Taking Bluetooth earphone assembly as an example, JAKA has built a card saving robot gluing workstation with features such as simple programming, path self adjustment, stable processing speed, and support for periodic gluing and batch modification, achieving automatic gluing.Pain points for Bluetooth earphone gluing requirementsBluetooth earphones come in various shapes and have a compact structure, integrating multiple modules such as audio, driver, microphone, Bluetooth, motion sensor, battery, etc. When applying glue, there are the following pain points:1) The path is complex, with many irregular arcs. As with common boxed headphones, the bottom outer diameter is about 5-7mm and the inner diameter is less than 4mm. Meanwhile, the internal components of the earphones are precise and diverse, resulting in complex paths.2) The precise gluing process is difficult to implement. For example, when filling the gap at the bottom of the earphones, it is necessary to evenly fill the 0.25mm wide curved gap behind the top of a slope with glue and do not allow overflow.3) The consistency requirements for the adhesive coating process are strict. The consistency of the adhesive amount directly affects the adhesive coating effect. The filling of the bottom gap mentioned above requires accurate filling of 1.68mg of adhesive in each uniform and uneven gap. Therefore, extremely high requirements are put forward for the accuracy, speed, and stability of the adhesive coating.4) There are many types of adhesives that need to be compatible with multiple processes. Manufacturers will use various types of adhesives, and automatic gluing workstations need to be compatible with a wider range of adhesive types and process scenarios.Pain points of the traditional production model of “manual+specialized machine”1) High labor costs and difficult to guarantee quality. Workers who work for long hours are prone to fatigue, and manual methods can lead to uneven glue application, resulting in low production efficiency and decreased quality.2) High experience requirements and low standardization level. The gluing operation tests the experience of workers, making it difficult to replicate to new employees and implement standardization.3) The adhesive posture changes greatly and requires manual intervention. Although the current gluing machine can achieve a gluing accuracy of 0.01mm, limited by its mechanical structure, the gluing range is only within 10mm. At the same time, the glue coating machine is mostly three-axis, making it difficult to cope with the complex cavity glue coating of headphones that require large posture changes.L SolutionThe Jieka robot gluing workstation adopts a “force sensing+robot+dedicated machine” architecture to achieve gluing and wiping treatment of the complex cavity of Bluetooth earphones.When applying glue, the Jieka Xiaozhu series collaborative robot force control version S adjusts the glue path in real time based on the collected force sensor data, combined with advanced force control algorithms and trajectory planning, to achieve precise motion control, avoid glue shaking and automatic displacement, and ensure the amount of glue applied by the special machine.Similarly, when applying glue, collaborative robots will also sense the amount of glue applied, solving the problem of difficulty in balancing the efficiency and quality of glue application and wiping.Taking adhesive coating as an example, the process flow is as follows:1) In the developed robot application process package, set relevant parameters such as headphone model, glue model, gluing machine model, force control axis number and torque size, force control mode, etc.2) The robot uses grippers to pick up the earphones to be processed on the workbench and moves them to the gluing position.3) The robot controls the opening and closing of the glue machine and the amount of glue dispensed in real-time according to specific process requirements.4) The robot makes the earphones move along a preset trajectory. At the same time, the robot obtains real-time data from the force control sensor and calculates the force changes at the gluing position to maintain a constant force at the end.5) Real time adjustment of motion speed and trajectory based on changes in force, ensuring uniform and stable glue application.6) After completing the glue application, the robot shuts down the glue machine and places the earphones in the next workstation.Application effectivenessAt present, the Jieka robot gluing workstation has been put into use in well-known high-end Bluetooth earphone manufacturers in China, effectively improving production efficiency, yield and product consistency, and promoting the intelligent automation development of the 3C electronics industry.
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