CN110314813B - Double-station automatic dispensing robot and dispensing method thereof - Google Patents
Double-station automatic dispensing robot and dispensing method thereof Download PDFInfo
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- CN110314813B CN110314813B CN201910702375.5A CN201910702375A CN110314813B CN 110314813 B CN110314813 B CN 110314813B CN 201910702375 A CN201910702375 A CN 201910702375A CN 110314813 B CN110314813 B CN 110314813B
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- glue solution
- glue
- clamping piece
- dispensing
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05C—APPARATUS FOR APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05C11/00—Component parts, details or accessories not specifically provided for in groups B05C1/00 - B05C9/00
- B05C11/10—Storage, supply or control of liquid or other fluent material; Recovery of excess liquid or other fluent material
- B05C11/1002—Means for controlling supply, i.e. flow or pressure, of liquid or other fluent material to the applying apparatus, e.g. valves
- B05C11/1015—Means for controlling supply, i.e. flow or pressure, of liquid or other fluent material to the applying apparatus, e.g. valves responsive to a conditions of ambient medium or target, e.g. humidity, temperature ; responsive to position or movement of the coating head relative to the target
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05C—APPARATUS FOR APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05C13/00—Means for manipulating or holding work, e.g. for separate articles
- B05C13/02—Means for manipulating or holding work, e.g. for separate articles for particular articles
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05C—APPARATUS FOR APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05C5/00—Apparatus in which liquid or other fluent material is projected, poured or allowed to flow on to the surface of the work
- B05C5/001—Apparatus in which liquid or other fluent material is projected, poured or allowed to flow on to the surface of the work incorporating means for heating or cooling the liquid or other fluent material
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05C—APPARATUS FOR APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05C5/00—Apparatus in which liquid or other fluent material is projected, poured or allowed to flow on to the surface of the work
- B05C5/02—Apparatus in which liquid or other fluent material is projected, poured or allowed to flow on to the surface of the work the liquid or other fluent material being discharged through an outlet orifice by pressure, e.g. from an outlet device in contact or almost in contact, with the work
- B05C5/0208—Apparatus in which liquid or other fluent material is projected, poured or allowed to flow on to the surface of the work the liquid or other fluent material being discharged through an outlet orifice by pressure, e.g. from an outlet device in contact or almost in contact, with the work for applying liquid or other fluent material to separate articles
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Abstract
The invention discloses a double-station automatic glue dispensing robot and a glue dispensing method thereof, belonging to the technical field of intelligent robots, wherein the double-station automatic glue dispensing robot is characterized in that a T-shaped slide rail is arranged on a base, a vehicle body coil is arranged at the bottom of a clamping piece, two sides of a guide rail are also provided with track coils, after the double-station automatic glue dispensing robot is electrified, a magnetic field generated by the track coils and an electromagnet pole generated by the vehicle body coil at the bottom of the clamping piece are kept the same, the two poles repel each other, a repulsive force enables the clamping piece to float, permanent magnets are arranged at two sides of the track and interact with the vehicle body coil at the bottom of the clamping piece, further, a workpiece on the clamping piece is driven to advance to a glue dispensing device, the clamping piece is suspended by utilizing magnetic pole attractive force and repulsive force, the clamping piece moves by the attractive force, so that the operation is, the transmission speed is high.
Description
Technical Field
The invention belongs to the technical field of intelligent robots, and particularly relates to a double-station automatic dispensing robot and a dispensing method thereof.
Background
In various fields of glue solution dispensing and point coating, the glue solution dispensing and point coating robot is widely applied to various fields, and in order to meet the requirements of the automobile industry on a sealing production process, a glue coating robot begins to appear and is developed. The sealing of the gearbox, the engine shell and the like is changed from the earliest sealing by adopting a paper gasket into the sealing by using a gluing process, and the sealing performance is greatly improved after the gluing sealing is adopted. Besides the gear box and the engine, the windshield, the lamp and the like are also coated with glue to achieve the sealing effect.
