CN113262952A - Glass gluing system and control method thereof - Google Patents

Abstract

The application is suitable for the technical field of intelligent manufacturing equipment, and provides a glass gluing system and a control method thereof, wherein the glass gluing system comprises a feeding frame, a feeding limiting frame, a controller and a robot, the feeding frame is provided with a plurality of trigger mounting positions, and one trigger mounting position is used for detachably mounting at most one trigger; the feeding limiting frame is provided with a detection module, the detection module comprises a plurality of first detectors, and a trigger arranged at one trigger mounting position is used for triggering one corresponding first detector; the controller is used for receiving the opening and closing state information of each first detector sent by the detection module and sending out a gluing path; the robot is used for taking out the glass to be coated in the feeding frame and moving the glass to be coated according to a coating path sent by the controller. The glass gluing system can automatically match and select the gluing path, has high recognition efficiency, saves the time for manually recognizing and modifying the gluing path, and improves the efficiency of the gluing process.

Description

Glass gluing system and control method thereof

Technical Field

The application relates to the technical field of intelligent manufacturing equipment, in particular to a glass gluing system and a control method thereof.

Background

In the automobile manufacturing process, the processing steps comprise gluing the automobile glass, and then mounting the glued glass. Currently, a gluing system is generally used for completing glass gluing operation, and the gluing system comprises a feeding frame, a six-axis robot and gluing equipment, wherein the six-axis robot moves glass in the feeding frame to a position below a gluing head of the gluing equipment, and then drives the glass to move by using the six-axis robot, so that glue solution discharged by the gluing head is sprayed to a set position on the glass. For example, if a circle of glue solution is to be applied to the edge of the glass, a six-axis robot is required to move or rotate the glass so that the edge of the glass passes under the glue applying head in sequence, thereby applying glue to the edge of the glass.

Because the models of automobiles are different, the models of glasses used by the automobiles are different, and the shapes and the sizes of the glasses of different models are different, the gluing paths of the glasses are different. Therefore, when different types of glass are replaced, the gluing paths of the six-axis robot need to be manually modified, so that the gluing paths of the six-axis robot are consistent with the shape and the size of the glass to be glued. Since the gluing path of the six-axis robot needs to be modified manually after the loading frame filled with glass is pushed into place, the gluing process takes a relatively long time. When the types of the glass in different feeding frames are different, an operator needs to pause the gluing system for multiple times and modify the gluing path of the six-axis robot, so that the time consumption of the gluing process is increased, and the efficiency is reduced.

In summary, in the prior art, during the gluing operation process of different types of glass, the gluing device needs to be suspended and the gluing paths of the six-axis robot need to be modified correspondingly, which increases the time consumption of the gluing process of the glass and reduces the efficiency.

Disclosure of Invention

An object of the embodiment of the application is to provide a glass gluing system, aim at solving among the prior art to the glass of different models carry out the rubber coating operation in-process, need suspend rubber coating equipment and correspond the rubber coating route of revising six robots, lead to the rubber coating technology's of glass consuming time to increase, the technical problem of efficiency reduction.

In order to achieve the purpose, the technical scheme adopted by the application is as follows: providing a glass sizing system comprising:

the trigger mounting positions are detachably mounted on the loading frame, and the number of the triggers is smaller than or equal to that of the trigger mounting positions;

the feeding limiting frame is provided with a detection module, the detection module comprises a plurality of first detectors, the number of the first detectors is equal to that of the trigger mounting positions, and one trigger is used for triggering the corresponding first detector;

the controller is used for receiving the opening and closing state information of each first detector sent by the detection module, acquiring a gluing path according to the opening and closing state information and sending the gluing path;

and the robot is used for taking out the glass to be coated in the material loading frame and moving the glass to be coated according to the coating path sent by the controller.

Further, the first detector comprises a contact switch and the trigger comprises a shutter.

Furthermore, the material loading limiting frame is provided with a second detector, and the second detector is used for detecting whether the material loading frame is internally provided with a glass structure to be glued.

Further, the glass gluing system further comprises a centering table, the centering table is provided with a glass limiting area and an alignment mechanism, and the alignment mechanism moves the glass structure to be glued to the glass limiting area.

Furthermore, counterpoint mechanism includes counterpoint driver and counterpoint propelling movement spare, be provided with a plurality of setting elements on the centering bench, the spacing district of glass is formed in part or whole in the region that the setting element encloses, the counterpoint driver is used for driving counterpoint propelling movement spare removes, counterpoint propelling movement spare is used for with treat that rubber coating glass propelling movement extremely the spacing district of glass.

Furthermore, a third detector is installed on the side surface of the positioning piece, and the third detector is used for detecting whether the positioning piece is in contact with the glass or not.

