CN216800390U

CN216800390U - Automatic gluing line of robot

Info

Publication number: CN216800390U
Application number: CN202122400688.0U
Authority: CN
Inventors: 李佳; 李剑芸; 黄承成; 范海飞; 张永磊
Original assignee: Shanghai Fengxun Industrial Intelligent Technology Co ltd
Current assignee: Shanghai Fengxun Industrial Intelligent Technology Co ltd
Priority date: 2021-10-01
Filing date: 2021-10-01
Publication date: 2022-06-24
Anticipated expiration: 2031-10-01

Abstract

The utility model discloses an automatic robot glue coating line which comprises a device body, wherein the device body comprises a product positioning station, a robot glue dispensing station, a product bottom glue dispensing station, a product assembling station, a portal frame, six manipulators, a glue dispensing head and a vision system, the product positioning station is positioned at the front end of the device body, the robot glue dispensing station is positioned at the rear end of the product positioning station, the product bottom glue dispensing stations are provided with one group, the group of product bottom glue dispensing stations are arranged at the rear end of the robot glue dispensing station in a row shape at equal intervals, the product assembling station is arranged at the rear end of the product bottom glue dispensing station, the portal frame is positioned at the top of the robot glue dispensing station, the six manipulators are arranged at the bottom of the top of the portal frame, the glue dispensing head is arranged at the bottom end of the six manipulators, and the vision system is arranged on the side edge of the bottom end of the glue dispensing head. The device is designed through the structure, so that the gluing efficiency and quality can be improved, the workload of workers can be reduced, and the working efficiency of the workers is improved.

Description

Automatic gluing line of robot

Technical Field

The utility model relates to the technical field of toughened glass, in particular to an automatic glue coating line of a robot.

Background

The toughened glass has the advantages of high strength, good safety and the like, so that the toughened glass is more widely applied to industries such as buildings, furniture manufacturing and the like; the glass is mainly applied to high-rise building doors and windows, glass curtain walls, indoor partition glass, lighting ceilings, sightseeing elevator passages, furniture, glass guardrails and the like in the building industry, and specifically, toughened glass is bonded on a stainless steel frame for use.

The automatic glue coating line of the existing toughened glass robot has the following defects:

1. most glass curtain wall class products are because the product kind is many, size range is wide at present, so main rubber coating mode is manual rubber coating, and the handheld machine of gluing of operator drags the rubber tube and opens the gluey valve and carry out the rubber coating operation along product frame all around. The method has high requirement on the physical strength of operators, is low in efficiency, is easy to cause unstable gluing of products, is easy to leak glue and overflow glue (glue overflow easily causes a large amount of waste), cannot effectively control the quality, is difficult to store production data, and is not beneficial to product tracing. The method is suitable for the dispensing application of products such as a constructed building curtain wall, a cushion curtain wall, a glass curtain wall, a metal plate curtain wall, a full glass curtain wall and a point-supported glass curtain wall, and can be compatible with products with different sizes.

2. When the existing gantry for the manipulator is used, the gantry is unstable in structure, and the manipulator can vibrate when operating, so that the condition that the manipulator vibrates during gluing is caused, and gluing work of workers is further influenced.

SUMMERY OF THE UTILITY MODEL

Technical problem to be solved

Aiming at the defects of the prior art, the utility model provides an automatic gluing line of a robot, which solves the problem that the gluing efficiency is influenced due to the insufficient gluing process of the automatic gluing line of the prior robot.

(II) technical scheme

In order to achieve the purpose, the utility model is realized by the following technical scheme: automatic rubber coating line of robot, including the device body, the device body includes product location station, robot point and glues station, product bottom point and glue station, product equipment station, portal frame, six manipulators, point and glue head and vision system, product location station is located the device body front end, robot point and glues the station and is located product location station rear end, product bottom point is glued the station and is equipped with a set ofly, and a set of product bottom point is glued the station and is listed as form equidistance and install in robot point and glue station rear end, product equipment station is installed and is glued station rear end at product bottom point, the portal frame is located and glues the station top at the robot point, and six manipulators install in portal frame top bottom, the point is glued the head and is installed in six manipulator bottoms, and the vision system is installed to point and is glued first bottom side.

