The our company by the German BAHR Corporation rectangular coordinates machine artificial core product, has developed the many kinds of industrial automation product, like spreads the rubber machine, on a rubber machine, the automatic yummy treats manipulator, piling buttress machine, the crack detection check-out facility.

Request: Covers continuously the even cloth in the motor car engine to spread the rubber,
Spreads the rubber curve for the spatial three-dimensional curve. Altogether has two to spread the rubber curve, the spatial included angle is 16
Each curve basically is composed by the straight line and the circular arc. Like chart 1
Spreads the rubber speed is 100mm/s, returns to the zero point speed is 500mm/s
Smallest circular arc radius: 5mm
Spreads the rubber precision: 0.1mm
Spreads the rubber travelling schedule: 600X400X100.
Requests according to above, we have designed three coordinates robots.

Robot composition:
This robot by is peaceful 装架, the robot positioning system, the servo drive system sds, for the rubber system and spreads the rubber gun, the control system and the electrically controlled electrical power distribution system, the safe protective equipment and so on is composed.
1st, the robot is peaceful 装架
The robot is peaceful 装架 builds by the aluminum molding. The upper half minute covers with the coverglass the core part. The use aluminum molding peaceful 装架 advantage is designs, artistic, the installment simply convenient, the transportation cost is low. This part in the domestic design manufacture, the cost is completely low.
2nd, robot positioning system
The robot positioning system is the entire equipment core, for the German bahr Corporation product, three coordinates actuates for the ball bearing guide screw, the single coordinates repetition pointing accuracy is 0.025mm, quickest point-to-point speed: 500mm/s. X coordinate axis is two lengths is 800mm, the span is 600mm positioning system ELK40, guarantees two positioning systems movement by the synchronized transmitter synchronization, by a servo motor-driven. The Y axis selects ELK40 and the ELR40 double positioning system, the Z axle clamp in among, this kind installs the way to have the extremely good stability, two positioning systems by a servo motor-driven. The Z axis selects ELK40 double to slide the quick entire surrounding positioning system, reliable is stable, by a belt 抱闸 servo motor-driven. Each positioning system all is the seal structure, the dust and the water cannot enter to the positioning system interior contact ball bearing guide screw.

3rd, servo drive system sds
Should spread the rubber robot to select Japanese Matushita the servo electrical machinery MHMA series, each 运动�? has a servo electrical machinery, vertical 运动�?for belt 抱闸 servo electrical machinery.
4th, and spreads the rubber rubber gun for the rubber system
For the rubber system is the American Nordson product, by the stable pressure, delivers the rubber pressure automatically spreads the rubber gun the spear head. The rubber pumps the actuation to be mad the source the pressure may move, after pressurizes the rubber pressure also to be possible to make the compatible adjustment, spreads the rubber through the choice suitable aperture 咀to achieve the best control effect, the guarantee rubber uniformity. Through to leaves the rubber quantity and the running rate adjustment, guaranteed evenly spreads the rubber shape to be consistent, achieved ideal spreads the rubber effect.
Spreads the rubber gun for the sealant special-purpose, has holds breath the rubber function. Uses the silicon 油杯 to spread the rubber mouth to carry on plunges the type protection, after each time spreads the rubber to spread the rubber mouth to plunge the silicon 油杯 center.
5th, control system and electrically controlled electrical power distribution system
The control system by labor controlling machine, the movement control card is composed. This system may initialize the many kinds of work pieces spreads the rubber procedure, when the replacement variety may in touch on the screen to transfer the corresponding procedure.
The movement control card has the rich function storehouse, may wilfully establish the state of motion, if the acceleration curve shape, the space curve inserts makes up the movement, can the realization smooth state of motion
6th, safe protective equipment
This machines and tools have the breakdown to prompt and to report to the police the function, when each time appears the breakdown all can the accurate reflection crash the concrete position, is advantageous for rapidly fixes the breakdown, mainly includes: The robot collision protects the function; The work piece installment arrives the examination; The rubber barrel lacks the rubber to report to the police; Light curtain safekeeping of security.

Programming method:
1st, demonstration programming: Spreads in the rubber path in the cowling, first traces several characteristic point (for example straight line and straight line title contact, straight line and circular arc junction, circular arc and circular arc 联结�?, then the manual operation machinist, causes the rubber gun to aim at characteristic point one by one, confirmed and memory these coordinates, the control system automatically joins these spots a complete smooth curve.
2nd, according to chart programming
According to draws the good mechanical blueprint, the complex curve will divide certain standards the straight line, the circular arc (round ellipse and so on), the parabola and so on, will guarantee these units to be able the sufficient control system inherent function description. Describes these units with the inherent function according to the order, causes the blueprint description the curve to become the robot the motion diagram.
The demonstration programming way merit is Yi Xueyi uses nimbly, overcame has spread the rubber track data input tedious process according to the chart programming. After selects the demonstration programming method, only needs the work piece material object then quickly conveniently to complete the programming. Moreover in the three-dimensional space the free curved pathway spreads the rubber to be even. The robot demonstration programming way, causes the equipment the operation to hasten the flexibility and the intellectualization, may transfer and the revision at will spreads the rubber procedure. The shortcoming is aims at the high precise chart rubber not to be able the complete guarantee to spread the rubber precision.

The influence spreads the rubber effect the factor:
Spreads the rubber the effect and very many factors related:
Machinist's redundant precision, the velocity of movement, mechanical rigid, the path characteristic, the rubber characteristic, supplies the rubber system characteristic the characteristic, the control system and so on. Therefore in design drawing rubber robot time, must be thorough all problem analysis, only then has the possibility to design the easy to use product.
The smooth curve, this curve is the work piece needs to spread the rubber the path. The demonstration programming way overcame the numerical control programming to spread the rubber track data input, had to draw support from the accurate components blueprint and beforehand to calculate the path curve pitch point the coordinates, gradually input troublesome way. After selects the demonstration programming method, only needs the work piece material object then quickly conveniently to complete the programming. Is suitable the free curved pathway spreads the rubber and the material in the three-dimensional space evenly spreads the cloth. The robot demonstration programming way, causes the equipment the operation to hasten the flexibility and the intellectualization, may transfer and the revision at will spreads the rubber procedure.