阅读说明：本技术 一种多胶品集成涂胶机器人系统 (Integrated rubber coating robot system for multiple rubber products ) 是由 梁刚 杨耀勇 张谦 马传浩 于 2021-06-22 设计创作，主要内容包括：本发明公开了一种多胶品集成涂胶机器人系统,包括机器人以及涂胶机构,所述机器人包括机器人底座,所述机器人底座固定在地面上,所述机器人底座的上表面固定连接有机器人本体,所述机器人本体远离所述机器人底座的一端与所述涂胶机构相连接,所述涂胶机构包括第一涂胶机构和第二涂胶机构,所述第一涂胶机构与所述第二涂胶机构通过连接机构与所述机器人本体固定连接机构,本发明能使两套涂胶执行机构稳定作业,保证涂胶精度及涂胶质量,无需人工校验,工艺占地面积小,结构合理,运行高效、故障率低、维修便捷,并进一步具备防错的功能。(The invention discloses a multi-glue integrated gluing robot system, which comprises a robot and a gluing mechanism, wherein the robot comprises a robot base, the robot base is fixed on the ground, the upper surface of the robot base is fixedly connected with a robot body, one end, far away from the robot base, of the robot body is connected with the gluing mechanism, the gluing mechanism comprises a first gluing mechanism and a second gluing mechanism, and the first gluing mechanism and the second gluing mechanism are fixedly connected with the robot body through a connecting mechanism.)

1. The utility model provides an integrated rubber coating robot system of article is glued to many, includes robot and rubber coating mechanism, its characterized in that: the robot includes robot base (1), robot base (1) is fixed subaerial, the last fixed surface of robot base (1) is connected with robot body (2), robot body (2) are kept away from the one end of robot base (1) with rubber coating mechanism is connected, rubber coating mechanism includes first rubber coating mechanism (3) and second rubber coating mechanism (4), first rubber coating mechanism (3) with second rubber coating mechanism (4) pass through coupling mechanism with robot body (2) fixed connection mechanism, fixedly connected with solenoid on robot body (2), rubber coating mechanism passes through the solenoid is connected with the mechanism that supplies to glue.

2. The multi-glue integrated gluing robot system according to claim 1, characterized in that: the connecting mechanism is a connecting flange support (5), the connecting flange support (5) is formed by two connected plates which are 90 degrees, and the glue supply mechanism is fixedly connected with the connecting flange support (5) through bolts.

3. The multi-glue integrated gluing robot system according to claim 2, characterized in that: the first glue coating mechanism (3) and the second glue coating mechanism (4) are arranged at two ends of the connecting flange support (5) respectively, and the first glue coating mechanism (3) and the second glue coating mechanism (4) are arranged between the connecting flange support (5) respectively.

4. The multi-glue integrated gluing robot system according to claim 1, characterized in that: the connecting mechanism is a turntable, the turntable comprises a main body (6), the main body (6) is a circular plate, the main body (6) is fixedly connected to the robot body (2), a side surface of the robot body (2) away from the main body (6) is provided with a circular groove (7), the circular groove (7) is coaxially arranged with the main body (6), the inner surface of the circular groove (7) rotates to be provided with a rotating part (8), the rotating part (8) is circular, the outer surface of the rotating part (8) is uniformly attached to the inner surface of the circular groove (7), the outer surface of the rotating part (8) is provided with an annular turbine (12), the side wall of the main body (6) is provided with a rotating groove (10) along the tangential direction, the inner surface of the rotating groove (10) rotates to be provided with a worm (11), the worm (11) is engaged with the annular turbine (12), one end fixedly connected with motor (13) of worm (11), motor (13) with fixed connection between the surface of main part (6), the last fixed surface of rotation portion (8) is connected with rotor plate (14), rubber coating mechanism fixed connection be in the upper surface of rotor plate (14).