The portal frame comprises a tripod, a bearing column and reinforcing columns, the tripod is provided with a group of tripods, the tripods are arranged at two ends of the bottom of the bearing column in a welding mode, the reinforcing columns are welded at the middle parts of the tripods, and two groups of mounting holes which are in a row shape and are distributed equidistantly are arranged at the bottom of the tripods.

The dispensing head comprises a pipe body and a pipe head, the pipe head is installed at the bottom of the pipe body, the pipe body is of a hollow structure, threads are arranged at the upper end and the lower end of the inside of the pipe body, a connecting pipe is arranged at the top of the pipe head, and threads are arranged on the surface of the connecting pipe.

The product equipment station top is equipped with the rubber pad, the rubber pad surface is equipped with a plurality of anti-skidding stamps of renting that are column form equidistance and distribute, the anti-skidding stamp top is equipped with the protrusion stamp that is cyclic annular equidistance and distributes.

(III) advantageous effects

The utility model provides an automatic gluing line of a robot. The method has the following beneficial effects:

1. the automatic rubber coating line of this robot has optimized traditional glass curtain wall class product rubber coating and equipment flow, makes each process beat match more rationally, has effectively improved the productivity. The flexible design can be compatible to produce curtain wall products with various sizes and forms. The whole production line only needs two operators, the enterprise cost is greatly reduced, the detection device is configured, the production precision is improved, and the quality is ensured to be reliable. Data generated in the production process can be traced and inquired. The assembly line is ingenious in layout, the occupied area is reduced to the greatest extent, the labor intensity of workers is reduced, the waste of hot melt adhesive is reduced, and the manufacturing cost is effectively reduced.

2. This automatic rubber coating line of robot is equipped with the portal frame, this kind of portal frame can guarantee the stability when six manipulators move, can prevent six manipulators shake when moving, this kind of portal frame has adopted a set of tripod that is the symmetric mode and has distributed as the base, and the tripod is triangle-shaped structure, triangle-shaped has the bearing power rifle, be difficult for collapsing characteristics such as, and install the stiffening column in the middle of the tripod, the stabilization of tripod can be improved to the stiffening column, and the mounting hole that the tripod bottom was seted up can be convenient for the staff and use the screw to fix the tripod, thereby prevent that the tripod from collapsing, this kind of portal frame stable in structure, thereby be convenient for six manipulators move.

Drawings

FIG. 1 is a schematic structural view of the present invention as a whole;

FIG. 2 is a diagram of a portal frame of the present invention;

FIG. 3 is a schematic structural view of a dispensing head according to the present invention;

fig. 4 is a schematic structural diagram of a product assembly station of the present invention.

In the figure, 1, a product positioning station; 2. a robot dispensing station; 3. dispensing stations at the bottoms of the products; 4. a product assembly station; 5. a gantry; 6. a six-axis manipulator; 7. dispensing a glue head; 8. a vision system; 9. a device body; 10. a tripod; 11. a load-bearing column; 12. a reinforcement column; 13. mounting holes; 14. a pipe body; 15. a tube head; 16. a connecting pipe; 17. a thread; 18. a rubber pad; 19. printing in an antiskid manner; 20. and (5) projecting and printing.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

Referring to fig. 1-4, an embodiment of the present invention provides a technical solution: the robot automatic glue coating line comprises a device body 9, wherein the device body 9 comprises a product positioning station 1, a robot glue dispensing station 2, a product bottom glue dispensing station 3, a product assembling station 4, a portal frame 5, a six-axis manipulator 6, a glue dispensing head 7 and a vision system 8, the product positioning station 1 is positioned at the front end of the device body 9, the robot dispensing station 2 is positioned at the rear end of the product positioning station 1, the product bottom dispensing stations 3 are provided with a group, the product bottom dispensing stations 3 are arranged at the rear ends of the robot dispensing stations 2 in a row shape at equal intervals, the product assembling station 4 is arranged at the rear end of the product bottom dispensing station 3, the portal frame 5 is positioned at the top of the robot dispensing station 2, and the six-axis manipulator 6 is installed in 5 top bottoms of portal frame, the head 7 of gluing is installed in 6 bottoms of six-axis manipulator, and the visual system 8 is installed to 7 bottom sides of the head of gluing.

