CN111774247A - Automatic gluing system and method for building glass door and window - Google Patents
Automatic gluing system and method for building glass door and window Download PDFInfo
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- CN111774247A CN111774247A CN202010662749.8A CN202010662749A CN111774247A CN 111774247 A CN111774247 A CN 111774247A CN 202010662749 A CN202010662749 A CN 202010662749A CN 111774247 A CN111774247 A CN 111774247A
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- transport vehicle
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05C—APPARATUS FOR APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05C5/00—Apparatus in which liquid or other fluent material is projected, poured or allowed to flow on to the surface of the work
- B05C5/02—Apparatus 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
- B05C5/0208—Apparatus 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 for applying liquid or other fluent material to separate articles
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05C—APPARATUS FOR APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05C11/00—Component parts, details or accessories not specifically provided for in groups B05C1/00 - B05C9/00
- B05C11/10—Storage, supply or control of liquid or other fluent material; Recovery of excess liquid or other fluent material
- B05C11/1002—Means for controlling supply, i.e. flow or pressure, of liquid or other fluent material to the applying apparatus, e.g. valves
- B05C11/1015—Means for controlling supply, i.e. flow or pressure, of liquid or other fluent material to the applying apparatus, e.g. valves responsive to a conditions of ambient medium or target, e.g. humidity, temperature ; responsive to position or movement of the coating head relative to the target
- B05C11/1021—Means for controlling supply, i.e. flow or pressure, of liquid or other fluent material to the applying apparatus, e.g. valves responsive to a conditions of ambient medium or target, e.g. humidity, temperature ; responsive to position or movement of the coating head relative to the target responsive to presence or shape of target
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05C—APPARATUS FOR APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05C13/00—Means for manipulating or holding work, e.g. for separate articles
- B05C13/02—Means for manipulating or holding work, e.g. for separate articles for particular articles
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05D—PROCESSES FOR APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05D1/00—Processes for applying liquids or other fluent materials
- B05D1/26—Processes for applying liquids or other fluent materials performed by applying the liquid or other fluent material from an outlet device in contact with, or almost in contact with, the surface
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- Automobile Manufacture Line, Endless Track Vehicle, Trailer (AREA)
Abstract
The invention discloses an automatic gluing system for building glass doors and windows, which comprises a feeding transport vehicle, a discharging transport vehicle and a glue gun, and is characterized by further comprising a robot and a vision measuring mechanism for measuring coordinate data of appearance characteristic points of the building glass doors and windows, wherein an end effector for grabbing glass is arranged at the output end of the robot, the robot is positioned between the feeding transport vehicle and the discharging transport vehicle, the vision measuring mechanism is positioned in front of the feeding transport vehicle, and the appearance and the relative position of the grabbed glass are identified and data are transmitted by using vision positioning and vision measuring technologies, so that the limitation of the existing equipment is broken, automatic identification gluing can be performed on building glass doors and windows of various shapes, and three-dimensional arc-shaped glass can also be glued.
Description
Technical Field
The invention relates to the technical field of building glass door and window gluing, in particular to an automatic gluing system and method for a building glass door and window.
Background
The existing glue-coating carrying mode for building glass doors and windows mainly comprises a feeding trolley, a transmission platform, a glue gun, a servo moving device of the glue gun and a discharging trolley. The transmission platform consists of three stations, namely a feeding station, a gluing station and a discharging station. The glue gun and the servo moving device thereof can drive the glue gun to move along X, Y two directions.
The operation workman snatchs building glass door and window from the material loading handcart and puts the material loading station in transmission platform, and transmission platform transports the sheet material to the rubber coating station from the material loading station, and on the glass was fallen to the measuring head, walk along the X direction earlier, touch glass's window frame when the measuring head, record this point position and X direction rubber coating size, and the measuring head conversion is walked along the Y direction, and when touching glass's window frame once more, record Y direction rubber coating size. And automatically correcting the walking track of the glue gun by using the recorded points and the X, Y direction sizes, wherein the glue gun walks by using the angular points of the measured characteristics as a starting point, and the walking track is rectangular. After the gluing is finished, the conveying platform conveys the building glass door and window to a discharging station from a gluing station, and the building glass door and window is manually taken down and stored to a discharging trolley.
The existing production mode has the following problems that 1, the gluing of a rectangular building glass door window can only be realized, and the limitation is large. The walking track of the glue gun needs the measuring head to measure firstly and then glue, so that the occupied time is long, and the working efficiency is relatively low. 2. The loading and unloading transportation of the building glass door and window needs manual transportation, when the building glass door and window is large in size, the building glass door and window needs multi-person cooperation transportation, and the operation of personnel easily causes glass contamination stains.
Disclosure of Invention
The invention aims to solve the problems and provides an automatic gluing system and method for architectural glass doors and windows, which can automatically identify and glue architectural glass doors and windows in various shapes and can glue three-dimensional arc-shaped glass; the manual operation is less, the automation degree is high, and heavy and repeated labor is reduced; the production efficiency is high.
The technical scheme adopted by the invention for solving the technical problems is as follows:
the utility model provides an automatic rubber coating system of building glass door and window, includes the gluey rifle that is used for transporting glass's material loading transport vechicle and unloading transport vechicle, is used for beating to glue, still includes the robot and is used for measuring the visual measurement mechanism of architectural glass door and window's appearance characteristic point coordinate data, the robot output is equipped with the end effector that is used for snatching glass, and the robot is located between material loading transport vechicle and the unloading transport vechicle, and visual measurement mechanism is located material loading transport vechicle the place ahead.
Furthermore, a second support is arranged in front of the blanking transport vehicle, and the glue gun is installed on the second support.
Further, the safety protection fence is further included.
Further, the vision measuring mechanism comprises a vision camera, an illuminating lamp and a second bracket.
Further, the vision camera and the illuminating lamp are mounted at the upper end of the second bracket.
Further, the vision camera is fixed on the upper end of the second support, and the illuminating lamp is fixed at the lower end of the second support.
Further, the device also comprises a transit transport vehicle.
Further, an automatic gluing method for architectural glass doors and windows utilizes the automatic gluing system for architectural glass doors and windows, and comprises the following steps:
1) a feeding transport vehicle for stacking the building glass doors and windows without being coated with glue travels to the designated position of a working area from the outside of the safety protection;
2) the robot drives the end effector to grab the architectural glass door and window and move to the lower part of the vision camera;
3) the visual camera takes pictures of the building glass door and window;
4) the method comprises the following steps that visual camera software positions coordinate data of characteristic points of building glass doors and windows, calculates coordinate deviation data of a gluing starting point of a robot, and finally transmits the coordinate deviation data to a robot system;
5) the vision camera software measures the appearance coordinate data of the architectural glass door and window, calculates the coordinate data of the gluing walking track point of the robot and finally transmits the coordinate data to the robot system;
6) according to the corrected coordinate data of the starting point, the tail end of the robot and the end effector grab the building glass door and window to travel to the position below the glue gun, and the starting point of gluing the building glass door and window is aligned to the glue gun;
7) according to the corrected walking track coordinate, the tail end of the robot and the end effector grab the building glass door and window to walk around the glue gun, and the whole gluing work of the building door and window glass is completed;
8) the robot end and the end pick-up stack the architectural glass doors and windows on the blanking transport vehicle.
Further, in the automatic gluing system for the building glass doors and windows, in the step 8), after the building glass doors and windows are stacked on the blanking transport vehicle, whether the stacking number of the blanking transport vehicle reaches the requirement or not is judged, if yes, the robot returns to the initial original point, the blanking transport vehicle is driven out of the working area to the outside of safety protection, and if not, the steps are repeated.
The invention has the beneficial effects that:
1. the invention adopts the robot to replace manual carrying operation, and utilizes the visual positioning and visual measurement technology to identify and transmit data of the appearance and relative position of the grabbed glass, thereby being capable of automatically identifying and gluing building glass doors and windows with various shapes and also being capable of gluing three-dimensional arc-shaped glass. And the robot is adopted to replace manual operation, so that heavy and repeated labor is reduced. The application range of the equipment is enlarged, the manual operation is reduced, the production efficiency is improved, and the production benefit is increased.
2. The invention is provided with the safety protection fence, the whole working area is completely protected, the safety door and the equipment are controlled in an interlocking manner, once the safety door is opened, the whole line is stopped, and the safety of personnel is protected.
3. According to the invention, through the robot, the loading transport vehicle, the unloading transport vehicle and the glass conveying, manual intervention is reduced, and the glass is prevented from being stained with stains.
Drawings
In order to more clearly illustrate the embodiments or technical solutions in the prior art of the present invention, the drawings used in the description of the embodiments or prior art will be briefly described below, and it is obvious for those skilled in the art that other drawings can be obtained based on these drawings without creative efforts.
FIG. 1 is a front view of an embodiment of the present invention;
FIG. 2 is a top view of the present invention;
FIG. 3 is a front view of a vision measuring mechanism according to an embodiment of the present invention;
FIG. 4 is a left side view of a vision measuring mechanism according to an embodiment of the present invention;
FIG. 5 is a front view of a vision measuring mechanism according to a second embodiment of the present invention;
FIG. 6 is a left side view of a vision measuring mechanism according to a second embodiment of the present invention;
FIG. 7 is a top view of the third embodiment of the present invention;
FIG. 8 is a flow chart of the present invention.
In the figure: the feeding transport vechicle 1, unloading transport vechicle 2, glue rifle 3, robot 4, vision measuring mechanism 5, vision camera 51, light 52, second support 53, end effector 6, second support 7, safety protection rail 8, transfer transport vechicle 9.
Detailed Description
In order to make those skilled in the art better understand the technical solution of the present invention, the technical solution in the embodiment of the present invention will be clearly and completely described below with reference to the drawings in the embodiment of the present invention, and it is obvious that the described embodiment is only a part of the embodiment of the present invention, and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The first embodiment is as follows:
as shown in fig. 1 and 2, an automatic gluing system for building glass doors and windows comprises a feeding transport vehicle 1, a discharging transport vehicle 2 and a glue gun 3, wherein the feeding transport vehicle 1 and the discharging transport vehicle 2 adopt a motor-driven optimal mode in the embodiment, table tops of the feeding transport vehicle 1 and the discharging transport vehicle 2 are welding frames, walking wheels are fixedly installed below the table tops, the transport vehicles are driven by the motors, guide rails are laid on the ground, and the transport vehicles stop at an appointed position through position detection of a travel switch; a feeding manual cart and a discharging manual cart can be selected, the motor is not used for driving, and an operator can directly push the materials to a designated position; loading transport vechicle 1 and unloading transport vechicle 2 also can adopt AGV automatic cruise transport vechicle, can set for the orbit according to magnetic stripe or two-dimensional code data, and automatic operation according to the orbit, such component form is known to the professional in the art, does not do too much repeated here, still includes robot 4 and the vision measuring mechanism 5 that is used for measuring architectural glass door and window's appearance characteristic point coordinate data, 4 outputs of robot are equipped with the end effector 6 that is used for snatching glass, the snatching control of end effector passes through solenoid valve control gas circuit break-make, and the solenoid valve by electrical system management and control, robot 4 are located between loading transport vechicle 1 and the unloading transport vechicle 2, and vision measuring mechanism 5 is located loading transport vechicle 1 the place ahead.
The loading transport vehicle is used for stacking building glass doors and windows which are not coated with glue, entering from the outer side of the safety protection vehicle and walking to the designated position of a working area. And the blanking transport vehicle is used for stacking the glued architectural glass doors and windows and moving the architectural glass doors and windows to the designated position outside the safety protection from the working area. Robot 4 contains robot body, robot electric cabinet and demonstrator, unable adjustment base, and robot body mounting with screw is on unable adjustment base, and unable adjustment base bolt fastening is in ground, and robot electric cabinet and demonstrator are put at robot base rear the safety protection outside. End effector 6 fixed connection is at the terminal flange of robot, end effector 6 mainly comprises aluminium pole, sucking disc and connecting piece fixed connection, snatchs building glass door and window through the extraction vacuum. The robot body and the end effector 6 move integrally, so that the feeding transport vehicle 1 grabs the building glass door and window which is not coated with glue, grabs the building glass door and window, moves to the position of the vision measuring mechanism 5 and then moves to the position below the glue gun 3. The robot 4 and the end effector 6 drive the architectural glass door and window to walk around the glue gun to form a contour track, so that the glass and the frame of the architectural glass door and window are coated with glue. The robot is additionally provided with a control system, can receive the coordinate deviation data of the starting point and the coordinate data of the walking track fed back by the electric control system, automatically corrects the running track of the robot, and moves according to the corrected track to finish the gluing of the building glass door and window.
The robot utilizes the end effector is followed the material loading transport vechicle snatchs not glued building glass door and window, the robot drives the end effector reaches building glass door and window removes extremely vision camera below, the vision camera is shot and is fixed a position and measure, and transmission data gives electrical system, electrical system gives data transmission for robot control system, the robot removes the initial point coordinate after the correction, the robot snatchs building glass door and window and is close to gluey rifle and removes according to the building glass door and window rubber coating orbit data after the correction, glues the rifle rubber coating. After the building glass doors and windows are glued, the robot grabs the building glass doors and windows and puts things in good order to the unloading transport vechicle, after a certain number of building glass doors and windows are put in good order by the unloading transport vechicle, move to the safety protection outside.
