WO2020181970A1

WO2020181970A1 - Adhesive coating system for automobile windscreen

Info

Publication number: WO2020181970A1
Application number: PCT/CN2020/076067
Authority: WO
Inventors: 刘德志; 李晓东; 刘健华; 黄锐伟; 余盈; 卢宏基; 何剑波; 罗伟强
Original assignee: 广汽本田汽车有限公司
Priority date: 2019-03-11
Filing date: 2020-02-20
Publication date: 2020-09-17
Also published as: JP7224473B2; CN109954627B; CN109954627A; JP2022516104A

Abstract

An adhesive coating system for an automobile windscreen comprising a pre-coating robot (4) and a pre-coating device (5). The pre-coating device (5) is used to discharge a pre-coating agent in a pre-coating operation. The pre-coating robot (4) grips glass at a corresponding position, moves to a location under the pre-coating device (5), and drives the glass to move according to a specified track, such that the pre-coating agent is applied to the glass. The system further comprises a material loading device (1), a material loading robot (2), an alignment device (3), a second material loading device (6) and an adhesive coating robot (7). The system employs robots to replace all manual operations, thereby achieving a higher level of automation, and ensuring good quality of adhesive coating.

Description

Glue coating system for automobile windshield

Technical field

The invention relates to the technical field of automobile assembly, in particular to an automobile windshield glue coating system.

Background technique

On the assembly line of the automobile windshield, the glass must first be pre-coated, mainly the cleaning agent and primer, then the glue, and finally the installation. In the existing automobile glass assembly line, employees transport the glass from the rack to the conveyor chain, and manually use a writing brush to apply the cleaning agent and primer to the glass and confirm the coating quality. A six-axis robot is used for gluing and a six-axis robot is used for installation. The existing technology has a low level of automation, not only increased personnel costs, but also low production efficiency. The cleaning agent usually uses glass degreasing agent (main component acetone), and the primer uses strengthening agent (main component carbon black, methyl ethyl ketone, acetic acid). Ethyl acetate, 2-ethoxyethyl acetate and xylene), detergents and primers are all dangerous chemicals, which are harmful to humans for long-term exposure.

Summary of the invention

In view of the above-mentioned shortcomings in the prior art, the purpose of the present invention is to provide an automobile windshield gluing system that automatically coats a cleaner and a primer.

In order to solve the above technical problems, the automotive windshield glue coating system provided by the present invention includes a pre-coating robot and a pre-coating device. The pre-coating device is used for dispensing the pre-coating agent during pre-coating, and the pre-coating robot is used to grasp The glass at the corresponding position moves below the pre-coating device and drives the glass to move in accordance with a designated trajectory, so that the pre-coating agent is coated on the glass.

As a preferred solution, it also includes a first feeding device, a feeding robot, a centering device, a second feeding device, and a gluing robot. The first feeding device is used to move the glass rack to the upper In front of the material robot, the loading robot is used to grab the glass on the material rack and place it on the centering device for positioning and centering. After the pre-coating robot grabs the glass from the centering device Placed in the pre-coating device for pre-coating and placed on the second loading device after the pre-coating is completed, the second loading device is used to move the glass to the front of the glue application robot and apply glue Remove the glass after completion, the glue application robot is connected with a glue application head, and the glue application head is used for dispensing glue when applying glue, and the glue application robot is used to drive the glue application head to apply glue on the glass .

As a preferred solution, the first feeding device includes a mobile platform, a guide rail, an X-axis clamping mechanism, and a Y-axis clamping mechanism, the mobile platform is slidably arranged on the guide rail, and the first feeding device on the mobile platform Both one side and the second side adjacent to it are provided with a stopper, the X-axis clamping mechanism and the Y-axis clamping mechanism are arranged on the moving platform, and the X-axis clamping mechanism is parallel to the The second side of the mobile platform is arranged opposite to it, the Y-axis clamping mechanism is parallel to and opposite to the first side of the mobile platform, and the X-axis clamping mechanism is used to push the material rack toward the The second side of the mobile platform moves, the Y-axis clamping mechanism is used to push the material rack to the first side of the mobile platform, the X-axis clamping mechanism is provided with an X-axis displacement sensor, the A Y-axis displacement sensor is provided on the Y-axis clamping mechanism.

As a preferred solution, the first feeding device further includes four trays for placing the feet of the material rack, and the four trays are respectively movably arranged at the four corners of the mobile platform, and A number of steel ball rollers distributed in a rectangular array are arranged on the mobile platform, the tray is arranged above the steel ball rollers, and the X-axis clamping mechanism and the Y-axis clamping mechanism are both arranged on the outside of the tray.

