阅读说明：本技术 一种机器人定量涂胶装置 (Robot quantitative gluing device ) 是由 韩胜利 杨宇 王薇 孙国林 张鸿儒 于宁 王涛 牛志强 于 2019-10-17 设计创作，主要内容包括：本发明公开了一种机器人定量涂胶装置,包括机器人控制器、胶泵、定量涂胶机；定量涂胶机的伺服电机、位置传感器与机器人控制器内的伺服驱动单元连接；定量涂胶机的填充电磁阀、出胶电磁阀、填充满开关、上极限开关、下极限开关与机器人控制器内的主控制单元连接,定量涂胶机的伺服电机由机器人控制器的伺服驱动单元控制器控制；定量涂胶机的填充满开关、上极限开关、下极限开关等电气信号输入到机器人控制器的主控制单元；定量涂胶机设定和显示信息通过示教器实现；本发明利用机器人控制器实现对定量涂胶机的伺服电机、填充电磁阀和涂胶电磁阀的控制,实现了定量涂胶功能,降低了成本,节省了占地面积,提高了系统稳定性。(The invention discloses a robot quantitative gluing device, which comprises a robot controller, a glue pump and a quantitative gluing machine, wherein the robot controller is connected with the glue pump; a servo motor and a position sensor of the quantitative glue spreader are connected with a servo driving unit in the robot controller; a filling electromagnetic valve, a glue outlet electromagnetic valve, a filling switch, an upper limit switch and a lower limit switch of the quantitative glue spreader are connected with a main control unit in the robot controller, and a servo motor of the quantitative glue spreader is controlled by a servo driving unit controller of the robot controller; electrical signals of a filling switch, an upper limit switch, a lower limit switch and the like of the quantitative glue spreader are input to a main control unit of the robot controller; the setting and the display information of the quantitative glue spreader are realized through a demonstrator; the invention realizes the control of the servo motor, the filling electromagnetic valve and the gluing electromagnetic valve of the quantitative gluing machine by utilizing the robot controller, realizes the quantitative gluing function, reduces the cost, saves the occupied area and improves the system stability.)

1. A robot quantitative gluing device comprises a gluing pump (10) and a quantitative gluing machine (20), wherein the quantitative gluing machine (20) comprises a servo motor (22), a transmission device (23) and a glue cylinder, the transmission device (23) is connected with an output shaft of the servo motor (22), the transmission device (23) is connected with the glue cylinder and used for pushing glue, the servo motor (22) is provided with a servo motor position sensor (21), the transmission device (23) is provided with an upper limit switch (26) and a lower limit switch (28), the glue cylinder is provided with a filling switch (27), the glue cylinder is provided with a glue inlet and a glue outlet, the glue inlet is provided with a filling electromagnetic valve (24), the glue outlet is provided with a glue outlet electromagnetic valve (25), and the filling electromagnetic valve (24) is connected with a glue conveying port of the gluing pump (10) through a glue conveying pipe (11), and is characterized by further comprising a robot controller (30), robot controller (30) includes servo drive unit (31), main control unit (32) and demonstrator (33), servo drive unit (31) and demonstrator (33) all are connected with main control unit (32), servo motor (22) and servo motor position sensor (21) are connected with servo drive unit (31), fill solenoid valve (24), go out gluey solenoid valve (25), upper limit switch (26), fill full switch (27) and lower limit switch (28) all are connected with main control unit (32).

2. A robotic quantitative gluing device according to claim 1, characterised in that the servo motor (22) and the servo motor position sensor (21) are connected to the servo drive unit (31) by means of a servo motor cable (24).

3. A robot quantitative gluing device according to claim 1 or 2, characterised in that the filling solenoid valve (24), the glue outlet solenoid valve (25), the upper limit switch (26), the full filling switch (27) and the lower limit switch (28) are connected to the main control unit (32) by means of a doser switch cable (25).

Technical Field

The invention relates to the technical field of manufacturing, in particular to a robot quantitative gluing device.

Background

With the improvement of the technical level of the manufacturing field and the increase of labor cost, the robot is widely applied to the gluing field. However, in the existing robot gluing system, a robot controller is adopted to communicate with a controller of the gluing system, the gluing device is controlled by the gluing system controller, and the robot has the driving servo motor and the control capability. Causing redundancy and waste of the gluing control system. Therefore, there is a need for a device for controlling a gluing system by means of a robot.

Disclosure of Invention

The invention provides a robot quantitative gluing device for overcoming the problems in the prior art.

The invention is realized by adopting the following technical scheme:

a robot quantitative gluing device comprises a gluing pump and a quantitative gluing machine, wherein the quantitative gluing machine comprises a servo motor, a transmission device and a glue cylinder, the transmission device is connected with an output shaft of the servo motor and is connected with the glue cylinder for glue pushing, the servo motor is provided with a servo motor position sensor, the transmission device is provided with an upper limit switch and a lower limit switch, the glue cylinder is provided with a filling switch, the glue cylinder is provided with a glue inlet and a glue outlet, the glue inlet is provided with a filling electromagnetic valve, the glue outlet is provided with a glue outlet electromagnetic valve, the filling electromagnetic valve is connected with a glue conveying port of the gluing pump through a glue conveying pipe, the robot quantitative gluing device is characterized by further comprising a robot controller, the robot controller comprises a servo driving unit, a main control unit and a demonstrator, the servo driving unit and the demonstrator are both connected with the main control unit, and the servo motor position sensor is connected with the servo driving unit, the filling electromagnetic valve, the glue outlet electromagnetic valve, the upper limit switch, the filling switch and the lower limit switch are all connected with the main control unit.

The further technical scheme comprises the following steps:

the servo motor and the servo motor position sensor are connected with the servo driving unit through a servo motor cable.

The filling electromagnetic valve, the glue outlet electromagnetic valve, the upper limit switch, the filling switch and the lower limit switch are connected with the main control unit through switch cables of the quantitative machine.

Compared with the prior art, the invention has the beneficial effects that:

the servo drive system of the robot directly drives the servo motor of the quantitative glue spreader, and the main control unit of the robot controller controls the quantitative glue spreader, so that an independent quantitative machine control device is omitted, and the equipment cost is reduced; meanwhile, the installation of an independent quantitative glue spreader control device is avoided, and the floor area of the glue spreader is saved; a demonstrator of the robot replaces a human-computer interface of the quantitative machine, and the human-computer interface of the quantitative machine is eliminated; the equipment cost is further reduced;

the robot quantitative gluing device is simple in structure, an interface between the robot and the gluing machine is omitted, the robot controller directly controls the gluing machine, and the running stability is improved.

Drawings

FIG. 1 is a schematic structural diagram of the present invention.

In the figure: 10. the automatic glue spreading machine comprises a glue spreading pump, 11 a glue conveying pipe, 20 a quantitative glue spreading machine, 21 a servo motor position sensor 22 a servo motor, 23 a transmission device, 24 a filling electromagnetic valve, 25 a glue discharging electromagnetic valve, 26 an upper limit switch, 27 a filling switch, 28 a lower limit switch, 30 a robot controller, 31 a servo driving unit, 32 a main control unit, 33 a demonstrator, 34 a servo motor cable and 35 a switch cable of the quantitative machine.

Detailed Description

As shown in fig. 1, the invention provides a robot quantitative gluing device, which comprises a gluing pump 10, a quantitative gluing machine 20 and a robot controller 30, wherein the quantitative gluing machine 20 comprises a servo motor 22, a transmission device 23 and a glue cylinder, the transmission device 23 is connected with an output shaft of the servo motor 22, the transmission device 23 is connected with the glue cylinder for pushing glue, the servo motor 22 is provided with a servo motor position sensor 21, the transmission device 23 is provided with an upper limit switch 26 and a lower limit switch 28, the glue cylinder is provided with a filling switch 27, the glue cylinder is provided with a glue inlet and a glue outlet, the glue inlet is provided with a filling electromagnetic valve 24, the glue outlet is provided with a glue outlet electromagnetic valve 25, and the filling electromagnetic valve 24 is connected with the glue inlet of the gluing pump 10 through a glue conveying pipe 11. Still include robot control ware 30, robot control ware 30 includes servo drive unit 31, main control unit 32 and demonstrator 33, and servo drive unit 31 and demonstrator 33 all are connected with main control unit 32, and servo motor 22 and servo motor position sensor 21 are connected with servo drive unit 31, and filling solenoid valve 24, play gluey solenoid valve 25, upper limit switch 26, full switch 27 of packing and lower limit switch 28 all are connected with main control unit 32.

The servo motor 22 and the servo motor position sensor 21 are connected with the servo driving unit 31 through a servo motor cable 24; the filling solenoid valve 24, the glue outlet solenoid valve 25, the upper limit switch 26, the full filling switch 27 and the lower limit switch 28 are connected with the main control unit 32 through the dosing machine switch cable 25.

The servo motor 22 and the servo motor position sensor 21 of the quantitative glue spreader 20 are connected with a servo driving unit 31 in the robot controller 30, wherein the servo motor 22 of the quantitative glue spreader is controlled by the servo driving unit 31 in the robot controller 30, so that the glue discharging pre-pressure control of the quantitative glue spreader is realized, and the servo motor position sensor 21 feeds back the actual position of the servo motor 22, so that the actual glue discharging amount and the actual glue discharging speed of the quantitative glue spreader are calculated by a main control unit 32 of the robot controller 30;

the filling electromagnetic valve 24, the glue outlet electromagnetic valve 25, the full filling switch 27, the upper limit switch 26 and the lower limit switch 28 of the quantitative glue spreader 20 are connected with a main control unit 32 in the robot controller 30, wherein the filling electromagnetic valve 24 and the glue outlet electromagnetic valve 25 are controlled to be opened and closed by the main control unit 32 of the robot controller 30; the filling switch 27 feeds back the glue amount status signal of the glue spreader to the main control unit 32 of the robot controller 30 through the switch cable 35 of the quantitative machine for in-place filling control, and in the process of filling the glue material, if the switch acts, the filling electromagnetic valve is turned off, and the filling is completed; the upper limit switch 26 and the lower limit switch 28 feed back the glue amount status signal of the glue spreader to the main control unit 32 of the robot controller 30 through the switch cable 35 of the quantifying machine, and if the switches are operated, an alarm is given.

Setting of gluing process information of the quantitative gluing machine 20 (including gluing amount setting, gluing pre-pressure setting and the like), state display of the quantitative gluing machine (including actual gluing amount, residual gluing amount, upper and lower limit switch states of the gluing machine and the like), and realization of the state display on a demonstrator 33 of a robot controller 30;

the glue pump 10 conveys the glue material and supplies the glue material to the quantitative glue applicator 20.