The robot is adopted to replace manual carrying operation, visual positioning and visual measurement technologies are utilized to identify and transmit data of the appearance and the relative position of the grabbed glass, and the robot grabs the glass door and window of the building to walk to replace servo driving of a glue gun. The application range of the equipment is enlarged, the manual operation is reduced, the production efficiency is improved, and the production benefit is increased.
As shown in fig. 1, the second support 7 is arranged in front of the blanking transport vehicle 2, and the glue gun 3 is installed on the second support 7 and used for coating glue on the building glass door and window when the robot grabs the building glass door and window and moves to the lower side of the glue gun.
As shown in fig. 2, the system further comprises a safety protection fence 8 which comprises a safety purse net, a safety upright post, a safety door, a grating protection or a lifting door, the whole working area is completely protected, the safety door and the equipment are subjected to linkage control, once the safety door is opened, the whole line is stopped, and the safety of personnel is protected.
As shown in fig. 3 and 4, the vision measuring mechanism 5 includes a vision camera 51, an illumination lamp 52, and a second bracket 53, and the vision camera 51 and the illumination lamp 52 are mounted on the upper end of the second bracket 53. The lighting lamp provides an auxiliary light source for the vision camera, so that the recognition and the photographing are facilitated, and the condition that the vision photographing cannot be judged or misjudged due to the irradiation of sunlight or workshop lamplight is avoided. The vision camera and the mounting support are located in front of the feeding transport vehicle and used for photographing the architectural glass door and window when the robot grabs the architectural glass door and window to move to the lower side of the camera. The visual camera is attached with a software system, can measure the coordinate data of the appearance characteristic points of the architectural glass doors and windows through vision, converts the coordinate data into the coordinate data of the walking track points, and transmits the walking track point data to the electric control system.
As shown in fig. 8, an automatic gluing method for architectural glass doors and windows, which utilizes the automatic gluing system for architectural glass doors and windows, comprises the following steps:
1) a feeding transport vehicle for stacking the building glass doors and windows without being coated with glue travels to the designated position of a working area from the outside of the safety protection;
2) the robot drives the end effector to move to the upper side of the feeding transport vehicle, the end effector falls to grab the architectural glass door and window and lifts the architectural glass door and window, and the robot drives the end effector to grab the architectural glass door and window and move to the lower side of the vision camera;
3) the visual camera takes pictures of the building glass door and window;
4) the method comprises the following steps that visual camera software positions coordinate data of characteristic points of building glass doors and windows, calculates coordinate deviation data of a gluing starting point of a robot, and finally transmits the coordinate deviation data to a robot system;
5) the vision camera software measures the appearance coordinate data of the architectural glass door and window, calculates the coordinate data of the gluing walking track point of the robot and finally transmits the coordinate data to the robot system;
6) according to the corrected coordinate data of the starting point, the tail end of the robot and the end effector grab the building glass door and window to travel to the position below the glue gun, and the starting point of gluing the building glass door and window is aligned to the glue gun;
7) according to the corrected walking track coordinate, the tail end of the robot and the end effector grab the building glass door and window to walk around the glue gun, the glue gun is fixed, glue is applied to the building door and window glass, and the whole building door and window glass gluing work is completed;
8) the robot end and the end picking device grab the building glass door and window to move to the upper side of the blanking transport vehicle, the robot end and the end picking device grab the building glass door and window to fall, and the robot end and the end picking device stack the building glass door and window on the blanking transport vehicle.
After the building glass doors and windows are glued, the robot grabs the building glass doors and windows and puts things in good order to the unloading transport vechicle, after a certain number of building glass doors and windows are put in good order by the unloading transport vechicle, move to the safety protection outside.
The utility model provides an automatic rubber coating system of building glass door and window, in step 8), building glass door and window is piled up the back on the unloading transport vechicle, judges whether the unloading transport vechicle is piled up the volume and is put things in good order, if, the robot gets back to initial original point, and the unloading transport vechicle is driven out to safety protection outside from work area, otherwise repeats above-mentioned step.
Example two:
as shown in fig. 5 and 6, the vision camera 51 is fixed to the upper end of the second bracket 53, and the illumination lamp 52 is fixed to the lower end of the second bracket 53. The illuminating lamp is used as a background light source to irradiate from the lower part of the building glass door and window, so that the gray scale contrast of the glass of the building glass door and window and the door frame in the shot picture is more obvious, and the position and size identification is more accurate. The rest of the structure is the same as the first embodiment.