As a preferred solution, the feeding robot includes a gripper with a gripping suction cup, a shift lever for shifting the stop lever on the material rack, and a shift lever detection structure, and the shift lever detection structure includes an elastic member and a touch A sensor, the shift lever is axially movably arranged on the clamp, the shift lever is sheathed with a connecting block, and the elastic member is connected between the lower side of the shift lever and the bottom of the connecting block And has a force on the shift lever, and the touch sensor is installed on the connecting block and located above the shift lever.

As a preferred solution, the centering device includes a transverse clamping mechanism, a longitudinal clamping mechanism, a support column, a support suction cup, and a measuring device. The transverse clamping mechanism is arranged above the longitudinal clamping mechanism and is connected to the longitudinal clamping mechanism. Tight mechanism vertical,

The transverse clamping mechanism and the longitudinal clamping mechanism both include a centering cylinder, a first clamping assembly and a second clamping assembly, and the first clamping assembly and the second clamping assembly are connected by a transmission gear , And the first clamping assembly and the second clamping assembly are symmetrically arranged with the transmission gear as the axis of symmetry, and the centering cylinder is connected to the first clamping assembly;

The first clamping assembly and the second clamping assembly each include a sliding table, a clamping rod, a centering guide rail, and a sliding block. The sliding block is slidably arranged on the centering guide rail. The sliding table is connected above the sliding block, the clamping rod is vertically arranged on the sliding table, and the clamping rod of the first clamping assembly, the clamping rod of the second clamping assembly and The center of the transmission gear is located on the same straight line, the side surface of the sliding table is provided with meshing teeth meshing with the transmission gear, and the support column and the support suction cup are located in the area formed by the connection of the clamping rods Inside, the supporting suction cup is connected with the suction device;

The measuring device includes an encoder and a rack, the rack is arranged above the sliding table of the first clamping assembly and extends along its length, and the encoder is arranged on the first clamping assembly. On the side of the sliding table, a measuring gear meshed with the rack is sleeved on the extension shaft of the encoder.

As a preferred solution, the pre-coating device includes a column, a connecting arm, a cleaning head, and a primer head. One end of the connecting arm is connected to the support column, and the other end of the connecting arm is provided with a mounting frame. The cleaning head is connected to the mounting frame, the undercoating head is movably arranged on the mounting frame, the cleaning head and the undercoating head are respectively connected to their respective silos through connecting pipes, the The liquid supply of the cleaning head and the primer head is controlled by a PLC system.

As a preferred solution, a first cylinder is provided on the mounting frame, the undercoating head is connected to the piston rod of the first cylinder, and a second cylinder is provided at the bottom of the support column. The piston rod is parallel to the upright column, and the connecting arm is connected to the piston rod of the second cylinder.

As a preferred solution, it further includes a visual inspection device, the visual inspection device includes a camera, an image processing module and a display screen, the camera is connected to the glue application robot, the camera is connected to the image processing module, and the The image processing module is connected with the display screen.

As a preferred solution, the second feeding device includes a conveyor belt, and the pre-coating robot and the glue application robot are respectively arranged near two ends of the conveyor belt.

The beneficial effects of the present invention are as follows:

1. In the present invention, a pre-coating device and a pre-coating robot are set, the glass to be coated is grasped by the pre-coating robot and placed under the pre-coating device where the pre-coating agent is discharged, and then the pre-coating robot grasps the glass and moves it. The pre-coating agent is applied to the designated position on the glass, and the manual operation is replaced by the pre-coating robot and the pre-coating device, which solves the problems of uneven coating, low efficiency and health damage caused by manual operation.

2. The gluing system of the present invention realizes all the processes of glass gluing through the first feeding device, feeding robot, centering device, second feeding device, and gluing robot, and only employees need to place the glass rack When placed in the first feeding device, the cleaning agent, primer and glue can be automatically applied. The automation degree is high, the operation process is optimized, the gluing efficiency is improved, the gluing quality is guaranteed, and the cost is reduced.

3. In the present invention, an X-axis clamping structure and a Y-axis clamping mechanism are arranged on the first feeding device, the X-axis clamping mechanism pushes the material rack to the second side of the mobile platform, and the Y-axis clamping mechanism pushes the material Push the rack to the first side of the mobile platform, so that the material rack is placed with the intersection of the first side and the second side of the mobile platform as a vertex, and the displacement distance in the two directions is measured by the X-axis displacement sensor and the Y-axis sensor. The size of the material rack is obtained, so that the moving distance of the mobile platform can be controlled so that the material rack is located directly in front of the first feeding robot. In addition, the shift lever detection mechanism set on the feeding robot can detect whether the blocking lever of the feeding rack is opened, and protect the feeding robot and automobile glass. The centering device can center the glass on it, so that the pre-coating robot can grasp the specified position of the glass, and then the pre-coating agent can be applied to the specified position of the glass. The measuring device on the centering device can measure the glass Size, get the type of glass, it is convenient to plan the movement trajectory of the pre-coating robot. The pre-coating device is equipped with a cleaning head and a primer head at the same time, and the detergent and primer can be coated by the same robot, reducing the use of robots, reducing costs, and simplifying the production workshop. In addition, a visual inspection device is also set up to confirm the coating quality of the detergent and primer before applying the glue, and the quality of the glue coating after the glue is applied. The employees can view the images processed by the image processing module through the display screen. Enlarge, strengthen and clearly present problems that cannot be discerned by the naked eye.

