CN104069986A - Integral robot servo automatic gluing system and integral robot servo automatic gluing method - Google Patents
Integral robot servo automatic gluing system and integral robot servo automatic gluing method Download PDFInfo
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- CN104069986A CN104069986A CN201410293244.3A CN201410293244A CN104069986A CN 104069986 A CN104069986 A CN 104069986A CN 201410293244 A CN201410293244 A CN 201410293244A CN 104069986 A CN104069986 A CN 104069986A
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Abstract
The invention discloses an integral robot servo automatic gluing system and an integral robot servo automatic gluing method, wherein the system comprises a robot, a control unit of the robot, a gluing gun unit, a glue supply pump unit and an air supply unit which are sequentially connected, wherein the air supply unit is also connected with the gluing gun unit; the control unit is used for compiling gluing program and formulating the glue outlet amount of the corresponding gluing gun unit according to the running speed of the robot unit. According to the technical scheme, the robot is integrated with a gluing device, so that the integration of a robot system and a gluing system in the aspect of hardware can be embodied, the robot directly controls a gluing gun for carrying out servo gluing, and a mapping relation is established between the moving speed of the robot and the glue outlet amount, so that the glue outlet amount at the different running speeds of the robot is uniform, and coating of dispensing is controlled, and the gluing effect is good; therefore, the cost is lowered, the space is saved, and the gluing accuracy is improved.
Description
Technical field
The invention belongs to plant equipment automated manufacturing field, relate in particular to the servo automatic adhesive application system of integrated robot and method thereof.
Background technology
Gluing is one important production process in the industries such as automobile, boats and ships, electric, building materials.Poisonous for glue, to improve the aspects such as automaticity and productivity ratio, raising gluing quality consideration, gluing operation is developed to robot coating by artificial gluing.Coating system based on robot has two kinds of implementations at present, and the one, glue rifle is fixed, and robot grabbing workpiece carries out gluing; The 2nd, workpiece is fixed, robot captures glue rifle and carries out gluing, which kind of gluing mode no matter, its basic principle is: robot and coating system are as two systems independently, robot is responsible for capturing and moving, and coating system is responsible for plastic emitting, and gel quantity is controlled by quantitative cylinder or flowmeter, quantitatively cylinder or flowmeter are not contained in glue rifle gum outlet, and the two is controlled by coating system nonshared control unit. and robot and gluing controller carry out the coordination of gel quantity and speed by communication.
Chinese patent " a kind of Glue Spreading Robot and glue spreading method thereof " (patent No. application number: 201110458653.0) provide a kind of traditional robot coating method, the method Bu Shiyou robot controls gel quantity, but the gel quantity feedback signal by pickoff sensor judges and controls by gluing controller.This traditional robot coating mode has following deficiency: the one, and extra gluing controller causes the increase of cost of equipment, and control system is comparatively complicated, has also taken larger space simultaneously; The 2nd, coordination between gel quantity and speed relies on the communication between robot and gluing controller, not only make to control to become complicated, increased the cost of communication apparatus, and can cause coordinating between gel quantity and speed inconsistent, thereby affect plastic emitting quality; The 3rd, for detection of the gel quantity that detected of sensor (as flowmeter) be not the flow of final plastic emitting, sensor is to there being sebific duct to connect between gum outlet, can build-up of pressure loss, finally cause gluing of low quality.
Chinese patent " Glue Platform for Automatic Robots " (grant number: a kind of full-automatic gluing platform of multistation is provided CN 201006537Y), can have enhanced productivity, but fundamentally do not solved the deficiency of above-mentioned conventional machines people's gluing mode.
Chinese patent " a kind of adhesive dispensing robot with firing pin valve " (CN 202555467U) has improved a kind of adhesive dispensing robot with firing pin valve, comprise a robot, and be arranged on mechanical arm, detecting unit, control module and the teaching machine in robot, one firing pin valve is arranged on the end of mechanical arm, by firing pin valve, improve the effect of some glue coating techniques, but do not solve the problem of other gluing modes.
Therefore, those skilled in the art is devoted to develop a kind of further raising gluing quality, reduces system cost, reduces system bulk, simplifies the servo automatic adhesive application system of robot of controlling difficulty.
Summary of the invention
In view of this, the present invention is integrated by robot and glue spreading apparatus, and the movement velocity of Bing Shi robot and gel quantity Auto-matching make robot gel quantity under the different speeds of service even, gluing is respond well, thereby has reduced cost, saved space and improved gluing precision.
For achieving the above object, concrete technical scheme is as follows:
On the one hand, provide a kind of integrated robot servo automatic adhesive application system, it is characterized in that, comprise robot and control module thereof, glue rifle unit, gumming pump unit and air supply unit, described robot and control module thereof are connected with described glue rifle unit, described glue rifle unit is located on described robot and control module thereof, and described gumming pump is connected with described glue rifle unit, and described air supply unit is connected with gumming pump unit with described glue rifle unit respectively.
Preferably, described robot and control module thereof comprise that robot body, control module and robot drive, described control module comprises robot control unit and the additional shaft controller being connected with control mainboard, and described robot body is connected with described robot control unit.
Preferably, described glue rifle unit comprises CD-ROM drive motor, glue gun body and is coated with needle head, and described additional shaft controller is connected with described CD-ROM drive motor, the plastic emitting of glue gun body, described glue gun body and the releasable connection of described painting needle head described in described drive motor.
Preferably, described robot cell also comprises robot flange, and described glue rifle unit is connected with described robot body by described robot flange.
On the other hand, provide a kind of integrated robot servo automatic glue application method, comprised the following steps:
Step 1, opens the servo automatic adhesive application system of integrated robot described above, and carries out preparation;
Step 2, described control module is write gluing program, and set up the speed of service of described robot body and glue rifle unit drives motor rotary speed between mapping relations;
Step 3, described controller unit is controlled described robot cell, gluing is carried out in glue rifle unit;
Step 4, when moving to gluing terminal, finishes gluing.
Preferably, described in described step 3, control module is controlled the speed of service of described robot body, and according to the mapping relations of described step 2, controls the rotating speed of described glue rifle unit drives motor.
Preferably, in described step 2, gluing program comprises the bar shaped glue program that is coated with, described painting bar shaped glue program comprises precoating glue, gluing and resorption, and the rotating speed of the glue rifle unit drives motor in the gluing in described painting bar shaped glue program is corresponding to the speed of service of described robot body.
Preferably, the rotating speed of the glue rifle unit drives motor in the pre-gluing in described painting bar shaped glue program is higher than the rotating speed of glue rifle unit drives motor in described gluing.
Preferably, the glue rifle unit drives motor in the resorption in described painting bar shaped glue program slows down and reverses.
Preferably, the gluing program in described step 2 comprises a painting point glue program, controls the rotating speed of described glue rifle unit drives motor at control module described in described painting point glue by pulse signal.
Preferably, in described painting point glue, when described robot is by non-glue-applying point during to glue-applying point, the pulse signal that described control module sends transfers high level to by low level, the rotating speed of described glue rifle unit drives motor is corresponding with described pulse signal, by static, transfers quick acceleration to.
With respect to prior art, the advantage of technical scheme of the present invention has:
1, changed the coordination mode between the robot speed of service and gel quantity.Rapport between the robot of the present invention speed of service and gel quantity no longer realizes by the communication between gluing controller and robot controller, but directly control and drive servomotor to send rotation command to glue rifle according to coating technique instruction by robot controller, glue rifle drives rotating speed and the robot speed of service of servomotor to have certain mapping relations, and glue rifle drives the rotating speed of servomotor to determine gel quantity, thereby there is corresponding relation between the speed of service of robot and gel quantity, realize the effect of controlling gel quantity by the robot speed of service.This mode can guarantee that robot can change in real time gel quantity under the different speeds of service, thereby guarantees the uniformity of bar shaped glue thickness.
2, integrated system hardware, simplified control system.Owing to having adopted the gluing mode of controlling gel quantity by the robot speed of service, can save traditional gluing controller and communication hardware, the CD-ROM drive motor of glue rifle is controlled it by robot control cabinet as the additional shaft of robot, between the speed of service of robot and glue rifle CD-ROM drive motor, by software, set up direct mapping relations, realize the gluing mode of controlling gel quantity by the robot speed of service, compare with traditional gluing mode, control hardware between robot and automatic double surface gluer is integrated into one, no longer adopt traditional gluing controller, do not need the communication between robot and gluing controller yet.The control of whole robot coating system is greatly simplified.
3, reduce costs, save space.The present invention, owing to adopting new gluing theory, has reduced the components and parts such as the sensors such as gluing controller, flowmeter, communication hardware, and the cost of the system integration is greatly reduced; The minimizing of system components and parts, particularly gluing controller, can reduce the spatial volume of system, is saving space, industrial application place.
4, improve gluing precision.Traditional gluing mode need to detect the flow of glue, for the flowmeter of flow detection and valve that controller is controlled often not at same place, the sebific duct that has certain distance between the two, in for glue process, sebific duct between flowmeter and valve can cause glue to have certain crushing and time lag, causes gluing accurately not control.Because the present invention has adopted the coating system development scheme of integrating, no longer use traffic meter carries out the feedback to flow, does not also need to control its flow by valve, but accurately controls gel quantity by the rotating speed of motor, and correspondingly gluing quality also can improve.
5, can realize multiple gluing mode.Due to control system hardware integration, make glue rifle drive motors controlled by robot as additional shaft, the method can realize samely carries out bar shaped glue glue rifle and some glue applies.When being coated with bar shaped glue, rotating speed and the robot speed of service of glue rifle motor are set up mapping relations; When being coated with some glue, when robot runs to glue-applying point, slow down and out of service, to glue rifle drive motors, send the pulse suitable with robot dwell time simultaneously, so that carrying out a glue, glue rifle applies.Above-mentioned two kinds of working methods without any need for the change of hardware, only need to be by software exchange.
Accompanying drawing explanation
The accompanying drawing that forms a part of the present invention is used to provide a further understanding of the present invention, and schematic description and description of the present invention is used for explaining the present invention, does not form inappropriate limitation of the present invention.In the accompanying drawings:
Fig. 1 is the structural representation of system embodiment of the present invention;
Fig. 2 is coated with the bar shaped Jiao Shi robot speed of service and glue rifle CD-ROM drive motor velocity of rotation graph of a relation in the embodiment of the present invention;
The robot speed of service and glue rifle CD-ROM drive motor velocity of rotation graph of a relation when Fig. 3 is embodiment of the present invention Zhong Tudianjiao;
Fig. 4 is the gluing flow chart of the inventive method embodiment.
The specific embodiment
Below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is clearly and completely described, obviously, described embodiment is only the present invention's part embodiment, rather than whole embodiment.Embodiment based in the present invention, those of ordinary skills, not making the every other embodiment obtaining under creative work prerequisite, belong to the scope of protection of the invention.
It should be noted that, in the situation that not conflicting, embodiment and the feature in embodiment in the present invention can combine mutually.
Below with reference to accompanying drawing, embodiments of the invention are done to concrete explaination.
The servo automatic adhesive application system of integrated robot of embodiments of the invention as shown in Figure 1, comprises robot and control module thereof, glue rifle unit 4, gumming pump unit and air supply unit.
Robot and control module thereof are connected with glue rifle unit 4, control the operation of glue rifle unit 4.Gumming pump is connected with glue rifle unit 4, and air supply unit is connected with gumming pump unit with glue rifle unit 4 respectively.
The servo automatic glue application method of integrated robot, comprises the following steps:
Step 1, opens the servo automatic adhesive application system of integrated robot, and carries out preparation;
Step 2, control module 1 is write gluing program, and set up the speed of service of robot body 2 and glue rifle unit 4 CD-ROM drive motor 5 rotating speeds between mapping relations;
Step 3, gluing is carried out in control module 1 control body 2, glue rifle unit 4;
Step 4, when moving to gluing terminal, finishes gluing.
Embodiments of the invention are integrated by robot and glue spreading apparatus, and make the movement velocity of robot and the Auto-matching of gel quantity, reduced cost, saved space and improved gluing precision.
In an embodiment of the present invention, robot and control module thereof comprise that robot body 2, control module 1 and robot drive.Robot drives and is preferably servomotor.
The speed of service of control module 1 control body 2, and according to the rotating speed of mapping relations control glue rifle unit 4 CD-ROM drive motors 5 between the speed of service of robot body 2 and glue rifle unit 4 CD-ROM drive motor 5 rotating speeds.Because the rotating speed of glue rifle unit 4 CD-ROM drive motors 5 has determined gel quantity, control module 1 directly drives glue rifle unit 4 CD-ROM drive motors 5, and form mapping relations with the speed of service of robot body 2, control module 1 forms again the control to glue rifle unit 4 CD-ROM drive motor 5 rotating speeds in control body 2, to gel quantity formation control, and can form Auto-matching, and when saving system cost, by rotating speed, accurately control gel quantity, improved gluing quality.
Preferably control module 1 comprises robot control unit and the additional shaft controller being connected with control mainboard, and robot body 2 is connected with robot control unit.Control the additional shaft controller of glue rifle unit 4 and the robot control unit of control body 2 and share a set of control mainboard.
The robot control unit of control module 1 preferably includes the controller supporting with robot body 2, is the necessary software and hardware equipment of control and necessary communication module.Control module 1 should have the function that also can control additional shaft except control, first-selection be with coating technique in supporting standard software or the hardware of robot body 2, but be not limited to this, also can use software or the hardware of the special exploitation meeting the demands, this unit connects robot body 2 by accessory cables, to reach the object with robot communication and control.
As shown in Figure 1, in an embodiment of the present invention, robot body 2 is connected with glue rifle unit 4 by robot flange 3.
Robot body 2 is first-selected is series connection 6 axle articulated robots, but is not limited to this, also can use and meet lower-mobility robot or other equipment requiring of measuring.
The non-standard flange that robot flange 3 maybe can meet the demands for industry standard flange, is arranged on robot end, for connecting glue rifle unit 4.
Glue rifle unit 4 comprises CD-ROM drive motor 5, glue gun body 15, is coated with needle head 14, mixing valve 13, voltage-stablizer 16, pressure sensor 17.
CD-ROM drive motor 5 is preferably servomotor, but is not limited to this, also can use to meet to drive other controllable motors that require.CD-ROM drive motor 5 is connected with glue gun body 15, glue gun body 15 first-selections be can quantitative sealant yielding screw rod rifle, but be not limited to this, also can use other coating guns that meet quantitative sealant yielding requirement.Glue gun body 15 belows, for being coated with needle head 14, are threaded connection with glue gun body 15, in order to adapt to the glue that is coated with out different thicknesses, and can be according to being coated with the different formation series of needle head gum outlet diameter.
Glue gun body 15 1 sides are connected with mixing valve 13, and mixing valve 13 is opened by gases at high pressure, and its effect is to guarantee that the pressure of gluing is in certain scope.
The opposite side of glue gun body 15 is connected with voltage-stablizer 16, and during gluing, glue enters voltage-stablizer 16 by mixing valve 13, makes voltage-stablizer 16 reach certain pressure.When gluing pressure reduces, the glue of voltage-stablizer 16 enters glue gun body 15 and supplements, and when gluing pressure increases, glue enters voltage-stablizer 16 to reduce glue gun body 15 pressure.Voltage-stablizer 16 bottoms can setting pressure sensor 17, and the signal of pressure sensor 17 can feed back to the analog quantity receiver module 19 in control module 1, also can show by digital display 18.
For glue unit, comprise glue pump 11 and sebific duct 12.Glue pump 11 is first-selected can meet for general on market the glue pump 11 that mixing valve 13 pressure require, but is not limited to this, also can use the non-standard glue pump 11 meeting the demands, and preferably includes plastic container and compression pump.Glue pump 11 is connected with mixing valve 13 by sebific duct 12, and sebific duct 12 is for meeting interface dimensional requirement and gluing pressure required standard sebific duct.
Air supply unit consists of air pump 8, the first pressure-regulating valve 7, the second pressure-regulating valve 9, the first tracheae 6, the second tracheae 10, can be simultaneously to glue pump and glue rifle, supplies the gas of different pressure and stable gas pressure.Air pump 8 produces certain gases at high pressure, after the first pressure-regulating valve 7 pressure regulation reach authorized pressure, through the first tracheae 6, arrives mixing valve 13, after the second pressure-regulating valve 9 pressure regulation reach authorized pressure, through the second tracheae 10, arrives glue pump 11.
As shown in Figure 2, in embodiment of the method for the present invention, the basic principle that is coated with bar shaped glue can be by the robot speed of service of robot body and the CD-ROM drive motor of glue rifle unit, and the velocity of rotation relation of glue rifle motor represents.This figure upper part is the time dependent figure of the robot speed of service, and lower part is the corresponding time dependent figure of the glue rifle motor speed of service.
It is stage of zero that r1, r2Wei robot start before gluing from uniform motion to deceleration, r1Wei robot uniform motion stage wherein, r2Wei robot decelerating phase.In robot, slowing down is zero to be while finishing in the r2 stage, and being set as robot glue rifle shooting phases-time mid point is r3, and to enter the accelerated motion stage be r4 in robot afterwards.
In this process, glue rifle motor has also carried out a series of corresponding motions, not move be g1 to glue rifle motor before r2 motion stage, robot receives shooting time command afterwards, it is g2 process that glue rifle motor is rapidly accelerated to certain speed, g3 is the pre-gluing stage, the rotating speed of glue rifle motor is higher than the rotating speed of glue rifle motor in gluing, object is, in gluing beginning, glue rifle and syringe needle part are filled up to glue fast, this time capable of regulating, g4 valency section is that glue rifle motor decelerates to the gluing speed corresponding with robot TCP speed fast.
Afterwards, enter the gluing stage, if the speed of service of robot is carried out with r5, the speed of service of glue rifle motor is carried out with g5, and g5 and r5 are corresponding.
When stopping gluing, first robot decelerates to zero is r6, then accelerates to certain speed, glue rifle is moved and is come from gluing position, be i.e. r8 and r9.In this process, glue rifle motor slows down fast and is inverted to certain speed is g6 process, and g7 is the process of glue rifle motor reversal glue rifle resorption, and object is, when gluing finishes, glue is carried out to quick resorption, avoids the cementing tail chap of figure, also can avoid wire drawing and drip glue.Enter afterwards g8 stage deceleration to zero and close rifle and enter the g9 stage.
Embodiment of the method for the present invention is coated with the bar shaped Jiao Shi robot speed of service and glue rifle motor rotation speed has relation, and between glue rifle motor rotation speed and gel quantity, there is unique corresponding relation, therefore, for the control that is coated with bar shaped glue, only need control the switch of glue rifle mixing valve and the speed of service of robot; For starting point and the terminal of bar shaped glue, consider that glue has certain flexibility, in starting point, be coated in advance terminal respectively and carry out resorption, can guarantee that whole bar shaped glue thickness is consistent.
As shown in Figure 3, in embodiment of the method for the present invention, the basic principle Ke You robot speed of service and the glue rifle motor rotation speed relation that are coated with some glue represent.15 represent glue gun body, and 14 represent to be coated with needle head, and p1 represents first glue-applying point, and p2 represents second glue-applying point.The robot speed of service, control impuls, the glue rifle motor speed of service are over time respectively as shown in FIG..
R10Wei robot moves to first glue-applying point with constant speed, the process that r11Wei robot slows down, and r12 is the center time point that glue rifle is opened, r13Wei robot accelerates to the process of certain speed of service; In this process, control wave is low level in the P10 stage, and when robot runs to before P1 point, robot sends pulse command, and p11 is the pulse step stage, and p12 is the pulse persistance high level stage, and this time is adjustable, and p13 is pulse trailing edge; In this process, the glue rifle motor speed of service is corresponding with control impuls, and g10 is the stage of not shooting, and g11 is the quick boost phase of glue rifle motor, and g12 is the gluing stage, and this period is suitable with the control impuls time, and g13 is the quick decelerating phase of glue rifle drive motors.After this, repeat the gluing that process is above carried out second point.
In embodiment of the method for the present invention, application of the present invention can be carried out bar shaped glue and different gluing modes such as some glue etc., and when carrying out different gluing modes, gluing quality is not subject to the impact of the extraneous factors such as the impact, environment temperature of glue viscosity.
Be reflected in technique and can carry out the coating of folding adhesive and damping rubber; At the coating technique that carries out bar shaped glue and some glue, switch and can realize by software completely, do not need the change of hardware.
As shown in Figure 4, in embodiment of the method for the present invention, step s1-s10 has characterized the basic process of gluing.Step 1 in embodiment of the method for the present invention comprises step s1 to s3, and step 2 comprises step s4, and step 3 comprises step s5 to s9, and step 4 comprises step s10.
Step s1, for system is powered on, comprises robot body and glue rifle unit is powered on; Step s2, for opening source of the gas, comprises He Jiaoqiang unit, gumming pump unit air feed, and reaches desired pressure.Step s3 is the setting to the gluing parameter of control module 1, rotating speed and the acceleration of glue rifle motor when the rotating speed of glue rifle motor and acceleration, resorption when mainly comprising in advance shooting and closing in advance rifle time, precompressed;
Step s4, for formulating coating technique program, mainly formulates technological parameters such as the thickness of gluing, flows in this process.Set up the speed of service of robot body and glue rifle unit drives motor rotary speed between mapping relations.
Step s5 reaches predetermined value for judging whether gluing pressure, and combination as shown in fig. 1, pressure detects by the pressure sensor 17 on voltage-stablizer 16, pressure signal can directly be transferred in the mode of analog quantity the analog quantity receiver module 19 in control module 1, also can show by digital display 18, if pressure does not meet predetermined value, enter step s6, wait for that 60s measures again, until pressure meets predetermined value requirement.If pressure meets predetermined value, enter step s7, for workpiece, want the profile at gluing place, carry out writing of robot coating track program.
Step s8 represents that robot runs to the starting point at gluing place, carries out shooting instruction, starts gluing; Step s9 represents when robot runs to the different glue-coated surface of workpiece to call different coating techniques.
Step s10 represents that robot runs to gluing terminal, and robot carries out and closes rifle instruction, finishes gluing.
Above specific embodiments of the invention be have been described in detail, but it is as example, the present invention is not restricted to specific embodiment described above.To those skilled in the art, any equivalent modifications that this practicality is carried out and alternative also all among category of the present invention.Therefore, equalization conversion and the modification done without departing from the spirit and scope of the invention, all should contain within the scope of the invention.
Claims (10)
1. the servo automatic adhesive application system of integrated robot, it is characterized in that, comprise robot and control module thereof, glue rifle unit, gumming pump unit and air supply unit, described robot and control module thereof are connected with described glue rifle unit, described glue rifle unit is located on described robot and control module thereof, described gumming pump is connected with described glue rifle unit, and described air supply unit is connected with gumming pump unit with described glue rifle unit respectively.
2. the servo automatic adhesive application system of integrated robot as claimed in claim 1, it is characterized in that, described robot and control module thereof comprise that robot body, control module and robot drive, described control module comprises robot control unit and the additional shaft controller being connected with control mainboard, and described robot body is connected with described robot control unit.
3. the servo automatic adhesive application system of integrated robot as claimed in claim 2, it is characterized in that, described glue rifle unit comprises CD-ROM drive motor, glue gun body and is coated with needle head, described additional shaft controller is connected with described CD-ROM drive motor, glue gun body plastic emitting described in described drive motor, described glue gun body and the releasable connection of described painting needle head.
4. the servo automatic glue application method of integrated robot, is characterized in that, comprises the following steps:
Step 1, opens the servo automatic adhesive application system of integrated robot as described in claims 1 to 3 any one, and carries out preparation;
Step 2, described control module is write gluing program, and set up the speed of service of described robot body and glue rifle unit drives motor rotary speed between mapping relations;
Step 3, described control module is controlled described robot cell, gluing is carried out in glue rifle unit;
Step 4, when moving to gluing terminal, finishes gluing.
5. the servo automatic glue application method of integrated robot as claimed in claim 4, it is characterized in that, described in described step 3, control module is controlled the speed of service of described robot body, and according to the mapping relations of described step 2, controls the rotating speed of described glue rifle unit drives motor.
6. the servo automatic glue application method of integrated robot as claimed in claim 5, it is characterized in that, in described step 2, gluing program comprises the bar shaped glue program that is coated with, described painting bar shaped glue program comprises precoating glue, gluing and resorption, and the rotating speed of the glue rifle unit drives motor in the gluing in described painting bar shaped glue program is corresponding to the speed of service of described robot body.
7. the servo automatic glue application method of integrated robot as claimed in claim 6, is characterized in that, the rotating speed of the glue rifle unit drives motor in the pre-gluing in described painting bar shaped glue program is higher than the rotating speed of glue rifle unit drives motor in described gluing.
8. the servo automatic glue application method of integrated robot as claimed in claim 6, is characterized in that, the glue rifle unit drives motor in the resorption in described painting bar shaped glue program slows down and reverses.
9. the servo automatic glue application method of integrated robot as claimed in claim 5, it is characterized in that, gluing program in described step 2 comprises a painting point glue program, controls the rotating speed of described glue rifle unit drives motor at control module described in described painting point glue by pulse signal.
10. the servo automatic glue application method of integrated robot as claimed in claim 9, it is characterized in that, in described painting point glue, when described robot is by non-glue-applying point during to glue-applying point, the pulse signal that described control module sends transfers high level to by low level, the rotating speed of described glue rifle unit drives motor is corresponding with described pulse signal, by static, transfers quick acceleration to.
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| CN105880081A (en) * | 2016-06-23 | 2016-08-24 | 西安工业大学 | Glue spraying device for optical fiber winding |
| CN106140558A (en) * | 2015-04-20 | 2016-11-23 | 上海通用汽车有限公司 | Integrated form servo gluing system and gluing control method |
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| CN106140558A (en) * | 2015-04-20 | 2016-11-23 | 上海通用汽车有限公司 | Integrated form servo gluing system and gluing control method |
| CN106140558B (en) * | 2015-04-20 | 2019-01-18 | 上海通用汽车有限公司 | Integrated form servo gluing system and gluing control method |
| CN105880081A (en) * | 2016-06-23 | 2016-08-24 | 西安工业大学 | Glue spraying device for optical fiber winding |
| CN105880081B (en) * | 2016-06-23 | 2018-03-16 | 西安工业大学 | Optical Fiber Winding glue-spraying device |
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| CN112337751A (en) * | 2019-08-09 | 2021-02-09 | 竑腾科技股份有限公司 | Control method for preventing glue leakage of glue dispenser |
| CN110665757A (en) * | 2019-10-17 | 2020-01-10 | 一汽轿车股份有限公司 | Robot quantitative gluing device |
| CN113892731A (en) * | 2021-10-13 | 2022-01-07 | 云路复合材料(上海)有限公司 | Quantitative three-dimensional curved surface gluing system and quantitative three-dimensional curved surface gluing method |
| CN114505207A (en) * | 2022-01-14 | 2022-05-17 | 苏州希盟科技股份有限公司 | Motion control method and system for uniform coating dispenser |
| CN114950888A (en) * | 2022-07-08 | 2022-08-30 | 昆山丘钛光电科技有限公司 | Method, device, equipment and medium for determining pressure of needle cylinder of dispenser |
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