Present current point gum machine, the material mode of fortune mostly adopts gear drive or roller drive's transportation mode, with the work piece transportation point glue process department, by it is just with roller drive's transportation mode, be through two gyro wheels that compress tightly each other, through frictional force transmission motion and power between the contact surface, moreover, the steam generator is simple in structure, the delivery is steady, but owing to in the operation, there is the slip, influence rotatory precision, transmission efficiency is lower, and adopt gear drive, driven power is big, the drive ratio is accurate, but there is the noise during the operation. Meanwhile, the integral structure of the dispenser in the prior art mostly adopts a fixed structure, and when the dispenser does not work, the dispenser occupies space, so that the space is wasted.
Disclosure of Invention
The purpose of the invention is as follows: the double-station automatic dispensing robot and the dispensing method thereof are provided, and the problems in the prior art are solved.
The technical scheme is as follows: a double-station automatic dispensing robot comprises a robot body;
the base comprises a base body, first support frames arranged on two sides of the base body, a rotating mechanism arranged on the base and capable of driving the first support frames to rotate, a dust remover arranged on the inner side of the first support frames, and a transverse moving mechanism transversely arranged on the tops of the first support frames;
and the dispensing device is arranged on the transverse moving mechanism.
In a further example, the base is designed to be a hollow mechanism, the rotating mechanism comprises a support fixedly mounted on the base body, a bearing seat fixedly mounted on the support, a rotating shaft mounted on the bearing seat in an interference fit manner, and a rotating motor fixedly mounted on the support and connected with the rotating shaft, and the beam moving mechanism can be rotated by 90 degrees, so that a folding effect is achieved, and space waste is reduced.
In a further example, the transverse moving mechanism comprises a transverse module arranged at the top of the first support frame at two ends, a servo motor vertically arranged at the end part of the transverse module, and a transition plate arranged on the transverse module, and can horizontally move and fix the dispensing device on the cross beam at will.
In a further example, a T-shaped sliding rail is arranged on the base, and a clamping plate is arranged on the T-shaped sliding rail; the T-shaped slide rail comprises a rail fixed on the base body, permanent magnets arranged on the rail, a guide rail arranged above the permanent magnets, rail coils arranged on two sides of the guide rail, and an automobile body coil arranged at the bottom of the clamping plate, wherein after the T-shaped slide rail is electrified, a magnetic field generated by the rail coils is kept the same as an electromagnet pole generated by the automobile body coil at the bottom of the clamping piece, the two permanent magnets repel each other, the clamping piece floats due to repulsive force, and the permanent magnets arranged on two sides of the rail interact with the automobile body coil at the bottom of the clamping piece, so that a workpiece on the clamping piece is driven to advance to the adhesive dispensing device.
In a further example, the glue dispensing device comprises a spraying mechanism vertically arranged above the transition plate, and a heating device arranged at the bottom of the spraying mechanism.
In a further example, the injection mechanism comprises a driving support plate arranged on the transition plate, a driver arranged on the driving support plate, a spray needle arranged at the end part of the driving support plate, a spring arranged on the axial upper part of the spray needle, a glue solution channel surrounding the bottom of the spray needle, and a nozzle arranged at the bottom of the spray needle, so that the output force of dispensing can be improved, the dispensing effect can be improved, and the dispensing efficiency can be further improved.
In a further example, heating device sets up the axial direction at the glue solution passageway, heating device is including setting up the heating film of glue solution passageway outer wall axial direction sets up above the glue solution passageway and is located the temperature sensor of heating film top wraps up the setting and is in heat insulation layer above the heating film outer wall and install the circular lock ring of heat insulation layer outer wall can improve the glue solution temperature and rise, guarantees the stability of glue solution temperature simultaneously.
In a further example, a glue dispensing method of a double-station automatic glue dispensing robot comprises the following steps;
s1, when the electronic horn needs to be coated with glue, placing the workpiece on the clamping piece, and starting the robot;
s2, starting the T-shaped slide rail, arranging a vehicle body coil at the bottom of the clamping piece, arranging track coils at two sides of the guide track, after electrifying, keeping the magnetic field generated by the track coils the same as the electromagnet poles generated by the vehicle body coil at the bottom of the clamping piece, and repelling the magnetic field and the electromagnet poles, wherein the two poles repel each other, and the clamping piece floats due to the repulsive force;
s3, when the clamping piece is conveyed to the glue dispensing device, the servo motor on the transverse moving mechanism drives the transition plate fixed on the transverse module to move, and the injection mechanism is driven to move to the position above the glue dispensing workpiece;
s4, when a driver on the injection mechanism is started, the surrounding magnetic field telescopic rods generate displacement under the action of a magnetic field, at the moment, the displacement passes through the driving plate and drives the injection needle to overcome the spring force to move upwards, and meanwhile, glue solution enters a glue solution channel under the action of air pressure;
s5, when glue enters the glue solution channel, an electrothermal film on the outer surface of the glue solution channel is started, so that the glue solution in the glue solution channel is heated, the highest temperature outside the nozzle can reach 70 degrees during heating, the temperature of the glue solution inside the nozzle is about 60 degrees, the heating device can rapidly heat the glue solution, so that the glue solution reaches a proper temperature, a temperature signal of the glue solution is collected by a temperature sensor and is electrically converted into a voltage signal, the power-on time of the electrothermal film is controlled, and the temperature of the glue solution is controlled;
s6, restoring the original length of the telescopic rod, enabling the spray needle to move downwards under the action of the return spring to push the glue solution to be sprayed out of the nozzle, and if pulse current with certain frequency is introduced into the coil, spraying the glue solution out of the nozzle to a workpiece subjected to glue dispensing at corresponding frequency;
s7, when the glue solution is sprayed out to the workpiece for glue dispensing, the clamping piece moves to the starting position from the T-shaped slide rail, the workpiece is taken down, and the glue dispensing operation is finished
Has the advantages that: a double-station automatic glue dispensing robot and a glue dispensing method thereof are characterized in that a T-shaped slide rail is arranged on a base, a vehicle body coil is arranged at the bottom of a clamping piece, track coils are also arranged on two sides of a guide track, after the double-station automatic glue dispensing robot is electrified, a magnetic field generated by the track coils and an electromagnet generated by the vehicle body coil at the bottom of the clamping piece are kept the same, the two magnetic poles repel each other, a repulsive force enables the clamping piece to float, permanent magnets are arranged on two sides of the track and interact with the vehicle body coil at the bottom of the clamping piece, further, a workpiece on the clamping piece is driven to move to a glue dispensing device, the clamping piece is suspended by utilizing magnetic pole attractive force and repulsive force, the clamping piece is driven to move by the attractive force, the operation is stable, no noise is generated. Meanwhile, the dispensing device moves downwards under the action of the return spring through the spray needle to push the glue solution to be sprayed out from the nozzle, and if the coil is connected with pulse current with a certain frequency, the glue solution can be sprayed out from the nozzle with a corresponding frequency, so that the purpose of spraying dispensing is achieved, the output force is improved, the response is fast, high-frequency and high-precision dispensing is facilitated, and the dispensing efficiency is further improved.
Drawings
FIG. 1 is a schematic structural diagram of the present invention.
Fig. 2 is a schematic structural view of a rotating device in the present invention.
Fig. 3 is a cross-sectional view of the T-shaped slide rail of the present invention.
Fig. 4 is a front view of the dispensing device of the present invention.
Fig. 5 is a sectional view of a heating apparatus in the present invention.
The various reference numbers in the figures are labeled; the device comprises a base 1, a first support frame 2, a rotating mechanism 3, a support 301, a bearing seat 302, a rotating shaft 303, a rotating motor 304, a dust remover 4, a transverse moving mechanism 5, a transverse module 501, a servo motor 502, a transition plate 503, a dispensing device 6, a T-shaped sliding rail 7, a guide rail 701, a track 702, a track coil 703, a permanent magnet 704, a vehicle body coil 705, a spraying mechanism 8, a heating device 801, a heating film 8011, a temperature sensor 8012, a heat insulating layer 8013, a circular clamping hoop 8014, a driving support plate 802, a driver 803, a spraying needle 804, a spring 805, a glue solution channel 806, a nozzle 807, a telescopic rod 808 and a clamping piece 9.
Detailed Description
In the following description, numerous specific details are set forth in order to provide a more thorough understanding of the present invention. It will be apparent, however, to one skilled in the art, that the present invention may be practiced without one or more of these specific details. In other instances, well-known features have not been described in order to avoid obscuring the invention.
In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and simplicity of description, but do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
The applicant finds that the existing glue dispensing robot is large in overall mechanism, the beam arm can meet the requirement for supporting the glue dispensing device 6, but due to the fact that the existing glue dispensing robot is large in structure, occupied space is large, the beam arm and the base 1 of the existing glue dispensing robot are mostly fixed, when glue dispensing is completed, the space is particularly occupied, meanwhile, in the glue dispensing process of the traditional glue dispensing robot, due to the fact that the conveying mechanism conveys workpieces to the working procedure of the glue dispensing device 6, the traditional glue dispensing conveying mode adopts a gear conveying mode and a roller transmission mode, in the process of conveying the workpieces, the roller transmission efficiency is low, noise is generated in gear transmission operation, and according to the problems, the applicant provides a double-station automatic glue dispensing robot.
As shown in fig. 1 to 5, a double-station automatic dispensing robot comprises a base 1, a rotating mechanism 3, a dispensing device 6 and a heating device 801.
As shown in fig. 1, the base 1 comprises a base 1 body, a first support frame 2, a dust remover 4, a rotating mechanism 3 and a transverse moving mechanism 5; the base 1 body is fixed in a set working area, the first support frame 2 is fixedly arranged on two sides of the base 1 body, the dust remover 4 is fixedly arranged on the side surface of the first support frame 2 and positioned above the base 1 body, and two ends of the transverse moving mechanism 5 are arranged on the top end of the first support frame 2.
In order to fold the transverse moving mechanism 5 and the first support frame 2 and reduce the waste of space, the base 1 is designed to be in a hollow structure, and the rotating mechanism 3 is arranged inside the base 1 body of the hollow structure.
As shown in fig. 2, the rotating mechanism 3 includes a bracket 301, a bearing block 302, a rotating shaft 303, and a rotating motor 304;
the bracket 301 is fixedly installed on the base 1 body, the bearing seat 302 is installed on the bracket 301, the rotating shaft 303 is installed on the bearing seat 302 and is in interference fit with the bearing seat 302, the rotating motor 304 is fixedly installed on the bracket 301, one end of the rotating shaft 303 is connected with the rotating end of the rotating motor 304, and the first support frame 2 is fixedly connected with the rotating shaft 303 of the rotating mechanism 3.
When the rotating electrical machines 304 supplies power, and then drive the rotation axis 303 to rotate on the bearing block 302, because the first support frame 2 is connected with the rotation axis 303, and the lateral shifting mechanism 5 is fixedly mounted on the top of the first support frame 2, so when the rotating electrical machines 304 drive the rotation axis 303 to rotate, and then drive the first support frame 2 and the lateral shifting mechanism 5 to rotate, when rotating to be parallel to the platform with the base 1, the rotating electrical machines 304 stop rotating, and then the purpose of folding the first support frame 2 and the lateral shifting mechanism 5 is realized. When the apparatus is not in operation, the rotating motor 304 is started to fold the first support frame 2 and the traverse mechanism 5 together, thereby reducing the waste of space.
Meanwhile, in order to enable the glue dispensing device 6 to horizontally move on the transverse moving mechanism 5 at will, the transverse moving mechanism 5 comprises a transverse module 501, a servo motor 502 and a transition plate 503; the transverse module 501 is fixedly arranged at the top of the first support frame 2, the servo motor 502 is vertically arranged at the end part of the transverse module 501, the transition plate 503 is arranged on the transverse module 501, and the glue dispensing mechanism is arranged on the transition plate 503.
As a preferable scheme, when the servo motor 502 in the transverse moving mechanism 5 works, the glue dispensing mechanism on the transition plate 503 is further driven to make a linear motion on the transverse module 501, so that the advantages of easy detection of functions such as positioning accuracy, positioning repeatability, travelling parallelism, starting torque and the like are achieved.
As shown in fig. 3, in order to solve the problems of slow transmission efficiency, noise during transmission and the like when the existing dispensing robot transmits a workpiece, a T-shaped slide rail 7 is arranged on the base 1, the T-shaped slide rail 7 includes a guide rail 701, a rail 702, a rail coil 703, a permanent magnet 704 and a car body coil 705, wherein the rail 702 is fixed on the body of the base 1, the permanent magnet 704 is installed on the rail 702, the guide rail 701 is arranged above the permanent magnet 704, the rail coils 703 are arranged on two sides of the guide rail 701, and the car body coil 705 is arranged at the bottom of a clamping plate.
As a preferred scheme, after the T-shaped slide rail 7 is electrified, because the bottom of the clamping piece 9 is provided with the vehicle body coil 705, two sides of the guide rail 701 are also provided with the track coils 703, after the T-shaped slide rail is electrified, the magnetic field generated by the track coils 703 is kept the same as the electromagnet pole generated by the vehicle body coil 705 at the bottom of the clamping piece 9, the two poles repel each other, the repulsive force enables the clamping piece 9 to float, because the permanent magnets 704 are arranged at two sides of the track 702 and interact with the vehicle body coil 705 at the bottom of the clamping piece 9, the workpiece above the clamping piece 9 is further driven to advance to the glue dispensing device 6, the workpiece is conveyed by adopting the motion principle of magnetic suspension, the transmission efficiency is improved, and simultaneously, the occurrence of noise is avoided by adopting the electromagnetic transmission mode, and the conveying.
As shown in fig. 4, the dispensing device 6 includes an injection mechanism 8, a heating device 801, a heating film 8011, a temperature sensor 8012, a heat insulating layer 8013, a circular clamp 8014, a driving support plate 802, a driver 803, a nozzle 804, a spring 805, a glue passage 806, a nozzle 807, an expansion rod 808, and a holder 9; wherein the injection mechanism 8 is vertically arranged on a transition plate 503, the heating device 801 is arranged on the outer wall of the injection mechanism 8 and is positioned at the bottom position of the injection mechanism 8, a driving support plate 802 is arranged on the transition plate 503, a driver 803 is fixedly arranged on the driving support plate 802, a spray needle 804 is arranged at the end part of the driving support plate 802, a spring 805 is arranged on the spray needle 804, the spray needle 804 is designed into a needle cylinder shape, a spring 805 is arranged on the outer axial surface of the spray needle 804, a glue solution channel 806 is arranged at the bottom part of the spray needle 804, a nozzle 807 is arranged at the bottommost end of the spray needle 804, the nozzle 807 is designed into a cone shape, a heating film 8011 is arranged on the outer wall of the glue solution channel 806, a circle of heating film 8011 is completely surrounded on the outer wall of the glue solution channel 806, a temperature sensor 8012 is arranged on the glue solution channel 807 and is positioned above the heating film 8011, the heat insulating layer 8013 is arranged on the heating film 8011, the heat insulating layer 8013 is completely wrapped by one circle of the heating film 8011, the round clamping hoop 8014 is arranged on the heat insulating layer 8013 and fixed by utilizing a round clamping hoop, and the round clamping hoop 8014 is formed by connecting two semicircular stainless steel sheets through bolts.
As a preferred embodiment; the injection mechanism 8 is designed and manufactured by utilizing the axial magnetostriction effect of a giant magnetostriction rod, mainly comprises a giant magnetostriction driver 803, a driving support plate 802 and an injection mechanism 8, and has the following basic working principle: when the coil in the giant magnetostrictive actuator 803 is energized, a magnetic field is generated around the giant magnetostrictive actuator, the telescopic rod 808 extends under the action of the magnetic field to generate displacement, the displacement drives the support plate 802 through the position, the spray needle 804 is driven to move upwards against the force of the spring 805, meanwhile, the glue solution enters the glue solution channel 806 under the action of air pressure, then the coil in the giant magnetostrictive actuator 803 is de-energized, the telescopic rod 808 recovers the original length, the spray needle 804 moves downwards under the action of the return spring 805 to push the glue solution to be sprayed out from the nozzle 807, and if pulse current with certain frequency is introduced into the coil, the glue solution can be sprayed out from the nozzle 807 at corresponding frequency, so that the purpose of spraying and dispensing is achieved. The injection mechanism 8 in the mode has large output force and quick response, and is beneficial to improving the working efficiency.
As shown in fig. 5, as a preferred embodiment; the heating device 801 is characterized in that a layer of electrothermal film is arranged on the outer surface of a glue solution channel 806 close to a nozzle 807, and then the electrothermal film is fixed by using a tightening ring, and the electrothermal film is attached to the surface of the channel as much as possible during installation, so that the heating efficiency is improved. The inner surface of the band is provided with a heat insulating layer 8013 which separates the band from the heating membrane 8011, which reduces heat loss and improves heating efficiency. The electrothermal film is controlled by the single chip microcomputer, heat is generated after the electrothermal film is electrified, the heat is transmitted to the inside of the nozzle 807 from the outside to the inside in a heat conduction mode, glue liquid is heated, and the glue dispensing efficiency is improved.
As a preferred scheme, the temperature is an extremely important physical quantity, the quality of the product is directly influenced by the quality of temperature control, and timely and accurate acquisition of real-time temperature is an essential link in the production process, so the temperature sensor 8012 is arranged on the glue solution channel 806, the temperature sensor 8012 is a device capable of sensing external temperature change, and can convert the temperature change rule into useful signals required by people, such as current and voltage signals, and the like, and meanwhile, according to different materials and principles, the sensor can be divided into a thermal resistor, the thermal resistor is a resistor type sensor capable of converting the temperature signal into a resistance signal, and the basic principle is as follows: the resistance value signal is converted into a voltage signal or a current signal which is easy to measure through a conversion circuit, and the precision is high and the performance is stable.
In a further example, a glue dispensing method of a double-station automatic glue dispensing robot comprises the following steps; when the electronic horn needs to be coated with glue, a workpiece is placed on the clamping piece, and the robot is started; the T-shaped slide rail is started, because the bottom of the clamping piece is provided with the vehicle body coil, and the two sides of the guide rail are also provided with the rail coils, after the T-shaped slide rail is electrified, the magnetic field generated by the rail coils and the electromagnet poles generated by the vehicle body coil at the bottom of the clamping piece are kept the same, the two poles repel each other, the clamping piece floats due to the repulsive force, and because the permanent magnets are arranged at the two sides of the rail, the permanent magnets interact with the vehicle body coil at the bottom of the clamping piece, the workpiece on the clamping piece is driven to advance to the; when the clamping piece is conveyed to the dispensing device, the servo motor on the transverse moving mechanism drives the transition plate fixed on the transverse module to move, and then the injection mechanism is driven to move to the position above the dispensing workpiece; when a driver on the injection mechanism is started, a magnetic field telescopic rod is generated around the injection mechanism to generate displacement under the action of a magnetic field, the displacement drives a spray needle to overcome the spring force to move upwards through a driving plate, and meanwhile, glue solution enters a glue solution channel under the action of air pressure; when the glue solution enters the glue solution channel, the electrothermal film on the outer surface of the glue solution channel is started, so that the glue solution in the glue solution channel is heated, the maximum temperature outside the nozzle can reach 70 degrees during heating, the temperature of the glue solution inside the nozzle is about 60 degrees, the heating device can rapidly heat the glue solution, so that the glue solution reaches a proper temperature, a temperature signal of the glue solution is collected by the temperature sensor and is converted into a voltage signal through electricity, the electrifying time of the electrothermal film is controlled, and the temperature of the glue solution is controlled; then the telescopic rod recovers the original length, the spray needle moves downwards under the action of the return spring to push the glue solution to be sprayed out from the nozzle, and if pulse current with certain frequency is introduced into the coil, the glue solution can be sprayed out from the nozzle to a workpiece for glue dispensing at corresponding frequency; when the glue solution is sprayed to the workpiece for glue dispensing, the clamping piece moves to the starting position from the T-shaped sliding rail, the workpiece is taken down, and the glue dispensing operation is finished.
It should be noted that the various features described in the above embodiments may be combined in any suitable manner without departing from the scope of the invention. The invention is not described in detail in order to avoid unnecessary repetition.
Claims (7)
1. A double-station automatic dispensing robot is characterized by comprising;
the base comprises a base body, first support frames arranged on two sides of the base body, a rotating mechanism which is arranged on the base body and can drive the first support frames to rotate, a dust remover arranged on the side surfaces of the first support frames, and a transverse moving mechanism which is transversely arranged on the tops of the first support frames;
the glue dispensing device is arranged on the transverse moving mechanism;
a T-shaped sliding rail is arranged on the base, and a clamping piece is arranged on the T-shaped sliding rail; the T-shaped sliding rail comprises a rail fixed on the base body, a permanent magnet arranged on the rail, a guide rail arranged above the permanent magnet, rail coils arranged on two sides of the guide rail, and a vehicle body coil arranged at the bottom of the clamping piece.
2. The double-station automatic dispensing robot of claim 1, characterized in that: the base is designed to be a hollow mechanism, and the rotating mechanism comprises a support fixedly mounted on the base body, a bearing seat fixedly mounted on the support, a rotating shaft mounted on the bearing seat in an interference fit manner, and a rotating motor fixedly mounted on the support and connected with the rotating shaft.
3. The double-station automatic dispensing robot of claim 2, characterized in that: the transverse moving mechanism comprises a transverse module arranged at the top of the first support frame, a servo motor vertically arranged at the end part of the transverse module, and a transition plate arranged on the transverse module.
4. The double-station automatic dispensing robot of claim 3, characterized in that: the glue dispensing device comprises a spraying mechanism vertically arranged on the transition plate and a heating device arranged at the bottom of the spraying mechanism.
5. The double-station automatic dispensing robot of claim 4, characterized in that: the injection mechanism comprises a driving support plate arranged on the transition plate, a driver arranged on the driving support plate, a spray needle arranged at the end part of the driving support plate, a spring arranged on the axial upper surface of the spray needle, a glue solution channel surrounding the bottom of the spray needle, and a nozzle arranged at the bottom of the spray needle.
6. The double-station automatic dispensing robot of claim 5, wherein: the heating device is arranged in the axial direction of the glue solution channel, and comprises a heating film, a temperature sensor, a heat insulating layer and a circular tightening ring, wherein the heating film is arranged in the axial direction of the outer wall of the glue solution channel, the temperature sensor is arranged on the upper surface of the glue solution channel and is positioned above the heating film, the heat insulating layer is wrapped on the outer wall of the heating film, and the circular tightening ring is arranged on the outer wall of the heat insulating layer.
7. The glue dispensing method of the double-station automatic glue dispensing robot based on claim 6, characterized by comprising the following steps;
s1, when the electronic horn needs to be coated with glue, placing the workpiece on the clamping piece, and starting the robot;
s2, starting the T-shaped slide rail, arranging a vehicle body coil at the bottom of the clamping piece, arranging track coils at two sides of the guide track, after electrifying, keeping the magnetic field generated by the track coils the same as the electromagnetic field generated by the vehicle body coil at the bottom of the clamping piece, and repelling the magnetic field and the electromagnetic field, wherein the two magnetic poles repel each other, and the clamping piece floats due to repulsive force;
s3, when the clamping piece is conveyed to the glue dispensing device, the servo motor on the transverse moving mechanism drives the transition plate fixed on the transverse module to move, and the injection mechanism is driven to move to the position above the glue dispensing workpiece;
s4, when a driver on the injection mechanism is started, the surrounding magnetic field telescopic rods generate displacement under the action of a magnetic field, at the moment, the displacement passes through the driving plate, the injection needle is driven to move upwards against the spring force, and meanwhile, glue solution enters a glue solution channel under the action of air pressure;
s5, when the glue solution enters the glue solution channel, starting a heating film on the outer surface of the glue solution channel to heat the glue solution in the glue solution channel, wherein the maximum temperature outside the nozzle can reach 70 degrees during heating, the temperature of the glue solution inside the nozzle is about 60 degrees, the heating device can rapidly heat the glue solution to enable the glue solution to reach a proper temperature, and then the temperature signal of the glue solution collected by the temperature sensor is converted into a voltage signal through electricity, so that the electrifying time of the heating film is controlled, and the temperature of the glue solution is controlled;
s6, restoring the original length of the telescopic rod, enabling the spray needle to move downwards under the action of the return spring to push the glue solution to be sprayed out of the nozzle, and if pulse current with certain frequency is introduced into the coil, spraying the glue solution out of the nozzle to a workpiece subjected to glue dispensing at corresponding frequency;
and S7, when the glue solution is sprayed to the workpiece for glue dispensing, the clamping piece moves to the starting position from the T-shaped slide rail, the workpiece is taken down, and the glue dispensing operation is finished.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910702375.5A CN110314813B (en) | 2019-07-31 | 2019-07-31 | Double-station automatic dispensing robot and dispensing method thereof |
| PCT/CN2020/089474 WO2021017570A1 (en) | 2019-07-31 | 2020-05-09 | Double-station automatic glue dispensing robot and glue dispensing method therefor |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910702375.5A CN110314813B (en) | 2019-07-31 | 2019-07-31 | Double-station automatic dispensing robot and dispensing method thereof |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN110314813A CN110314813A (en) | 2019-10-11 |
| CN110314813B true CN110314813B (en) | 2020-07-03 |
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| CN201910702375.5A Active CN110314813B (en) | 2019-07-31 | 2019-07-31 | Double-station automatic dispensing robot and dispensing method thereof |
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| CN (1) | CN110314813B (en) |
| WO (1) | WO2021017570A1 (en) |
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| CN110314813B (en) * | 2019-07-31 | 2020-07-03 | 南京禹智智能科技有限公司 | Double-station automatic dispensing robot and dispensing method thereof |
| CN111426867A (en) * | 2020-03-20 | 2020-07-17 | 杭州聪曦科技有限公司 | Computer keyboard microchip detection equipment |
| CN112427233A (en) * | 2020-11-06 | 2021-03-02 | 宁波灵凡智远电子设备有限公司 | Multi-specification automatic compatible continuous operation dispensing robot complete machine |
| CN113083620B (en) * | 2021-04-30 | 2025-01-17 | 武汉飞恩微电子有限公司 | Assembly equipment and packaging equipment |
| CN116571398A (en) * | 2023-05-25 | 2023-08-11 | 苏州利华科技股份有限公司 | Portable point gum machine convenient to adjust |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| US6730168B1 (en) * | 2003-07-28 | 2004-05-04 | Custom Machining Corp. | Magnetic sealant liner applicator for applying sealant to various sizes of metal lids |
| CN102476310A (en) * | 2010-11-23 | 2012-05-30 | 大连创达技术交易市场有限公司 | Novel magnetic suspension linear feeding system for numerical control machine tool |
| CN202129190U (en) * | 2011-06-23 | 2012-02-01 | 深圳市轴心自控技术有限公司 | Precise injection valve |
| CN102307031A (en) * | 2011-09-08 | 2012-01-04 | 中南大学 | Magnetic suspension linear motion platform based on combination of permanent magnets and electromagnets |
| DE102012016833A1 (en) * | 2012-08-27 | 2014-05-15 | Focke & Co. (Gmbh & Co. Kg) | Valve for flowable media, in particular glue valve, and method for producing the valve |
| CN206897747U (en) * | 2017-06-19 | 2018-01-19 | 王芳 | A kind of split type temperature control high-speed injection valve |
| CN206966028U (en) * | 2017-07-12 | 2018-02-06 | 广东显诺科技有限公司 | A kind of injection glue dispensing valve at a high speed |
| CN207735205U (en) * | 2017-12-29 | 2018-08-17 | 麦昂欧（上海）电子有限公司 | A kind of collapsible dispenser |
| CN208357153U (en) * | 2018-03-15 | 2019-01-11 | 河南新思维光电科技有限公司 | A kind of rotation dispenser for LED illumination lamp |
| CN208161979U (en) * | 2018-04-02 | 2018-11-30 | 安徽省沃特邦电子科技有限公司 | A kind of semi-automatic adhering machine for production of electronic components |
| CN110314813B (en) * | 2019-07-31 | 2020-07-03 | 南京禹智智能科技有限公司 | Double-station automatic dispensing robot and dispensing method thereof |
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2019
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| CN110314813A (en) | 2019-10-11 |
| WO2021017570A1 (en) | 2021-02-04 |
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