiency is low, and process is loaded down with trivial details,
Design frock, artificial handling etc. are the most relatively time-consuming arduously.
Utility model content
For glue spreader of the prior art, the gluing quality of workpiece cannot be ensured, gluing efficiency
Low and cannot the accurate deficiency such as glue sites, the technical problems to be solved in the utility model is to carry
For a kind of can revise in real time gluing track, ensure glue sites accuracy intelligent gluing end hold
Row device.
For solving above-mentioned technical problem, the technical solution adopted in the utility model is:
This utility model one intelligence gluing end effector, including housing, laser scanning sensing
Device, pressure glue bucket, piston type glue dispensing valve and vision camera, wherein vision camera is arranged on shell
Body side, scanning laser sensor is installed on housing opposite side；Enclosure interior is located at by pressure glue bucket,
Upper end is connected with external compression air trachea；Piston type glue dispensing valve is arranged on enclosure interior, whole
By hose connection between the front end of executor, and pressure glue bucket.
Described housing is hollow square column type structure, and housing rear end is provided with adpting flange, housing side
Face is provided with moving side door.
Hull outside also have protective cover, vision camera and system source thereof by vision camera and
System source installing plate is installed in protective cover.
Being additionally provided with support on housing, scanning laser sensor is installed on this support.
This utility model has the advantages that and advantage:
1. this utility model is measured and scanning laser sensor measurement owing to devising vision camera,
Can accurately determine glue sites, gluing track can be revised in real time, it is ensured that gluing accuracy,
It is greatly saved the inclined repair of painting.
2. this utility model is owing to being provided with piston type glue dispensing valve, and plastic emitting reaction is fast, disconnected glue and
Time and there is resorption function, plastic emitting uniformly continuous, it is ensured that gluing tree lace and glue-type quality.
3. this utility model is carried work by robot, as long as choosing the accessibility of robot,
The gluing work of any position of product can complete, and coverage rate is high；Bigger for quantity in producing
Application work and the work of fluid sealant gluing for realization of installing machines to replace manual labor well solve
Determine conforming problem, substantially increased gluing quality, eliminated the process of artificial handling,
Substantially increase production efficiency.
4. this utility model is functionally, accurate positioning, gluing quality be high, reliable and stable,
Coverage rate is high, concordance is good.
5. this utility model uses modularized design, scanning laser sensor or vision camera
All can change different range or the product of other specifications according to actual measurement requirement, pressure glue bucket is also
Can change the glue bucket of different size according to actual gluing workload, interchangeability is good, it is easy to install
It is conveniently replaceable and safeguards.
Accompanying drawing explanation
Fig. 1 is this utility model intelligence gluing end effector structures schematic diagram；
Fig. 2 is the section of structure () of this utility model intelligence gluing end effector；
Fig. 3 is the section of structure (two) of this utility model intelligence gluing end effector；
Fig. 4 is this utility model intelligence gluing end effector workflow diagram.
Wherein, 1 is housing, and 2 is scanning laser sensor, and 3 is gluing Jiao Zui, and 4 is vision
Camera, 5 is pressure glue bucket, and 6 is support, and 7 is piston type glue dispensing valve, and 8 is the fixing card of camera
Plate, 9 is protective cover, and 10 is adpting flange, and 11 is moving side door, and 12 for going out sebific duct, 13
For flange opening, 14 is interface, and 15 is piston type glue dispensing valve upper end.
Detailed description of the invention
Below in conjunction with Figure of description, this utility model is further elaborated.
As shown in Figures 1 to 3, this utility model intelligence gluing end effector, including housing 1,
Scanning laser sensor 2, pressure glue bucket 5, piston type glue dispensing valve 7 and vision camera 4,
Wherein vision camera 4 is arranged on the side of housing 1, and scanning laser sensor 2 is installed on housing
The opposite side of 1；Pressure glue bucket 5 is built in housing 1, upper end and external compression air trachea
Connect；Piston type glue dispensing valve 7 is arranged on that housing 1 is internal, the front end of whole executor, with pressure
By hose connection between power glue bucket 5.
In the present embodiment, housing 1 is hollow square column type structure, and housing 1 rear end is provided with connection
Flange 10, housing 1 side is provided with moving side door 11.Can be opened this when changing pressure glue bucket 5
Moving side door 11.Housing 1 rear end is seen as the top of the housing shown in Fig. 1～3 from accompanying drawing,
The front end of executor is then bottom position in figure.
The outer side of housing 1 also has protective cover 9, vision camera 4 and system source thereof by regarding
Feel that camera and system source installing plate are installed in protective cover 9.The outer opposite side of housing 1 is additionally provided with
Support 6, is bolted on housing 1, and scanning laser sensor 2 is installed by bolt
On this support 6.Support effectively can measure according to scanning laser sensor distance adjusting pole to
Lower distance.
Housing 1 built-in piston formula glue dispensing valve 7, is bolted on end effector housing 1
Front end.Piston type glue dispensing valve 7 upper end is accessed by the compressed air after electrical adjustment valve regulation,
What the side of piston type glue dispensing valve 7 connected that flexible pipe i.e. connects pressure glue bucket 5 goes out sebific duct 12.
Pressure glue bucket 5 is connected with housing 1 by hickey 14, interface 14 external compression sky
The trachea of gas, each trachea is by externally connected source of the gas at flange opening 13.Piston type point glue
Valve upper end 15 is connected into the compressed air after pressure regulation.
