CN206240730U - Gluing manipulator and the automatic double surface gluer using the gluing manipulator - Google Patents
Gluing manipulator and the automatic double surface gluer using the gluing manipulator Download PDFInfo
- Publication number
- CN206240730U CN206240730U CN201621225539.8U CN201621225539U CN206240730U CN 206240730 U CN206240730 U CN 206240730U CN 201621225539 U CN201621225539 U CN 201621225539U CN 206240730 U CN206240730 U CN 206240730U
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- CN
- China
- Prior art keywords
- mechanical arm
- axis
- motor
- gluing
- mounting bracket
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- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
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- Coating Apparatus (AREA)
Abstract
The utility model is related to gluing manipulator and the automatic double surface gluer using the gluing manipulator,Gluing machinery hand includes mounting bracket,Mounting bracket is provided with the vertically extending first mechanical arm of pivot center,Second mechanical arm of the hinge axes perpendicular to the pivot center of first mechanical arm is hinged with first mechanical arm,It is scalable along its length in second mechanical arm to be provided with three-mechanical arm,Three-mechanical arm is provided with the mounting structure for being installed for coating gun,The regulation in gluing direction of the gluing manipulator in the horizontal plane that X-axis and Y-axis are constituted is realized by the rotation of first mechanical arm,By the regulation that the gluing manipulator gluing direction of angle in the vertical direction is realized in regulation that swings up and down of second mechanical arm,Three-mechanical arm is scalable to be arranged in second mechanical arm,Three-mechanical arm is provided with the mounting structure installed for coating gun,The gluing manipulator can realize multidirectional gluing,Solve the problems, such as that gluing direction of the prior art is single.
Description
Technical field
The utility model is related to gluing manipulator and the automatic double surface gluer using the gluing manipulator.
Background technology
Box type transformer is that transformer and its high-low pressure inlet-outlet line equipment are incorporated into a casing, it include casing and
Transformer and other electric elements in casing is set, and casing includes base plate, side plate, door-plate and top board, in box type transformer
On production line, overall gluing is needed after casing assembling, by between base plate and side plate, between side plate and top board, top board and top board it
Between, the equal gluing in the junction between side plate and side plate to seal, prevent the entrance of rainwater and dust.The general volume of box type transformer
It is larger, at present, gluing is carried out using manual type mostly, the also device without automatic glue application in the production of box type transformer,
Cause low production efficiency and can not large batch of production line metaplasia produce.But there is automatic glue painting device in other field, such as
A kind of Authorization Notice No. milling protection gluing coating device disclosed in the Chinese utility model patent of the Y of CN 201375950, including
The gluing working table for treating gluing part for fixation and the numerical control gantry frame being arranged on gluing working table, numerical control gantry frame include two
The column beam and intermediate transverse girder on side, the two ends that the inner side of the column beam on both sides has line slideway, intermediate transverse girder pass through ball wire
Bar is slidably connected with the line slideway of column beam, also has line slideway on the lower surface of intermediate transverse girder, and FE Glue Gun is slidably installed
In on the line slideway on intermediate transverse girder, FE Glue Gun, column beam and intermediate transverse girder are connected with a control system, and X, Y-axis are adopted
With AC servo machinery driving, Z axis are lifted using cylinder, and control system is connected with reality with each AC servo motor and cylinder control
Existing FE Glue Gun realizes perspective operational in the regulation of X-axis, Y-axis and Z-direction.But due to top board and base plate in box type transformer
Surrounding often protrude from side plate and stretch out to form eaves, it is necessary to the elevation angle or the angle of depression that adjust FE Glue Gun can carry out gluing,
The presence of hyperbaric chamber, low-pressure chamber and transformer has several layers before and after also causing casing up and down, whole casing is not rule
Rectangular shape, and function of the FE Glue Gun of existing automatic glue painting device without regulation, can only be carried out on the surface of product
Gluing, the direction of gluing is relatively simple, it is impossible to meet the gluing and box type transformer of box type transformer on a production line whole
Body gluing.
Utility model content
The purpose of this utility model is to provide a kind of adjustable gluing manipulator in gluing direction；Meanwhile, the utility model
Purpose also reside in provide using the gluing manipulator automatic double surface gluer.
To achieve the above object, the technical scheme of gluing manipulator of the present utility model is：Gluing manipulator, including install
Frame, mounting bracket is provided with the vertically extending first mechanical arm of pivot center, and hinge axes are hinged with first mechanical arm
It is scalable along its length in second mechanical arm to be provided with perpendicular to the second mechanical arm of the pivot center of first mechanical arm
Three-mechanical arm, three-mechanical arm is provided with the mounting structure for being installed for coating gun.
The mounting bracket is provided with for driving first mechanical arm around the first drive of the pivot axis of first mechanical arm
Dynamic motor, for the second motor for driving second mechanical arm to be rotated along hinge axes and flexible for driving three-mechanical arm
The 3rd motor.
It is provided with the mounting bracket for coordinating the mounting bracket guide frame installed with the upper and lower guiding movement of vertical guide.
The technical scheme of automatic double surface gluer of the present utility model is：Automatic double surface gluer, automatic double surface gluer, including coating gun, for gluing
Gluing manipulator and the three axle machines that can be moved in the direction of principal axis of X, Y, Z axis three for being installed for gluing manipulator that rifle is installed
Structure, the gluing machinery hand includes mounting bracket, and mounting bracket is provided with the vertically extending first mechanical arm of pivot center, the
Second mechanical arm of the hinge axes perpendicular to the pivot center of first mechanical arm, edge in second mechanical arm are hinged with one mechanical arm
Its length direction is scalable to be provided with three-mechanical arm, and three-mechanical arm is provided with the mounting structure for being installed for coating gun.
The mounting bracket is provided with for driving first mechanical arm around the first drive of the pivot axis of first mechanical arm
Dynamic motor, for the second motor for driving second mechanical arm to be rotated along hinge axes and flexible for driving three-mechanical arm
The 3rd motor.
It is provided with the mounting bracket for coordinating the mounting bracket guide frame installed with the upper and lower guiding movement of vertical guide.
Three axis mechanism includes column, column beam and intermediate transverse girder, in being provided with along its length on intermediate transverse girder
Between beam guideway, guiding movement is provided with mounting seat on intermediate transverse girder guide rail, the vertical guide be installed in mounting seat and with
The upper and lower guiding movement of mounting bracket guide frame coordinates, and mounting bracket is provided with the 4th driving electricity of drive installation frame up and down motion
Machine, vertical guide is provided with vertically extending Z axis tooth bar, and the output end of the 4th motor is connected with and Z axis
The Z axis gear of tooth bar engaged transmission.
The 5th motor is provided with the mounting seat, the Y-axis for extending along its length is provided with intermediate transverse girder
Tooth bar, the output end of the 5th motor is connected with the Y-axis gear with Y-axis tooth bar engaged transmission.
The column beam has two and is set along Y direction parallel interval, is respectively provided with along its length on each column beam
The two ends for having column beam guide rail and X-axis tooth bar, intermediate transverse girder are installed on column beam by support base guiding movement, on support base
The 6th motor is provided with, the output end of the 6th motor is connected with the X-axis gear with X-axis tooth bar engaged transmission.
It is provided with being installed for packing element or for storing the storage adhesive dispenser of liquid glue on the intermediate transverse girder, stores up adhesive dispenser
Connected by sebific duct with coating gun.
The beneficial effects of the utility model are：Realize gluing manipulator in X-axis and Y-axis group by the rotation of first mechanical arm
Into horizontal plane in gluing direction regulation, the pitching of second mechanical arm is realized by the regulation that swings up and down of second mechanical arm
Angular adjustment, realizes the regulation in the gluing manipulator gluing direction of angle in the vertical direction, the scalable setting of three-mechanical arm
In in second mechanical arm, three-mechanical arm is provided with the mounting structure installed for coating gun, and the gluing manipulator can be realized many
The gluing in direction, solves the problems, such as that gluing direction of the prior art is single.
Brief description of the drawings
Fig. 1 is the structural representation of one embodiment of automatic double surface gluer of the present utility model；
Fig. 2 is the top view of Fig. 1；
Fig. 3 is the left view of Fig. 1；
Fig. 4 is the dimensional structure diagram of automatic double surface gluer of the present utility model；
Fig. 5 is partial enlarged drawings of the Fig. 4 at A.
Specific embodiment
Implementation method of the present utility model is described further below in conjunction with the accompanying drawings.
The specific embodiment of automatic double surface gluer of the present utility model, as shown in Figures 1 to 5, including coating gun, for coating gun peace
What the gluing manipulator 7 of dress and the confession gluing manipulator being arranged on workbench 1 were installed can move on the direction of principal axis of X, Y, Z tri-
Three axis mechanisms, workbench 1 is provided with pipeline 3, and three axis mechanisms are portal frame, and portal frame is located at the top of pipeline 3, gantry
Frame includes 6 root posts, the two column beams 6 and an intermediate transverse girder 8 set along Y direction parallel interval, is set on intermediate transverse girder 8
It is equipped with vertical guide 9.The length bearing of trend of column beam 6 is X-axis, and the length bearing of trend of intermediate transverse girder 8 is Y-axis, is vertically led
The guide direction of rail is Z axis.
Gluing manipulator 7 includes mounting bracket 12, and mounting bracket 12 is provided with the first vertically extending machine of pivot center
Tool arm 25, is hinged with second mechanical arm of the hinge axes perpendicular to the pivot center of first mechanical arm 25 in first mechanical arm 25
13, it is scalable along its length in second mechanical arm 13 to be provided with three-mechanical arm 14, three-mechanical arm 14 be provided with for
For the mounting structure that coating gun is installed, mounting structure is along the circumferentially disposed bolt hole 15 of the end face of its three-mechanical arm 14.Peace
Shelve 12 be provided with for drive first mechanical arm 25 around the pivot axis of first mechanical arm 25 the first motor 16,
For the second motor 17 for driving second mechanical arm 13 to be rotated along hinge axes and for driving three-mechanical arm 14 to stretch
The 3rd motor 18.It is provided with mounting bracket 12 for the mounting bracket with vertical guide guiding movement cooperation installation about 9
Guide frame 21.
Intermediate transverse girder guide rail is provided with intermediate transverse girder 8 along its length, guiding movement is installed on intermediate transverse girder guide rail
There is mounting seat 19, vertical guide 9 is installed in mounting seat 19 and can be moved along Y-axis with mounting seat 19, set on mounting bracket 12
There is the 4th motor 22 that drive installation frame 12 and gluing manipulator 7 move up and down, vertical guide 9 is provided with along the vertical direction
The Z axis tooth bar of extension, the output end of the 4th motor 22 is connected with the Z with Z axis tooth bar engaged transmission by gear train
Shaft gear.The 5th motor 20 is provided with mounting seat 19, the Y-axis for extending along its length is provided with intermediate transverse girder 8
Tooth bar, the output end transmission of the 5th motor 20 is connected with the Y-axis gear with Y-axis tooth bar engaged transmission with band by gear train
Dynamic mounting seat 19 and the entirety of gluing manipulator 7 are moved along Y-axis.Column beam is provided with along its length on each column beam 6 to lead
Rail and X-axis tooth bar, the two ends of intermediate transverse girder 8 are installed on column beam 6 by support base guiding movement, and is provided with support base
Six motors 24, the output end of the 6th motor 24 is connected with the X-axis with X-axis tooth bar engaged transmission by gear train
Gear.The storage adhesive dispenser 10 installed for packing element is provided with intermediate transverse girder 8, storage adhesive dispenser 10 is connected with coating gun by sebific duct.Dragon
Door frame is provided with maintenance platform, and workbench 1 is provided with ladder 11 so that maintenance personal is from workbench on cat ladder to maintenance platform.
The course of work of automatic double surface gluer of the present utility model is：When pipeline 3 will treat that gluing part 2 is delivered under automatic double surface gluer
Fang Shi, realizes gluing manipulator 7 in Z axis, Y by the 4th motor 22, the 5th motor 20 and the 6th motor 24
Axle and X-direction are moved, while the first mechanical arm 25 for realizing gluing manipulator 7 by the first motor 16 is in the horizontal plane
Rotation to smear different sides, the pitching of the second mechanical arm 13 of gluing manipulator 7 is realized by the second motor 17
Angle to smear gap between the gap between top board and side plate or base plate and side plate, can be with by the 3rd motor 18
Realize along the flexible of the direction of three-mechanical arm 14.
