CN109332037B - Automatic rubber coating system of combined material's robot for car - Google Patents
Automatic rubber coating system of combined material's robot for car Download PDFInfo
- Publication number
- CN109332037B CN109332037B CN201811519778.8A CN201811519778A CN109332037B CN 109332037 B CN109332037 B CN 109332037B CN 201811519778 A CN201811519778 A CN 201811519778A CN 109332037 B CN109332037 B CN 109332037B
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- robot
- conveying line
- conveying
- gluing
- glue
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- 239000000463 material Substances 0.000 title description 12
- 238000010073 coating (rubber) Methods 0.000 title description 6
- 239000003292 glue Substances 0.000 claims abstract description 55
- 239000002131 composite material Substances 0.000 claims abstract description 38
- 238000004026 adhesive bonding Methods 0.000 claims abstract description 30
- 239000002699 waste material Substances 0.000 claims abstract description 9
- 239000007788 liquid Substances 0.000 claims abstract description 8
- 238000011084 recovery Methods 0.000 claims abstract description 8
- 238000001179 sorption measurement Methods 0.000 claims description 14
- 238000000576 coating method Methods 0.000 claims description 10
- 230000003068 static effect Effects 0.000 claims description 10
- 239000011248 coating agent Substances 0.000 claims description 7
- 230000007246 mechanism Effects 0.000 claims description 6
- 239000003638 chemical reducing agent Substances 0.000 claims description 4
- 230000001360 synchronised effect Effects 0.000 claims description 3
- 238000004519 manufacturing process Methods 0.000 abstract description 14
- 238000000034 method Methods 0.000 abstract description 7
- 230000008569 process Effects 0.000 abstract description 6
- 238000010924 continuous production Methods 0.000 abstract description 4
- 238000012546 transfer Methods 0.000 description 8
- 238000004513 sizing Methods 0.000 description 6
- 230000007480 spreading Effects 0.000 description 4
- 238000003892 spreading Methods 0.000 description 4
- 229920000049 Carbon (fiber) Polymers 0.000 description 3
- 239000004917 carbon fiber Substances 0.000 description 3
- VNWKTOKETHGBQD-UHFFFAOYSA-N methane Chemical compound C VNWKTOKETHGBQD-UHFFFAOYSA-N 0.000 description 3
- 229910000831 Steel Inorganic materials 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 239000010959 steel Substances 0.000 description 2
- 239000013585 weight reducing agent Substances 0.000 description 2
- 206010063385 Intellectualisation Diseases 0.000 description 1
- 238000009825 accumulation Methods 0.000 description 1
- 239000000853 adhesive Substances 0.000 description 1
- 230000001070 adhesive effect Effects 0.000 description 1
- 238000013459 approach Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000005553 drilling Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 239000003733 fiber-reinforced composite Substances 0.000 description 1
- 239000012634 fragment Substances 0.000 description 1
- 229920006253 high performance fiber Polymers 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 239000002184 metal Substances 0.000 description 1
- 239000007769 metal material Substances 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 238000005457 optimization Methods 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
- B05B9/00—Spraying apparatus for discharge of liquids or other fluent material, without essentially mixing with gas or vapour
- B05B9/03—Spraying apparatus for discharge of liquids or other fluent material, without essentially mixing with gas or vapour characterised by means for supplying liquid or other fluent material
- B05B9/04—Spraying apparatus for discharge of liquids or other fluent material, without essentially mixing with gas or vapour characterised by means for supplying liquid or other fluent material with pressurised or compressible container; with pump
- B05B9/0403—Spraying apparatus for discharge of liquids or other fluent material, without essentially mixing with gas or vapour characterised by means for supplying liquid or other fluent material with pressurised or compressible container; with pump with pumps for liquids or other fluent material
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
- B05B13/00—Machines or plants for applying liquids or other fluent materials to surfaces of objects or other work by spraying, not covered by groups B05B1/00 - B05B11/00
- B05B13/02—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work
- B05B13/0221—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work characterised by the means for moving or conveying the objects or other work, e.g. conveyor belts
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
- B05B13/00—Machines or plants for applying liquids or other fluent materials to surfaces of objects or other work by spraying, not covered by groups B05B1/00 - B05B11/00
- B05B13/02—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work
- B05B13/04—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work the spray heads being moved during spraying operation
- B05B13/0431—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work the spray heads being moved during spraying operation with spray heads moved by robots or articulated arms, e.g. for applying liquid or other fluent material to 3D-surfaces
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
- B05B14/00—Arrangements for collecting, re-using or eliminating excess spraying material
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P70/00—Climate change mitigation technologies in the production process for final industrial or consumer products
- Y02P70/10—Greenhouse gas [GHG] capture, material saving, heat recovery or other energy efficient measures, e.g. motor control, characterised by manufacturing processes, e.g. for rolling metal or metal working
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Automobile Manufacture Line, Endless Track Vehicle, Trailer (AREA)
- Coating Apparatus (AREA)
Abstract
The invention discloses an automatic gluing system of a robot of a composite material for an automobile, which is used for automatic gluing of a composite material part for the automobile and comprises the following steps: the device comprises a PLC control system, a waste liquid recovery device, a robot system, a multi-station conveying system, a glue supply system and a safety protection system, wherein the robot system, the multi-station conveying system, the glue supply system and the safety protection system are connected with the PLC control system; the robot system comprises a robot control system, a six-axis joint robot and a linear ground rail arranged in the middle of the multi-station conveying system; the multi-station conveying system comprises a plurality of conveying line bodies and a movable workbench connected to the conveying line bodies, wherein a workpiece is adsorbed on the movable workbench in vacuum and conveyed to a gluing station through the conveying line bodies, and the circulating continuous production is realized by adopting the plurality of conveying line bodies; and the robot system, the glue supply system and other systems are associated through the PLC control system, so that an automatic gluing process is realized. Through the mode, the invention can realize high-efficiency flexible production and improve the gluing working beat and the product quality.
Description
Technical Field
The invention relates to the technical field of automatic gluing, in particular to a robot automatic gluing system for an automobile composite material.
Background
Due to the need for environmental protection and energy saving, the weight reduction of automobiles has become a trend of world automobile development, and the existing automobile weight reduction approaches include the use of light materials, design optimization structures, and the use of light manufacturing technologies. Wherein, the adoption of the high-performance fiber reinforced composite material to partially replace the traditional metal material is the most effective way for realizing the light weight of the automobile. The application of the carbon fiber composite material can reduce the weight of an automobile body by 40% -60%, which is equivalent to 1/3-1/6 of the weight of a steel structure, and most of racing automobiles and high-end cars adopt the carbon fiber composite material body at present, so that the weight is reduced, and meanwhile, the generation of fragments is reduced due to the collision of the composite material, thereby improving the safety.
As composite materials are increasingly used in the automotive industry, the connection between these composite parts and the connection of the composite material to the metal parts are becoming an urgent issue to be addressed in the automotive industry. For composite materials, such as with screw or rivet joints, stress concentrations can occur at the joints, causing the composite material to be damaged. During the running of the automobile, the composite material at the mechanical connection point is continuously impacted due to vibration and jolt, and the fracture occurs quickly. Compared with mechanical connection, the adhesive joint has good damage safety, prevents crack propagation, does not need a connecting piece, does not have stress concentration caused by drilling, and meets the requirement of light weight.
At present, many automobile parts trades adopt a manual glue dispenser to carry out a glue bonding process, glue is extruded from a glue barrel through a pneumatic or mechanical force driving glue gun, and track control is carried out manually. The operation method can easily change the positions and the quantity of the material coating, has high labor intensity and cannot be used for mass continuous production. The triaxial platform type glue dispenser can provide the accuracy of a glue coating track although reducing the labor intensity, but can not realize the glue coating process of the large-curved-surface automobile composite material. Along with the popularization of light weight of automobiles, carbon fiber composite products are widely applied in the automobile industry, and higher requirements are put on the accuracy, the high efficiency, the agility and the intellectualization of the equipment of the composite cementing production line for automobiles.
Disclosure of Invention
The invention aims to provide an automatic gluing system for a robot of an automobile composite material, which can solve the problems that the existing labor intensity is high, the production rate is low, and multiple varieties of workpieces cannot be produced in batch at the same time, realize high-efficiency flexible production, and improve gluing working beats and product quality.
In order to solve the technical problems, the invention adopts a technical scheme that: there is provided a robot autoglue system for automotive composite material for autoglue of automotive composite material parts, comprising: the device comprises a PLC control system, a waste liquid recovery device, a robot system, a multi-station conveying system, a glue supply system and a safety protection system, wherein the robot system, the multi-station conveying system, the glue supply system and the safety protection system are connected with the PLC control system; the robot system comprises a robot control system, a linear ground rail positioned in the middle of the multi-station conveying system and a six-axis joint robot which is slidably installed on the linear ground rail, wherein the robot control system is electrically connected with the linear ground rail and the six-axis joint robot; the multi-station conveying system comprises a plurality of conveying line bodies, a movable workbench arranged on each conveying line body, an adsorption fixture arranged on the movable workbench, and guide posts positioned at two sides of each conveying line body and used for installing the movable workbench; the glue supply system comprises a single-barrel air pump machine, a glue supply system controller, a pump machine controller, a two-component servo quantitative machine and a static mixer, wherein the glue supply system controller and the pump machine controller are connected with the single-barrel air pump machine, the two-component servo quantitative machine and the static mixer are arranged on the six-axis joint robot, and the single-barrel air pump machine is connected with the two-component servo quantitative machine through two rubber pipes which are pre-buried underground; the safety protection system comprises a safety protection net, a safety door arranged on the safety net, safety gratings arranged on two sides of an inlet and an outlet of the safety protection net, safety alarm lamps arranged at corners of the safety protection net, a code scanning gun arranged on the outer side of each conveying line body and a scram switch; the waste liquid recovery device is located beside the linear ground rail and in the movable range of the six-axis joint robot.
In a preferred embodiment of the present invention, the multi-station conveying system is a four-station conveying system, and includes four conveying line bodies parallel to the linear ground rail, each two conveying line bodies are connected to form a transverse conveying line, a gluing area is formed at a joint of each two conveying line bodies, the robot system is located between the two transverse conveying lines, and the gluing area is within a movable range of the six-axis joint robot.
In a preferred embodiment of the invention, the total length of each of said transverse conveyor lines is 15m and the length of said glue application area is 6m.
In a preferred embodiment of the present invention, a feeding area is located outside the glue spreading area of each conveyor line body, and the safety protection net surrounds the outer sides of the two glue spreading areas to safely isolate the glue spreading area from the feeding area.
In a preferred embodiment of the present invention, the six-axis articulated robot is mounted on the slide rail assembly of the linear ground rail through a fixing plate.
In a preferred embodiment of the present invention, the linear ground rail is provided with a robot synchronous shaft motor for driving the six-axis joint robot, a speed reducer, and a gear rack for driving the six-axis joint robot.
In a preferred embodiment of the present invention, the composite material part for automobile is adsorbed on the moving table by an adsorption clamp, and the vacuum adsorption pressure of the adsorption clamp is more than 0.8MPa.
In a preferred embodiment of the present invention, the single-tub air pump, the glue supply system controller and the pump controller are located outside the safety protection net.
In a preferred embodiment of the invention, each conveying line body is provided with a two-stage stop mechanism.
In a preferred embodiment of the invention, the conveying line body is controlled by a variable frequency motor, the moving speed is adjustable within the range of 0-220mm/s, and the moving speed of the movable workbench is controlled to be 150-220mm/s by the variable frequency motor.
The beneficial effects of the invention are as follows: through reasonable layout, the robot system, the glue supply system and other systems are related through the PLC control system, the automatic glue coating process is realized, the multi-station conveying system is adopted to realize the circulating continuous production, the automation degree of the production process can be improved, the beat of the production process is improved by at least 30% compared with the traditional manual glue coating process, the labor intensity of operators is reduced, and the glue coating quality of the composite material for the vehicle is improved; saving more than 20% of sizing material and reducing production cost; can meet the simultaneous cementing production of more than ten composite material parts for vehicles and achieve the condition of mass production.
Drawings
FIG. 1 is a schematic diagram of a robotic automated glue system for automotive composites according to the present invention;
FIG. 2 is a schematic structural view of the suction jig;
FIG. 3 is a schematic diagram of the installation of a two-component servo-quantifier and static mixer;
The components in the drawings are marked as follows: 21. the device comprises a linear ground rail, 22, a six-axis joint robot, 23, a robot control system, 31, a conveying line body, 32, a movable workbench, 33, a guide post, 34, an adsorption clamp, 41, a single-barrel air pump, 42, a glue supply system controller, 43, a pump controller, 44, a two-component servo quantitative machine, 45, a static mixer, 51, a safety protection net, 52, a safety door, 53, a safety grating, 54, a safety alarm lamp, 55, a code scanning gun, 56, a scram switch, 60 and a waste liquid recovery device.
Detailed Description
The preferred embodiments of the present invention will be described in detail below with reference to the accompanying drawings so that the advantages and features of the present invention can be more easily understood by those skilled in the art, thereby making clear and defining the scope of the present invention.