The portal frame 5 comprises a tripod 10, a bearing column 11 and a reinforcing column 12, the tripod 10 is provided with a set of tripods 10 which are arranged at two ends of the bottom of the bearing column 11 in a welding mode, the reinforcing column 12 is welded at the middle part of the tripod 10, two sets of mounting holes 13 which are distributed in a row shape and in equal intervals are arranged at the bottom of the tripod 10, and the portal frame 5 can improve the stability of the six-axis manipulator 6, so that the six-axis manipulator 6 can run conveniently, and the gluing efficiency and quality are further improved.

Dispensing head 7 includes pipe shaft 14 and tube head 15, tube head 15 is installed in 14 bottoms of pipe shaft, pipe shaft 14 is the cavity formula structure, both ends all are equipped with screw thread 17 about pipe shaft 14 is inside, tube head 15 top is equipped with connecting pipe 16, connecting pipe 16 surface is equipped with screw thread 17, and the tube head 15 at 7 tops of dispensing can be through screw thread 17 connection pipe shaft 14 to the staff of being convenient for dismantles, installs it.

4 tops of product equipment station are equipped with rubber pad 18, rubber pad 18 surface is equipped with a plurality of anti-skidding stamps 19 of renting that are the form equidistance distribution of row, 19 tops of anti-skidding stamps are equipped with the protrusion stamp 20 that is cyclic annular equidistance distribution, and the rubber pad 18 at 4 tops of product equipment station can improve non-skid property to slide when preventing the product equipment, and the anti-skidding stamp 19 at 18 tops of non-skid pads can improve the pleasing to the eye degree of product equipment station 4, and the protrusion stamp 20 of 19 surface distributions of anti-skidding stamps has the saliency, thereby can reach the anti-skidding purpose to the product effectively.

The working principle is as follows: and a product positioning station 1, wherein the product positioning station is a chain and chain plate line with the width capable of being flexibly adjusted, an operator places the product on the product positioning station, then adjusts the width of the chain plate line to position the product, and after the positioning is finished, the operator presses a button to send the product to the next station. And a robot dispensing station 2 which is a chain and chain plate line with a fixed width and is a core station of the production line. A fanuc M710ic-45M six-axis manipulator 6 is upside down mounted on the gantry 5, and a set of cognex vision system 8 and a dispensing head 7 are mounted on the sixth axis. After the product is conveyed to the station, the six-axis manipulator 6 adjusts the posture to align the vision system 8 to the product, then sequentially moves three corners of the product according to preset product size data, uses the vision system 8 to shoot to obtain the position information of three point positions, calculates the positions of the rest points according to three-point coordinate signals, and then the system generates a dispensing track (comprising a frame adhesive tape and a middle adhesive tape track). The six-axis manipulator 6 adjusts the posture and the position, so that the specially-made dispensing head starts to continuously glue from the searched starting point position according to the calculated track. And after the gluing is finished, the chain plate line automatically conveys the product to the next station. And a glue dispensing station 3 at the bottom of the product, wherein part of the products need to be glued. The station consists of two sections of independently controlled conveyor lines, and a space with a certain width is reserved between the two sections of independently controlled conveyor lines, so that an operator can conveniently enter the space to glue the bottom of a product. After the bottom gluing operation is finished, an operator presses a button to start the conveying line to convey the product to the next station. And a product assembling station 4, which is a chain and chain plate line with the width capable of being flexibly adjusted, wherein when the product flows in from the previous station, an operator adjusts the width of the chain and chain plate line according to the width of the product, and then the product is assembled on the chain and chain plate line.