Handgrip can also be set in other embodiment of the present utility model, on three-mechanical arm to clamp coating gun
It is fixed, and bolt hole is not provided with, now handgrip forms mounting structure；First motor, the second motor and the 3rd drive
Motor can also individually be purchased and is installed on mounting bracket again；Storage adhesive dispenser can also be a container that can store liquid glue；X
Axle tooth bar and X-axis gear drive can also be replaced by screw-nut transmission mechanism, and now the 6th motor is arranged at column beam
On, the output shaft of the 6th motor is connected with lead screw transmission, and support base coordinates with threads of lead screw；Y-axis tooth bar and Y-axis gear
Can be replaced by screw-nut transmission mechanism, now the 5th motor is arranged on intermediate transverse girder, the 5th motor it is defeated
Go out on end and be connected with leading screw, mounting seat is connected with threads of lead screw；Z axis tooth bar and Z axis gear can also be passed by screw-nut
Motivation structure replaces, and now the 4th motor is arranged in vertical guide, is connected with the output end of the 4th motor
Leading screw, mounting bracket is connected with threads of lead screw.
The embodiment of gluing manipulator is identical with the embodiment of the gluing manipulator in each embodiment of above-mentioned automatic double surface gluer,
Here is omitted.
Claims (10)
1. gluing manipulator, it is characterised in that：Including mounting bracket, mounting bracket is provided with vertically extending of pivot center
One mechanical arm, is hinged with second mechanical arm of the hinge axes perpendicular to the pivot center of first mechanical arm in first mechanical arm, the
Scalable along its length on two mechanical arms to be provided with three-mechanical arm, three-mechanical arm is provided with for being installed for coating gun
Mounting structure.
2. gluing manipulator according to claim 1, it is characterised in that：The mounting bracket is provided with for driving the first machine
Tool arm is around the first motor of the pivot axis of first mechanical arm, for driving second mechanical arm to be rotated along hinge axes
The second motor and the 3rd motor for driving three-mechanical arm flexible.
3. gluing manipulator according to claim 1 and 2, it is characterised in that：Be provided with the mounting bracket for it is perpendicular
The upper and lower guiding movement of direction guiding rail coordinates the mounting bracket guide frame installed.
4. automatic double surface gluer, including coating gun, the gluing manipulator installed for coating gun and the energy for being installed for gluing manipulator
Enough three axis mechanisms in the motion of the direction of principal axis of X, Y, Z axis three, it is characterised in that：The gluing machinery hand includes mounting bracket, mounting bracket
The vertically extending first mechanical arm of pivot center is provided with, hinge axes are hinged with first mechanical arm perpendicular to first
The second mechanical arm of the pivot center of mechanical arm, it is scalable along its length in second mechanical arm to be provided with three-mechanical arm,
Three-mechanical arm is provided with the mounting structure for being installed for coating gun.
5. automatic double surface gluer according to claim 4, it is characterised in that：The mounting bracket is provided with for driving the first machinery
Arm is around the first motor of the pivot axis of first mechanical arm, for driving what second mechanical arm was rotated along hinge axes
Second motor and the 3rd motor for driving three-mechanical arm flexible.
6. the automatic double surface gluer according to claim 4 or 5, it is characterised in that：Be provided with the mounting bracket for it is vertical
The upper and lower guiding movement of guide rail coordinates the mounting bracket guide frame installed.
7. automatic double surface gluer according to claim 6, it is characterised in that：Three axis mechanism include column, column beam and in
Between crossbeam, intermediate transverse girder guide rail is provided with intermediate transverse girder along its length, guiding movement is provided with intermediate transverse girder guide rail
Mounting seat, the vertical guide is installed in mounting seat and coordinates with the upper and lower guiding movement of the mounting bracket guide frame, installs
Frame is provided with the 4th motor of drive installation frame up and down motion, and vertical guide is provided with vertically extending Z axis tooth
Bar, the output end of the 4th motor is connected with the Z axis gear with Z axis tooth bar engaged transmission.