Description of the drawings

Fig. 1 is a schematic diagram of an automobile windshield glue application system according to an embodiment.

Fig. 2 is a schematic diagram of the first feeding device of the embodiment.

Fig. 3 is a schematic diagram of the arrangement on the mobile platform of the embodiment.

Figure 4 is a schematic diagram of Figure 3A.

Fig. 5 is a schematic diagram of the feeding robot and the material rack of the embodiment.

Fig. 6 is a schematic diagram of the arrangement on the clamp of the embodiment.

Fig. 7 is a schematic diagram of the centering device of the embodiment.

Fig. 8 is a schematic diagram of Fig. 7B.

Fig. 9 is a top view of Fig. 7.

Fig. 10 is a schematic diagram of the pre-coating device of the embodiment.

Fig. 11 is a schematic diagram of the glue application robot of the embodiment.

Among them, 1-first feeding device, 101-rail, 102-moving platform, 103-baffle, 104-first push plate, 105-first clamping cylinder, 106-second push plate, 107-second Clamping cylinder, 108-pushing plate out of cylinder, 109-pallet; 2-feeding robot, 201-fixture, 202-shift lever, 203-elastic part, 204-touch sensor, 205-connection block, 206-ultrasonic Sensor, 207-stem stick out of the cylinder; 3-centering device, 301-centering cylinder, 302-transmission gear, 303-sliding table, 304-clamping rod, 305-centering guide rail, 306-slider, 307 -Encoder, 308- rack, 309- measuring gear, 3010- support column, 3011- suction cup; 4- pre-coating robot; 5- pre-coating device, 501- column, 502- connecting arm, 503- cleaning head, 504 -Undercoating head, 505-first cylinder, 506-second cylinder, 507-through hole; 6-second feeding device, 7-gluing robot, 701-gluing head; 8-material rack, 801-stop Rod, 802-cross rod, 803-vertical rod, 804-stop rod detection device, 9-silo, 10-camera.

detailed description

In the description of the present invention, it should be noted that the terms "center", "vertical", "horizontal", "upper", "lower", "front", "rear", "left", "right", " The orientation or positional relationship indicated by "vertical", "horizontal", "top", "bottom", "inner", "outer" etc. is based on the orientation or positional relationship shown in the drawings, and is only for the convenience of describing the present invention and simplifying The description does not indicate or imply that the pointed device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation of the present invention. In addition, the terms "first", "second", and "third" are only used for descriptive purposes, and cannot be understood as indicating or implying relative importance.

In the description of the present invention, it should be noted that the terms "installed", "connected" and "connected" should be understood in a broad sense, unless otherwise clearly specified and limited. For example, they can be fixed or detachable. Connected or integrally connected; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium, and it can be the internal communication between two components. For those of ordinary skill in the art, the specific meaning of the above-mentioned terms in the present invention can be understood in specific situations.

The technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative work shall fall within the protection scope of the present invention.

1 to 11, the automotive windshield gluing system of this embodiment includes a pre-coating robot 4 and a pre-coating device 5. The pre-coating device 5 is used for pre-coating the pre-coating agent, and the pre-coating robot 4 is used to grasp Take the glass at the corresponding position and move it under the pre-coating device 5 and drive the glass to move in accordance with the designated trajectory to coat the pre-coating agent on the glass. In this embodiment, the pre-coating device 5 and the pre-coating robot 4 are set. The pre-coating robot 4 grabs the glass to be coated and places it under the pre-coating device 5 where the pre-coating agent is drawn. The pre-coating robot 4 grips the glass. Move the pre-coating agent to the specified position on the glass. The pre-coating robot 4 and the pre-coating device 5 replace manual work, which solves the uneven coating, low efficiency and health damage caused by manual work. The problem.