5. The multi-glue integrated gluing robot system according to claim 4, wherein: the first glue spreading mechanism (3) and the second glue spreading mechanism (4) are arranged on the surface of the rotating plate (14) in a 180-degree mode, a connecting pipe (15) is arranged on the side wall of the main body (6) in a penetrating mode, a glue conveying pipe (16) is arranged inside the rotating portion (8), the number of the glue conveying pipes (16) is two, one end of each glue conveying pipe (16) is connected with the first glue spreading mechanism (3) and the second glue spreading mechanism (4), the other end of each glue conveying pipe (16) is arranged on the side wall of the rotating portion (8) corresponding to the connecting pipe (15), the other end of each glue conveying pipe (16) is located on the side wall of the rotating portion (8) and is arranged at 180-degree mode, an arc limiting groove (17) is arranged on the side surface, close to the circular groove (7), of the rotating portion (8), the inner surface of the circular groove (7) is fixedly connected with a limit stop (18) corresponding to the arc-shaped limit groove (17).

6. The multi-glue integrated gluing robot system according to claim 5, wherein: the outer surface of the rotating part (8) is provided with a first annular groove (19), the first annular groove (19) and the rotating part (8) are coaxially arranged, and the rubber delivery pipe (16) and the connecting pipe (15) respectively correspond to the first annular groove (19).

7. The multi-glue integrated gluing robot system according to claim 6, wherein: a buffer device is arranged between the rotating part (8) and the annular turbine (12), the damping device comprises a second annular groove (20), the second annular groove (20) is arranged coaxially with the rotating part (8), the annular turbine (12) is connected in a sliding way inside the second annular groove (20), a buffer groove (21) is arranged on the side wall of the rotating part (8) corresponding to the second annular groove (20), the inner surface of the buffer groove (21) is fixedly connected with a first hinge plate (22), second hinged plates (23) are fixedly connected to the surface of the annular turbine (12) corresponding to the buffer groove (21), the number of the second hinged plates (23) is two, and the two second hinge plates (23) are respectively positioned at two ends of the first hinge plate (22), elastic pieces (9) are hinged between the first hinge plate (22) and the two second hinge plates (23).

Technical Field

The invention relates to the technical field of automobile body-in-white gluing, in particular to a multi-glue integrated gluing robot system.

Background

Since the 20 th century, the annual output of automobiles in the world is measured by thousands of automobiles, tens of thousands of automobiles, and then tens of millions of automobiles, and about 4249 thousands of automobiles are achieved in 1978. The automotive industry has become the world's largest manufacturing industry. In the 80 s, 6 of the 20 largest industrial businesses in the world were automobile manufacturing companies. In 1980, the worldwide automobile holding capacity was about 3.35 million cars, with 2.65 million cars and 7000 million freight cars and passenger cars. The production and the use of the automobile relate to a wide range. In the 70 s, over 20 largest car companies in the world had about 500 million workers, and car-related workers, such as drivers, repair technicians, promoters, and gas station workers, had about 2500 million workers. In the united states in the 60's, including the employees of highway transportation systems and petroleum, rubber, etc., 1 of every 7 employees in the country is associated with automobiles, and 1/6 is associated with the manufacture, sale, service and use of automobiles. 36% of steel strips produced in the 70 s, 44% of cold-rolled steel sheets, 43% of lead, 61% of zinc and 62% of synthetic rubber were used for the production and maintenance of automobiles. 1/7 for the total income of the Japanese economy is related to automobiles. In 7 countries such as the united states, the english, the law, the federal germany, the day, the intention, and canada, there are approximately 3500 thousands of cars produced in 1978.

In view of the fact that the high-speed development of automobile consumption in China promotes the increasing prosperity of the automobile market, the requirements of consumers and manufacturers on the comfort of the automobile are continuously improved, and then higher requirements are made on abnormal sound and shaking which affect the driving. In order to optimize NVH performance, different rubber products are adopted in the white automobile body production process in large quantity to solve the problems of automobile body shock absorption and adhesion process. The traditional white car body gluing mode is various, and the layout and the gluing mode are different. Influenced by the process area and the beat, the traditional single-station gluing equipment cannot meet the requirements of the process area and automation, and therefore a practical integrated gluing system is provided.