Kind and the size of pressure glue bucket 5 are replaceable, are equipped with corresponding connection screw thread i.e. interface
14 that is replaceable pressure glue buckets 5, can tackle different size workpiece.
The work process of this utility model intelligence gluing end effector is as follows:
Select after system normal boot-strap to enter automatic mode or manual mode；
After entering automatic mode, system calls the control program finished in advance automatically, and robot is held
Line program instructs, and carries end effector and reaches to specify position；
The vision camera detection location of workpiece, and calculate workpiece coordinate position；
Robot carries out position adjustment according to the coordinate position calculated, and carries out a position after adjustment
Judge；
If end effector glue valve plastic emitting position and practical work piece need gluing position original position
Unanimously, then piston type glue dispensing valve is passed through compressed air；
Piston type glue dispensing valve is opened, and Robot off-line orbiting motion carries out gluing；
After gluing track completes, piston type glue dispensing valve stops supply, and one time gluing process terminates.
As shown in Figure 4, the concrete course of action of this utility model intelligence gluing end effector is such as
Under:
Start after equipment normal boot-strap to start automatic mode or manual mode；
When system enters automatic mode, system calls the off-line procedure finished in advance, root automatically
According to off-line procedure, robot reaches to specify position with end effector；
Vision camera 4 detects the sign point of workpiece, and calculates workpiece coordinate position；
Robot carries out position adjustment according to the coordinate position calculated, and carries out a position after adjustment
Judge；
If the piston type glue dispensing valve 7 plastic emitting position of end effector and practical work piece need gluing
Position original position is consistent, then start gluing work；Otherwise return to robot specify position followed by
Continuous adjustment, until some position meets the requirements, enters gluing working link；
During gluing, pressure glue bucket 5 leads to compressed air, and electronic regulated valve leads to compressed air and carries out pressure
Being passed through piston type glue dispensing valve 7 after regulation, piston type glue dispensing valve 7 is opened, Robot off-line
Orbiting motion；
Scanning laser sensor 2 moves along robot trajectory with end effector, measures painting in real time
Glue track position deviation, and scanning gluing gap deviation is passed to robot, robot according to
Travel track is adjusted by surveyed deviation in real time；
Gluing track completes, and robot quits work to electrical adjustment valve signal, electronic regulated valve,
Piston type glue dispensing valve 5 stops supply, and gluing completes.
When system enters manual mode, being then directly entered a position and judge, subsequent step is ibid；
The auxiliary so repeated thus complete on production line is installed.
The foregoing is only preferred embodiment of the present utility model, not in order to limit this reality
With novel, all made within spirit of the present utility model and principle any amendment, equivalent replace
Change and improvement etc., should be included in protection domain of the present utility model.
Claims (4)
1. an intelligent gluing end effector, it is characterised in that: include that housing, laser are swept
Retouch sensor, pressure glue bucket, piston type glue dispensing valve and vision camera, wherein vision camera peace
Being contained in housing side, scanning laser sensor is installed on housing opposite side；Shell is located at by pressure glue bucket
Internal portion, upper end is connected with external compression air trachea；Piston type glue dispensing valve is arranged in housing
By hose connection between portion, the front end of whole executor, and pressure glue bucket.
2. the intelligent gluing end effector as described in claim 1, it is characterised in that: institute
Stating housing is hollow square column type structure, and housing rear end is provided with adpting flange, and housing side is provided with
Moving side door.
3. the intelligent gluing end effector as described in claim 1, it is characterised in that: shell
External side also has protective cover, vision camera and system source thereof by vision camera and system light
Source installing plate is installed in protective cover.
4. the intelligent gluing end effector as described in claim 1, it is characterised in that: shell
Being additionally provided with support on body, scanning laser sensor is installed on this support.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620383688.0U CN205701287U (en) | 2016-04-29 | 2016-04-29 | A kind of intelligence gluing end effector |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620383688.0U CN205701287U (en) | 2016-04-29 | 2016-04-29 | A kind of intelligence gluing end effector |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN205701287U true CN205701287U (en) | 2016-11-23 |
Family
ID=57332082
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201620383688.0U Active CN205701287U (en) | 2016-04-29 | 2016-04-29 | A kind of intelligence gluing end effector |
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| Country | Link |
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| CN (1) | CN205701287U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105750157A (en) * | 2016-04-29 | 2016-07-13 | 中国航空工业集团公司北京长城航空测控技术研究所 | Intelligent adhesive application end effector and control method thereof |
| CN108816676A (en) * | 2018-06-07 | 2018-11-16 | 上海天永智能装备股份有限公司 | A kind of gluing and the knockdown glue stations of camera detection |
| CN109365218A (en) * | 2018-12-06 | 2019-02-22 | 华域汽车车身零件（武汉）有限公司 | A kind of gluing automated system |
-
2016
- 2016-04-29 CN CN201620383688.0U patent/CN205701287U/en active Active
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105750157A (en) * | 2016-04-29 | 2016-07-13 | 中国航空工业集团公司北京长城航空测控技术研究所 | Intelligent adhesive application end effector and control method thereof |
| CN105750157B (en) * | 2016-04-29 | 2018-09-18 | 中国航空工业集团公司北京长城航空测控技术研究所 | A kind of intelligence gluing end effector and its control method |
| CN108816676A (en) * | 2018-06-07 | 2018-11-16 | 上海天永智能装备股份有限公司 | A kind of gluing and the knockdown glue stations of camera detection |
| CN109365218A (en) * | 2018-12-06 | 2019-02-22 | 华域汽车车身零件（武汉）有限公司 | A kind of gluing automated system |
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| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant |