阅读说明：本技术 一种涂胶定量控制装置 (Gluing quantitative control device ) 是由 张少锋 袁华雷 丁佳斌 周翔 王志龙 于 2020-05-15 设计创作，主要内容包括：本发明提供一种涂胶定量控制装置,包括：伺服电机,受控于机器人控制系统,伺服电机的输出轴与行星减速机连接,用于驱动行星减速机；行星减速机与行星滚柱丝杠连接,用于根据伺服电机的驱动从而驱动行星滚柱丝杠进行旋转运动；行星滚柱丝杠螺纹连接丝杠螺母,丝杠螺母安装在螺母安装座上；螺母安装座上还固定安装有胶缸活塞,胶缸活塞的活塞头部件深入胶缸的内腔中；行星滚柱丝杠用于将旋转运动转化为丝杠螺母在行星滚柱丝杠的轴向方向做的直线往复运动,丝杠螺母的直线往复运动带动螺母安装座和胶缸活塞做轴向方向的直线往复运动,从而控制胶缸中胶液的流入和流出。将涂胶定量控制装置集成在机器人控制系统中,简化结构,实现涂胶流量和压力精确控制,便于装置调试以及维护。(The invention provides a gluing quantitative control device, which comprises: the servo motor is controlled by the robot control system, and an output shaft of the servo motor is connected with the planetary reducer and used for driving the planetary reducer; the planetary reducer is connected with the planetary roller screw and is used for driving the planetary roller screw to rotate according to the driving of the servo motor; the planetary roller screw is in threaded connection with a screw nut, and the screw nut is arranged on the nut mounting seat; a rubber cylinder piston is fixedly arranged on the nut mounting seat, and a piston head part of the rubber cylinder piston extends into an inner cavity of the rubber cylinder; the planetary roller screw is used for converting the rotary motion into the linear reciprocating motion of the screw nut in the axial direction of the planetary roller screw, and the linear reciprocating motion of the screw nut drives the nut mounting seat and the rubber cylinder piston to do the linear reciprocating motion in the axial direction, so that the inflow and the outflow of the rubber liquid in the rubber cylinder are controlled. The gluing quantitative control device is integrated in a robot control system, so that the structure is simplified, the precise control of gluing flow and pressure is realized, and the debugging and the maintenance of the device are facilitated.)

1. A gluing quantitative control device is characterized by comprising:

the servo motor (1) is added on an additional shaft of the robot control system and is controlled by the robot control system, and an output shaft of the servo motor (1) is connected with the planetary reducer (2) and is used for driving the planetary reducer (2);

the planetary reducer (2) is connected with a planetary roller screw (10) and is used for driving the planetary roller screw (10) to rotate according to the driving of the servo motor (1);

the planetary roller screw (10) is in threaded connection with a screw nut (11), and the screw nut (11) is installed on a nut installation seat (12);

a rubber cylinder piston (13) is fixedly arranged on the nut mounting seat (12), and a piston head part of the rubber cylinder piston (13) extends into an inner cavity of the rubber cylinder (7);

the planetary roller screw (10) is used for converting the rotary motion into linear reciprocating motion of the screw nut (11) in the axial direction of the planetary roller screw (10), and the linear reciprocating motion of the screw nut (11) drives the nut mounting base (12) and the rubber cylinder piston (13) to perform the linear reciprocating motion in the axial direction, so that the inflow and the outflow of rubber liquid in the rubber cylinder (7) are controlled.

2. A quantitative glue-applying control device according to claim 1, characterized by comprising a lead screw cavity (4), wherein the left end of the lead screw cavity (4) is mounted on a first fixing mechanism (6a), and the right end of the lead screw cavity (4) is mounted on a second fixing mechanism (6 b);

the left end of the rubber cylinder (7) is arranged on the second fixing mechanism (6 b);

the screw nut (11) and the nut mounting seat (12) are located in the screw cavity (4).

3. A quantitative glue spreading control device as claimed in claim 2, characterized by comprising a shaft coupling body (3), wherein said planetary reducer (2) is mounted at the left end of said shaft coupling body (3), and the right end of said shaft coupling body (3) is connected with said first fixing mechanism (6) and is integrally formed;

a coupler (9) is arranged in the shaft coupling box body (3), and the planetary speed reducer (2) is connected with the planetary roller screw (10) through the coupler (9);

the shaft coupling box body (3) is further internally provided with a bearing assembly (16) sleeved on the periphery of the planetary roller screw (10), and the bearing assembly (16) is used for rotatably installing the planetary roller screw (10) on the shaft coupling box body (3).

4. A quantitative control device for gluing according to claim 3, characterized in that at least two guide rods (17) are sleeved on said nut mounting seat (12), the left ends of said guide rods (17) are fixed at the right ends of said shaft coupling body (3), and the right ends of said guide rods (17) are fixed on said second fixing mechanism (6 b);

the guide rod (17) is arranged in the lead screw cavity (4) and used for limiting the lead screw nut (11), the nut mounting seat (12) and the rubber cylinder piston (13) to do linear reciprocating motion in the axial direction.

5. A glue dosing control device as claimed in claim 2, characterised in that the periphery of the cylinder piston (13) is provided with a sealing and guiding ring assembly at the right end of the planetary roller screw (10), said sealing and guiding ring assembly comprising:

a seal seat (22), the seal seat (22) being mounted on the second fixing mechanism (6 b);

a first guide ring (19a), a second guide ring (19b) and a Stent seal (20) are respectively embedded in the inner ring of the sealing seat (22), and the Stent seal (20) is positioned between the first guide ring (19a) and the second guide ring (19 b);

the outer ring of the sealing seat (22) is embedded with a first sealing ring (21).

6. A device for quantitatively controlling the application of glue according to claim 5, characterized in that said second fixing means (6b) are further provided with a first feeder (23a) and a second feeder (23b), respectively,

the first riser (23a) and the second riser (23b) are positioned on the left end face of the rubber cylinder (7);

the first riser (23a) is used as an outflow channel for glue leakage when the glue leakage phenomenon occurs, and is used as a discharge channel of the original plasticizer when the plasticizer is replaced.

The second riser (23b) is used as an injection channel for newly injecting the plasticizer and provides the piston head component with the plasticizer.

7. A quantitative glue-spreading control device according to claim 1, wherein a glue cylinder end cover (8) is arranged at the right end of the glue cylinder (7), a glue inlet channel (24a), a glue outlet channel (24b) and a glue cylinder channel are arranged in the glue cylinder end cover (8), and the glue inlet channel (24a) and the glue outlet channel (24b) are respectively communicated with the glue cylinder channel (25);

a pressure sensor (28) is arranged on the rubber cylinder channel (25), and the pressure sensor (28) detects the pressure of the inflowing and outflowing rubber solution;

the pressure sensor (28) is controlled by a robot control system, detected glue solution pressure data are fed back to the robot control system, the robot control system controls the torque of the servo motor (1) according to the glue solution pressure data, and the pressure of the glue solution entering and exiting is adjusted in real time.

8. A device for controlling the quantity of glue applied according to claim 3,

a first anti-collision block (18a) is arranged on the right end face, facing the screw nut (11), of the shaft coupling box body (3) in the screw cavity (4);

and a second anti-collision block (18b) is arranged on the left end face, facing the screw nut (11), of the second fixing mechanism (6b) in the screw cavity (4).

9. A device for controlling the quantity of glue applied according to claim 2,

the left end of the rubber cylinder (7) is fixedly connected with the second fixing mechanism (6b), and a second sealing ring (27a) is embedded on a contact surface of the rubber cylinder (7) and the second fixing mechanism (6b) in contact.

10. A device for controlling the quantity of glue applied according to claim 7,

the right end of the rubber cylinder (7) is fixedly connected with the rubber cylinder end cover (8), and a third sealing ring (27b) is embedded on the contact surface of the right end of the rubber cylinder (7) and the rubber cylinder end cover (8).

11. A device for quantitatively controlling the application of glue according to claim 3, characterized in that it comprises eight connecting rods (5) located outside the cavity (4) of the screw;

the left end of the connecting rod (5) is fixedly arranged on the first fixing mechanism (6a), and the right end of the connecting rod (5) is fixedly arranged on the second fixing mechanism (6 b);

eight connecting rods (5) use two as a set of, divide equally into four groups, and four groups connecting rod (5) homodisperse are in lead screw cavity edge all around is adjacent with the edge that corresponds.

Technical Field

The invention relates to the technical field of automobile body gluing, in particular to a gluing quantitative control device.

Background

The automobile body gluing technology is mainly used for UBS bottom weld gluing, ISS in-vehicle weld gluing, RPP skirt gluing, UBC vehicle bottom PVC stone-impact-proof gluing, LASD liquid sound-proof glue gluing, fine sealing glue gluing, RDA vehicle roof water guide groove gluing and other occasions.

The following two gluing methods are generally adopted in the prior art:

one method is to combine a PCF flow pump and a 3D glue gun, and the method has low cost, but only can accurately control the flow of glue solution, cannot accurately control the gluing pressure, cannot ensure the stability of gluing quality, and cannot be applied to occasions with high gluing stability requirements.

The other method is that a 700cc quantitative machine is combined with a 3D glue gun, most of the glue guns use respective integrated systems, an independent control cabinet is adopted, a gluing control system and a native robot control system are mutually independent and have poor compatibility, the design difficulty of an upper monitoring program can be increased, the communication efficiency between the gluing control system and the native robot control system is low, the functions are limited, the integral integration is poor, and the gluing control cabinet and other devices of the gluing system are additionally arranged on the site, so that the whole system is huge and redundant. In addition, the sealing ring of the quantifying machine in the prior art is complex in structure, difficult to disassemble and inconvenient for equipment maintenance.

Disclosure of Invention

Based on the technical problems in the prior art, the invention provides a gluing quantitative control device, and aims to solve the technical problems in the prior art that a gluing control system is poor in stability, the gluing control system is poor in compatibility with a robot control system, the whole integration is poor, the whole system is huge and redundant, equipment maintenance is inconvenient, and the like. The invention is realized by the following technical scheme.

A glue application quantitative control device, comprising:

the servo motor is added on an additional shaft of the robot control system and is controlled by the robot control system, and an output shaft of the servo motor is connected with the planetary reducer and is used for driving the planetary reducer;

the planetary reducer is connected with the planetary roller screw and is used for driving the planetary roller screw to rotate according to the driving of the servo motor;

the planetary roller screw is in threaded connection with a screw nut, and the screw nut is arranged on the nut mounting seat;

a rubber cylinder piston is fixedly arranged on the nut mounting seat, and a piston head part of the rubber cylinder piston extends into an inner cavity of the rubber cylinder;

the planetary roller screw is used for converting the rotary motion into the linear reciprocating motion of the screw nut in the axial direction of the planetary roller screw, and the linear reciprocating motion of the screw nut drives the nut mounting seat and the rubber cylinder piston to do the linear reciprocating motion in the axial direction, so that the inflow and the outflow of the rubber liquid in the rubber cylinder are controlled.

The left end of the screw cavity is arranged on the first fixing mechanism, and the right end of the screw cavity is arranged on the second fixing mechanism;

the left end of the rubber cylinder is arranged on the second fixing mechanism;

wherein, the screw nut and the nut installation seat are positioned in the screw cavity.

Further, the planetary reducer is arranged at the left end of the shaft coupling box body; the right end of the shaft coupling box body is connected with the first fixing mechanism and is integrally formed;

a shaft coupling is arranged in the shaft coupling box body, and the planetary reducer is connected with the planetary roller screw through the shaft coupling;

the shaft coupling box body is internally provided with a bearing assembly sleeved on the periphery of the planetary roller screw, and the bearing assembly is used for rotatably installing the planetary roller screw on the shaft coupling box body.

Furthermore, at least two guide rods are sleeved on the nut mounting seat, the left ends of the guide rods are fixed at the right end of the shaft coupling box body, and the right ends of the guide rods are fixed on the second fixing mechanism;

the guide rod is arranged in the screw cavity and used for limiting the screw nut, the nut mounting seat and the rubber cylinder piston to do linear reciprocating motion in the axial direction.

Further, the periphery of gluing jar piston is equipped with sealed guide ring subassembly, and sealed guide ring subassembly is located planetary roller screw's right-hand member, and sealed guide ring subassembly includes:

the sealing seat is arranged on the second fixing mechanism;

the inner ring of the sealing seat is respectively embedded with a first guide ring, a second guide ring and a steckel seal, and the steckel seal is positioned between the first guide ring and the second guide ring;

the outer ring of the sealing seat is embedded with a first sealing ring.

Furthermore, a first riser and a second riser are respectively arranged on the second fixing mechanism,

the first riser and the second riser are positioned on the end surface of the left end of the rubber cylinder;

and the first riser is used as an outflow channel for glue leakage when the glue leakage phenomenon occurs and is used as a discharge channel of the original plasticizer when the plasticizer is replaced.

And the second riser is used as an injection channel for newly injecting the plasticizer and provides the plasticizer for the piston head component.

Further, a glue cylinder end cover is arranged at the right end of the glue cylinder, a glue inlet channel, a glue outlet channel and a glue cylinder channel are arranged in the glue cylinder end cover, and the glue inlet channel and the glue outlet channel are respectively communicated with the glue cylinder channel;

a pressure sensor is arranged on the rubber cylinder channel and is used for detecting the pressure of the inflowing and outflowing rubber solution;

the pressure sensor is controlled by the robot control system, the detected glue solution pressure data is fed back to the robot control system, and the robot control system controls the torque of the servo motor according to the glue solution pressure data and adjusts the pressure of the glue solution in and out in real time.

Furthermore, a first anti-collision block is arranged on the right end face, facing the screw nut, of the shaft coupling box body in the screw cavity;

and a second anti-collision device is arranged on the left end face, facing the screw nut, of the second fixing mechanism in the screw cavity.

Furthermore, a proximity sensor is also arranged on the lead screw cavity.

Furthermore, the left end of the rubber cylinder is fixedly connected with the second fixing mechanism, and a second sealing ring is embedded on a contact surface of the rubber cylinder, which is contacted with the second fixing mechanism.

Further, in the above-mentioned case,

the right end of the rubber cylinder is fixedly connected with the rubber cylinder end cover, and a third sealing ring is embedded on a contact surface of the right end of the rubber cylinder, which is in contact with the rubber cylinder end cover.

Furthermore, the screw rod comprises eight connecting rods which are positioned outside the screw rod cavity;

the left end of the connecting rod is fixedly arranged on the first fixing mechanism, and the right end of the connecting rod is fixedly arranged on the second fixing mechanism;

the eight connecting rods are divided into four groups by two, and the four groups of connecting rods (5) are uniformly dispersed on the edges around the screw cavity and are adjacent to the corresponding edges.

The beneficial technical effects of the invention are as follows:

the gluing flow and the gluing pressure are used as controllable items to be accurately controlled, so that the gluing quality and the gluing stability are improved. The gluing quantitative control device is integrated in the robot control system and serves as an additional shaft of the robot, all process parameters are controlled by the robot control system in the gluing process, the robot upper computer is adopted for monitoring, the control system is simplified, unified control is achieved, and the parameter visualization degree is high.

Drawings

Fig. 1 is a schematic view of the overall structure of the quantitative glue application control device of the present invention.

Fig. 2 is an overall structural front view of the glue application quantitative control device of the present invention.

Fig. 3 is a sectional view of a part of the structure of the quantitative control device for glue application.

FIG. 4 is a schematic view of the integrated formation of the shaft coupling body and the first fixing mechanism of the quantitative control device for glue application of the present invention;

fig. 5 is a schematic view of a nut mounting base of the gluing quantitative control device of the invention.

FIG. 6 is a partial sectional view of the right end of the roller screw and the second fixing mechanism of the quantitative glue application control device of the present invention.

Fig. 7 is a partial cross-sectional view of a glue cylinder of the quantitative glue application control device of the invention.

Fig. 8 is a schematic view of the end cover of the glue cylinder of the quantitative glue-applying control device of the present invention.

Fig. 9 is a schematic view showing the positions of the proximity sensor and the anti-collision block of the quantitative glue application control device of the present invention.

Fig. 10 is a schematic view of a screw cavity of the gluing quantitative control device of the invention.