Disclosure of Invention

The invention aims to provide a multi-glue integrated gluing robot system to solve the problems in the background technology.

In order to achieve the purpose, the invention provides the following technical scheme: the utility model provides an integrated rubber coating robot system of many glue articles, includes robot and rubber coating mechanism, the robot includes the robot base, the robot base is fixed subaerial, the last fixed surface of robot base is connected with robot, robot keeps away from robot's one end with rubber coating mechanism is connected, rubber coating mechanism includes first rubber coating mechanism and second rubber coating mechanism, first rubber coating mechanism with second rubber coating mechanism pass through coupling mechanism with robot fixed connection mechanism, fixedly connected with solenoid on the robot, rubber coating mechanism passes through solenoid with supply gluey mechanism to be connected.

Preferably, the connecting mechanism is a connecting flange bracket, the connecting flange bracket is formed by two connected plates which are 90 degrees, and the glue supply mechanism is fixedly connected with the connecting flange bracket through a bolt.

Preferably, the first gluing mechanism and the second gluing mechanism are respectively arranged at two ends of the connecting flange bracket, and the first gluing mechanism and the second gluing mechanism are respectively provided with an adjusting device between the connecting flange bracket.

Preferably, the connecting mechanism is a turntable, the turntable comprises a main body, the main body is a circular plate, the main body is fixedly connected to the robot body, a circular groove is formed in one side surface, far away from the robot body, of the main body, the circular groove and the main body are coaxially arranged, a rotating portion is arranged on the inner surface of the circular groove in a rotating mode, the rotating portion is circular, the outer surface of the rotating portion is uniformly attached to the inner surface of the circular groove, an annular turbine is arranged on the outer surface of the rotating portion, a rotating groove is formed in the side wall of the main body along the tangential direction, a worm is arranged on the inner surface of the rotating groove in a rotating mode, the worm is meshed with the annular turbine, a motor is fixedly connected to one end of the worm, the motor is fixedly connected to the outer surface of the main body, and a rotating plate is fixedly connected to the upper surface of the rotating portion, the glue coating mechanism is fixedly connected to the upper surface of the rotating plate.

Preferably, first rubber coating mechanism with second rubber coating mechanism each other is 180 settings and is in the surface of rotor plate, the lateral wall of main part runs through and is equipped with the connecting pipe, the inside of rotation portion is equipped with and send the rubber tube, the quantity of sending the rubber tube is two, two send the one end of rubber tube respectively with first rubber coating mechanism with second rubber coating mechanism connects, one of them the other end setting of sending the rubber tube is in rotation portion lateral wall corresponds connecting pipe department, another send the other end of rubber tube to be located the lateral wall department of rotation portion, it is continuous one send the other end of rubber tube each other to be 180 settings, rotation portion is close to a side surface of circular recess is equipped with the arc spacing groove, the internal surface of circular recess corresponds arc spacing groove department fixedly connected with limit stop.

Preferably, the outer surface of the rotating part is provided with a first annular groove, the first annular groove and the rotating part are coaxially arranged, and the rubber delivery pipe and the connecting pipe respectively correspond to the first annular groove.

Preferably, the portion of rotating with be equipped with buffer between the annular turbine, buffer includes the second ring channel, the second ring channel with the coaxial setting of portion of rotating, annular turbine sliding connection is in the inside of second ring channel, the lateral wall of portion of rotating corresponds second ring channel department is equipped with the dashpot, the internal surface fixedly connected with of dashpot has first articulated slab, the surface of annular turbine corresponds dashpot department fixedly connected with second articulated slab, the quantity of second articulated slab is two, and two the second articulated slab is located respectively the both ends of first articulated slab, first articulated slab and two articulated respectively have the elastic component between the second articulated slab.

