阅读说明：本技术 一种六节式喷胶机械人 (Six-section glue spraying robot ) 是由 郑志恩 于 2019-07-29 设计创作，主要内容包括：本发明公开了一种六节式喷胶机械人,其结构包括喷头、机械手、接线盒、底座,底座侧面焊接有接线盒,底座上安装有机械手,机械手顶部安装有喷头,喷头包括防护罩、旋转球、导胶管、旋转轴、刮料装置,导胶管与防护罩相连通,导胶管内设有旋转球,旋转球与旋转轴相连接,导胶管外安装有刮料装置,导胶管、防护罩均设有橡胶口,刮料装置包括移动装置、支架、刮料板、轴承、定位装置、距离感应装置,轴承安装在导胶管外侧,轴承外侧面与支架一端相连接,本发明的有益效果是：通过刮料装置能够在不拆下喷头的情况下进行清胶,无需安装拆卸,更加方便,且通过红绿灯的显示能够知晓是否位于合适距离内,提高喷胶的质量。(The invention discloses a six-section glue spraying robot which structurally comprises a spray head, a mechanical arm, a junction box and a base, wherein the junction box is welded on the side surface of the base, the mechanical arm is installed on the base, the spray head is installed at the top of the mechanical arm, the spray head comprises a protective cover, a rotary ball, a rubber guide tube, a rotary shaft and a scraping device, the rubber guide tube is communicated with the protective cover, the rotary ball is arranged in the rubber guide tube, the rotary ball is connected with the rotary shaft, the scraping device is installed outside the rubber guide tube, the rubber guide tube and the protective cover are respectively provided with a rubber port, the scraping device comprises a moving device, a support, a scraping plate, a bearing, a positioning device and a distance sensing device, the bearing is installed outside the rubber guide tube: can glue under the condition of not pulling down the shower nozzle through the scraper, need not the installation and dismantle, it is more convenient, and can know whether to be located suitable distance through the demonstration of traffic lights, improve the quality of spouting the glue.)

1. The utility model provides a six section formulas spout gluey robot, its structure includes shower nozzle (1), manipulator (2), terminal box (3), base (4) side welding has terminal box (3), install manipulator (2) on base (4), shower nozzle (1), its characterized in that are installed at manipulator (2) top:

shower nozzle (1) is including protection casing (5), roating ball (6), lead rubber tube (7), rotation axis (8), scraper (9), it is linked together with protection casing (5) to lead rubber tube (7), be equipped with roating ball (6) in leading rubber tube (7), roating ball (6) are connected with rotation axis (8), install scraper (9) outward in leading rubber tube (7).

2. The six-section glue spraying robot of claim 1, wherein: rubber guide tube (7), protection casing (5) all are equipped with rubber mouth (50), scrape material device (9) including mobile device (9a), support (9b), scrape flitch (9c), bearing (9d), positioner (9e), apart from induction system (9f), the bearing (9d) are installed in rubber guide tube (7) outside, bearing (9d) lateral surface is connected with support (9b) one end, the support (9b) other end is connected with mobile device (9a), mobile device (9a) with scrape flitch (9c) left end and be connected, scrape flitch (9c) and establish directly over rubber mouth (50), positioner (9e) are established on bearing (9d) right side, apart from induction system (9f) and establish in rubber guide tube (7) side.

3. The six-section glue spraying robot according to claim 2, characterized in that: the moving device (9a) comprises a handle (a1), a screw rod (a2), a nut (a3), a guide rail (a4) and a connecting rod (a5), wherein the screw rod (a2) is installed in the guide rail (a4), the top of the screw rod (a2) penetrates out of the top of the guide rail (a4) and is connected with the handle (a1), the nut (a3) is in threaded connection with the screw rod (a2), the nut (a3) is arranged in the guide rail (a4) and matched with the guide rail, the side face of the nut (a3) is connected with one end of the connecting rod (a5), and the other end of the connecting rod (a5) is connected with a scraper plate (9 c).

Technical Field

The invention relates to the field of manipulators, in particular to a six-section glue spraying robot.

Background

In modern shoemaking industry, the sole and the upper of a shoe of key position are mostly connected with the gluing agent to realize that the goods is pleasing to the eye light, comfortable durable, because the harmfulness of glue is big, along with scientific and technological development, adopt machine or manipulator to spout glue gradually.

The existing manipulator needs to detach the spray head for cleaning after glue spraying, then the spray head is installed, the operation is troublesome, the distance during glue spraying needs to be controlled within the range of 40-80cm away from the material, and the glue spraying effect is not good due to the fact that the distance during glue spraying is too close or too far.

Disclosure of Invention

The invention mainly aims to overcome the defects of the prior art and provide a six-section glue spraying robot.

The invention is realized by adopting the following technical scheme: the utility model provides a six festival formula glue spraying robot, its structure includes shower nozzle, manipulator, terminal box, base, the welding of base side has the terminal box, install the manipulator on the base, the shower nozzle is installed at the manipulator top, the shower nozzle includes protection casing, swivel ball, leads rubber tube, rotation axis, scraper, it is linked together with the protection casing to lead the rubber tube, it is equipped with the swivel ball in the rubber tube to lead, the swivel ball is connected with the rotation axis, it installs the scraper outward to lead the rubber tube.

Preferably, the rubber guide tube and the protective cover are both provided with rubber openings.

As an optimization, the scraping device comprises a moving device, a support, a scraping plate, a bearing, a positioning device and a distance sensing device, the bearing is installed on the outer side of the rubber guide tube, the outer side surface of the bearing is connected with one end of the support, the other end of the support is connected with the moving device, the moving device is connected with the left end of the scraping plate, the scraping plate is arranged right above the rubber opening, the positioning device is arranged on the right side of the bearing, and the distance sensing device is arranged on the side surface of the rubber guide tube.

As optimization, the mobile device includes handle, screw rod, nut, guide rail, connecting rod, install the screw rod in the guide rail, the screw rod top is worn out the guide rail top and is connected with the handle, the nut passes through threaded connection with the screw rod, the nut is established in the guide rail and is cooperateed with it, the nut side is connected with connecting rod one end, the connecting rod other end is connected with scraping the flitch.

Preferably, the nut is square.

Preferably, the distance sensing device comprises a radar, a processor, a red light and a green light, the processor is connected to the side face of the rubber guide tube and connected with the radar, and the red light and the green light are respectively installed on the outer side of the processor.

As optimization, positioner includes locating piece, carriage release lever, gag lever post, articulated shaft, dead lever, spring beam, the dead lever is fixed outside the rubber tube, the dead lever passes through articulated shaft and carriage release lever swing joint, the carriage release lever top is connected with the locating piece, the dead lever left side is connected with the gag lever post, the carriage release lever right side contacts with the spring beam, the spring beam is fixed outside the rubber tube.

Preferably, the bottom of the scraper plate is in a shape of a pointed end.

And optimally, the distance between the radar induction and the material is within 40-80cm, the red light is on, and otherwise, the green light is on.

Preferably, the opening of the rubber opening is a slot.

Advantageous effects

When the device is used, when the distance between the spray head and the material is within 40-80cm, the red lamp is lighted up, glue spraying can be carried out, after the glue spraying is finished, the handle is rotated to drive the screw rod to rotate, so that the nut is driven to move downwards until the nut abuts against the bottom of the guide rail, meanwhile, the scraping plate can be extruded into the protective cover and the rubber guide pipe from a gap of the rubber port, when the nut stops, the top of the scraping plate just abuts against and is extruded into the protective cover and the inner wall of the rubber guide pipe, then the positioning block is pulled rightwards, the support is pushed to rotate for a circle, so that the scraping plate can scrape the residue on the inner wall of the protective cover and the inner wall of the rubber guide pipe, then the support returns to the original position, the positioning block is released to clamp the support to.

Compared with the prior art, the invention has the beneficial effects that: can glue under the condition of not pulling down the shower nozzle through the scraper, need not the installation and dismantle, it is more convenient, and can know whether to be located suitable distance through the demonstration of traffic lights, improve the quality of spouting the glue.

Drawings

Other features, objects and advantages of the invention will become more apparent upon reading of the detailed description of non-limiting embodiments with reference to the following drawings:

fig. 1 is a schematic structural diagram of a six-segment glue spraying robot according to the present invention.

Fig. 2 is a schematic structural diagram of the scraping device of the present invention.

Fig. 3 is a schematic structural diagram of a mobile device according to the present invention.

Fig. 4 is a structural schematic diagram of a first working state of the positioning device of the present invention.

Fig. 5 is a structural diagram of a second working state of the positioning device of the present invention.

FIG. 6 is a top view of the positioning device of the present invention.

Fig. 7 is a schematic structural diagram of a distance sensing device according to the present invention.

In the figure: the device comprises a spray head 1, a manipulator 2, a junction box 3, a base 4, a protective cover 5, a rubber port 50, a rotary ball 6, a rubber guide tube 7, a rotary shaft 8, a scraping device 9, a moving device 9a, a bracket 9b, a scraping plate 9c, a bearing 9d, a positioning device 9e, a distance sensing device 9f, a handle a1, a screw a2, a nut a3, a guide rail a4, a connecting rod a5, a radar f1, a processor f2, a red light f3, a green light f4, a positioning block e1, a moving rod e2, a limiting rod e3, a hinge shaft e4, a fixing rod e5 and a spring rod e 6.

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.

