CN110339975A - Automatic gluing machine device people and its system - Google Patents

Automatic gluing machine device people and its system Download PDF

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Publication number
CN110339975A
CN110339975A CN201910710089.3A CN201910710089A CN110339975A CN 110339975 A CN110339975 A CN 110339975A CN 201910710089 A CN201910710089 A CN 201910710089A CN 110339975 A CN110339975 A CN 110339975A
Authority
CN
China
Prior art keywords
people
gluing machine
automatic gluing
rubber gun
gel
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
CN201910710089.3A
Other languages
Chinese (zh)
Inventor
罗庆高
周冲
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Fang Dazhi Chuang Technology Co Ltd
Original Assignee
Fang Dazhi Chuang Technology Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Fang Dazhi Chuang Technology Co Ltd filed Critical Fang Dazhi Chuang Technology Co Ltd
Priority to CN201910710089.3A priority Critical patent/CN110339975A/en
Publication of CN110339975A publication Critical patent/CN110339975A/en
Pending legal-status Critical Current

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Classifications

    • BPERFORMING OPERATIONS; TRANSPORTING
    • B05SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
    • B05CAPPARATUS FOR APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
    • B05C11/00Component parts, details or accessories not specifically provided for in groups B05C1/00 - B05C9/00
    • B05C11/10Storage, supply or control of liquid or other fluent material; Recovery of excess liquid or other fluent material
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B05SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
    • B05CAPPARATUS FOR APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
    • B05C5/00Apparatus in which liquid or other fluent material is projected, poured or allowed to flow on to the surface of the work
    • B05C5/02Apparatus in which liquid or other fluent material is projected, poured or allowed to flow on to the surface of the work the liquid or other fluent material being discharged through an outlet orifice by pressure, e.g. from an outlet device in contact or almost in contact, with the work
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J11/00Manipulators not otherwise provided for
    • B25J11/0075Manipulators for painting or coating

Abstract

The invention discloses a kind of automatic gluing machine device people, including articulated manipulator, it is installed on rubber gun, robot control system, positioning shooting head and the gel quantity regulating mechanism of the jointed robot on hand, positioning shooting head is installed on the jointed robot on hand, for obtaining the realtime graphic of structural member to be bonded;Gel quantity regulating mechanism is installed on the jointed robot on hand, for adjusting the gel quantity of the rubber gun;The robot control system is connect with the articulated manipulator, positioning shooting head and gel quantity regulating mechanism signal simultaneously, start position and motion profile when the robot control system identifies the realtime graphic for the structural member wait be bonded that the positioning shooting head obtains and determines rubber gun gluing according to recognition result, the robot control system control the movement of the gel quantity regulating mechanism according to the thickness of gluing glue-line, width, the length of glue-line and the preset movement speed of rubber gun to adjust the gel quantity of the rubber gun.