Compared with the prior art, the invention has the beneficial effects that: the utility model provides an integrated rubber coating robot system of article is glued to many, realizes the rubber coating mechanism of high efficiency, low cost, high stability, has realized the two rubber coating mechanism executions of same station. After the workpieces are accurately placed at the set positions, the robot firstly controls the first gluing mechanism to operate, rotates after the operation is finished, controls the second gluing mechanism to operate, returns to the original point of the robot after the operation is finished, and waits for the next process to be executed. The invention can ensure that two sets of gluing executing mechanisms operate stably, ensures the gluing precision and the gluing quality, does not need manual check, has small process floor area, reasonable structure, high operation efficiency, low failure rate and convenient and fast maintenance, and further has the function of error prevention.

Drawings

FIG. 1 is a schematic front view of the present invention;

FIG. 2 is a left side view of the present invention;

FIG. 3 is a schematic view of the structure of the glue spreading mechanism of the present invention;

FIG. 4 is a schematic top sectional view of the turntable according to the present invention;

FIG. 5 is a schematic cross-sectional front view of the turntable according to the present invention;

FIG. 6 is a schematic view of the turntable structure of the present invention;

FIG. 7 is a schematic top sectional view of the rotating part of the present invention;

fig. 8 is a bottom view of the rotating part of the present invention.

In the figure: 1. a robot base; 2. a robot body; 3. a first glue spreading mechanism; 4. a second glue spreading mechanism; 5. connecting a flange bracket; 6. a main body; 7. a circular groove; 8. a rotating part; 9. an elastic member; 10. a rotating groove; 11. a worm; 12. an annular turbine; 13. a motor; 14. a rotating plate; 15. a connecting pipe; 16. a rubber delivery pipe; 17. an arc-shaped limiting groove; 18. a limit stop block; 19. a first annular groove; 20. a second annular groove; 21. a buffer tank; 22. a first hinge plate; 23. and a second hinge plate.

Detailed Description

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

Example 1

Referring to fig. 1-3, the present invention provides a technical solution: a multi-glue product integrated gluing robot system comprises a robot and a gluing mechanism, wherein the robot comprises a robot base 1, the robot base 1 is fixed on the ground, the upper surface of the robot base 1 is fixedly connected with a robot body 2, one end, far away from the robot base 1, of the robot body 2 is connected with the gluing mechanism, the robot body 2 drives the gluing mechanism to glue an automobile under the action of a control system, the gluing mechanism comprises a first gluing mechanism 3 and a second gluing mechanism 4, the first gluing mechanism 3 and the second gluing mechanism 4 are two different gluing mechanisms, different gluing mechanisms can be applied to different parts of the automobile, the first gluing mechanism 3 and the second gluing mechanism 4 are fixedly connected with the robot body 2 through a connecting mechanism, the first gluing mechanism 3 is different from the second gluing mechanism 4 in angle, the robot body 2 only needs to rotate the moving angle, can accomplish the switching between first rubber coating mechanism 3 and the second rubber coating mechanism 4, fixedly connected with solenoid on the robot body 2, connecting wire and connecting pipe between rubber coating mechanism and the gluey jar and the controlgear can be placed inside the solenoid, protect circuit and pipeline, rubber coating mechanism passes through the solenoid with supply gluey mechanism to be connected.

Specifically, the connecting mechanism is a connecting flange bracket 5, as shown in fig. 3, the connecting flange bracket 5 is formed by two connected plates which are 90 degrees, the glue supply mechanism is fixedly connected with the connecting flange bracket 5 through bolts, and the connecting flange bracket 5 is fixed with the robot body 2 through a flange plate in a screwed manner.

