TWI796931B - Automatic gluing device and automatic gluing method for object frame UV glue layering - Google Patents

Abstract

The invention provides an automatic gluing device and automatic gluing method for UV glue layering of object frame, including using a gluing detection platform to locate the object to be gluing, and defining a gluing path on the object frame, and then using a three-dimensional movable A working head carries a plurality of glue applicators, at least one curing lamp, and a three-dimensional scanner, and sequentially performs dispensing, curing and dispensing into glue particles, applying soft glue, and curing the soft glue into soft glue on the object frame The layering process ensures the consistency of the UV adhesive coating on the object frame. In particular, the eccentric rotation principle is used to correct the problem of easy generation of adhesive layer bumps and insufficient curing light at the corners of the frame, so as to improve the UV adhesive coating. Coating yield.

Description

Automatic gluing device and automatic gluing method for object frame UV glue layering

The present invention relates to the coating technology of multi-layer glue. The multi-layer glue includes a plurality of granular particles arranged at intervals, and soft glue compounded on the rubber particles, especially related to the layering of UV glue on the frame of an object. Automatic gluing device and automatic gluing method.

General products are assembled and combined by many objects (or components or accessories). Since the material properties of the objects are not all the same, colloidal materials are often used as the adhesive layer during assembly and combination to make parts with different material properties The components can be firmly combined into one body.

For example, Fig. 1 discloses a general TV or computer product, usually a glass panel 93 used as a diffuser plate must be assembled on a frame 92 around a rear case 91, because the general rear case 91 is made of plastic material, compared with The material of the glass panel 93 is glass, and the material properties of the two are completely different. For this, assemblers generally use double-sided adhesive tape 94 as the adhesive material for the rear case 91 and the glass panel 93 . However, when the adhesive tape 94 faces the frame 92 of limited width around the rear case 91, and when the outline of the frame 92 of the rear case 91 has a large undulation, the controllability of the adhesive tape 94 on the frame 92 and the relative adhesion of the two objects are provided. The compactness is not good.

In addition, it can be seen that assemblers use UV glue as an adhesive between two objects with different material properties (such as the above-mentioned rear case 91 and glass panel 93 ). Among them, since the UV glue is applied to the adhesive surface of the object in a viscous form, the controllability of the UV glue is better for the adhesive surface with large undulations (such as the frame of the above-mentioned rear case 91), and The firmness provided by the UV adhesive is better than that of the adhesive tape 94 when combining objects with different material properties. Therefore, the industry has gradually used the UV adhesive to replace the double-sided adhesive tape as, for example, the adhesive between the rear case 91 and the glass panel 93 . Among them, after the UV glue is applied to the adhesive surface, it must be cured and shaped by ultraviolet (UV) irradiation, and then the object to be bonded is adhered.

Since the components of some products must maintain a specific shock-absorbing gap (gape) when they are bonded to each other; for this reason, the types of existing UV adhesives can just show different softness after curing. The characteristic of hardness is provided for users to choose, which helps to create the specific shock-absorbing distance between the adhesive surfaces of the two combined objects. Therefore, in the adhesive occasions that require a shock-absorbing spacing, most manufacturers use multi-layer adhesives made of UV adhesives instead of double-sided tapes.

Furthermore, as shown in FIG. 2 , in the prior art, it has been conceived to use UV glue with a thicker viscosity to create a spherical colloidal particle 95, which is coated on the frame 92 of the above-mentioned rear shell 91 in advance, for example, at intervals. (i.e., the adhesive surface), the colloid 95 is cured by UV light to make it firstly cured and then shaped, and then on the frame 92 (i.e., the adhesive surface), a layer of relatively thin UV soft glue 96 is coated in a planar form, so that The UV soft glue 96 is compounded on the colloid 95, and adheres to the entire frame 92 (ie, the adhesive surface) evenly, and then the UV soft glue 96 is cured by UV light, so as to provide adhesion to the corresponding end edges around the glass panel 93. And secure fit. Wherein, the colloid 95 can create the specific shock-absorbing distance between the two combined objects, and the soft glue 96 can provide enough beachiness and viscosity to cover the colloid 95 and firmly combine the two objects.

However, when applying the above-mentioned UV glue layer to the frame 92 of limited width shown in FIG. 96 must be very precise in the coating work of the UV glue composite layer; wherein, especially when the corner of the frame 92 is coated with the soft glue 96, no matter whether there are rubber particles 95 in the corner of the frame or not. It must be ensured that the amount of soft glue 96 applied at the corner of the frame, and the height of the layer with or without coated rubber particles 95 must be consistent with the frame 92; Efficient manual or semi-automatic methods are used, but the glue coating yield of the above-mentioned multi-layer is still not good, so it needs to be improved urgently.

In addition, since the irradiation time, angle and illuminance of UV light have a great influence on the curing effect of UV glue, although there is an automatic glue application technology in the prior art, it is still difficult to provide a good UV light irradiation process after the UV glue is applied. The uniform curing strategy, and to describe.

For this reason, the present invention aims at proposing an improvement strategy for the aforesaid deficiency of the prior art. In a preferred implementation, the present invention provides an automatic gluing device for UV glue layering of object frames, including utilizing a gluing detection platform to locate the A glue-coated object, a glue-coated path is surrounded by the frame around the object, and the glue-coated path passes through at least one frame corner of the frame, and A three-dimensional movable working head is arranged on the gluing detection platform. The working head has a base frame and a rotating seat. A rotary device is arranged on the base frame to drive the rotating seat to rotate along a rotation center. , the rotary seat is arranged at intervals to include a first glue applicator, a second glue applicator, and at least one curing lamp located at the periphery of the first glue applicator and the second glue applicator; wherein: the first glue applicator The head is located at the center of rotation, and the second gluing head is separated by a gluing eccentric distance and located at a gluing eccentric position beside the first gluing head; at least one of the curing lamps includes a linear curing lamp, The linear curing lamp can provide linear light to illuminate the frame and at least one corner of the frame, and the linear curing lamp is separated by a projecting eccentric distance to a projecting light on the side of the first glue applicator. In the eccentric position, the linear curing lamp has a light emission width, which is larger than the eccentric distance of the light projection, and the glue supply direction of the first glue head and the second glue head is the same as that of the linear curing lamp. Cast light direction.

In a further implementation of the device, the working head is driven by a three-dimensional driving mechanism to move three-dimensionally, and the three-dimensional driving mechanism is arranged around the gluing detection platform.

In a further implementation of the device, the UV glue layer is composed of a plurality of spaced colloidal particles coated with a layer of soft glue, and the plurality of colloidal particles are coated on the frame by the first glue coating head at intervals, The soft glue is continuously coated on the plurality of rubber particles and adhered to the frame by the second glue coating head in a planar form.

In a further implementation of the device, the rotary seat is also configured to include a three-dimensional scanner, and the working head drives the three-dimensional scanner to perform dynamic scanning on the frame and frame corners before gluing to obtain the gluing path, The working head also drives the three-dimensional scanner to dynamically scan the glued frame and frame corners to determine the coating quality of the UV glue layer.

In a further implementation of the device, at least one of the curing lamps further includes a plurality of point-shaped curing lamps capable of projecting point-shaped light rays, and the plurality of point-shaped curing lamps are arranged at intervals along the direction of a plane rectangular coordinate on the first A glue around the head.

In a further implementation of the device, the distance between the point-shaped light projections of the plurality of point-shaped curing lamps relative to the first glue applicator on the rectangular coordinate of the plane is smaller than the eccentric distance between the light projections of the linear curing lamps.

In the above implementation, the linear curing lamp is located between the first glue applicator head and the second glue applicator head, so that the light projection eccentric distance of the linear curing lamp is smaller than that of the second glue applicator head The eccentric distance of the gluing.

According to the implementation content of the above-mentioned gluing device, the present invention can also distinguish an automatic gluing method for the UV glue layering of the object frame, comprising performing the following steps (1) to (4) in sequence: (1) Detecting the object frame A gluing path; (2) carry a first gluing head and at least one curing lamp to follow the gluing path of the object frame to move step by step, and drive the first gluing head to apply multiple A dispensing of glue, so that at least one curing lamp follows the first glue applicator and emits light to cure a plurality of dispensing glue into a plurality of glue particles; (3) detect a plurality of said glue on the frame of the object (4) drive the second gluing head to apply a soft glue linearly to the frame of the object with a plurality of granules in a continuous movement mode, so that the soft glue can cover multiple granules in a planar form. one of the rubber particles is attached to the frame of the object and at least one of the corners of the frame, and at least one of the curing lamps is followed behind the second gluing head to emit light and cure the soft glue to form a soft glue layer; wherein , the object frame includes at least one frame corner located on the gluing path, and the second gluing head rotates eccentrically with the first gluing head as the center of rotation when encountering at least one frame corner In this way, the soft glue is applied to the corner of the frame, and at least one of the curing lamps rotates eccentrically with the first glue applicator as the center of rotation to provide a linear light with a light emission width that rotates eccentrically. During the process, irradiate the soft glue on the corner of the frame.

In a further implementation of the method, the first gluing head, the second gluing head and at least one curing lamp are carried by a working head that can move three-dimensionally, and perform three-dimensional stepping movement, continuous movement and eccentricity spin.

In a further implementation of the method, the working head further includes a three-dimensional scanner, and the detection of the gluing path and the detection of the distribution positions of the plurality of colloidal particles are performed by the three-dimensional scanner

In a further implementation of the method, the second gluing head is located at a gluing eccentric position beside the first gluing head with a gluing eccentric distance, at least one of the curing lamps is a linear curing lamp, the The linear curing lamp is located at a light projection eccentric position beside the first glue applicator with a light projection eccentric distance, and the light release width is greater than the light projection eccentric distance.

In a further implementation of the method, at least one of the curing lamps further includes a plurality of point-shaped curing lamps capable of projecting point-shaped light rays, and the plurality of point-shaped curing lamps are arranged at intervals along the direction of a plane rectangular coordinate on the first Around a gluing head, a plurality of colloidal particles are projected and cured by following the first gluing head through a plurality of spot curing lamps.

In a further implementation of the method, the distance between the point projections of the plurality of spot curing lamps relative to the first glue applicator on the rectangular coordinate of the plane is smaller than the eccentric distance between the projections of the linear curing lamps.

In a further implementation of the method, the three-dimensional scanner also dynamically scans the frame of the object after gluing to determine the coating quality of the UV glue coating.

According to the above-mentioned implementation content, the technical effects that the present invention can realize are: simplify the coating process of the UV glue layer on the object frame, and use the eccentric rotation principle to correct the corners of the frame that are easy to generate glue layer humps and curing insufficient light. The problem is to ensure that the width and thickness of the UV glue layer on the edge corner of the object frame can be consistent with the UV glue layer on the straight frame, so as to realize the automatic coating and defect detection of the UV glue layer, and then Improve the coating yield of the upper UV glue layer.

For this reason, please refer further to the detailed description of the following embodiments and drawings, so as to prove the practicability of the present invention and its technical effects.

10: Glue detection platform

20: working head

21: pedestal

22: rotating seat

23: Spinner

29: Center of rotation

30: Three-dimensional driving mechanism

31: X-axis drive slide table

32: Y-axis drive slide table

33: Z-axis drive slide table

41: The first gluing head

42: The second glue applicator

43: Curing lamp

431: Linear Curing Lamp

432: Spot curing lamp

50: 3D scanner

91: Rear shell (or object to be glued)

92: border

921: Straight border

922: Border corner

93: Glass panel (or object to be pasted)

94: Tape

95: colloidal particles

96: soft glue

99:Painting path

L1: glue eccentric distance

L2: Light projection eccentric distance

L3: Point projection pitch

P1: Glue eccentric position

P2: Eccentric position of light projection

S1 to S4: step description

FIG. 1 is a partial sectional view of traditionally sticking two objects with adhesive tape.

Fig. 2 is a partial cross-sectional view of two objects conventionally bonded with UV glue.

Fig. 3 is a three-dimensional schematic diagram of the automatic gluing device of the present invention.

Fig. 4 is a three-dimensional schematic view of the object to be glued according to the present invention.

FIG. 5 is a perspective enlarged schematic view of the glue applicator shown in FIG. 3 .

Fig. 6 is a bottom view of the glue applicator shown in Fig. 5 .

FIG. 7 is an explanatory diagram of the relative positions of the first glue applicator, the second glue applicator and the curing lamp shown in FIG. 6 .

Fig. 8 is a schematic block diagram of the steps of the automatic gluing method of the present invention.

FIG. 9 is a schematic top view of the frame of the object in the step shown in FIG. 8 after dispensing glue is applied and cured into colloidal particles.

FIG. 10 is a schematic diagram of the swivel and follow-up action of the glue applicator and the curing lamp when the corner of the frame is coated with soft glue in the step shown in FIG. 8 .

Fig. 11 is a partial cross-sectional view of the UV glue layer on the frame of the object after the steps shown in Fig. 8 are completed.

The object that the present invention intends to implement automatic gluing will take the rear shell 91 of a general TV or computer product shown in Figure 2 as an example, and illustrate that the rear shell 91 must be placed on the back shell 91 before the glass panel 93 is adhered. The frame 92 applies the technology of automatic gluing.

For this reason, please refer to Fig. 3 and Fig. 4 together first; Wherein, Fig. 3 reveals the overall appearance of the automatic gluing device of the present invention, for object frame 92 is coated with colloid 95 and soft glue 96 as shown in Fig. 2, Then form the UV glue layer on the frame 92; FIG. 4 further discloses the three-dimensional appearance of the shell 91 (ie, the object to be glued) after the automatic glue applicator intends to glue. In addition, as shown in FIG. 2 , the UV glue layer is formed by covering a layer of soft glue 96 on the periphery of a plurality of spaced glue particles 95 on the frame 92 .

As shown in Figure 3, this automatic gluing device comprises a working head 20 that can be moved three-dimensionally on a gluing detection platform 10; , the rear shell 91 has a frame 92 to be glued around, and the frame 92 can be surrounded by a plurality of straight frames 921 of unspecified heights and a plurality of frame corners 922 to form a glue path 99, the glue path 99 It can be automatically scanned and detected by the automatic gluing device of the present invention (details will be described later), or can be known by the user's preset.

Please refer to FIG. 3 and FIG. 5 , which reveal that the working head 20 has a base frame 21 and a swivel seat 22 . The base frame 21 is positioned on a three-dimensional driving mechanism 30, which is arranged around the gluing detection platform 10, and includes an X-axis driving slide 31 and a Y-axis driving slide that are connected and driven. 32 and a Z-axis drive slide 33, wherein the base frame 21 is positioned on the Z-axis drive slide 33 and is driven by the three-dimensional drive mechanism 30 to move. A rotary device 23 made of a motor or a rotary cylinder is disposed on the base frame 21 , and the base frame 21 is pivotally connected to the rotary seat 22 through the rotary device 23 , so that the rotary device 23 can be mounted on the base frame 21 Drive the rotary seat 22 to rotate the required angle along the X-Y coordinate plane degree, and allow the swivel seat 22 to maintain a center of rotation 29. Please refer to FIG. 7 , which reveals the position of the rotation center 29 .

Please further match as shown in Figure 6 and Figure 7, it is disclosed that the interval arrangement on the rotary seat 22 includes a first glue applicator 41, a second glue applicator 42, and the first glue applicator 41 and the second glue applicator At least one curing light 43 around the head 42 . Wherein, the first glue applicator 41 and the second glue applicator 42 are respectively connected to glue cartridges (not shown) that can be filled with UV glue, so that the rear shell 91 (i.e. the object to be glued) can be coated with UV glue respectively; Furthermore, in this implementation, the first glue applicator head 41 is responsible for dispensing glue at intervals to the frame 92 (including the straight frame 921 and frame corner 922 ), forming a plurality of intervals on the frame 92 as shown in FIG. 2 . Colloidal particles 95; the second glue applicator 42 is responsible for continuously coating the work of linear (or planar) UV glue on the frame 92 (including the straight frame 921 and the frame corner 922), forming the frame 92 shown in Figure 2 A soft glue 96 (or called a soft glue layer) coated on a plurality of the rubber particles 95 and attached to the frame 92 in a line or planar form; at least one of the curing lamps 43 may include extending along a straight track to form The linear curing light 431 is used to provide linear light to illuminate the frame 92 (including the straight frame 921 and frame corner 922).

Furthermore, the first gluing head 41 is located at the center of rotation 29, and the second gluing head 42 is located at the side of the first gluing head 41 with a gluing eccentric distance L1. The eccentric position P1, and the linear curing lamp 431 is separated by a projection eccentric distance L2 and located at a projection eccentric position P2 beside the first glue applicator 41. In addition, the straight line of the linear curing lamp 431 The trajectory can be perpendicular (or not collinear) to the line between the eccentric position P1 of the glue coating and the rotation center 29; according to this, the linear curing lamp 431 has a linear emission width W, and the The light emission width W is larger than the projection eccentric distance L2; wherein, the glue supply direction of the first glue applicator 41 and the second glue applicator 42 is the same as the light projection direction of the linear curing lamp 431 .

In addition, as shown in Fig. 3, Fig. 5 and Fig. 6, a commercially available 3D scanner 50 can also be configured on the rotary seat 22, and the working head 20 can drive the 3D scanner 50 to The frame 92 (including the straight frame 921 and frame corner 922) is dynamically scanned before gluing to obtain the gluing path 99 shown in FIG. 4; moreover, the working head 20 can also drive the three-dimensional scanner 50 performs dynamic scanning on the frame 92 after gluing to determine the coating quality of the above-mentioned UV glue coating.

Furthermore, as shown in FIGS. 6 and 7 , the curing lamp 43 of the present invention also includes a plurality of point-shaped curing lamps 432 capable of projecting point-shaped light rays, and a plurality of point-shaped curing lamps 432 are arranged along a plane. The directions of the rectangular coordinates are arranged at intervals around the first gluing head 41, and it is disclosed in FIG. 7 that the plane rectangular coordinates are located on the X-Y image line. Furthermore, a plurality of said spot curing lamps 432 can be arranged at intervals along the coordinate lines of the X-axis and the Y-axis respectively, and then be located around the first gluing head 41; wherein, the X-axis and the Y-axis The coordinate line can be defined as a gluing route along which the first gluing head 41 (or the first gluing head 41 and the second gluing head 42 ) moves along the gluing path 99 .

Furthermore, the point projection distance L3 of the plurality of point curing lamps 432 relative to the first gluing head 41 on the rectangular coordinate of the plane may be smaller than the projection eccentric distance of the linear curing lamps 431 L2, its purpose is to make each of the point-like curing lamps 432 follow the rear of the first glue applicator 41 with a closer point-like projection distance L3, so that when the first glue applicator 41 points the frame 92 After gluing, the spot curing lamp 432 can immediately irradiate the colloidal particles 95 formed by dispensing with UV light, so that the colloidal particles 95 can be quickly cured and shaped. Under this implementation, the linear curing lamp 431 is responsible for projecting UV light on the soft glue 96 coated on the frame 92 by the second glue applicator 42, so that the soft glue 96 can be cured quickly, and become coated on the surface. The soft glue layer on the frame 92 and the rubber particles 95.

According to the implementation details disclosed by the above-mentioned automatic gluing device of the present invention, the automatic gluing method of a kind of object frame UV glue layering provided by the present invention can be further verified. Please refer to 8, and the automatic gluing method includes executing the following in sequence Steps S1 to S4:

Step S1: Detect the glue coating path of the object frame

Specifically, in this step, the first gluing head 41, the second gluing head 41, and the second gluing head can be carried by means of the working head 20 (as shown in FIGS. 3 to 6 ) with three-dimensional movement capability in the automatic gluing device. 42. At least one of the curing lamps 43 (including linear curing lamps 431 or/and point curing lamps 432) and the 3D scanner 50 track the object frame 92 together (including the linear frame 921 and the frame corner 922) The said gluing path 99 of moving (as shown in Figure 4). Since the working head 20 has the ability to move in three dimensions, when the straight frame 921 and a plurality of frame corners 922 of the object frame 92 have height differences, the working head 20 can be driven by the three-dimensional driving mechanism 30 to make the three-dimensional The scanner 50 accurately tracks the movement of the straight frame 921 and the plurality of frame corners 922 , and then detects the gluing path 99 . In addition, the three-dimensional scanner 50 can also be carried separately by another working head to complete the gluing The detection step of the path 99; or, the control system can preset the glue-applied path 99 according to the outline shape of the object frame 92 in advance, all belong to the applicable and replaceable technical scope of the present invention.

Step S2: Dispensing glue at intervals and curing the rubber particles

Specifically, in this step, after the first gluing head 41 arrives at the starting point (predetermined by the control system) of the gluing path 99, the first gluing head 41 is driven to perform a dot on the frame 92. Gluing work, the dispensing means the process of applying a plurality of glue particles 95 to the frame 92 at intervals; during the interval process of applying each glue particle 95, the first glue applicator 41 is following the glue application path 99 during the step-moving process, at this time, at least one of the curing lamps 43 (comprising linear curing lamps 431 or/and spot curing lamps 432) follows the first glue applicator head 41 at the interval of the projection The light eccentricity distance L2 or the dot-shaped light projection distance L3 (as shown in FIG. 7 ) is moved step by step, so as to quickly light-cure a plurality of the colloidal particles 95 . In the present invention, when the linear curing lamp 431 and the point curing lamp 432 are configured at the same time, the curing work of the colloidal particle 95 is a point curing with the first glue applicator 41 spaced apart from the point projection distance L3. Light 432 executes.

Step S3: Detect the distribution position of colloidal particles

Specifically, this step can carry out the process of detecting the distribution position of the colloidal particles by virtue of the working head 20 carrying the moving three-dimensional scanner 50 together; in other words, when the first gluing head 41 and the curing lamp 43 (such as Point-like curing lights 432) jointly complete the dispensing of the glue path 99 of an object frame 92 and the process of curing and dispensing glue particles 95, the working head 20 can follow the object frame 92 (including the straight frame 921, The gluing path 99 of the frame corner 922) moves to scan the distribution positions of the colloidal particles 95 arranged at intervals on the frame 92 of the object. There is information about the real position of the colloidal particles 95 (as shown in FIG. 9 ). In addition, the 3D scanner 50 can also be independently carried by another working head, and the completion of this step (3) belongs to the applicable and replaceable technical scope of the present invention.

Step S4: Apply soft glue linearly and solidify into a soft glue layer

Specifically, in this step, the second gluing head 42 on the working head 20 can start from the starting point of the gluing path 99 to the object frame 92 (including the straight line) according to the distribution information of a plurality of colloidal particles 95 Frame 921, frame corner 922) execute continuous linear application of soft glue 96 process, and the process of continuous linear application of soft glue 96 is continuous movement of working head 20 without stopping Carry out in the process; The described continuous movement can be given different moving continuous speeds according to the real positions of the frame 92 read by the three-dimensional scanner 50 with and without the colloidal particles 95 and without the colloidal particles 95, so that Both the frame 92 with rubber particles 95 and the frame 92 without rubber particles 95 can be coated with strip-shaped soft rubber 96 with the same section height, so that the soft rubber 96 can cover a plurality of the rubber particles 95 in a planar form and adhere to the frame Corner 922 and straight border 921. At this time, at least one of the curing lamps 43 should take the linear curing lamp 431 as the first choice, and continue to move following the second gluing head 42 at the interval of the projection eccentric distance L2 (as shown in FIG. 7 ), In order to quickly light-cure the strip-shaped soft glue 96 to become a soft glue layer.

In the present invention, when the linear curing lamp 431 and the point curing lamp 432 are configured at the same time, the curing of the soft glue 96 is performed by the linear curing lamp 431 that is spaced apart from the second glue applicator 42 at an eccentric distance L2. At this time, the spot curing lamp 432 may not perform the light projection action.

In the process of executing the above step S4, when the second glue applicator head 42 and the linear curing lamp 431 encounter the frame corner 922, the second glue applicator head 42 can be driven by the rotator 23, and the second glue applicator head 42 can be driven by the first A gluing head 41 is a continuous eccentric rotation mode of the rotation center, and the soft glue is applied to the frame corner 922; The real positions of the colloidal particles 95 and those without the colloidal particles 95 are given different continuous rotation speeds, so that whether there are or not the colloidal particles 95 on the corner 922 of the frame, the coating width and thickness of the soft rubber 96 are the same. Can be consistent with the soft glue on the straight frame 921. Immediately after the frame corner 922 is coated with the soft glue 96, the linear curing lamp 431 can accept the drive of the rotator 23, and take the first glue applicator 41 as the rotation center and continue to rotate eccentrically, Relying on the linear light that can be released by the light emission width W, the soft glue 96 on the corner 922 of the frame is cured during the eccentric rotation to form a soft glue layer, which is used to correct the corner 922 of the frame. Fix the problem of insufficient light.

Chen, as shown in Figure 10, discloses that when the three-dimensionally movable working head 20 drives the first gluing head 41 to move from positions 41a, 41b to 41c in sequence, the second gluing eccentric distance L1 is maintained with the first gluing head 41. Glue applicator 42, and the linear curing lamp 431 (as shown in Figure 7 ) that maintains the projection eccentric distance L2 with the first glue applicator 41, both are center of rotation with the first glue applicator 41, when the first glue applicator When a glue applicator moves from position 41a, 41b to 41c in sequence, the relatively far first glue applicator 41 moves from position 42a, 42b to position 42c in sequence, and the relatively closer linear curing lamp 431 moves in sequence Move from position 431a, 431b to position 431c, so that the frame corner 922 after performing the above step S4, Together with the straight frame 921, a relatively complete and consistent UV glue coating quality (as shown in Figure 11 ) can be obtained, so as to facilitate the provision of objects 93 to be pasted (such as glass panels) that can correspond to the objects 91 to be glued around. (For example, the object frame end 92 of the rear shell) is firmly attached in a spaced manner.

After the above step S4 is completed, the working head 20 can also carry the three-dimensional scanner 50 and move along the gluing path 99 once to dynamically scan the object frame 92 after gluing to determine the UV glue layer. coating quality.

The above examples only express the preferred implementation modes of the present invention, but should not be construed as limiting the patent scope of the present invention. Therefore, the present invention should be based on the content of the claims defined in the scope of the patent application.

10: Glue detection platform

20: working head

21: pedestal

22: rotating seat

23: Spinner

30: Three-dimensional driving mechanism

31: X-axis drive slide table

32: Y-axis drive slide table

33: Z-axis drive slide table

50: 3D scanner

Claims (14)

An automatic gluing device for UV glue layering of object frames, comprising: a gluing detection platform for locating the object to be gluing, a gluing path is surrounded by a frame around the object, and the gluing path passes through At least one frame corner of the frame; a working head, which can be three-dimensionally movable on the gluing detection platform, and the working head is arranged at intervals to include a first gluing head, a second gluing head and a A gluing head and at least one curing lamp on the periphery of the second gluing head; wherein: the first gluing head is located at the center of rotation, and the second gluing head is located at the first gluing head at a gluing eccentric distance A gluing eccentric position on the side of the gluing head; at least one of the curing lamps includes a linear curing lamp, which can provide linear light to illuminate the frame and at least one corner of the frame, and the linear The linear curing lamp is located at a light projection eccentric position beside the first glue applicator with a light projection eccentric distance, and the linear curing lamp has a light emission width, which is larger than the light projection eccentric distance, and the The glue supply direction of the first glue applicator and the second glue applicator is the same as the light projection direction of the linear curing lamp. The automatic gluing device for UV glue layering of the object frame as described in claim 1, wherein the working head is driven by a three-dimensional driving mechanism to move in three dimensions, and the three-dimensional driving mechanism is arranged around the gluing inspection platform. The automatic gluing device for the UV glue coating of the object frame as described in claim 1, wherein the UV glue coating is composed of a plurality of spaced colloidal particles covered with a layer of soft glue, and a plurality of the colloidal particles are composed of the first The glue applicator is applied to the frame at intervals, and the soft glue is continuously applied to the plurality of rubber particles in a planar form by the second glue applicator and adheres to the frame. The automatic gluing device for UV glue layering of the object frame as described in claim 1, wherein the working head is also configured to include a three-dimensional scanner, and the three-dimensional scanner is driven by the working head to target the frame and the corner of the frame Perform dynamic scanning before gluing to obtain the gluing path, and the working head also drives the 3D scanner to perform dynamic scanning on the frame and frame corners after gluing to determine the coating quality of the UV glue layer. The automatic gluing device for the UV glue coating of the object frame as described in claim 1, wherein at least one of the curing lamps also includes a plurality of point curing lamps capable of projecting point rays, and a plurality of the point curing lamps along the The directions of a plane rectangular coordinates are arranged at intervals around the first gluing head. The automatic gluing device for the UV glue coating of the object frame as described in claim 5, wherein a plurality of said point-shaped curing lamps on the plane rectangular coordinates relative to the point-shaped light projection distance of the first gluing head is smaller than the line-shaped The eccentric distance of the light projection of the curing lamp. An automatic gluing device for UV glue coating of the object frame as described in any one of claims 1 to 6, wherein the linear curing lamp is located between the first gluing head and the second gluing head, so that The light projection eccentric distance of the linear curing lamp is smaller than the gluing eccentric distance of the second gluing head. An automatic gluing method for an object frame UV glue layer, comprising performing the following steps (1) to (4) in sequence: step (1), detecting a gluing path of the object frame, the gluing path passing through the At least one frame corner of the frame; step (2), carrying a first glue applicator and at least one curing lamp to follow the glue path of the object frame to move step by step, and drive the first glue applicator to the object frame Applying a plurality of dispensing glue at intervals, making at least one curing lamp follow the rear of the first glue applicator to emit light and cure a plurality of dispensing glue to form a plurality of glue particles; step (3), detecting on the frame of the object The distribution positions of a plurality of the colloidal particles; step (4), driving a second glue applicator to apply a soft glue linearly to the frame of the object with a plurality of colloidal particles in a continuous moving manner, so that the soft glue The glue covers a plurality of the rubber particles in a planar form and adheres to the frame of the object and at least one corner of the frame, and makes at least one curing lamp follow the second glue head to emit light to cure the object. The soft glue becomes a soft glue layer; wherein, the frame of the object includes at least one corner of the frame on the glue path, and when the second glue head encounters at least one corner of the frame, it uses the first glue The head is an eccentric rotation method with the center of rotation, and the soft glue is applied to the corner of the frame, and at least one of the curing lamps is eccentrically rotated with the first glue application head as the rotation center to provide a light emitting width The linear light irradiates the soft glue on the corner of the frame during the eccentric rotation. The automatic gluing method for UV glue coating of the object frame as described in claim 8, wherein the first gluing head, the second gluing head and at least one curing lamp are carried by a working head that can move in three dimensions, And perform three-dimensional stepping movement, continuous movement and eccentric rotation. The automatic gluing method for the UV glue layering of the object frame as described in claim item 9, wherein the working head also includes a three-dimensional scanner for carrying the detection of the gluing path and the detection of a plurality of the distribution positions of the gluing particles Knowing is performed by the 3D scanner. The automatic gluing method of the object frame UV glue coating as described in claim 8, 9 or 10, wherein the second gluing head is separated by a gluing eccentric distance and is positioned at a gluing on the side of the first gluing head At the eccentric position, at least one of the curing lamps is a linear curing lamp, and the linear curing lamp is located at an eccentric position of the first glue applicator at a distance from the eccentric distance of the light projection, and the light emitting width is larger than the Light projection eccentric distance. The automatic gluing method for the UV glue coating of the object frame as described in claim 11, wherein at least one of the curing lamps also includes a plurality of point curing lamps capable of projecting point rays, and a plurality of the point curing lamps along the The direction of a plane rectangular coordinates is arranged at intervals around the first glue applicator, and a plurality of the colloidal particles follow the rear of the first glue applicator via a plurality of point curing lamps to be cured by light projection. The automatic gluing method for the UV glue coating of the object frame as described in claim 12, wherein a plurality of said point-shaped curing lamps on the plane rectangular coordinates relative to the point-shaped light projection distance of the first gluing head is smaller than the line-shaped The eccentric distance of the light projection of the curing lamp. The automatic gluing method for the UV glue coating of the object frame as described in claim 10, wherein the three-dimensional scanner also dynamically scans the object frame after gluing to determine the coating quality of the UV glue coating.

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