Description

Automatic gluing machine device people and its system
Technical field
The present invention relates to the technical fields being bonded between industrial structure part more particularly to one kind can be automatically positioned gluing rail Mark, the automatic gluing machine device people for automatically adjusting gluing amount and its system.
Background technique
At present in the industry of part, the connection between structural member and structural member there are many carried out using structure glue it is be bonded, Such as curtain wall industry curtain wall panel and the bonding and subway of frame and high-speed rail gate door body are bonding with glass etc., but It is not limited to above 2 kinds.Because the thickness of glue-line required for different parts, the length of width and glue-line, position are different , every profession and trade uses artificial gluing substantially at present, but artificial gluing large labor intensity and since operator's technical level is different, It is difficult to ensure the homogeneity of gluing quality, while artificial gluing structure glue waste is more, productivity is low.It is badly in need of a kind of energy at present The automatic gluing machine device people's system for being enough automatically positioned gluing track, automatically adjusting gluing amount.
Summary of the invention
Technical problem to be solved by the present invention lies in provide one kind to be automatically positioned gluing track, automatic adjustment gluing The automatic gluing machine device people of amount and its system.
In order to solve the above technical problems, the present invention uses technical solution as described below:
A kind of automatic gluing machine device people includes articulated manipulator, is installed on the dispensing of the jointed robot on hand Rifle, robot control system, positioning shooting head and gel quantity regulating mechanism, the positioning shooting head are installed on the articulated type machine Tool on hand, for obtaining the realtime graphic of structural member to be bonded;The gel quantity regulating mechanism is installed on the articulated type machine Tool on hand, for adjusting the gel quantity of the rubber gun;The robot control system simultaneously with the articulated manipulator, fixed Position camera connect with gel quantity regulating mechanism signal, the robot control system identify positioning shooting head acquisition to The realtime graphic of the structural member of bonding and start position and motion profile when determining rubber gun gluing according to recognition result, control Articulated manipulator movement to drive the rubber gun to move along the motion profile, the robot control system according to Thickness, width, the length of glue-line and the preset movement speed of rubber gun of gluing glue-line control the gel quantity regulating mechanism It acts to adjust the gel quantity of the rubber gun.
Preferably, the gel quantity regulating mechanism includes a lever connecting rod and an electric pushrod, and the lever connects One end of bar couples with the plastic emitting valve of the rubber gun, and the other end is connect with the electric pushrod, robot control system System controls the electric pushrod according to the thickness of gluing glue-line, width, the length of glue-line and the preset movement speed of rubber gun and stretches Contracting, and then linkage lever formula connecting rod is to adjust the gel quantity of the rubber gun.
Preferably, the electric pushrod includes that a stepper motor, a sleeve and one are placed in push rod in the sleeve, institute Stating push rod can the relatively described sleeve sliding under stepper motor drive.
Preferably, the automatic gluing machine device people further includes having shadowless lamp, which is installed on the jointed robot On hand.
Preferably, the automatic gluing machine device people further includes having telescopic cylinder, and the shadowless lamp is pacified by the telescopic cylinder On hand loaded on the jointed robot.
Preferably, the automatic gluing machine device people further includes having a robot control cabinet, and the robot control system is set It is placed in the robot control cabinet, is additionally provided in the robot control cabinet for powering for the automatic gluing machine device people Power supply.
Preferably, the articulated manipulator is 6 joint Manipulators.
Preferably, the automatic gluing machine device people further includes having a robot base, the fixed peace of the articulated manipulator Loaded on the robot base.