8. automatic double surface gluer according to claim 7, it is characterised in that：The 5th motor is provided with the mounting seat,
The Y-axis tooth bar for extending along its length is provided with intermediate transverse girder, the output end of the 5th motor is connected with and Y-axis
The Y-axis gear of tooth bar engaged transmission.
9. automatic double surface gluer according to claim 8, it is characterised in that：The column beam has two and parallel along Y direction
Interval setting, is provided with column beam guide rail and X-axis tooth bar along its length on each column beam, the two ends of intermediate transverse girder pass through
Support base guiding movement is installed on column beam, and the 6th motor, the output end of the 6th motor are provided with support base
It is connected with the X-axis gear with X-axis tooth bar engaged transmission.
10. automatic double surface gluer according to claim 7, it is characterised in that：It is provided with the intermediate transverse girder and is installed for packing element
Or for storing the storage adhesive dispenser of liquid glue, storage adhesive dispenser is connected with coating gun by sebific duct.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621225539.8U CN206240730U (en) | 2016-11-15 | 2016-11-15 | Gluing manipulator and the automatic double surface gluer using the gluing manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621225539.8U CN206240730U (en) | 2016-11-15 | 2016-11-15 | Gluing manipulator and the automatic double surface gluer using the gluing manipulator |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206240730U true CN206240730U (en) | 2017-06-13 |
Family
ID=58999386
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201621225539.8U Expired - Fee Related CN206240730U (en) | 2016-11-15 | 2016-11-15 | Gluing manipulator and the automatic double surface gluer using the gluing manipulator |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN206240730U (en) |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106345656A (en) * | 2016-11-15 | 2017-01-25 | 河南森源电气股份有限公司 | Rubber coating manipulator and rubber coating apparatus using same |
| CN107433447A (en) * | 2017-07-28 | 2017-12-05 | 比优特（苏州）塑胶科技有限公司 | A kind of middle beam core automatic assembling |
| CN108405274A (en) * | 2018-03-12 | 2018-08-17 | 上汽通用五菱汽车股份有限公司 | Car door automatic glue painting device and thirdly axis compensation device |
| CN109015759A (en) * | 2018-09-04 | 2018-12-18 | 上汽通用五菱汽车股份有限公司 | A kind of fixed device of robot |
| CN110328101A (en) * | 2019-07-04 | 2019-10-15 | 苏州德星云智能装备有限公司 | A kind of lithium battery mould group side plate automatic double surface gluer |
| CN111546156A (en) * | 2020-04-07 | 2020-08-18 | 广东博智林机器人有限公司 | Polishing equipment |
-
2016
- 2016-11-15 CN CN201621225539.8U patent/CN206240730U/en not_active Expired - Fee Related
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106345656A (en) * | 2016-11-15 | 2017-01-25 | 河南森源电气股份有限公司 | Rubber coating manipulator and rubber coating apparatus using same |
| CN107433447A (en) * | 2017-07-28 | 2017-12-05 | 比优特（苏州）塑胶科技有限公司 | A kind of middle beam core automatic assembling |
| CN107433447B (en) * | 2017-07-28 | 2024-02-13 | 比优特（苏州）塑胶科技有限公司 | Automatic assembly machine for middle beam core |
| CN108405274A (en) * | 2018-03-12 | 2018-08-17 | 上汽通用五菱汽车股份有限公司 | Car door automatic glue painting device and thirdly axis compensation device |
| CN109015759A (en) * | 2018-09-04 | 2018-12-18 | 上汽通用五菱汽车股份有限公司 | A kind of fixed device of robot |
| CN110328101A (en) * | 2019-07-04 | 2019-10-15 | 苏州德星云智能装备有限公司 | A kind of lithium battery mould group side plate automatic double surface gluer |
| CN110328101B (en) * | 2019-07-04 | 2024-04-05 | 苏州德星云智能装备有限公司 | Lithium battery module curb plate rubber coating equipment |
| CN111546156A (en) * | 2020-04-07 | 2020-08-18 | 广东博智林机器人有限公司 | Polishing equipment |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20170613 Termination date: 20201115 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |