1, the robot installation robot installation by aluminum scaffolding.The upper part with the glass cover the core components.Using aluminum mounting bracket design has the advantage of simple, beautiful, convenient installation, low cost of transportation.Completely in the domestic design and manufacture of this part, the cost is low.
2, robot positioning system robot positioning system is the core of the whole device, for German bahr products, three coordinates are the ball screw drive, single coordinate repeat positioning accuracy to 0.025 mm, linear motion fastest speed: 500 mm/s.The X axis is two root length is 800 mm, the span length is 600 mm ELK40 positioning system, the synchronous transmission device to ensure that the two positioning system movement synchronization, driven by a servo motor.Y choose ELK40 and ELR40 dual positioning system, and the Z axis caught in the middle, this kind of installation method has very good stability and two positioning system driven by a servo motor.Z axis surrounded by selecting ELK40 double sliding fast positioning system, strong stability, by a servo motor drive with a brake.Each positioning system for sealing structure, dust and water will not into the internal contact ball screw positioning system.
3, servo drive system The selection of the coating robot MHMA Japanese panasonic servo motor series, each moving axis is equipped with a servo motor, the vertical motion axis for the brake servo motor.
4, glue supply system, and the glue gun Supply system is the United States Nordson products, to stabilize the pressure, to press the rubber to spear automatic glue gun.Glue pump driven by air pressure is adjustable, after pressing the rubber pressure can also be adapted, by choosing appropriate aperture glue nozzle to achieve the best control effect, ensure consistency of the glue type.Based on the amount and speed of adjustment, to ensure that the glue uniform, achieve the ideal coating effect.Glue gun for sealant is special, with functions of breath glue.Using silicone oil cup to immersion protective glue mouth, mouth after each coating glue in silicone oil cup.
5, control system and electric power distribution system control system composed of industrial control, motion control card.The system can preset a variety of workpiece coating procedure, replacing varieties can call on the touch screen program.Motion control card has abundant function library, can be set arbitrary movement characteristics, such as acceleration curve shape, space curve interpolation motion, can achieve a smooth movement characteristics
6, safety protection device The machine has fault tips and alarm function, and every failure can accurately reflect the fault location, facilitate rapid troubleshooting, mainly includes: robot collision protection function;Artifacts installed detection;Plastic barrels of plastic alarm;Screen safety protection.Programming methods: 1, teach programming: on the engine cover glue track, first stroke, which feature points (such as linear and linear convergence point, the junction of straight line and arc, arc and join points), then manual machine hand, make the glue guns by feature points, and memory the coordinates of the points, automatic control system that binds these points into a complete smooth curve.2, according to the diagram programming In accordance with the paint with good mechanical drawings, the complex curve is divided into the standard line, arc, circle ellipse etc.), parabolic, etc., to ensure that these lines unit can use the inherent function of control system.In order to describe the line with the inherent function unit, make drawings depicting the curve of a robot motion curve.Flexible teaching programming method has the advantage of easy to learn and easy to use, overcome the programming according to the figure to glue trajectory data input cumbersome process.After adopting teaching way, only the workpiece material can be completed quickly and easily programming.And the three dimensional space any curve track glue evenly.Robot programming teaching, make the equipment operation more flexible and intelligent, feel free to call and modify the coating process.Defect is aimed at high precision figure glue can‘t intact ensure accuracy of glue.Factor affecting the effects of coating: coating effect is related to many factors: repeat precision of the machine hand, movement speed, mechanical stiffness, the features of trajectory, the characteristics of the characteristics of glue, glue supply system, the characteristics of the control system, etc.So in design plastic robots, must take all the problem analysis thoroughly, has it been possible to design a good product.Smooth curve, the curve is also need the trajectories of glue.Teach programming way to overcome the numerical control programming to glue the trajectory data input, must use accurate drawings and calculate the trajectory curve node coordinates beforehand, gradually enter the tedious way.After adopting teaching way, only the workpiece material can be completed quickly and easily programming.Applicable to any curve in the three-dimensional space trajectory glue and materials evenly coated.Robot programming teaching, make the equipment operation more flexible and intelligent, feel free to call and modify the coating process.
