CN101745491B - A glue coating automatic turning machine - Google Patents

Abstract

The invention discloses a glue coating automatic turnover machine, which comprises a turnover mechanism, a mechanical hand mechanism, a lifting mechanism, a distance measuring mechanism and a controller, wherein the turnover mechanism is arranged on a glue coating frame, the mechanical hand mechanism is connected with a rotating shaft and a bearing seat in the turnover mechanism through the glue coating frame, the lifting mechanism is arranged on the glue coating frame and is positioned in front of the mechanical hand mechanism, the distance measuring mechanism is arranged on the glue coating frame and is positioned under the mechanical hand mechanism, and the controller is connected with each mechanism. The invention adopts a mechanical hand for tightly clamping work pieces, the mechanical hand is provided with a clamp which consists of a clamp press plate and a clamp base, then, a servo driver is used for driving a servo motor to drive the rotating shaft for turning small combining surfaces of the work pieces to a position where the glue coating surface faces up, the distance measuring mechanism provided with a displacement sensor is used for detecting the positions of the work pieces, and the lifting mechanism provided with a tray positioning pin is used for lifting the work pieces to the glue coating positions. The invention has the characteristics of accurate turnover positioning and high automation degree.

Description

A glue coating automatic turning machine

technical field

The invention relates to a gearbox gluing technology, in particular to a gluing automatic turning machine capable of realizing double-sided gluing of a gearbox through automatic turning.

Background technique

At present, the control method commonly used by the gluing machine is to use a plane right-angle robot to realize the automatic gluing of the large joint surface of the gearbox. Since the automobile gearbox has a large joint surface and two small joint surfaces, and the two small joint surfaces are respectively located on the left and right sides of the gearbox, it is impossible to use a plane right-angle robot for automatic gluing, and only manual gluing can be used. Moreover, the gearbox needs to be turned over twice during the gluing process. Not only the labor intensity of the operator is high, but also the efficiency is low, and the gluing quality is difficult to guarantee. It is an urgent problem to be solved at present to develop a control method and a special device capable of realizing the automatic gluing of the small gluing surface of the gearbox by turning over.

Contents of the invention

The object of the present invention is to provide an automatic gluing turning machine capable of realizing automatic double-sided gluing of the gearbox through turning and positioning.

Technical scheme of the present invention is realized like this:

The turning mechanism includes an encoder, a servo motor, a reducer, a rotating shaft, a rotating shaft telescopic cylinder, and a bearing seat. The tail of the servo motor is equipped with an encoder, and the encoder is connected to the servo driver through a cable; the output shaft of the servo motor is installed There is a reducer, which is connected to the servo driver through a cable; the reducer is installed on the glued frame through a slide rail, and the output shaft of the reducer is connected to the rotating shaft; the rotating shaft is fixedly connected to the frame of the manipulator mechanism, and the bearing seat is passed through the slide rail Installed on the glued frame and connected with the frame of the manipulator mechanism;

The manipulator mechanism includes a clamping plate, a clamping base, and a clamping cylinder, wherein: the clamping plate and the clamping base are respectively connected to the piston and the cylinder body of the clamping cylinder, and are respectively connected to the sliding table through the connecting plate The slide block is installed together with the frame of the manipulator mechanism; positioning pins are installed on the fixture base;

The lifting mechanism is located in front of the manipulator mechanism, including a lifting cylinder, an electric air valve, a supporting plate, and a stopper. The cylinder body of the lifting cylinder is fixed on the glue-coated frame, and the piston of the lifting cylinder is connected with the supporting plate; The above-mentioned stopper has a cylinder and is installed on the line body of the production line, and the pallet positioning pin is arranged on the pallet;

The ranging mechanism is located below the manipulator mechanism, including a ranging telescopic cylinder, a guide rail base, a guide rail, a ranging fixing frame, and a displacement sensor. The ranging fixing frame is installed on the glue-coated frame; the lower end of the guiding rail base and the measuring The cylinder body of the distance measuring telescopic cylinder is installed on the distance measuring fixed frame; the piston of the distance measuring telescopic cylinder is connected to the lower end of the guide rail; the displacement sensor is fixed on the upper end of the guide rail through the sensor fixing plate, and the guide rail is located on the base of the guide rail and can be moved along the guide rail The base slides up and down;

Controls, including:

The industrial computer is connected to the touch screen through the USB bus;

The motion control card is a PCI bus structure, which stores the control program and communicates with the industrial computer;

The interface expansion card is connected with the motion control card through a cable;

The digital input module is connected with the interface expansion card through the CAN bus, and communicates with the operation panel equipped with buttons and switches, the proximity switch and the workpiece detection switch;

The digital output module is connected with the interface expansion card through the CAN bus and connected with the electric gas valve;

The analog input module is connected with the interface expansion card through the CAN bus and connected with the displacement sensor;

For the servo driver, the pulse input end is connected with the interface expansion card, and the output end is respectively connected with the servo motor and the configured encoder.

The control program flow is: after parameter initialization, it is judged whether the tray has reached the gluing station, if the tray has not reached the gluing station, then jump to the step of judging whether the gluing is finished; if the tray reaches the gluing station, the control stops The stopper stops the pallet at the gluing station; then detects whether there is a workpiece on the pallet, if there is a workpiece, the lifting mechanism is controlled to raise the pallet, if there is no workpiece, the pallet is released by the control stopper; after the pallet is raised to the right position, a rotation Command to the servo driver to rotate the rotating shaft together with the manipulator mechanism to the initial position; then control the telescopic cylinder of the rotating shaft to drive the manipulator mechanism to extend out. After reaching the position, control the clamping cylinder to retract, clamp the workpiece, control the pallet to drop, and detect the pallet After the signal is lowered, the shaft rotation command is issued to rotate the workpiece to the position of the glued surface of A, and the distance measuring telescopic cylinder is stretched out, and the measured value of the displacement sensor is compared with the preset parameter value to judge whether the detection is qualified or not. If it is qualified, the gluing cannot be carried out, and an alarm signal will be sent out, and then the distance measurement result will be saved in a variable, and the step of turning to the initial position of the rotating shaft will be skipped; After finishing, issue the rotating shaft rotation command to make the rotating shaft rotate to the position of the surface B for gluing, and then start the gluing machine to apply glue on the B side after stopping; after judging that the gluing on the B side is completed, the rotating shaft rotates to the initial position, and the tray rises; After rising to the position, the control fixture pressure plate and the fixture base are released, the manipulator mechanism is retracted, the pallet is lowered, the stopper is lowered, and the pallet is released to the next station.

The lifting mechanism also includes a proximity switch for pallet up and pallet down, which are respectively installed on the upper and lower ends of the lifting cylinder of the lifting mechanism and connected to the digital input module;

The workpiece detection switch, the transmitter is installed inside the line body, the receiver is installed outside the line body, and connected to the digital input module;

The pallet arrives at the station proximity switch, which is installed on the line body and connected with the digital input module;

The pallet up electric valve and the pallet down electric valve are installed on the gluing frame, communicate with the gas path of the lifting cylinder through the air pipe, and connect with the digital output module;

The stopper lowering electric gas valve is installed on the glued frame, connected with the gas circuit of the stopper cylinder through the gas pipe, and connected with the digital output module.

The manipulator mechanism also includes a proximity switch for releasing the clamp and a proximity switch for clamping, which are respectively installed at the front and rear ends of the clamping cylinder of the manipulator mechanism and connected to the digital input module;

The electric air valve for clamp clamping and the electric air valve for clamp loosening are respectively installed on the glue coating frame, connected with the air circuit of the clamping cylinder through the air pipe, and connected with the digital output module.

The overturning mechanism also includes: a proximity switch for extending the manipulator and a proximity switch for retracting the manipulator, which are respectively installed at the front and rear ends of the telescopic cylinder of the rotating shaft of the overturning mechanism, and connected with the digital input module;

The positive limit proximity switch of the rotating shaft and the negative limit proximity switch of the rotating shaft are respectively installed on the glue coating frame of the turning mechanism and connected with the digital input module;

The proximity switch for the origin of the rotating shaft is installed on the top of the bearing seat, close to the end of the manipulator mechanism, and connected to the digital input module;

The manipulator extends the electric air valve and the manipulator retracts the electric air valve, which are respectively installed on the glue coating frame, communicate with the air path of the rotating shaft telescopic cylinder through the air pipe, and connect with the digital output module.

The distance-measuring mechanism also includes: a distance-measuring up-to-position proximity switch and a distance-measuring down-to-position proximity switch, which are respectively installed on the upper and lower ends of the distance-measuring telescopic cylinder and connected to the digital input module;

The distance-measuring rising electric valve and the distance-measuring descending electric air valve are respectively installed on the glue-coating frame, connected with the air circuit of the distance-measuring telescopic cylinder through the air pipe, and connected with the digital output module;

The displacement sensor is fixed on the upper end of the guide rail through the sensor fixing plate; the sensor fixing plate is connected with the piston of the distance measuring telescopic cylinder, and the signal output end of the displacement sensor is connected with the analog input module.

The proximity switch is a non-contact magnetic switch; the workpiece detection switch is a through-beam infrared switch; a rubber pad is installed on the inside of the clamp pressing plate.

The present invention has the following advantages:

1. The structure of the present invention is simple, and the turning mechanism of the present invention is fast and accurate in rotation and positioning. (Positioning error dr＜±0.05mm).

2. The present invention can display the position of the turning mechanism in real time on the touch screen, and cooperate with the plane right-angle robot gluing system to complete the double-sided gluing operation of the workpiece.

3. The present invention has a formula editing function, which can realize various gearbox body flipping and gluing operations.

4. The present invention has the functions of status display and alarm, which can display the running status of the equipment in real time and automatically alarm.

Description of drawings

Figure 1 is a mechanical side view of the device of the present invention.

Fig. 2 is a mechanical diagram of the distance measuring mechanism of the device of the present invention.

Fig. 3 is a mechanical front view of the device of the present invention.

Fig. 4 is a functional block diagram of the control device of the present invention.

Fig. 5 is a flow chart of the control program of the present invention.

Detailed ways

The present invention will be described in detail below in conjunction with the following embodiments and accompanying drawings.

As shown in Figure 1, the automatic gluing turning machine of the present invention includes a turning mechanism, a manipulator mechanism, a lifting mechanism, a distance measuring mechanism, and a control device.

The control device consists of an industrial computer, a motion control card, an interface expansion card, a digital input module D/I, a digital output module D/O, an analog input module A/I, an electric gas valve, a proximity switch, a displacement sensor, Composed of servo drive, servo motor, and encoder. The motion control card is a PCI bus structure, which is inserted into the industrial computer; it is equipped with a touch screen, connected to the industrial computer through the USB bus, and its function is to display various parameters and equipment status, fault alarm, formula download, accept operation commands, etc. ; The interface expansion card is connected with the motion control card through a cable; the digital input module D/I, the digital output module D/O, and the analog input module A/I are connected with the interface expansion card through the CAN bus; The operation panel of the buttons and switches and the proximity switch are connected with the digital input module D/I for manual operation and manual/automatic switching, jogging and detecting the position signal of the cylinder, the limit and zero switch of the turning mechanism, etc.; The digital output module D/O is connected with the electric gas valve for controlling the expansion and contraction of the cylinder; the analog input module A/I is connected with the displacement sensor for detecting the position of the turning mechanism; the input terminal of the servo driver is connected with the The interface expansion card is connected, the output end of the servo driver is connected with the servo motor; the servo driver is connected with the encoder through a cable, and is used to detect the turning angle of the turning mechanism;

Industrial computer, motion control card (with control program), interface expansion card, digital input module D/I, digital output module D/O, and analog input module A/I are commercial products.

The overturning mechanism consists of an encoder 1, a servo motor 2, a reducer 3, a rotating shaft 4, a rotating shaft telescopic cylinder 5, a bearing seat 6, a rotating shaft origin proximity switch 7, a rotating shaft positive limit proximity switch 17, and a rotating shaft negative limit proximity switch 18 compositions.

The encoder 1 is installed at the tail of the servo motor 2, and is connected to the servo driver through a 6-core shielded cable; the output shaft of the servo motor 2 is installed with a reducer 3; the reducer 3 is installed on the glued frame through a slide rail 31, the output shaft of its reducer 3 is connected with the rotating shaft 4; the rotating shaft 4 is installed in the bearing seat 6 through the bearing; The servo motor 2 is connected to the servo driver installed in the control cabinet through a 4-core shielded cable; the positive limit proximity switch 17 of the rotating shaft, the negative limit proximity switch 18 of the rotating shaft, and the proximity switch 7 of the rotating shaft origin are non-contact magnetic The switch is connected to the digital input module D/I of the control device through a cable; the positive limit proximity switch 17 of the rotating shaft and the negative limit proximity switch 18 of the rotating shaft are installed on the glue-coating frame 31, located on one side of the manipulator mechanism frame 8, and the rotating shaft The origin proximity switch 7 is located at the top of the bearing seat 6, near one end of the manipulator mechanism. The cylinder body of the rotating shaft telescopic cylinder 5 is installed on the glue-coating frame 31, and its piston is fixedly connected with the manipulator mechanism frame 8;

Described manipulator mechanism is made up of slide block 9, connecting plate 10, slide table 32, fixture pressing plate 11, fixture base 12, positioning pin 13, clamping cylinder 19.