Referring to fig. 1-7, the present invention provides a six-segment glue spraying robot, comprising: the structure of the automatic material scraping device comprises a spray head 1, a mechanical arm 2, a junction box 3 and a base 4, wherein the junction box 3 is welded on the side surface of the base 4, the mechanical arm 2 is installed on the base 4, the spray head 1 is installed at the top of the mechanical arm 2, the spray head 1 comprises a protective cover 5, a rotary ball 6, a rubber guide tube 7, a rotary shaft 8 and a material scraping device 9, the rubber guide tube 7 is communicated with the protective cover 5, the rotary ball 6 is arranged in the rubber guide tube 7, the rotary ball 6 is connected with the rotary shaft 8,

the material scraping device 9 is installed outside the rubber guide tube 7, and the rotary ball 6 can enable glue to be dispersed under the centrifugal action, so that glue spraying is uniform.

The rubber guide tube 7 and the protective cover 5 are both provided with rubber openings 50, and can be automatically closed under the condition that nothing is left.

The scraping device 9 comprises a moving device 9a, a support 9b, a scraping plate 9c, a bearing 9d, a positioning device 9e and a distance sensing device 9f, wherein the bearing 9d is installed on the outer side of the rubber guide tube 7, the outer side face of the bearing 9d is connected with one end of the support 9b, the other end of the support 9b is connected with the moving device 9a, the moving device 9a is connected with the left end of the scraping plate 9c, the scraping plate 9c is arranged right above the rubber opening 50, the positioning device 9e is arranged on the right side of the bearing 9d, and the distance sensing device 9f is arranged on the side face of the rubber guide tube 7.

The moving device 9a comprises a handle a1, a screw a2, a nut a3, a guide rail a4 and a connecting rod a5, wherein a screw a2 is installed in the guide rail a4, the top of the screw a2 penetrates out of the top of the guide rail a4 to be connected with the handle a1, the nut a3 is in threaded connection with the screw a2, the nut a3 is arranged in the guide rail a4 and matched with the guide rail a4, the side face of the nut a3 is connected with one end of the connecting rod a5, the other end of the connecting rod a5 is connected with the scraping plate 9c, the threaded connection of the nut a3 and the screw a2 has a self-locking function, and the nut a3 can be automatically fixed.

The nut a3 is square, and can fix the left and right positions of the nut a3 by matching with the guide rail a 4.

The distance sensing device 9f comprises a radar f1, a processor f2, a red light f3 and a green light f4, the processor f2 is connected to the side face of the rubber guide tube 7, the processor f2 is connected with the radar f1, the red light f3 and the green light f4 are installed on the outer side of the processor f2 respectively, and the distance sensing device can measure a proper distance.

The positioning device 9e comprises a positioning block e1, a moving rod e2, a limiting rod e3, a hinge shaft e4, a fixed rod e5 and a spring rod e6, the fixed rod e5 is fixed outside the rubber guide tube 7, the fixed rod e5 is movably connected with a moving rod e2 through the hinge shaft e4, the top of the moving rod e2 is connected with the positioning block e1, the left side of the fixed rod e5 is connected with the limiting rod e3, the right side of the moving rod e2 is in contact with the spring rod e6, the spring rod e6 is fixed outside the rubber guide tube 7, the spring rod e6 can fix the moving rod e2, and the moving rod e2 and the fixed rod e5 can keep a straight line by matching with the limiting rod e 3.

The bottom of the scraping plate 9c is tapered so as to be conveniently extruded into the rubber port 50.

The distance between the radar f1 and the material is 40-80cm, the red light f3 is bright, otherwise, the green light f4 is bright, and the worker can know the proper distance conveniently.

The opening of the rubber opening 50 is a slit, so that the scraping plate 9c can be conveniently extruded into the rubber opening.

When in use, when the distance between the spray head 1 and the material is within 40-80cm, the red light f3 is lighted to spray glue, after the glue spraying is finished, the handle a1 is rotated to rotate the screw a2, thereby driving the nut a3 to move downwards until abutting against the bottom of the guide rail a4, meanwhile, the scraping plate 9c can be squeezed into the protective cover 5 and the rubber guide tube 7 from the gap of the rubber opening 50, when the nut a3 stops, the top of the scraping plate 9c just abuts against the inner wall of the protective cover 5 and the rubber guide tube 7, then, the positioning block e1 is pulled rightwards, the bracket 9b is pushed to rotate for a circle, so that the scraping plate 9c can scrape the residue on the inner wall of the protective cover 5 and the rubber guide tube 7, then the support 9b returns to the original position, the positioning block e1 is released, the positioning block e1 clamps the support 9b to drive the support 9b to accurately reset, at this time, the nut a3 is moved upward by rotating the handle a1, so that the scraper 9c is moved out of the rubber mouth 50.

Compared with the prior art, the invention has the technical progress that: can glue under the condition of not pulling down the shower nozzle through the scraper, need not the installation and dismantle, it is more convenient, and can know whether to be located suitable distance through the demonstration of traffic lights, improve the quality of spouting the glue.

Although the present invention has been described in detail with reference to the foregoing embodiments, it will be apparent to those skilled in the art that various changes in the embodiments and/or modifications of the invention can be made, and equivalents and modifications of some features of the invention can be made without departing from the spirit and scope of the invention.