The method comprises the following steps of 1, positioning a product; 2. a robot dispensing station; 3. dispensing stations at the bottoms of the products; 4. a product assembly station; 5. a gantry; 6. a six-axis manipulator; 7. dispensing a glue head; 8. a vision system; 9. a device body; 10. a tripod; 11. a load-bearing column; 12. a reinforcement column; 13. mounting holes; 14. a pipe body; 15. a pipe head; 16. a connecting pipe; 17. a thread; 18. a rubber pad; 19. printing in an antiskid manner; 20. the convex printing and the parts are all universal standard parts or parts known by technicians in the field, the structure and the principle of the convex printing and the parts are known by the technicians through technical manuals or conventional experimental methods, the problem to be solved by the utility model is that the gluing process of the automatic gluing line of the existing robot is insufficient, so that the gluing efficiency is influenced.

While there have been shown and described what are at present considered the fundamental principles and essential features of the utility model and its advantages, it will be apparent to those skilled in the art that the utility model is not limited to the details of the foregoing exemplary embodiments, but is capable of other specific forms without departing from the spirit or essential characteristics thereof. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the utility model being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned.

Furthermore, it should be understood that although the present description refers to embodiments, not every embodiment may contain only a single embodiment, and such description is for clarity only, and those skilled in the art should integrate the description, and the embodiments may be combined as appropriate to form other embodiments understood by those skilled in the art.

Claims

1. Automatic rubber coating line of robot, its characterized in that: the automatic glue dispensing device comprises a device body (9), wherein the device body (9) comprises a product positioning station (1), a robot glue dispensing station (2), a product bottom glue dispensing station (3), a product assembling station (4), a portal frame (5), six-axis manipulators (6), a glue dispensing head (7) and a visual system (8), the product positioning station (1) is positioned at the front end of the device body (9), the robot glue dispensing station (2) is positioned at the rear end of the product positioning station (1), the product bottom glue dispensing station (3) is provided with a group, the product bottom glue dispensing stations (3) are arranged at the rear end of the robot glue dispensing station (2) in a row shape and are equidistantly arranged, the product assembling station (4) is arranged at the rear end of the product bottom glue dispensing station (3), the portal frame (5) is positioned at the top of the robot glue dispensing station (2), and the six-axis manipulators (6) are arranged at the bottom of the top of the portal frame (5), the dispensing head (7) is installed at the bottom end of the six-axis manipulator (6), and a vision system (8) is installed on the side edge of the bottom end of the dispensing head (7).

2. The robotic automated glue line of claim 1, wherein: the gantry frame (5) comprises a tripod (10), a bearing column (11) and reinforcing columns (12), wherein the tripod (10) is provided with a group, the tripod (10) is arranged at two ends of the bottom of the bearing column (11) in a welding mode, the reinforcing columns (12) are welded in the middle of the tripod (10), and two groups of mounting holes (13) which are distributed in a row shape at equal intervals are formed in the bottom of the tripod (10).

3. The robotic automated glue line of claim 1, wherein: dispensing head (7) is including pipe shaft (14) and tube head (15), install in pipe shaft (14) bottom tube head (15), pipe shaft (14) are the cavity formula structure, both ends all are equipped with screw thread (17) about pipe shaft (14) is inside, pipe head (15) top is equipped with connecting pipe (16), connecting pipe (16) surface is equipped with screw thread (17).

4. The robotic automated glue line of claim 1, wherein: product equipment station (4) top is equipped with rubber pad (18), rubber pad (18) surface is equipped with a plurality of lessons anti-skidding stamp (19) that are row form equidistance and distribute, anti-skidding stamp (19) top is equipped with protrusion stamp (20) that are cyclic annular equidistance and distribute.