A kind of automatic gluing machine device people's system comprising have one for placing the workbench and such as of structural member to be bonded Above-described automatic gluing machine device people.
Preferably, automatic gluing machine device people's system further includes having a structure glue mixer, the structure glue mixer It is connect with rubber gun, for being exported two or more structure glues after mixing to the rubber gun.
The beneficial technical effect of the present invention lies in: automatic gluing machine device people of the invention, it can be by identifying positioning shooting The realtime graphic for the structural member wait be bonded that head obtains determines the start position and motion profile when rubber gun gluing, realizes The automatic positioning of gluing track;In addition, it is provided with gel quantity regulating mechanism on automatic gluing machine device people, the gel quantity regulating mechanism It can be acted under the control of robot control system to adjust the gel quantity of the rubber gun, to realize automatic adjustment certainly Gluing amount when dynamic gluing robot gluing.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of automatic gluing machine device people's system of the invention;
Fig. 2 is the front view of automatic gluing machine device people of the invention.
Specific embodiment
To make those skilled in the art that the object, technical solutions and advantages of the present invention be more clearly understood, with Under the present invention is further elaborated in conjunction with the accompanying drawings and embodiments.
Fig. 1 is the structural schematic diagram of automatic gluing machine device people's system of the invention;Fig. 2 is automatic gluing machine device of the invention The front view of people, default jointed robot hand portion in the view.
As shown in Figure 1, in an embodiment of the invention, automatic gluing machine device people's system includes one for placing to viscous The workbench 20 of the structural member 21 connect and automatic gluing machine device people 10 positioned at 20 side of workbench, the automatic gluing machine Device people 10 is used to carry out gluing to the structural member 21 being placed on workbench 20.
As shown in Figure 1, 2, the automatic gluing machine device people includes an articulated manipulator 11, a rubber gun 12, a machine Device people control system, a positioning camera 13 and a gel quantity regulating mechanism 14.The rubber gun 12,13 and of positioning shooting head Gel quantity regulating mechanism 14 is mounted on the front end of the articulated manipulator 11, wherein the rubber gun 12 is in articulated type To 21 gluing of structural member under the control of manipulator 11, the positioning shooting head 13 is for obtaining the real-time of structural member 21 to be bonded Image, the gel quantity regulating mechanism 14 are used to adjust the gel quantity of the rubber gun 12.The robot control system is simultaneously It is connect with the articulated manipulator 11, positioning shooting head 13 and 14 signal of gel quantity regulating mechanism, robot control system System identifies the realtime graphic for the structural member 21 to be bonded that the positioning shooting head 13 obtains and determines dispensing according to recognition result Start position and motion profile when 12 gluing of rifle control the articulated manipulator movement and drive the rubber gun from described Point position starts to move along the motion profile, and the robot control system is according to the thickness of gluing glue-line, width, glue-line Length and the preset movement speed of rubber gun 12 control the movement of the gel quantity regulating mechanism 14 to adjust the rubber gun 12 Gel quantity.
When work, the articulated manipulator 11 moves under the control of robot control system, drives positioning shooting head 13 translations, the positioning shooting head 13 are started to work, are shot to the structural member 21 on workbench 20, and real-time by what is taken Image is sent to the robot control system.The robot control system identifies that the positioning shooting head 13 obtains real-time Image and start position and motion profile when determining 12 gluing of rubber gun according to recognition result, motion track can be straight line, Oblique line or irregular curve.After start position and motion profile when determining 12 gluing of rubber gun, the articulated manipulator 11 It is moved under the control of robot control system, rubber gun 12 is driven and arrives start position, and is driven by preset movement speed Rubber gun 12 is moved along fixed motion profile, is automatically performed gluing work.During gluing, robot control system According to the movement speed of the thickness of gluing glue-line, width, the length of glue-line and rubber gun 12, controls the gel quantity and adjust machine The movement of structure 14 is to adjust the gel quantity of the rubber gun 12, wherein thickness, the width of gluing glue-line can beaten according to reality Glue work is input to robot control system before starting, and the length of glue-line can be obtained by the moving track calculation of glue gun 12, The movement speed of rubber gun 12 is a preset movement speed, is input to robot control system before gluing work starts.It is logical The gel quantity regulating mechanism 14 is crossed to adjust the gel quantity of the rubber gun 12, glue amount is accurately controlled, than artificial Materials will lack, cost-saved.
Preferably, as shown in Fig. 2, the gel quantity regulating mechanism 14 includes that a lever connecting rod 141 and one electronic push away Bar 140, the electric pushrod 140 include that a stepper motor 144, a sleeve 142 and one are placed in push rod in the sleeve 142 143.Described 143 one end of push rod is slidably connected with the sleeve 142, can the relatively described set under the stepper motor 144 drive About 142 telescopic slides of cylinder.One end of the lever connecting rod 140 couples with the plastic emitting valve 121 of the rubber gun 12, another End is connect with the other end of the push rod 143 of the electric pushrod 140.When work, the robot control system is according to gluing glue Thickness, width, the length of glue-line and the preset movement speed of rubber gun 12 of layer control the amount of spin of the stepper motor 143, Drive the push rod 143 flexible, and then linkage lever formula connecting rod 141 is to adjust the gel quantity of the rubber gun 12.
Preferably, as shown in Fig. 2, being affected since positioning shooting head 13 is to light sensitive by workshop illuminating and lighting.For Positioning shooting head 13 is set to obtain clearly realtime graphic, the automatic gluing machine device people 10 further includes having shadowless lamp 15, should Shadowless lamp 15 is installed on the articulated manipulator 11.The shadowless lamp 15 of the embodiment of the present invention can be had using cubic shadowless lamp Effect excludes the interference of ambient enviroment light, enables positioning shooting head 13 to obtain clearly realtime graphic, so that robot The motion track of start position and accurate control points glue rifle 12 when control system can be precisely located 12 gluing of rubber gun.
The automatic gluing machine device people further includes having telescopic cylinder 16, and the shadowless lamp 15 is installed by the telescopic cylinder 16 In on the articulated manipulator 11.The telescopic cylinder 16 can stretch under the control of robot control system, when positioning is taken the photograph When starting to shoot work as first 13, telescopic cylinder 16 extends, and pushes shadowless lamp 15 and arrives specified altitude assignment, illuminates 21 (work of structural member Part), after the completion of shooting positioning, telescopic cylinder 16 is shunk, and the shadowless lamp 15 is packed up, does not influence the gluing work of rubber gun 12 Make.
Preferably, as shown in Figure 1, the automatic gluing machine device people 10 further includes having a robot control cabinet 17 and robot Pedestal 18, the articulated manipulator 11 are fixedly installed on the robot base 18.The robot control system and use It is set in the robot control cabinet 17 in the power supply powered for the automatic gluing machine device people 11, by robot control cabinet 17 may be implemented the Operation control to the articulated manipulator 11.In the embodiment of the present invention, the articulated manipulator 11 is 6 Joint Manipulator.
Preferably, described as shown in Figure 1, automatic gluing machine device people's system, which further includes, a structure glue mixer 30 Structure glue mixer 30 is connect with rubber gun 12, for being exported two or more structure glues after mixing to the rubber gun 12, to meet different bonding requirements.
The above description is only a preferred embodiment of the present invention, rather than does limitation in any form to the present invention.This field Technical staff can impose various equivalent changes and improvement, all institutes within the scope of the claims on the basis of the above embodiments The equivalent variations or modification done, should all fall under the scope of the present invention.