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.

It should be noted that the embodiments and features of the embodiments may be combined with each other without conflict.

The invention is further described with reference to the following drawings and specific examples, which are not intended to be limiting.

As shown in fig. 1 to 3, the present invention provides a quantitative control device for coating glue, comprising:

the servo motor (1) is added on an additional shaft of the robot control system and is controlled by the robot control system, and an output shaft of the servo motor (1) is connected with the planetary reducer (2) and is used for driving the planetary reducer (2);

the planetary reducer (2) is connected with the planetary roller screw (10) and is used for driving the planetary roller screw (10) to rotate according to the driving of the servo motor (1);

the planetary roller screw (10) is in threaded connection with a screw nut (11), and the screw nut (11) is installed on a nut installation seat (12);

a rubber cylinder piston (13) is fixedly arranged on the nut mounting seat (12), and a piston head part of the rubber cylinder piston (13) extends into an inner cavity of the rubber cylinder (7);

the planetary roller screw (10) is used for converting the rotary motion of the servo motor (1) into the linear reciprocating motion of the screw nut (11) in the axial direction of the planetary roller screw (10), and the linear reciprocating motion of the screw nut (11) drives the nut mounting seat (12) and the rubber cylinder piston (13) to do the linear reciprocating motion in the axial direction, so that the inflow and the outflow of the rubber liquid in the rubber cylinder (7) are controlled.

According to the invention, the planetary roller screw (10) is driven to rotate by the rotation motion of the output shaft of the servo motor (1) through the planetary reducer (2), the planetary roller screw (10) converts the rotation motion of the servo motor (1) into the linear motion of the screw nut (11), the motion direction of the screw nut (11) is changed by the motion direction of the servo motor (1), and the motion direction of the screw nut (11) can be controlled by controlling the motion direction of the servo motor (1), so that the screw nut (11) is controlled to do linear reciprocating motion.

The screw nut (11) and the rubber cylinder piston (13) are both arranged on the nut mounting base (12), the reciprocating motion of the screw nut (11) drives the rubber cylinder piston (13) to do reciprocating motion, when the screw nut (11) does linear motion towards the right direction, the rubber cylinder piston (13) is driven to do linear motion towards the right direction, the piston head part of the rubber cylinder piston (13) continuously applies pressure to the rubber liquid in the rubber cylinder (7) so as to extrude the rubber liquid, and the outflow of the rubber liquid is controlled. When the screw nut (11) moves linearly leftwards, the rubber cylinder piston (13) is driven to move linearly leftwards, negative pressure is generated in the rubber cylinder (7) to suck the rubber solution into the rubber cylinder (7), and the inflow of the rubber solution is controlled.

The servo motor (1) is connected with the robot control system and is controlled by the robot control system, the robot control system accurately controls the position and the rotating speed of the servo motor (1), so that the purpose of accurately controlling the flow of the glue solution is achieved, and the robot control system monitors the torque of the servo motor (1) and the real-time feedback data of the pressure sensor (28) in real time, so that the purpose of accurately controlling the pressure of the glue solution is achieved.

The planetary roller screw (10) is adopted, the volume of the planetary roller screw is only about one third of that of a common ball screw under the condition of bearing the same torsion, and compared with the common ball screw, the planetary roller screw can greatly reduce the volume of a system under the condition of meeting the requirement of using the torsion.

The screw nut (11) can be a flange nut, and a corresponding flange nut mounting seat is designed according to the flange nut, so that axial and radial play of the screw nut (11) in linear reciprocating motion is avoided.

The piston head part is made of high-strength polymer materials and is in close contact with the inner wall of the rubber cylinder (7), the sealing performance is guaranteed, the rubber scraping effect is achieved, long-term friction between the piston head part and the inner wall of the rubber cylinder (7) and glass beads in rubber liquid can be resisted, and the service life of the piston head part is prolonged.

Referring to fig. 1-3, further, the screw rod fixing device comprises a screw rod cavity (4), wherein the left end of the screw rod cavity (4) is installed on a first fixing mechanism (6a), and the right end of the screw rod cavity (4) is installed on a second fixing mechanism (6 b);

the left end of the rubber cylinder (7) is arranged on the second fixing mechanism (6 b);

the screw nut (11) and the nut mounting seat (12) are located in the screw cavity (4).

Referring to fig. 1-2 and fig. 4, further, the planetary reducer comprises a shaft coupling body (3), wherein the planetary reducer (2) is installed at the left end of the shaft coupling body (3), and the right end of the shaft coupling body (3) is connected with a first fixing mechanism (6a) and is integrally formed;

a shaft coupling (9) is arranged in the shaft coupling box body (3), and the planetary speed reducer (2) is connected with the planetary roller screw (10) through the shaft coupling (9);

the inside of the shaft coupling box body (3) is also provided with a thrust bearing (16) sleeved on the periphery of the planetary roller screw (10), and the bearing assembly (16) is used for rotatably installing the planetary roller screw (10) on the shaft coupling box body (3).

According to the invention, the bearing assembly (16) is an angular contact ball bearing assembly, so that the normal operation of the planetary roller screw (10) in a high-pressure state can be ensured, the highest working pressure which can be borne by the planetary roller screw (10) is 22MPa, and the maximum instantaneous pressure which can be borne by the planetary roller screw is 33 MPa.

Referring to fig. 3-4, further, at least two guide rods (17) are sleeved on the nut mounting seat (12), the left ends of the guide rods (17) are fixed at the right end of the shaft coupling box body (3), and the right ends of the guide rods (17) are fixed on the second fixing mechanism (6 b);

the guide rod (17) is arranged in the screw cavity (4) and used for limiting the screw nut (11), the nut mounting seat (12) and the rubber cylinder piston (13) to do linear reciprocating motion in the axial direction.

Preferably, the number of the guide rods (17) is three.

The guide rod (17) plays a role in guiding in the axial movement process of the screw nut (11), and the phenomenon that the flow of glue solution is influenced due to the fact that the screw nut (11) rotates to cause inaccurate axial positioning can be avoided.

Referring to fig. 5, further, the periphery of the rubber cylinder piston (13) is provided with a sealing guide ring assembly, the sealing guide ring assembly is positioned at the right end of the planetary roller screw (10), and the sealing guide ring assembly comprises:

the sealing seat (22), the sealing seat (22) is installed on the second fixing mechanism (6 b);

a first guide ring (19a), a second guide ring (19b) and a Stent seal (20) are respectively embedded in the inner ring of the sealing seat (22), and the Stent seal (20) is positioned between the first guide ring (19a) and the second guide ring (19 b);

the outer ring of the sealing seat (22) is embedded with a first sealing ring (21).

Preferably, the first guide ring (19a), the second guide ring (19b) and the stent seal (20) are all made of PTFE (polytetrafluoroethylene). The first sealing ring (21) is made of FKM (fluorine rubber).

On one hand, the sealing guide ring assembly plays a role in supporting the planetary roller screw (10) and the rubber cylinder piston (13), can avoid vibration generated in the movement process due to the fact that the cantilever part of the planetary roller screw (10) is too long, and can be expanded to the vibration of a plurality of parts such as the screw nut (11), the nut mounting seat (12) and the rubber cylinder piston (13), so that the service life of the parts such as the planetary roller screw (10) is prolonged, the maintenance of the rotary motion of the planetary roller screw (10) is facilitated, the linear motion of the screw nut (11), the nut mounting seat (12) and the rubber cylinder piston (13) is maintained, and the stability of the flow of glue is maintained. On the other hand still plays the sealed effect to the packing element piston (13), and glue solution and plasticizer diffusion channel are inside whole lead screw cavity (4) when avoiding taking place to leak glue.

The rubber cylinder piston (13) has continuous friction with a first guide ring (19a), a second guide ring (19b) and a Stent seal (20) which are arranged at the inner ring of a sealing seat (22) in the movement process, so that the first guide ring (19a), the second guide ring (19b) and the Stent seal (20) are easy to damage and belong to a wearing part, therefore, the first guide ring (19a), the second guide ring (19b) and the Stent seal (20) need to be replaced regularly, in order to reduce the replacement difficulty, the first guide ring (19a), the second guide ring (19b) and the Stent seal (20) are installed on the sealing seat (22), and when the first guide ring (19a), the second guide ring (19b) and the Stent seal (20) need to be replaced, the sealing seat (22) is directly replaced, so that the replacement time is greatly shortened, and the equipment maintenance is facilitated.