Referring to fig. 1-3, an embodiment of the present invention includes:
A robotic auto-glue system for automotive composites for auto-glue of automotive composite parts, comprising: the device comprises a PLC control system, a waste liquid recovery device 60, a robot system, a four-station conveying system, a glue supply system and a safety protection system, wherein the robot system, the four-station conveying system, the glue supply system and the safety protection system are connected with the PLC control system.
The robot system comprises a robot control system 23, a linear ground rail 21 positioned in the middle of the four-station conveying system and a six-axis joint robot 22 slidably mounted on the linear ground rail 21, wherein the robot control system 23 is electrically connected with the linear ground rail 21 and the six-axis joint robot 22; the six-axis joint robot 22 is mounted on the sliding rail assembly of the linear ground rail 21 through a fixed plate; the linear ground rail 21 is provided with a robot synchronous shaft motor for driving the six-axis joint robot 22, a speed reducer and a gear rack for driving the six-axis joint robot 22, and the repeated positioning precision is in the range of 0.05-0.1 mm; the six-axis joint robot 22 is connected with the robot control system 23 through GuleTech gluing software packages, and the robot control system 23 controls the gluing operation of the six-axis joint robot 22.
The four-station conveying system comprises four conveying line bodies 31 which are arranged in parallel with the linear ground rail 21, a movable workbench 32 arranged on each conveying line body 31, an adsorption fixture 34 arranged on the movable workbench, and guide posts 33 which are positioned on two sides of each conveying line body 31 and used for installing the movable workbench 32; every transfer chain body 31 adopts welded steel construction, and the line body is put to the accumulation, and the department that meets of every two transfer chain bodies 31 forms a rubber coating region, the rubber coating region is in six joint robot 32's movable range, and the rubber coating region outside of every transfer chain body 31 is the material loading region, and every two transfer chain bodies 31 link to each other into a horizontal transfer chain, linear ground rail 21 is arranged in two the centre of horizontal transfer chain, every the total length of horizontal transfer chain is 15m, the length of rubber coating region is 6m, and the both ends of every transfer chain body 31 respectively have 4.5m length as the material loading region.
The driving mode of each conveying line body 31 adopts a servo motor for driving, and the driving mode is a gear rack. Two sections of stop mechanisms are arranged on each conveying line body 31, wherein the first-stage stop mechanism reduces the speed of the movable workbench 32, and the second-stage stop mechanism stops the movable workbench 32 completely. When the movable table 32 stops, the positioning pin pneumatically ejected by the stopping mechanism receives a PLC transmission signal to position the movable table 32. Four movable tables 32 are respectively arranged in the four feeding areas, and the supporting surfaces of the four movable tables are provided with equidistant positioning pins, movable guide pins and threaded holes. The composite material part for the automobile is adsorbed on the movable workbench 32 through an adsorption clamp 34, and the vacuum adsorption pressure of the adsorption clamp 34 is more than 0.8MPa. The suction jig of each composite material part for automobiles is positioned on the movable table 32 by guide pins and positioning pins, and is fixed with bolts. The automotive composite part is placed on the suction jig 34 and held in place by vacuum pumps. Each conveying line body 31 is controlled by a variable frequency motor, the moving speed is adjustable within the range of 0-220mm/s, the moving speed of the movable workbench 32 is controlled within the range of 150-220mm/s by the variable frequency motor, and the positioning accuracy is controlled within the range of +/-0.05 mm.
The glue supply system comprises a single-barrel air pump machine 41, a glue supply system controller 42, a pump machine controller 43, a two-component servo quantifying machine 44 and a static mixer 45, wherein the glue supply system controller 42 is connected with the single-barrel air pump machine 41, the two-component servo quantifying machine 44 and the static mixer 45 are arranged on the six-axis joint robot 22, and the single-barrel air pump machine 41 is connected with the two-component servo quantifying machine 44 through two rubber pipes which are pre-buried underground.
The A/B double-component sizing material is placed in a single-barrel air pump machine 41, the sizing material respectively enters a double-component servo quantifying machine 44 through two rubber pipes pre-buried underground to accurately quantify (control the proportioning and the dosage), and is fully mixed through a static mixer 45 at the front end, and finally the sizing is carried out according to the motion track of the six-axis joint robot 22. Wherein, the two-component servo quantitative machine 44 and the static mixer 45 are arranged and fixed at the end part of the six-axis joint robot 22, and the rubber tube is arranged and fixed on the six-axis joint robot 22 along the six-axis joint through a bracket. The six-axis joint robot 22 and the concrete control method of the glue supply system are as follows: the six-axis joint robot 22 sends out an analog voltage signal to the glue supply system controller 42 according to the speed, the glue supply system controller 42 sends the analog signal to the servo proportional valve so as to control the servo motor to rotate, the planetary reducer is used for pushing the piston rod in the quantitative cylinder to move up and down, and the glue spreading flow and pressure are determined by the rotating speed and the torque of the motor; the closed loop feedback part feeds back the position signal of the piston rod to the glue supply system controller 42 through the encoder, so as to precisely control the flow. Wherein the quantitative accuracy is controlled within + -1%.
The safety protection system comprises a safety protection net 51, a safety door 52 arranged on the safety protection net, safety gratings 53 arranged on two sides of an inlet and an outlet of the safety protection net 51, safety alarm lamps 54 arranged at corners of the safety protection net 51, a code scanning gun 55 arranged on the outer side of each conveying line body 31 and a scram switch 56.
The safety protection net 51 surrounds the outer sides of the two gluing areas, safely isolates the gluing areas from the feeding areas, and is provided with a safety door 52 for maintenance. The safety grating 53 is installed at both sides of the inlet and outlet of the safety protection net 51, and is used for monitoring whether the six-axis joint robot 22 has the intrusion of people and objects during the gluing operation. During the gluing operation of the six-axis joint robot 22, if a person or object accidentally breaks into the gluing area, the safety grating 53 will monitor and feed back to the PLC control system, and then the horse will cause the safety warning light 54 to warn and stop the six-axis joint robot 22. When the movable table 32 moves back and forth on the conveyor line body 31, the safety warning lamp 54 keeps the yellow lamp normally on and sounds a warning sound.
The code scanner 55 is used to identify the codes of the movable table 32 and the adsorption jig 34 and record the codes in the PLC control system, thereby preventing errors in the process program call. In addition, operation buttons and a scram switch 56 are installed beside the four moving tables 32. Any position of the whole workstation is scram, and the scram of the workstation can be eliminated only by resetting. After the emergency stop caused by the fault is removed in a short time (under the condition that the glue is not dried), the six-axis joint robot 22 needs to be started after being reset manually, and can continue to perform glue coating.
The single-barrel air pump machine, the glue supply system controller and the pump machine controller are positioned on the outer side of the safety protection net, so that the operation and control of the whole glue coating system are facilitated.
The waste liquid recovery device 60 is located beside the linear ground rail 21 and is used for collecting waste sizing materials in the movable range of the six-axis joint robot 22.
The invention discloses an automatic gluing system of a robot for an automobile composite material, which is characterized in that the robot system, a glue supply system and other systems are related through a PLC control system through reasonable layout, so that an automatic gluing process is realized, a multi-station conveying system is adopted to realize circulating continuous production, the automation degree of a production process can be improved, the beat of at least 30% is improved compared with the traditional manual gluing process, the labor intensity of operators is reduced, and the gluing quality of the automobile composite material is improved; saving more than 20% of sizing material and reducing production cost; can meet the simultaneous cementing production of more than ten composite material parts for vehicles and achieve the condition of mass production.
In the description of the present invention, it should be noted that, directions or positional relationships indicated by terms such as "upper", "lower", "left", "right", "inner", "outer", etc., are directions or positional relationships based on those shown in the drawings, or those that are conventionally put in use of the inventive product, are merely for convenience of describing the present invention and simplifying the description, and do not indicate or imply that the apparatus or elements referred to must have a specific direction, be configured and operated in a specific direction, and thus should not be construed as limiting the present invention. The above description is only of the preferred embodiments of the present invention and is not intended to limit the present invention, but various modifications and variations can be made to the present invention by those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
The foregoing description is only illustrative of the present invention and is not intended to limit the scope of the invention, and all equivalent structures or equivalent processes or direct or indirect application in other related technical fields are included in the scope of the present invention.
Claims (8)
1. A robotic automatic glue coating system for automotive composite parts, comprising: the device comprises a PLC control system, a waste liquid recovery device, a robot system, a multi-station conveying system, a glue supply system and a safety protection system, wherein the robot system, the multi-station conveying system, the glue supply system and the safety protection system are connected with the PLC control system; the robot system comprises a robot control system, a linear ground rail positioned in the middle of the multi-station conveying system and a six-axis joint robot which is slidably installed on the linear ground rail, wherein the robot control system is electrically connected with the linear ground rail and the six-axis joint robot; the multi-station conveying system comprises a plurality of conveying line bodies, a movable workbench arranged on each conveying line body, an adsorption fixture arranged on the movable workbench, and guide posts positioned at two sides of each conveying line body and used for installing the movable workbench; the glue supply system comprises a single-barrel air pump machine, a glue supply system controller, a pump machine controller, a two-component servo quantitative machine and a static mixer, wherein the glue supply system controller and the pump machine controller are connected with the single-barrel air pump machine, the two-component servo quantitative machine and the static mixer are arranged on the six-axis joint robot, and the single-barrel air pump machine is connected with the two-component servo quantitative machine through two rubber pipes which are pre-buried underground; the safety protection system comprises a safety protection net, a safety door arranged on the safety net, safety gratings arranged on two sides of an inlet and an outlet of the safety protection net, safety alarm lamps arranged at corners of the safety protection net, a code scanning gun arranged on the outer side of each conveying line body and a scram switch; the waste liquid recovery device is positioned beside the linear ground rail and in the movable range of the six-axis joint robot; the multi-station conveying system is a four-station conveying system and comprises four conveying line bodies which are arranged in parallel with the linear ground rail, each two conveying line bodies are connected into a transverse conveying line, a gluing area is formed at the joint of each two conveying line bodies, the robot system is positioned between the two transverse conveying lines, and the gluing area is in the movable range of the six-axis joint robot; and the linear ground rail is provided with a robot synchronous shaft motor for driving the six-axis joint robot, a speed reducer and a gear rack for driving the six-axis joint robot.
2. The robotic automatic glue system for automotive composite material according to claim 1, wherein each of the transverse conveyor lines has a total length of 15m and the glue area has a length of 6m.
3. The automatic gluing system of a robot for an automobile composite material according to claim 1, wherein the outer sides of the gluing areas of each conveying line body are feeding areas, and the safety protection net surrounds the outer sides of the two gluing areas to safely isolate the gluing areas from the feeding areas.
4. The robotic automatic glue system for automotive composite material of claim 1, wherein the six-axis articulated robot is mounted on a slide rail assembly of the linear ground rail by a fixed plate.
5. The robotic automatic glue system of claim 1, wherein the automotive composite part is adsorbed on the mobile table by an adsorption clamp, and the vacuum adsorption pressure of the adsorption clamp is greater than 0.8MPa.
6. The automatic glue coating system of a composite material for an automobile according to claim 1, wherein the single-tub air pump, the glue supply system controller and the pump controller are located outside the safety protection net.
7. The automatic gluing system of composite material for automobile according to claim 1, wherein each conveyor line body is provided with a two-stage stop mechanism.
8. The automatic gluing system of the robot for the automobile composite material according to claim 1, wherein the conveying line body is controlled by a variable frequency motor, the moving speed is adjustable within the range of 0-220mm/s, and the moving speed of the moving workbench is controlled within the range of 150-220mm/s by the variable frequency motor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811519778.8A CN109332037B (en) | 2018-12-12 | 2018-12-12 | Automatic rubber coating system of combined material's robot for car |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811519778.8A CN109332037B (en) | 2018-12-12 | 2018-12-12 | Automatic rubber coating system of combined material's robot for car |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109332037A CN109332037A (en) | 2019-02-15 |
| CN109332037B true CN109332037B (en) | 2024-05-17 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811519778.8A Active CN109332037B (en) | 2018-12-12 | 2018-12-12 | Automatic rubber coating system of combined material's robot for car |
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| CN (1) | CN109332037B (en) |
Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN111112888B (en) * | 2019-12-26 | 2021-10-15 | 中国第一汽车股份有限公司 | Take flexible hand push skip that rubber coating frame can fix a position |
| CN114345638B (en) * | 2022-02-08 | 2023-08-15 | 滁州市伊斯特装备制造有限公司 | Automatic gluing and pressing equipment for glass door production |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
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| US5020472A (en) * | 1988-06-08 | 1991-06-04 | Mazda Motor Corporation | Wax coating device |
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| WO2017062320A1 (en) * | 2015-10-05 | 2017-04-13 | Christopher Barnard Ripley | Paint repurposing system |
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| US3529992A (en) * | 1967-02-16 | 1970-09-22 | Commw Scient Ind Res Org | Apparatus and method for decorating sheet materials |
| US5020472A (en) * | 1988-06-08 | 1991-06-04 | Mazda Motor Corporation | Wax coating device |
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| CN109332037A (en) | 2019-02-15 |
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