The gluing system of this embodiment also includes a first feeding device 1, a feeding robot 2, a centering device 3, a second feeding device 6 and a gluing robot 7. The first feeding device 1 is used for placing glass The material rack 8 moves to the front of the loading robot 2. The loading robot 2 is used to grab the glass on the material rack 8 and place it on the centering device 3 for positioning and centering. The pre-coating robot 4 grabs from the centering device 3 The glass is then placed on the pre-coating device 5 for pre-coating and placed on the second feeding device 6 after the pre-coating is completed. The second feeding device 6 is used to move the glass to the front of the gluing robot 7 and after the gluing is completed Remove the glass, the glue application robot 7 is connected with a glue application head 701, the glue application head 701 is used for dispensing glue when applying glue, and the glue application robot 7 is used to drive the glue application head 701 to apply glue on the glass. The gluing system of this embodiment realizes all the processes of glass gluing through the first feeding device 1, the feeding robot 2, the centering device 3, the second feeding device 6 and the gluing robot 7. The glass material rack 8 is placed in the first feeding device 1 to automatically apply glue. The degree of automation is high, the operation process is optimized, and the efficiency of glue application is improved. The coating of detergent, primer and glue are all used The machine is used to ensure the quality of glue application and reduce the cost.

In addition, the first feeding device 1 and the second feeding device 6 of this embodiment are arranged oppositely, and the feeding robot 2, the centering device 3, the pre-coating robot 4, and the pre-coating device 5 are arranged in the first feeding device 1 in sequence. And the second feeding device 6, the feeding robot 2 is arranged in front of the first feeding device 1, and the gluing robot 7 is arranged in front of the second feeding device 6. In this embodiment, the second feeding device The device 6 includes a conveyor belt 601. The pre-coating robot 4 and the gluing robot 7 are respectively arranged close to the two ends of the conveyor belt 601, so that the process is carried out rigorously and orderly, effectively shortening the length of the production line, and making full use of the production space.

In this embodiment, the first feeding device includes a guide rail 101, a mobile platform 102, an X-axis clamping mechanism, and a Y-axis clamping mechanism. The mobile platform 102 is slidably arranged on the guide rail 101, and the first The side and the adjacent second side are both provided with a stopper 103, the X-axis clamping mechanism and the Y-axis clamping mechanism are arranged on the mobile platform 102, and the X-axis clamping mechanism is parallel to and with respect to the second side of the mobile platform 102. Relatively arranged, the Y-axis clamping mechanism is parallel to and opposite to the first side of the mobile platform 102, the X-axis clamping mechanism is used to push the material rack 8 to the second side of the mobile platform 102, and the Y-axis clamping mechanism is used for The material rack 8 is pushed to move to the first side of the mobile platform 102, the X-axis clamping mechanism is provided with an X-axis displacement sensor, and the Y-axis clamping mechanism is provided with a Y-axis displacement sensor. When an employee uses a forklift to place the material rack 8 on the first loading device 1, the X-axis clamping mechanism and Y-axis clamping mechanism on the moving platform 102 of the first loading device 1 move the material rack 8 to Move to a predetermined position, and slide on the guide rail 101 through the mobile platform 102, move the material rack 8 to the front of the loading robot 2, so that the loading robot 2 can smoothly grab the glass from the material rack 8, not only without manual The positioning of the material rack 8 in front of the loading robot 2 can avoid the collision between the forklift and the loading robot 2, protect the loading robot 2, and ensure the accurate positioning of the material rack 8. The X-axis clamping mechanism of this embodiment includes two first push plates 104 and two first clamping cylinders 105. A first push plate 104 is connected to the piston rod of a first clamping cylinder 105. The plate 104 is parallel to the second side of the mobile platform 12, and the two first clamping cylinders 105 are arranged on the fourth side opposite to the second side of the mobile platform 102 and respectively close to the first and third sides of the mobile platform 102 . The Y-axis clamping mechanism includes four second push plates 106 and four second clamping cylinders 107. A second push plate 106 is connected to the piston rod of a second clamping cylinder 107, two of which are second clamping The air cylinder 107 is arranged on the third side of the mobile platform 102 and respectively close to the second side and the fourth side of the mobile platform 102, and the other two second clamping air cylinders 107 are respectively arranged on the second side and the fourth side of the mobile platform 102 And the two are arranged oppositely. The second clamping cylinder 107 on the fourth side of the mobile platform 102 is connected to the piston rod of the first clamping cylinder 105 and located behind the first push plate 104 of the first clamping cylinder 105. In addition, the piston rods of the second clamping cylinder 107 arranged on the second and fourth sides of the mobile platform are connected with a push plate extending cylinder 108, and the second push plate 106 is connected to the piston rod of the pushing plate extending cylinder 108 . The piston rod of the first clamping cylinder 105 is parallel to the piston rod of the push plate extending out of the cylinder 108, and the piston rod of the first clamping cylinder 105 is perpendicular to the piston rod of the second clamping cylinder 107. Through the expansion and contraction of the piston rod, the push plate moves, and the push plate pushes the material rack 8 to move. Since there is a certain spatial distance between the two legs of the material rack 8, and the position of the second clamping cylinder 107 on the third side of the mobile platform 102 is fixed, the second connection of the two second clamping cylinders 107 will appear. The push plate 106 is staggered from the legs of the material rack 8, so a second clamping cylinder 107 is provided on the second side and the fourth side of the moving platform 102. When the first clamping cylinder 105 is pushed, the second clamping cylinder 105 The tightening cylinder 107 moves with the piston rod of the first clamping cylinder 105 to the vicinity of the feet of the material rack 8, thereby avoiding the problem that it cannot be pushed in the Y-axis direction. In this embodiment, a push rod extending out of the cylinder 108 is also provided, which can prevent the material rack 8 from colliding with the second push plate 107 when the first push plate 104 pushes the material rack 8. The X-axis clamping mechanism pushes the material rack 8 to the second side of the mobile platform 102, and the Y-axis clamping mechanism pushes the material rack to the first side of the mobile platform 102, so that the material rack 8 can move the first side of the platform 102. The intersection with the second side is placed as a vertex. The X-axis displacement sensor and Y-axis displacement sensor of this embodiment are respectively used to measure the displacements of the first push plate 104 and the second push plate 106, according to the displacement of the first push plate 104 and the second push plate 106 compared with the original distance , The size of the material rack 8 can be obtained to control the moving distance of the mobile platform 102 so that the material rack 8 is located directly in front of the loading robot 2 so that the loading robot 2 with a fixed motion track can smoothly grab the glass from the material rack 8 , To avoid the collision between the feeding robot 2 and the material rack 8. In addition, in this embodiment, two mobile platforms 102 are set on the guide rail 101. When the robot grabs the glass on the rack 8 placed on one of the mobile platforms 102, the logistics personnel can use a forklift to place the rack 8 on the other mobile platform 102. To improve work efficiency.

In addition, the first feeding device 1 also includes four trays 109 for placing the legs of the material rack. The four trays 109 are respectively movably arranged at the four corners of the mobile platform 102, and the mobile platform 102 is provided with a rectangular array. Several steel ball rollers (not shown in the figure) are distributed, the tray 109 is arranged above the steel ball rollers, and the X-axis clamping mechanism and the Y-axis clamping mechanism are both arranged on the outside of the tray 109. When the X-axis clamping mechanism and Y-axis clamping mechanism push the material rack 8, the tray 4 moves with the movement of the material rack 8, reducing the friction between the material rack 8 and the mobile platform 102, and can push the material rack with a smaller thrust 8.

The material rack 8 usually includes a stop rod 801 for separating the glass and arranged on it by a turning and fixing mechanism, a cross rod 802 and two vertical rods 803. The two ends of the cross rod 802 are respectively connected to the two vertical rods 803, The stop rod 801 is rotatably connected to the cross rod 802 through the turning and fixing mechanism with the cross rod 802 as the axis. When the glass is loaded, the feeding robot 2 needs to move the stop rod 801 of the material rack 8 to turn the stop rod 801 The fixing mechanism is opened to turn the blocking lever 801 over, and then the feeding robot 2 grabs the glass from the material rack 8. In this embodiment, a stop bar detection device 804 is provided on the material rack 8 to detect the turning of the stop bar 801. The stop bar detection device 804 in this embodiment uses a laser sensor. The stop bar detection device 804 is arranged on the vertical bar 803 and is located on the stop bar. Above 801, detect whether the stop lever 801 passes by the stop lever detection device 804 to determine whether the stop lever 801 is opened. If the stop lever 801 is not opened successfully and the feeding robot 2 does not stop, it will damage the car glass and the feeding robot. 2. The setting of the blocking lever detection device 804 can promptly issue an alarm and stop the feeding robot 2 to protect the automobile glass and the feeding robot 2.

The feeding robot 2 also includes a clamp 201 with a suction cup, a shift lever 202 for shifting the stop lever 801, and a shift lever detection structure. The shift lever detection structure includes an elastic member 203 and a touch sensor 204. The shift lever 202 can move axially Ground is set on the clamp 201, the shift lever 202 is covered with a connecting block 204, the elastic member 203 is connected between the lower side of the shift lever 202 and the bottom of the connecting block 205 and has a force on the shift lever 202, and the touch sensor 204 is installed On the connecting block 205 and above the shift lever 202. When the loading robot 2 toggles the stop lever 801, the clamp 201 of the loading robot 2 moves above the stop lever 801 and tilts downward to a certain angle, the lever 202 extends, the lever 202 contacts the stop lever 801, and the clamp 201 is inclined Move upward to make the shift lever 202 exert an oblique upward force on the stop lever 801 to open the flip fixing mechanism of the stop lever 801. Then the clamp 201 moves below the stop lever 801, and then moves upwards until the stop lever 801 is turned over and opens the stop.杆801. In order to prevent the glass from falling when the stop rod 801 of the material rack 8 is opened during transportation, the manufacturer will bind the stop rod 801 of the material rack 8 with a fixing belt to prevent the stop rod 801 from opening. The fixing belt 8 is located above the stop rod 801. When the automobile glass is loaded, the material personnel are required to open the fixing belt, and then the feeding robot will move the blocking lever 801 away so that the blocking lever 801 can be turned over. If the fixing belt above the blocking lever 801 is not opened, the shift lever 202 receives a greater force than during normal operation, so that the shift lever 202 overcomes the pulling force of the elastic member 203 and moves upward and touches the upper touch sensor 204. Thus, the information is transmitted to the control system, the feeding robot 2 is stopped, and the feeding robot 2 and the car glass are protected. In addition, an ultrasonic sensor 206 is also provided on the clamp 201 to detect the glass and determine the position of the glass and the stop rod 801, so that the feeding robot 2 can accurately shift the rod and grasp the glass. In addition, the clamp 201 of this embodiment is connected to a shift rod extension cylinder 207, one end of the shift rod 207 is connected to the piston rod of the shift rod extension cylinder 207, and the other end of the shift rod 207 is installed with a connecting block 205.

In this embodiment, the centering device 3 includes a horizontal clamping mechanism, a vertical clamping mechanism support column 3010, a suction cup 3011, and a measuring device. The horizontal clamping mechanism is arranged above and perpendicular to the vertical clamping mechanism. Both the lateral clamping mechanism and the longitudinal clamping mechanism include a centering cylinder 301, a first clamping assembly and a second clamping assembly. The first clamping assembly and the second clamping assembly are connected by a transmission gear 302, and the first clamping The assembly and the second clamping assembly are symmetrically arranged with the transmission gear 302 as the axis of symmetry, and the centering cylinder 301 is connected to the first clamping assembly; both the first clamping assembly and the second clamping assembly include a sliding table 303, a clamping The rod 304, the centering guide rail 305 and the sliding block 306, the sliding block 306 is slidably arranged on the centering guide rail 305, the sliding table 303 is connected above the sliding block 306, the clamping rod 304 is vertically arranged on the sliding table 303, and The clamping rod 304 of the first clamping assembly, the clamping rod 304 of the second clamping assembly and the center of the transmission gear 302 are located on the same straight line. The side of the sliding table 303 is provided with meshing teeth that mesh with the transmission gear 302, and the support column 3010 and the suction cup 3011 are located in the area formed by the connection of the clamping rods 304, and the suction cup 3011 is connected to the suction device; the measuring device includes an encoder 307 and a rack 308, which is provided on the sliding table 303 of the first clamping assembly The encoder 307 is arranged on the side of the sliding table 303 of the first clamping assembly, and the extension shaft of the encoder 307 is sleeved with a measuring gear 309 meshing with the rack 308. When the loading robot 2 puts the glass on the support column 3010 of the centering device 3, the transmission gear 302 rotates, driving the sliding table 303 of the first clamping assembly and the sliding table 303 of the second assembly to move inward at the same speed. The clamping rod 304 pushes the glass to move, so that the center of the glass is aligned with the predetermined position, so that the pre-coating robot 4 can accurately grasp the glass and confirm the center of the glass, and the encoder 307 can measure the moving distance of the sliding table 303 to obtain the glass The gluing system can determine the type and size of the glass and control the trajectory of the pre-coating robot 4 gripping the glass accordingly, so that the predetermined coating position of the glass can accurately contact the pre-coating device 5.

The pre-coating device of this embodiment includes a column 501, a connecting arm 502, a cleaning head 503 and a primer head 504. One end of the connecting arm 502 is connected to the column 501, the other end of the connecting arm 502 is provided with a mounting frame, and the cleaning head 503 is connected On the mounting frame, the bottom coating head 504 can be moved up and down on the mounting frame. The cleaning head 503 and the bottom coating head 504 are respectively connected to the respective silo 9 through a connecting pipe. The cleaning head 503 and the bottom coating head 504 are supplied with liquid Adopt PLC system control. The mounting frame is provided with a first cylinder 505, the primer head 504 is connected to the piston rod of the first cylinder 505, the bottom of the column 501 is provided with a second cylinder 506, the piston rod of the second cylinder 506 is parallel to the column 501, and the connecting arm 502 is connected to the piston rod of the second cylinder 506, and the first connecting arm 502 can be moved up and down for easy maintenance. The cleaning head 503 and the primer head 504 are installed on the same mounting frame, and the primer head 504 can be moved up and down. When the cleaning agent is applied, the primer head 504 is located above the cleaning head 503. When the primer is applied, The primer head 504 is located under the cleaning head 503, and cleaning and primer coating do not affect each other, so one coating robot can be reduced, and the production line can be simplified. The pre-coating robot 4 of this embodiment is a six-axis robot. When the detergent and primer are applied, the pre-coating robot 4 is turned and moved so that the cleaning head 503 and the primer head 504 can be coated on the glass. The edge position. In addition, the column 501 and the connecting arm 502 of this embodiment are hollow structures, and the bottom and upper part of the column 501, and the two ends of the connecting arm 502 are respectively provided with the same through holes 507 inside, and the connecting pipe enters the column from the bottom of the column 501 501, then extend from the through hole 507 on the upper part of the column 501, and then enter the connecting arm 502 from the through hole 507 of the connecting arm 502 close to the column 501, and finally extend from the through hole 507 at the other end of the connecting arm 502, and then clean The head 503 and the primer head 504 are connected to protect the pipeline. In addition, the connecting arm 502 of this embodiment includes two connecting sections, one connecting section is vertically connected to the column 501, and the other connecting section is connected to the connecting section at a certain angle, which can prevent the pre-coating robot 4 from colliding with the column 501.

In addition, another set of connecting arms 502, a cleaning head 503 and a primer head 504 are arranged on the column 501 in this embodiment. The two connecting arms 502, the cleaning head 503 and the primer head 504 are respectively located on opposite sides of the column 501 . The first feeding device 1, feeding robot 2, centering device 3, pre-coating robot 4, pre-coating device 5, second feeding device 6 and gluing robot 7 of the automotive windshield glue coating system of this embodiment Two sets of the same structure are installed, two sets of first feeding device 1, two sets of feeding robots 2, two sets of centering devices 3, two sets of pre-coating robots 4, two sets of pre-coating devices 5, and two sets of second The feeding device 6 and the two sets of gluing robots 7 are respectively distributed on both sides of the column 501 with the straight line where the column 501 is located as the axis of symmetry. The silo 9 is arranged between the two sets of the first feeding device 1, which can carry out two pieces at the same time. The coating of glass makes full use of space.

The automobile windshield glue application system of this embodiment also includes a visual inspection device. The visual inspection device includes a camera 10, an image processing module and a display screen. The camera 10 is connected to the glue application robot 7, and the camera 10 is connected to the image processing module. The processing module is connected to the display screen. The image processing module can magnify, enhance and clearly present the coating trajectory on the image collected by the camera 10. The employee can view the image processed by the image processing module through the display screen, and can clearly and accurately detect the problems that cannot be distinguished by the naked eye. Carry out cleaning agent and primer coating quality inspection and glue coating quality inspection after coating to ensure coating quality. The coating robot 7 in this embodiment is a six-axis robot, and the glue application head 701 and the camera 10 are both connected to the T-axis component of the coating robot 7.

In summary, in this embodiment, the pre-coating device 5 and the pre-coating robot 4 are set, and the glass to be coated is picked up by the pre-coating robot 4 and placed under the pre-coating device 5 where the pre-coating agent is drawn. Grasp the glass and move it so that the pre-coating agent is applied to the specified position on the glass. The pre-coating robot 4 and the pre-coating device 5 replace the manual work, which solves the uneven coating and low efficiency caused by manual work. And health damage.

The above are only the preferred embodiments of the present invention. It should be pointed out that for those of ordinary skill in the art, without departing from the technical principles of the present invention, several improvements and replacements can be made. These improvements and replacements It should also be regarded as the protection scope of the present invention.

Claims

A gluing system for automobile windshield, which is characterized in that it comprises a pre-coating robot and a pre-coating device, the pre-coating device is used for pre-coating the pre-coating agent, the pre-coating robot is used to grab the corresponding position The glass then moves to the bottom of the pre-coating device and drives the glass to move in accordance with a designated trajectory, so that the pre-coating agent is coated on the glass.
The automobile windshield gluing system according to claim 1, further comprising a first feeding device, a feeding robot, a centering device, a second feeding device and a gluing robot, the first feeding device The feeding device is used to move the material rack on which the glass is placed to the front of the loading robot, and the loading robot is used to grab the glass on the material rack and place it on the centering device for positioning and centering. The pre-coating robot grabs the glass from the centering device and places it on the pre-coating device for pre-coating and after the pre-coating is completed, it is placed on the second feeding device, and the second feeding device is used for To move the glass to the front of the glue application robot and remove the glass after the glue application is completed, a glue application head is connected to the glue application robot, and the glue application head is used for dispensing glue when applying glue. The glue robot is used to drive the glue application head to apply glue on the glass.
The automobile windshield gluing system according to claim 2, wherein the first feeding device includes a moving platform, a guide rail, an X-axis clamping mechanism and a Y-axis clamping mechanism, and the moving platform is slidable The first side and the second side adjacent to the moving platform are both provided with a stopper, and the X-axis clamping mechanism and the Y-axis clamping mechanism are arranged on the guide rail. On the mobile platform, the X-axis clamping mechanism is parallel to and opposite to the second side of the mobile platform, and the Y-axis clamping mechanism is parallel to and opposite to the first side of the mobile platform. The X-axis clamping mechanism is used to push the material rack to move to the second side of the mobile platform, and the Y-axis clamping mechanism is used to push the material rack to move to the first side of the mobile platform. An X-axis displacement sensor is arranged on the X-axis clamping mechanism, and a Y-axis displacement sensor is arranged on the Y-axis clamping mechanism.
The automobile windshield gluing system according to claim 3, wherein the first feeding device further comprises four trays for placing the feet of the material rack, and the four trays are respectively movable It is installed on the four corners of the mobile platform. A number of steel ball rollers distributed in a rectangular array are arranged on the mobile platform. The tray is arranged above the steel ball rollers. The X-axis clamping mechanism and the Y The shaft clamping mechanisms are all arranged on the outside of the tray.
The automobile windshield gluing system according to claim 2, wherein the feeding robot includes a gripper with a gripping suction cup, a shift lever and a shift lever for shifting the stop lever on the material rack A detection structure, the shift lever detection structure includes an elastic member and a touch sensor, the shift lever is axially movably arranged on the clamp, the shift lever is covered with a connecting block, and the elastic member is connected to the The lower side of the shift lever and the bottom of the connecting block have a force on the shift lever, and the touch sensor is installed on the connecting block and located above the shift lever.
The automobile windshield gluing system according to claim 2, wherein the centering device includes a transverse clamping mechanism, a longitudinal clamping mechanism, a support column, a support suction cup and a measuring device, and the transverse clamping mechanism Arranged above the longitudinal clamping mechanism and perpendicular to the longitudinal clamping mechanism,

The transverse clamping mechanism and the longitudinal clamping mechanism both include a centering cylinder, a first clamping assembly and a second clamping assembly, and the first clamping assembly and the second clamping assembly are connected by a transmission gear , And the first clamping assembly and the second clamping assembly are symmetrically arranged with the transmission gear as the axis of symmetry, and the centering cylinder is connected to the first clamping assembly;

The first clamping assembly and the second clamping assembly each include a sliding table, a clamping rod, a centering guide rail, and a sliding block. The sliding block is slidably arranged on the centering guide rail. The sliding table is connected above the sliding block, the clamping rod is vertically arranged on the sliding table, and the clamping rod of the first clamping assembly, the clamping rod of the second clamping assembly and The center of the transmission gear is located on the same straight line, the side surface of the sliding table is provided with meshing teeth meshing with the transmission gear, and the support column and the support suction cup are located in the area formed by the connection of the clamping rods Inside, the supporting suction cup is connected with the suction device;

The measuring device includes an encoder and a rack, the rack is arranged above the sliding table of the first clamping assembly and extends along its length, and the encoder is arranged on the first clamping assembly. On the side of the sliding table, a measuring gear meshed with the rack is sleeved on the extension shaft of the encoder.
The automobile windshield glue coating system according to claim 2, wherein the pre-coating device includes a column, a connecting arm, a cleaning head and a primer head, and one end of the connecting arm is connected to the supporting column The other end of the connecting arm is provided with a mounting frame, the cleaning head is connected to the mounting frame, the primer head is movably arranged on the mounting frame, the cleaning head and the bottom The coating heads are respectively connected to their respective silos through connecting pipes, and the liquid supply of the cleaning head and the bottom coating head is controlled by a PLC system.
The automobile windshield glue coating system according to claim 7, wherein the mounting frame is provided with a first cylinder, the undercoating head is connected to the piston rod of the first cylinder, and the support The bottom of the column is provided with a second cylinder, the piston rod of the second cylinder is parallel to the upright column, and the connecting arm is connected to the piston rod of the second cylinder.
The automobile windshield glue application system of claim 2, further comprising a visual inspection device, the visual inspection device comprising a camera, an image processing module and a display screen, and the camera is connected to the glue application robot Above, the camera is connected with the image processing module, and the image processing module is connected with the display screen.
The automobile windshield gluing system according to claim 2, wherein the second feeding device comprises a conveyor belt, and the pre-coating robot and the gluing robot are respectively arranged near two ends of the conveyor belt.