Referring to fig. 5, further, the second fixing mechanism (6b) is further provided with a first riser (23a) and a second riser (23b),

the first riser (23a) and the second riser (23b) are positioned on the left end surface of the rubber cylinder (7);

and the first riser (23a) is used as an outflow channel for glue leakage when the glue leakage phenomenon occurs and as a discharge channel for the original plasticizer when the plasticizer is replaced.

And a second riser (23b) for providing a plasticizer to the piston head member as an injection passage for a new injection of plasticizer.

Specifically, the piston head member is a piston head sealing member.

Plasticizer enters through the second riser (23b) to lubricate the piston head components. A cap is inserted at the end part of the second riser (23b), and the cap is covered when the riser is not used.

The first riser (23a) is used for detecting whether a glue leakage phenomenon occurs, and when the glue leakage phenomenon occurs, glue liquid flows out of the first riser (23a), so that a worker can find the glue leakage condition as early as possible and can replace the piston head component in time. Specifically, the piston head member is a piston head sealing member.

Referring to fig. 2-3 and fig. 7, further, a glue cylinder end cover (8) is arranged at the right end of the glue cylinder (7), a glue inlet channel (24a), a glue outlet channel (24b) and a glue cylinder channel are arranged in the glue cylinder end cover (8), and the glue inlet channel (24a) and the glue outlet channel (24b) are respectively communicated with the glue cylinder channel (25);

and a pressure sensor (28) is arranged on the rubber cylinder channel (25), and the pressure sensor (28) detects the pressure of the inflowing and outflowing rubber solution.

The pressure sensor (28) is controlled by the robot control system, the detected glue solution pressure data is fed back to the robot control system, and the robot control system controls the torque of the servo motor (1) according to the glue solution pressure data and adjusts the pressure of the glue solution in and out in real time.

The inflow and outflow of the glue solution pass through the glue cylinder channel (25), namely pass through the same pipe orifice, and the complexity of the device in terms of volume and structural design is reduced. Further, the inflow and outflow of the glue solution may be in a first-in-last-out manner.

The pressure sensor (28) is arranged on the rubber cylinder channel (25), and the inflow pressure and the outflow pressure of the rubber solution can be monitored and fed back to the robot control system by using the same pressure sensor, so that the robot control system can make a decision to control the pressure of the rubber solution conveniently.

Referring to fig. 8, further, a first anti-collision block (18a) is arranged on the right end surface of the shaft coupling box body (3) facing the screw nut (11) inside the screw cavity (4);

and a second anti-collision block (18b) is arranged on the left end surface, facing the screw nut (11), of the second fixing mechanism (6b) in the screw cavity (4).

The first anti-collision block (18a) and the second anti-collision block (18b) ensure that the screw nut (11) and the bearing assembly (16) are damaged when collision occurs between the screw nut (11) and the second fixing mechanism (6 b).

Preferably, the first anti-collision block (18a) and the second anti-collision block (18b) are of annular structures and encircle the outer side of the planetary roller screw (10).

Furthermore, a proximity sensor (15) is also arranged on the lead screw cavity (4).

Proximity sensor (15) are two at least, are connected with robot control system, detect whether there is the object to be close to, and proximity sensor (15) are controlled by robot control system, and robot control system judges whether there is the foreign matter to be close to the lead screw cavity according to the proximity data that proximity sensor (15) gathered. When an object is close to the device, an early warning is generated, so that the worker can know the situation in time, and the safety of the device is guaranteed.

Referring to fig. 3, 5 and 6, further, the left end of the rubber cylinder (7) is fixedly connected with the second fixing mechanism (6b), and a second sealing ring (27a) is embedded on the contact surface of the rubber cylinder (7) and the second fixing mechanism (6 b).

Furthermore, the right end of the rubber cylinder (7) is fixedly connected with the rubber cylinder end cover (8), and a third sealing ring (27b) is embedded on the contact surface of the right end of the rubber cylinder (7) contacted with the rubber cylinder end cover (8).

The second seal ring (27a) and the third seal ring (27b) further prevent the glue from leaking.

The rubber cylinder (7) is made of high-strength stainless steel materials, the inner wall of the rubber cylinder is plated with the diamond-like coating, the rubber cylinder is high in wear resistance, can stand high-strength repeated friction of the piston head component and glass beads in the rubber solution for a long time, cannot generate metal dust due to abrasion to affect the quality of the rubber solution, and can prolong the service life of the rubber cylinder (7).

The second seal ring (27a) and the third seal ring (27b) may be made of FKM (fluorine rubber).

Referring to fig. 9, further, an observation window (14) is further disposed on the screw cavity (4), and the inside condition of the screw cavity (4), such as the current position of the screw nut (11) and the lubrication condition of the screw nut (11) and the guide rod (17), can be observed through the observation window (14), which is convenient for the staff to perform debugging and equipment maintenance.

Referring to fig. 2, further, there are a plurality of connecting rods (5),

the lead screw fixing device comprises a plurality of connecting rods (5) which are positioned outside a lead screw cavity (4), wherein the left ends of the connecting rods (5) are fixedly arranged on a first fixing mechanism (6a), and the right ends of the connecting rods (5) are fixedly arranged on a second fixing mechanism (6b), so that the stability of the lead screw cavity (4) is improved;

preferably, the connecting rods (5) have 8.

The eight connecting rods (5) are divided into four groups by taking two connecting rods as a group, and the four groups of connecting rods (5) are respectively positioned outside the screw cavity (4) and uniformly dispersed on the edges around the screw cavity and adjacent to the corresponding edges. The connecting rods (5) are arranged on the four peripheral edges outside the screw cavity (4), so that parts such as an observation window (14) and a proximity sensor (15) of the screw cavity (4) are prevented from being shielded and influenced.

Preferably, the total number of the connecting rods (5) is 4, and the connecting rods are uniformly dispersed on the edges around the lead screw cavity and are adjacent to the corresponding edges.

The arrangement of 8 connecting rods (5) is more stable than that of 4 connecting rods (5).

The connecting rod (5) is arranged to ensure the connection stability of the device and simultaneously realize convenient disassembly of the device as much as possible, thereby facilitating the maintenance of the device and the replacement of easily damaged parts.

In the invention, the rubber cylinder part and the driving part at the front end of the rubber cylinder part are arranged independently and do not contact with each other, so that the rubber cylinder part is convenient to disassemble, and is convenient for maintaining the device and replacing wearing parts such as a sealing guide ring component.

In the invention, a servo motor (1) is connected with a robot control system and is driven by the robot control system. The robot control system can simultaneously control 32 shafts, each shaft is a servo motor, the robot body is generally provided with 6 mechanical arms, 6 shafts are used, the other shafts can be used as additional shafts or process shafts, and the robot control system can cooperatively control the 6 mechanical arms and the additional shafts or process shafts of the robot body. The servo motor (1) is connected with a robot control system and driven by the robot control system, and the servo motor (1) is integrated into a robot control cabinet of the robot control system as an additional shaft and is uniformly controlled by the robot control system. The robot control cabinet in the robot control system does not need to be changed greatly. And an additional independent control cabinet is not needed to control the gluing quantitative control device. The parts of the whole control system are reduced, the size of the whole control system is reduced, a robot controller in the robot control system can directly read parameters such as torque and rotating speed of the servo motor (1), and the flow and pressure of the glue solution can be controlled more flexibly and more accurately. The programming software for controlling the gluing quantitative control device is integrated in the robot control system, and the robot demonstrator is shared, so that key process parameters such as glue solution flow, pressure, glue solution residual quantity in a glue cylinder, current position of a nozzle and the like can be monitored in real time, and the accurate control and adjustment of the key process parameters are facilitated. The technical problems that in the prior art, a robot demonstrator and a quantitative machine demonstrator are independently arranged, so that technological parameters cannot be shared and debugging is inconvenient are solved.

While the invention has been described with reference to a preferred embodiment, it will be understood by those skilled in the art that various changes in form and detail may be made therein without departing from the spirit and scope of the invention.