Positioning pin 13 is housed on described clamp base 12, and positioning pin 13 can realize that the relative position of workpiece (this embodiment adopts gearbox) and clamp base 12 remains unchanged; The piston of 19 is connected with the cylinder body, and as the clamping cylinder 19 stretches out the clamping plate 11 cooperates with the clamping base 12 to loosen the workpiece, and as the clamping cylinder 19 retracts, the clamping plate 11 cooperates with the clamping base 12 to clamp the workpiece tight; the inner side of the clamp pressing plate 11 is provided with a rubber pad to increase the friction between the clamp pressing plate 11 and the workpiece, and prevent the workpiece from slipping; The connected slide block 9 is installed on the mechanism frame 8 of the manipulator.

The working process of the manipulator mechanism is: when the workpiece needs to be clamped, the motion control card drives the clamping plate 11 and the clamping base 12 to clamp, at this time, the clamping cylinder 19 retracts, and the clamping cylinder 19 drives the clamping platen 11 moves downward along the vertical slide 32, the fixture base 12 moves upward along the vertical slide 32, the fixture pressure plate 11 presses the upper cover of the workpiece, and the fixture base 12 supports the lower end surface of the workpiece, thereby Clamp the workpiece firmly.

The lifting mechanism is composed of a lifting cylinder 18, an electric gas valve, a supporting plate 17, a pallet arrival position proximity switch 24, a stopper 21, a pallet positioning pin 20, and a workpiece detection switch 15. The cylinder body of the lifting cylinder 18 is fixed on the glue-coated frame 31, and the movement of the lifting cylinder 18 is controlled by an electric valve (located in the air circuit of the lifting cylinder 18, connected with the digital output module D/O); The supporting plate 17 is connected with the piston of the lifting cylinder 18, and rises with the extension of the piston of the lifting cylinder 18, and descends with the retraction of the piston of the lifting cylinder 18; the pallet reaches the station proximity switch 24 It is a non-contact magnetic switch, which is used to detect whether the pallet has reached the gluing station, and is installed on the line body of the production line; the stopper 21 has a cylinder, which is installed on the line body of the production line and adopts an electric air valve (located on the cylinder air In the middle of the road, it is connected to the digital output module D/O) to control the rise/fall, when the pallet with the workpiece arrives at the gluing station, the cylinder of the stopper 21 rises, and the stopper 21 stops the pallet at the gluing station, After the gluing operation is completed, the cylinder of the stopper 21 descends, and the pallet leaves the gluing station; the pallet positioning pin 20 is fixed on the supporting plate 17; the workpiece detection switch 15 is a through-beam infrared switch, and its transmitting end is installed on the production line The inner side of the line body, and its receiving end is installed on the outer side of the line body of the production line, which is used to detect whether there are workpieces on the pallet arriving at the gluing station;

The distance measuring mechanism is composed of a distance measuring telescopic cylinder 30, a displacement sensor 25, a sensor fixing plate 26, a guide rail base 28, a guide rail 27, and a distance measuring fixed frame 29, and the distance measuring fixed frame 29 is installed on the glued frame 31 Above; the lower end of the guide rail base 28 and the cylinder body of the distance measuring telescopic cylinder 30 are installed on the distance measuring fixed frame 29; the piston of the distance measuring telescopic cylinder 30 is connected to the lower end of the guide rail 27; the displacement sensor 25 passes through the sensor fixing plate 26 Fixed on the upper end of the guide rail 27, the guide rail 27 is located on the guide rail base 28 and can slide up and down along the guide rail base 28; the expansion and contraction of the distance measuring telescopic cylinder 30 piston is controlled by an electric air valve (located in the air circuit, connected with the digital quantity The output module D/O is connected); the displacement sensor 25 rises together with the guide rail 27 as the piston of the ranging telescopic cylinder 30 stretches out, and descends as the piston of the ranging telescopic cylinder 30 retracts.

The working process of the distance-measuring mechanism is as follows: when the industrial computer sends a distance-measuring command through the digital output channel D/O, the distance-measuring telescopic cylinder 30 stretches out, driving the guide rail 27 to rise, and when the guide rail 27 rises to the position, the displacement sensor 25 In contact with the measured gluing plane, the probe of the displacement sensor 25 has a certain retraction amount, and the retraction amount is related to the position of the workpiece. When the manipulator mechanism clamps the workpiece, if the positioning pin 13 on the fixture base 12 is not When entering the positioning hole of the workpiece, the relative position between the workpiece and the clamping plate 11 and the clamping base 12 will change. The amount of retraction can determine whether the manipulator mechanism has clamped the workpiece, thereby protecting the glue nozzle and ensuring the quality of the gluing curve.

The working process of the present invention is controlled by the control program stored in the motion control card, specifically as follows:

When the pallet carrying the workpiece arrives at the gluing station, after the pallet arrives at the station proximity switch 24 to detect the signal, the signal is transmitted to the motion control card in the industrial computer through the digital input module D/I, and the motion control card passes through the digital Quantity output module D/O controls the electric valve of the stopper 21 to close, and the cylinder of the stopper 21 is controlled by the electric air valve to block the pallet at the gluing station, and then the workpiece detection switch 15 detects whether there is a workpiece on the pallet , if there is a workpiece, the lifting mechanism is controlled to raise the pallet; if there is no workpiece, the electric valve of the stopper 21 is controlled by the digital output module D/O to open, and the cylinder of the stopper 21 is controlled by the electric valve to descend, and the Pallet release. After the pallet is raised to the position and the proximity switch detects that the lifting position is in place, the motion control card sends a rotation command of the shaft 4 to the servo driver, and the servo driver drives the servo motor 2 to rotate the shaft 4 together with the manipulator mechanism to the initial position, and then the motion control card passes the digital signal. The output module D/O controls the extension of the rotating shaft telescopic cylinder 5, and the rotating shaft telescopic cylinder 5 drives the manipulator mechanism to extend. After the manipulator reaches the position and the proximity switch detects that the manipulator mechanism is in place, the motion control card passes through the digital output module D/O Control the retraction of the clamping cylinder 19, and the clamping cylinder 19 drives the clamping plate 11 and the clamping base 12 to clamp the workpiece. After the motion control card detects the signal through the clamping position proximity switch, it is controlled by the digital output module D/O The pallet is lowered, the motion control card detects the signal through the proximity switch when the pallet is in place, and sends a rotation command of the rotating shaft 4 to rotate the workpiece to the position of the glued surface of A (the glued surface of A faces up, and the glued surface of B faces down), and the rotating shaft 4 After rotating to the glue-coated surface of A, the motion control card controls the distance-measuring telescopic cylinder 30 to extend through the digital output module D/O, and the cylinder drives the displacement sensor 25 to move to the glue-coated surface B of the workpiece. After the switch detects that the distance-measuring telescopic cylinder 30 stretches out into place, the displacement sensor 25 contacts the glue-coated surface B, and the detection head of the displacement sensor 25 is compressed by a certain distance, and the compression amount is proportional to the distance from the displacement sensor 25 to the glue-coated surface B. Proportional, the output voltage signal of the displacement sensor 25 is sent to the motion control card through the analog input module A/I, and compared with the preset parameter value to judge whether the detection is qualified or not, if the difference between the two is greater than the set If the specified error range is not enough, it means that the relative position between the fixture and the workpiece is not suitable, glue application cannot be performed, and an alarm signal is sent, and then the distance measurement result is saved in the variable, and the step of turning to the initial position of the rotating shaft is skipped; if The difference between the two is less than the set error range, then A surface glue can be applied (after the distance measurement is completed, the motion control card controls the distance measurement telescopic cylinder 30 to retract through the digital output module D/O, and after the distance measurement, the telescopic cylinder 30 is retracted. After the in-position proximity switch detects the retraction signal of the distance measuring telescopic cylinder 30, the glue applicator can be started to apply glue on the A side), after judging that the A side has been glued, the motion control card sends a rotation command of the shaft 4, through the servo driver Drive the servo motor 2 to rotate the rotating shaft 4 to the position of the glued surface of B (the glued surface of B faces up, and the glued surface of A faces down) and then stop, and then start the glue applicator to apply glue on the B side, after judging that the B side is glued After the completion, the motion control card sends a command to rotate the shaft 4 to rotate the shaft 4 to the initial position. The motion control card controls the pallet to rise through the digital output module D/O. The control card controls the clamp plate 11 and the clamp base 12 to loosen through the digital output module D/O. After the clamp is released and in place, the proximity switch detects that the clamp is in place, and the motion control card controls the manipulator mechanism through the digital output module D/O. Retraction, after the proximity switch detects the retraction of the manipulator mechanism by the manipulator, the motion control card passes through the digital The digital output module D/O controls the lowering of the tray. After the pallet has been lowered to a certain position, the proximity switch detects the signal that the pallet is fully lowered, and the digital output module D/O controls the stopper 21 to descend, and the pallet is released to the next station.

In this example:

The pallet is raised to a position and the proximity switch is installed on the upper end of the lifting cylinder 18 of the lifting mechanism, and is connected with channel 1 of the digital input module D/I.

The pallet is lowered into place and the proximity switch is installed at the lower end of the lifting cylinder 18 of the lifting mechanism, and is connected with the channel 2 of the digital input module D/I.

The clamp is clamped in place and the proximity switch is installed at the rear end of the clamping cylinder 19 of the manipulator mechanism, and is connected with channel 3 of the digital input module D/I.

The clamp is loosened in place and the proximity switch is installed on the front end of the clamping cylinder 19 of the manipulator mechanism, and is connected with the channel 4 of the digital input module D/I.

The manipulator is stretched out and the proximity switch is installed on the front end of the rotating shaft telescopic cylinder 5 of the turning mechanism, and is connected with the channel 5 of the digital input module D/I.

The manipulator is retracted back to the place and the proximity switch is installed at the rear end of the rotating shaft telescopic cylinder 5 of the turning mechanism, and is connected with the channel 6 of the digital input module D/I.

The range-measuring rise-to-position proximity switch is installed on the upper end of the distance-measuring telescopic cylinder 30 of the distance-measuring mechanism, and is connected with the channel 7 of the digital quantity input module D/I.

The range-measuring drop-in-place proximity switch is installed at the lower end of the range-measuring telescopic cylinder 30 of the distance-measuring mechanism, and is connected with the channel 8 of the digital quantity input module D/I.

The transmitting end of the workpiece detection proximity switch is installed inside the line body, and the receiving end is installed outside the line body, and is connected to channel 9 of the digital input module D/I.

The pallet arrival position proximity switch is installed on the line body and connected to channel 10 of the digital input module D/I.

The positive limit proximity switch of the rotating shaft is installed on the glue coating frame 31 of the turning mechanism, and is connected with the channel 11 of the digital input module D/I.

The negative limit proximity switch of the rotating shaft is installed on the glue coating frame 31 of the turning mechanism, and is connected with the channel 12 of the digital input module D/I.

The rotating shaft origin proximity switch is installed on the top of the bearing seat 6 of the turning mechanism, close to one end of the manipulator mechanism, and connected with the channel 13 of the digital input module D/I.

The pallet lifting electric gas valve is a lifting mechanism component, installed on the glue coating frame 31, connected with the gas path of the lifting cylinder 18 through the gas pipe, and connected with channel 1 of the digital output module D/O.

The electric air valve for pallet lowering is a part of the lifting mechanism, installed on the glue coating frame 31, connected with the air circuit of the lifting cylinder 18 through the air pipe, and connected with the channel 2 of the digital output module D/O.

The clamping electric gas valve is a part of the manipulator mechanism, installed on the glue frame 31, connected to the gas circuit of the clamping cylinder 19 through the gas pipe, and connected to the channel 3 of the digital output module D/O.

The clamp release electric gas valve is a part of the manipulator mechanism, installed on the glue frame 31, connected with the gas circuit of the clamping cylinder 19 through the gas pipe, and connected with the channel 4 of the digital output module D/O.

The manipulator stretches out the electric gas valve as a part of the turning mechanism, installed on the glue frame 31, connected with the gas path of the rotating shaft telescopic cylinder 5 through the gas pipe, and connected with the channel 5 of the digital output module D/O.

The manipulator retracts the electric gas valve, which is a part of the turning mechanism, and is installed on the gluing frame 31. It is connected to the gas path of the rotating shaft telescopic cylinder 5 through the gas pipe, and is connected to the channel 6 of the digital output module D/O.

The distance measuring rising electric gas valve is a part of the distance measuring mechanism, installed on the glue coating frame 31, connected with the gas path of the distance measuring telescopic cylinder 30 through the air pipe, and connected with the channel 7 of the digital output module D/O.

The distance measuring and lowering electric gas valve is a part of the distance measuring mechanism, installed on the glue frame 31, connected with the gas path of the distance measuring telescopic cylinder 30 through the air pipe, and connected with the channel 8 of the digital output module D/O.

The electric air valve for lifting the stopper 21 is a part of the lifting mechanism, installed on the glue coating frame 31, connected with the gas circuit of the cylinder of the stopper 21 through the air pipe, and connected with the channel 9 of the digital output module D/O.

The signal output end of the displacement sensor 25 is connected to channel 1 of the analog input module A/I.

The pulse input terminal of the servo drive is connected with the servo drive port 1 of the interface expansion card.

The motion control card described in this embodiment adopts the PCI-208 card produced by the British TRIO company, has independent CPU and rewritable memory, can run the control program based on Trio Basic written by the user, and insert it in the industrial computer. On the PCI bus, two-way data communication is carried out with the industrial computer through the PCI bus. It can drive 8 axes at most, and has 20 digital quantity input channels and 10 digital quantity output channels; the digital quantity input module D/I and The digital output module D/O adopts P315 produced by British TRIO Company, which has 16 digital input/output channels; the analog input module A/I adopts P325 produced by British TRIO Company, which has 8 channels of 12 bits The analog input channel; the interface expansion card adopts ETCM-1000 produced by Beijing Award Company, which has 2 CAN bus interfaces, 8 servo interfaces and digital input/output terminals, and can communicate with the movement through cables. The control card performs data exchange; the proximity switch adopts the magnetic non-contact switch produced by Schneider Company of Germany; the electric gas valve adopts the DC 24V electric gas valve produced by Schneider Company of Germany; sensor, whose output signal is a 0-5V voltage signal; the servo driver, servo motor, and encoder are all produced by Yaskawa Company in Japan. The encoder is connected to the servo driver through a 6-core shielded cable, and the servo motor is connected to the servo driver through a four-core shielded cable. connected to the servo drive.

Claims (9)

1. glue coating automatic turnover machine is characterized in that comprising:

Switching mechanism, comprise encoder (1), servomotor (2), reductor (3), rotating shaft (4), rotating shaft telescopic cylinder (5), bearing block (6), described servomotor (2), its afterbody are equipped with encoder (1), and encoder (1) links to each other with servo-driver by cable; Described servomotor (2) output shaft is equipped with reductor (3), and links to each other with servo-driver by cable; Described reductor (3) is installed on the gluing framework (31) by slide rail, and the output shaft of reductor (3) links to each other with rotating shaft (4); Described rotating shaft (4) is connected with manipulator mechanism framework (8), and bearing block (6) is installed on the gluing framework (31) by slide rail, and is connected with manipulator mechanism framework (8);

Described manipulator mechanism, comprise anchor clamps pressing plate (11), clamp base (12), clamp cylinder (19), wherein: described anchor clamps pressing plate (11) is connected with cylinder body with the piston that clamps cylinder (19) respectively with clamp base (12), and is installed together with manipulator mechanism framework (8) with the slide block (9) that slide unit (32) is slidingly connected by connecting plate (10), warp respectively; Described clamp base is equipped with alignment pin 13 on (12);

Lifting mechanism is positioned at manipulator mechanism the place ahead, comprises lifting cylinder (18), electric-air valve, supporting plate (17), stopper (21), and the cylinder body of described lifting cylinder (18) is fixed on the gluing framework, and the piston of lifting cylinder (18) links to each other with supporting plate (17); Described stopper (21) has cylinder, is installed on the production line line body, and supporting plate (17) is provided with pallet alignment pin (20);

Range finding mechanism is positioned at the manipulator mechanism below, comprises range finding telescopic cylinder (30), guide rail base (28), guide rail (27), range finding fixed mount (29), displacement transducer (25), and described range finding fixed mount (29) is installed on the gluing framework (31); The cylinder body of described guide rail base (28) lower end and range finding telescopic cylinder (30) is installed on the range finding fixed mount (29); The piston of range finding telescopic cylinder (30) is connected with guide rail (27) lower end; Described displacement transducer (25) is fixed on the upper end of guide rail (27) by sensor fixation plate (26), and guide rail (27) is positioned at guide rail base (28) and goes up and can slide up and down along guide rail base (28);

Control device comprises:

Industrial computer links to each other with touch-screen by usb bus;

Motion control card for the pci bus structure, has control program, with the industrial computer communication;

The interface expansion card links to each other with motion control card by cable;

Digital quantity input module (D/I) links to each other with the interface expansion card by the CAN bus, and with the guidance panel that button and switch are housed with near switch and the communication of workpiece sensing switch;

Digital quantity output module (D/O) links to each other with the interface expansion card by the CAN bus, links to each other with electric-air valve;

Analog quantity input module (A/I) links to each other with the interface expansion card by the CAN bus, links to each other with displacement transducer;

Servo-driver, pulse input end links to each other with the interface expansion card, and output links to each other with the encoder that is disposed with servomotor respectively.

2. by the described glue coating automatic turnover machine of claim 1, it is characterized in that: described control program flow process is as follows:

Behind the parameter initialization, judge that pallet arrives the gluing station not, if pallet no show gluing station then jumps to and judges that gluing finishes not step; If pallet arrives the gluing station, the control stopper is blocked in the gluing station with pallet; Detect then whether workpiece is arranged on the pallet, if workpiece is arranged, then control lifting mechanism and rise pallet, if no workpiece is then controlled stopper pallet is let pass; After the pallet rising puts in place, send rotate instruction, rotating shaft is rotated to initial position together with manipulator mechanism to servo-driver; Controlling rotating shaft telescopic cylinder drive manipulator mechanism then stretches out, stretch out put in place after, control clamps cylinders retract, workpiece is clamped, the control pallet descends, after detecting the pallet dropping signal, send the rotating shaft rotate instruction, workpiece is rotated to A coated face position, the range finding telescopic cylinder stretches out, the measured value of displacement transducer and pre-set parameter value are compared, judge that detection is qualified not, if defective, can not carry out gluing, and sending alarm signal, the result that will find range is saved in the variable then, jumps to rotating shaft and forwards the initial position step to; If qualified, then can carry out A face gluing, after judging that A face gluing finishes, send the rotating shaft rotate instruction, make rotating shaft rotate to B coated face position, stop back startup glue spreader and carry out B face gluing; After judging that B face gluing is finished, after rotating shaft rotated to initial position, pallet rose; Pallet rise put in place after, control anchor clamps pressing plate and clamp base are unclamped, the manipulator mechanism withdrawal, pallet descends, stopper descends, with pallet next station of letting pass.

3. by the described glue coating automatic turnover machine of claim 1, it is characterized in that lifting mechanism also comprises:

Pallet rises to put in place and puts in place near switch near switch and pallet decline, is installed in lifting cylinder (18) upper and lower end of lifting mechanism respectively, and (D/I) links to each other with digital quantity input module;

Workpiece sensing switch, transmitting terminal are installed online body inboard, and receiving terminal is installed online external side, and (D/I) links to each other with digital quantity input module;

Pallet arrives station near switch, installs on the online body, and (D/I) links to each other with digital quantity input module;

Pallet rising electric-air valve and pallet decline electric-air valve are installed on the gluing framework (31), communicate by the gas circuit of tracheae with lifting cylinder (18), and link to each other with digital quantity output module (D/O);

Stopper (21) decline electric-air valve is installed on the gluing framework (31), links to each other by the gas circuit of tracheae with stopper (21) cylinder, and links to each other with digital quantity output module (D/O).

4. by the described glue coating automatic turnover machine of claim 1, it is characterized in that manipulator mechanism also comprises:

Anchor clamps unclamp to put in place and put in place near switch near switch and clamp, are installed in clamping cylinder (19) front and back ends of manipulator mechanism respectively, and (D/I) links to each other with digital quantity input module;

Clamp electric-air valve and anchor clamps unclamp electric-air valve, are installed in respectively on the gluing framework (31), link to each other with the gas circuit that clamps cylinder (19) by tracheae, and link to each other with digital quantity output module (D/O).

5. by the described glue coating automatic turnover machine of claim 1, it is characterized in that switching mechanism also comprises:

Manipulator stretches out to put in place and puts in place near switch near switch and manipulator withdrawal, is installed in the front and back ends of the rotating shaft telescopic cylinder of switching mechanism respectively, and (D/I) links to each other with digital quantity input module;

Rotating shaft is just spacing negative spacing near switch near switch and rotating shaft, is installed in respectively on the switching mechanism gluing framework (31), and (D/I) links to each other with digital quantity input module;

The rotating shaft initial point is installed in bearing block (6) top near switch, and near manipulator mechanism one end, (D/I) links to each other with digital quantity input module;

Manipulator stretches out electric-air valve and manipulator withdrawal electric-air valve, is installed in respectively on the gluing framework (31), communicates by the gas circuit of tracheae with the rotating shaft telescopic cylinder, and links to each other with digital quantity output module (D/O).

6. by the described glue coating automatic turnover machine of claim 1, the mechanism that it is characterized in that finding range also comprises:

Range finding is risen to put in place and is put in place near switch near switch and range finding decline, is installed in the upper and lower end of range finding telescopic cylinder respectively, and (D/I) links to each other with digital quantity input module;

Range finding rising electric-air valve and range finding decline electric-air valve are installed in respectively on the gluing framework (31), link to each other by the gas circuit of tracheae with the range finding telescopic cylinder, and link to each other with digital quantity output module (D/O);

Displacement transducer, described displacement transducer (25) are fixed on the upper end of guide rail (27) by sensor fixation plate (26); Sensor fixation plate (26) is connected with the piston of range finding telescopic cylinder (30), and described displacement transducer (25) signal output part is connected with analog quantity input module (A/I).

7. by the described glue coating automatic turnover machine of claim 1, it is characterized in that: described is contactless magnetic switch near switch.

8. by claim 1 or 3 described glue coating automatic turnover machines, it is characterized in that: described workpiece sensing switch (15) is the correlation infrared switch.

9. by the described glue coating automatic turnover machine of claim 1, it is characterized in that: Rubber washer is equipped with in described anchor clamps pressing plate (11) inboard.

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