Example three:
as shown in fig. 7, the device further comprises a transfer transport vehicle 9, when all the architectural glass doors and windows of the feeding transport vehicle are grabbed, the feeding transport vehicle exits from the feeding working area, and the transfer transport vehicle is full of the non-glued architectural glass doors and windows and moves to the feeding working area; and after the loading of the unloading transport vehicle is finished, the unloading transport vehicle exits from the unloading working area, the unloading transport vehicle enters the unloading working area in a no-load mode, the three transport vehicles circulate, the waiting time is shortened, and the working efficiency is improved. The rest of the structure is the same as the first embodiment.
In the description of the present invention, it should be noted that the terms "left", "right", "upper", "lower", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience in describing the present invention and simplifying the description, but do not indicate or imply that the referred device or element must have a specific orientation, be constructed in a specific orientation, and be operated, and thus, should not be construed as limiting the present invention.
In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; they may be mechanically or electrically connected, directly or indirectly through intervening media, or may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
Claims (9)
1. The utility model provides an automatic rubber coating system of building glass door and window, includes material loading transport vechicle (1) and unloading transport vechicle (2) that are used for transporting glass, is used for beating gluey rifle (3), its characterized in that still includes robot (4) and vision measuring mechanism (5) that are used for measuring building glass door and window's appearance characteristic point coordinate data, robot (4) output is equipped with end effector (6) that are used for snatching glass, and robot (4) are located between material loading transport vechicle (1) and unloading transport vechicle (2), and vision measuring mechanism (5) are located material loading transport vechicle (1) the place ahead.
2. The automatic gluing system for the building glass doors and windows according to claim 1, characterized in that a second bracket (7) is arranged in front of the blanking transport vehicle (2), and the glue gun (3) is mounted on the second bracket (7).
3. An automatic gluing system for architectural glazing and windows according to claim 1, characterised in that it also comprises a safety guard rail (8).
4. An automatic gluing system for architectural glazing and windows according to claim 1, characterised in that said visual measuring means (5) comprise a visual camera (51), a lighting lamp (52) and a second support (53).
5. An automatic gluing system for architectural glazing and windows according to claim 4, characterised in that the vision camera (51) and the lighting lamp (52) are mounted on the upper end of the second bracket (53).
6. An automatic gluing system for architectural glass windows and doors according to claim 4, characterized in that said vision camera (51) is fixed to the upper end of the second bracket (53) and said lighting lamp (52) is fixed to the lower end of the second bracket (53).
7. An automatic gluing system for architectural glazing and windows according to claim 1, characterised in that it also comprises a transit wagon (9).
8. An automatic gluing method for architectural glass doors and windows, which utilizes the automatic gluing system for architectural glass doors and windows as claimed in any one of claims 1 to 6, and is characterized by comprising the following steps:
1) a feeding transport vehicle for stacking the building glass doors and windows without being coated with glue travels to the designated position of a working area from the outside of the safety protection;
2) the robot drives the end effector to grab the architectural glass door and window and move to the lower part of the vision camera;
3) the visual camera takes pictures of the building glass door and window;
4) the method comprises the following steps that visual camera software positions coordinate data of characteristic points of building glass doors and windows, calculates coordinate deviation data of a gluing starting point of a robot, and finally transmits the coordinate deviation data to a robot system;
5) the vision camera software measures the appearance coordinate data of the architectural glass door and window, calculates the coordinate data of the gluing walking track point of the robot and finally transmits the coordinate data to the robot system;
6) according to the corrected coordinate data of the starting point, the tail end of the robot and the end effector grab the building glass door and window to travel to the position below the glue gun, and the starting point of gluing the building glass door and window is aligned to the glue gun;
7) according to the corrected walking track coordinate, the tail end of the robot and the end effector grab the building glass door and window to walk around the glue gun, and the whole gluing work of the building door and window glass is completed;
8) the robot end and the end pick-up stack the architectural glass doors and windows on the blanking transport vehicle.
9. The automatic gluing system for building glass doors and windows according to claim 8, wherein in the step 8), after the building glass doors and windows are stacked on the blanking transport vehicle, whether the stacking number of the blanking transport vehicle reaches the requirement or not is judged, if yes, the robot returns to the initial origin, the blanking transport vehicle is driven out of the working area to the outside of the safety protection, and otherwise, the steps are repeated.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202010662749.8A CN111774247A (en) | 2020-07-10 | 2020-07-10 | Automatic gluing system and method for building glass door and window |
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| CN202010662749.8A CN111774247A (en) | 2020-07-10 | 2020-07-10 | Automatic gluing system and method for building glass door and window |
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