Particularly, first rubber coating mechanism 3 and second rubber coating mechanism 4 set up respectively flange bracket 5's both ends, first rubber coating mechanism 3 and second rubber coating mechanism 4 with be equipped with adjusting device between flange bracket 5 respectively, adjusting device is adjustable first rubber coating mechanism 3 and second rubber coating mechanism 4 and flange bracket 5 between the angle that becomes, adjusting device is two plates, rotates between the plate to be connected, and rubber coating mechanism and flange bracket 5 are fixed mutually in two plates respectively and are realized adjusting the angle between rubber coating mechanism and the flange bracket 5.

Example 2

Referring to fig. 4-6, the present embodiment is different from embodiment 1 in that: the connecting mechanism is a rotary table, the rotary table comprises a main body 6, the main body 6 is a circular plate, the main body 6 is fixedly connected to the robot body 2, a side surface of the main body 6, which is far away from the robot body 2, is provided with a circular groove 7, the circular groove 7 and the main body 6 are coaxially arranged, the inner surface of the circular groove 7 rotates to be provided with a rotating part 8, the rotating part 8 is circular, the outer surface of the rotating part 8 is uniformly attached to the inner surface of the circular groove 7, the outer surface of the rotating part 8 is provided with an annular turbine 12, the side wall of the main body 6 is provided with a rotating groove 10 along the tangential direction, the inner surface of the rotating groove 10 rotates to be provided with a worm 11, the worm 11 is meshed with the annular turbine 12, the worm 11 rotates to drive the annular turbine 12 to rotate, and then the rotating part 8 rotates in the circular groove 7, one end fixedly connected with motor 13 of worm 11, motor 13 with fixed connection between the surface of main part 6, the last fixed surface of rotation portion 8 is connected with rotor plate 14, as shown in fig. 5, rotor plate 14 is circular, works as when rotation portion 8 rotates, can drive rotor plate 14 and rotate, and then control two rubber coating mechanisms and rotate, and then when changing rubber coating mechanism, only need control motor 13 to start for rotor plate 14 rotates, and need not to edit again the removal orbit of robot body 2, rubber coating mechanism fixed connection is in rotor plate 14's upper surface.

Particularly, first rubber coating mechanism 3 with second rubber coating mechanism 4 is 180 settings each other and is in the surface of rotor plate 14 to at one of them rubber coating mechanism during operation, another rubber coating mechanism rather than being located same straight line, thereby rubber coating mechanism can not produce the clash with between the car, guarantees the security of device operation, the lateral wall of main part 6 runs through and is equipped with connecting pipe 15, the inside of rotation portion 8 is equipped with send rubber tube 16, send the quantity of rubber tube 16 to be two, two send the one end of rubber tube 16 respectively with first rubber coating mechanism 3 with second rubber coating mechanism 4 is connected, one of them the other end setting of sending rubber tube 16 is in rotation portion 8 lateral wall corresponds connecting pipe 15 department, another send the other end of rubber tube 16 to be located rotation portion 8's lateral wall department, even one send the other end of rubber tube 16 to be 180 settings each other, thereby when connecting pipe 15 aligns with send rubber tube 16, connecting pipe 15 will outside glue jar glue main map send rubber tube 16, get into the rubber coating mechanism through sending rubber tube 16 and carry out the rubber coating, when needs change rubber coating mechanism, rotation portion 8 rotates 180 backs, another send rubber tube 16 aligns with connecting pipe 15 to glue in the jar pours into another rubber coating mechanism into through another send rubber tube 16 and carries out the rubber coating, rotation portion 8 is close to a side surface of circular recess 7 is equipped with arc spacing groove 17, the internal surface of circular recess 7 corresponds arc spacing groove 17 department fixedly connected with limit stop 18, as shown in figure 8, arc spacing groove 17 is semi-circular, and when rotation portion 8 was rotatory, limit stop 18 removed in arc spacing groove 17, thereby makes rotation portion 8 rotate 180 at every turn.