Claims (10)

1. a kind of automatic gluing machine device people includes articulated manipulator, is installed on the rubber gun of the jointed robot on hand And robot control system, it is characterised in that: the automatic gluing machine device people further includes having positioning shooting head and gel quantity tune Mechanism is saved,
The positioning shooting head is installed on the jointed robot on hand, for obtaining the realtime graphic of structural member to be bonded;
The gel quantity regulating mechanism is installed on the jointed robot on hand, for adjusting the gel quantity of the rubber gun;
The robot control system connects with the articulated manipulator, positioning shooting head and gel quantity regulating mechanism signal simultaneously It connects, the robot control system identifies the realtime graphic for the structural member to be bonded that the positioning shooting head obtains and according to knowledge Other result determines the start position and motion profile when rubber gun gluing, and it is described to drive to control the articulated manipulator movement Rubber gun is moved along the motion profile, and the robot control system is according to the length of the thickness of gluing glue-line, width, glue-line The movement of the gel quantity regulating mechanism is controlled with the preset movement speed of rubber gun to adjust the gel quantity of the rubber gun.
2. automatic gluing machine device people as described in claim 1, it is characterised in that: the gel quantity regulating mechanism includes a thick stick Rod-type connecting rod and an electric pushrod, one end of the lever connecting rod couple with the plastic emitting valve of the rubber gun, the other end with Electric pushrod connection, the robot control system is according to the length and rubber gun of the thickness of gluing glue-line, width, glue-line Preset movement speed controls that the electric pushrod is flexible, and then linkage lever formula connecting rod is to adjust the plastic emitting of the rubber gun Amount.
3. automatic gluing machine device people as claimed in claim 2, it is characterised in that: the electric pushrod includes stepping electricity Machine, a sleeve and one are placed in the push rod in the sleeve, and the push rod can the relatively described sleeve under stepper motor drive Sliding.
4. automatic gluing machine device people a method according to any one of claims 1-3, it is characterised in that: the automatic gluing machine device people also wraps Shadowless lamp is included, which is installed on the jointed robot on hand.
5. automatic gluing machine device people as claimed in claim 4, it is characterised in that: the automatic gluing machine device people further includes having to stretch Contracting cylinder, the shadowless lamp are installed on the jointed robot on hand by the telescopic cylinder.
6. automatic gluing machine device people as claimed in claim 5, it is characterised in that: the automatic gluing machine device people further includes having one Robot control cabinet, the robot control system are set in the robot control cabinet, are also set in the robot control cabinet It is equipped with the power supply for powering for the automatic gluing machine device people.
7. automatic gluing machine device people as claimed in claim 6, it is characterised in that: the articulated manipulator is that 6 joints are mechanical Hand.
8. automatic gluing machine device people as claimed in claim 7, it is characterised in that: the automatic gluing machine device people further includes having one Robot base, the articulated manipulator are fixedly installed on the robot base.
9. a kind of automatic gluing machine device people's system, it is characterised in that: automatic gluing machine device people's system includes one for putting Set structural member to be bonded workbench and automatic gluing machine device people a method as claimed in any one of claims 1-8.
10. automatic gluing machine device people's system as claimed in claim 9, it is characterised in that: automatic gluing machine device people's system It further include having a structure glue mixer, the structure glue mixer is connect with rubber gun, for mixing two or more structure glues It exports after closing uniformly to the rubber gun.
CN201910710089.3A 2019-08-02 2019-08-02 Automatic gluing machine device people and its system Pending CN110339975A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201910710089.3A CN110339975A (en) 2019-08-02 2019-08-02 Automatic gluing machine device people and its system

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
CN201910710089.3A CN110339975A (en) 2019-08-02 2019-08-02 Automatic gluing machine device people and its system
PCT/CN2019/101895 WO2021022590A1 (en) 2019-08-02 2019-08-22 Automatic adhesive injection robot and system thereof

Publications (1)

Publication Number Publication Date
CN110339975A true CN110339975A (en) 2019-10-18

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WO (1) WO2021022590A1 (en)

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN111530697A (en) * 2020-04-01 2020-08-14 国机智能科技有限公司 Accurate gluing system and method for three-dimensional curved surface workpiece
CN112007789A (en) * 2020-08-04 2020-12-01 中国石油天然气集团有限公司 Prefabricated welding seam coating robot

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DE2915006C2 (en) * 1979-04-12 1981-08-27 Triumph-Adler Aktiengesellschaft Fuer Buero- Und Informationstechnik, 8500 Nuernberg, De
US6001181A (en) * 1997-08-01 1999-12-14 Northrop Grumman Corporation Automated sealant applicator
CN205075066U (en) * 2015-10-09 2016-03-09 江苏天艾美自动化科技有限公司 Robot rubber coating workstation
CN106078758B (en) * 2016-06-30 2019-05-28 中建幕墙有限公司 Decoration of exterior wall product automatic glue injection apparatus and method
CN107457155A (en) * 2017-09-27 2017-12-12 深圳市海能达通信有限公司 A kind of online 3D point gum machines and it is utilized to carry out method for dispensing glue
CN208194809U (en) * 2018-02-09 2018-12-07 广州伯乐智能技术有限公司 A kind of building curtain wall intelligence glue injection units
CN208213542U (en) * 2018-03-21 2018-12-11 福建省亿顺机械设备有限公司 A kind of intelligence glue spreader

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN111530697A (en) * 2020-04-01 2020-08-14 国机智能科技有限公司 Accurate gluing system and method for three-dimensional curved surface workpiece
CN112007789A (en) * 2020-08-04 2020-12-01 中国石油天然气集团有限公司 Prefabricated welding seam coating robot

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