Specifically, the outer surface of the rotating part 8 is provided with a first annular groove 19, the first annular groove 19 and the rotating part 8 are coaxially arranged, the glue feeding pipes 16 and the connecting pipes 15 respectively correspond to the first annular groove 19, after glue in an external glue tank is injected through the connecting pipes 15, the glue enters the first annular groove 19 and enters the corresponding glue feeding pipes 16 through the first annular groove 19, so that enough space is provided for the glue to flow, the rotating part 8 cannot rotate due to the solidification of the glue, a partition plate is fixedly arranged on the first annular groove 19, the first annular groove 19 is divided into two parts, one ends of the two glue feeding pipes 16, which are positioned on the side wall of the first annular groove 19, are respectively positioned on two sides of the partition plate, so that when glue is injected, the glue flows into one of the glue feeding pipes 16 through the first annular groove 19, and simultaneously, the glue cannot flow into the glue feeding pipe 16 on the other side of the partition plate under the action of the partition plate, thereby only using one glue pot.

Specifically, a buffering device is arranged between the rotating portion 8 and the annular turbine 12, as shown in fig. 5, the buffering device includes a second annular groove 20, the second annular groove 20 is coaxially arranged with the rotating portion 8, the annular turbine 12 is slidably connected inside the second annular groove 20, as shown in fig. 4, a buffering groove 21 is arranged on a side wall of the rotating portion 8 corresponding to the second annular groove 20, a first hinge plate 22 is fixedly connected to an inner surface of the buffering groove 21, a second hinge plate 23 is fixedly connected to a surface of the annular turbine 12 corresponding to the buffering groove 21, the number of the second hinge plates 23 is two, the two second hinge plates 23 are respectively located at two ends of the first hinge plate 22, elastic members 9 are respectively hinged between the first hinge plate 22 and the two second hinge plates 23, and the worm 11 drives the annular turbine 12 to rotate, annular worm wheel 12 drives rotation portion 8 through elastic component 9 and rotates, and after rotation portion 8 rotated 180 under the effect of arc spacing groove 17 and limit stop 18, worm 11 continued to drive annular worm wheel 12 and rotated, and elastic component 9 produced the deformation this moment, ensured that rotation portion 8 rotated 180.

The working principle is as follows: when the automobile gluing device is used, an external glue tank is connected with a connecting pipe 15, glue enters a first annular groove 19 through the connecting pipe 15 and is sent into a gluing mechanism through a glue sending pipe 16, a robot body 2 drives a first gluing mechanism 3 and a second gluing mechanism 4 to move so as to glue an automobile, when the gluing mechanism needs to be replaced, a motor 13 is started, the motor 13 drives a worm 11 to rotate, the worm 11 drives an annular turbine 12 to rotate, the annular turbine 12 drives a rotating part 8 to rotate through an elastic part 9, after the rotating part 8 rotates 180 degrees under the action of an arc-shaped limiting groove 17 and a limiting stop 18, the worm 11 continues to drive the annular turbine 12 to rotate, at the moment, the elastic part 9 deforms, the rotating part 8 is ensured to rotate 180 degrees, at the moment, the connecting pipe 15 is aligned with another glue sending pipe 16, and the glue is injected into another gluing mechanism through the glue sending pipe 16.

In the description of the present invention, unless otherwise expressly specified or limited, the terms "mounted," "connected," and "fixed" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral part; can be mechanically or electrically connected; either directly or indirectly through intervening media, either internally or in any other relationship. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.

The standard parts used in the invention can be purchased from the market, the special-shaped parts can be customized according to the description of the specification and the accompanying drawings, the specific connection mode of each part adopts conventional means such as bolts, rivets, welding and the like mature in the prior art, the machines, the parts and equipment adopt conventional models in the prior art, and the circuit connection adopts the conventional connection mode in the prior art, so that the detailed description is omitted.

Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.