Furthermore, the number of the centering tables is multiple, and the shapes and/or the areas of the glass limiting areas on different centering tables are different.

Further, the tip of robot is equipped with the quick change coupler that is used for connecting anchor clamps, glass rubber coating system still includes the anchor clamps support, a plurality of different models's anchor clamps have been placed to the anchor clamps support.

Furthermore, the glass gluing system further comprises a blanking frame and a blanking limiting frame, the blanking frame is the same as the feeding frame in structure, and the blanking limiting frame is the same as the feeding limiting frame in structure.

The application also provides a control method of the glass gluing system, which is suitable for the glass gluing system and comprises the following steps:

acquiring opening and closing state information sent by the detection module through the controller, wherein one piece of opening and closing state information comprises the opening and closing state of each first detector;

the controller acquires gluing path information corresponding to the opening and closing state information according to a preset path matching table, wherein the path matching table comprises a plurality of pieces of opening and closing state information, and one piece of opening and closing state information corresponds to one piece of gluing path information;

and the controller sends the acquired gluing path information corresponding to the opening and closing state information to the robot.

The application provides a glass rubber coating system's beneficial effect lies in: compared with the prior art, the glass gluing system has the advantages that the number and the positions of the triggers installed in the feeding frame are determined by the types of glass placed in the feeding frame, the types of the glass placed in the feeding frame are different, the number and the positions of the triggers installed in the feeding frame are different, the number and the positions of the triggered first detectors are different after the feeding frame is placed on the feeding limiting frame, the number and the positions of the triggered first detectors are different, the opening and closing state information of the first detectors sent to the controller by the detection module is different, the controller is matched with gluing paths according to the opening and closing state information of the first detectors, automatic matching and selection of the gluing paths are achieved, the gluing paths do not need to be manually selected, the identification efficiency is high, the time needed for manual identification and modification is saved, and the efficiency of a gluing process is improved.

Drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the embodiments or the prior art descriptions will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings without creative efforts.

FIG. 1 is a top view of a glass sizing system provided by one embodiment of the present application;

FIG. 2 is an enlarged view of a portion of FIG. 1 at H;

FIG. 3 is a schematic diagram of the structure of an upper rack in the glass sizing system provided by one embodiment of the present application;

FIG. 4 is an enlarged view of a portion of the loading frame of FIG. 3;

FIG. 5 is a top view of a loading frame of a glass sizing system provided by one embodiment of the present application;

FIG. 6 is a schematic view of one embodiment of the present application providing a fit of a glass sizing system to glass;

FIG. 7 is a schematic view of a material loading stop block in a glass coating system according to an embodiment of the present disclosure;

FIG. 8 is a schematic view of another alternative loading stop block in the glass sizing system according to an embodiment of the present application;

FIG. 9 is a schematic illustration of a centering station in a glass sizing system according to an embodiment of the present application;

FIG. 10 is a schematic view of an embodiment of the present application providing an assembly of a quick-change coupler and a clip in a glass sizing system;

FIG. 11 is a schematic diagram of a fixture support in a glass sizing system according to an embodiment of the present application.

Reference numerals referred to in the above figures are detailed below:

10-feeding frame; 11-trigger mounting location; 11 a-a first installation site; 11 b-a second mounting location; 11 c-a third mounting location; 12-a flip-flop; 13-a frame body; 14-a carrier table; 15-walking wheels; 20-feeding limit frames; 21-a first detector; 21 a-first detector a; 21 b-first detector b; 21 c-first detector c; 22-a second detector; 30-a robot; 31-a clamp; 32-quick change coupler; 33-vacuum chuck; 40-centering table; 41-aligning driver; 42-aligning pushing pieces; 43-a positioning element; 50-a clamp holder; 51-a shield; 52-a wobble drive; 60-blanking frame; 70-a blanking limiting frame; 80-glue coating head; 90-glass.

Detailed Description

In order to make the technical problems, technical solutions and advantageous effects to be solved by the present application clearer, the present application is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present application and are not intended to limit the present application.

It will be understood that when an element is referred to as being "secured to" or "disposed on" another element, it can be directly on the other element or be indirectly on the other element. When an element is referred to as being "connected to" another element, it can be directly connected to the other element or be indirectly connected to the other element.

It will be understood that the terms "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like are used in an orientation or positional relationship indicated in the drawings for convenience in describing the present application and to simplify description, but do not indicate or imply that the referenced device or element must have a particular orientation, be constructed and operated in a particular orientation, and thus should not be construed as limiting the present application.

Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present application, "a plurality" means two or more unless specifically limited otherwise.

In order to explain the technical solutions of the present application, the following detailed descriptions are made with reference to specific drawings and examples.

Example one

In this embodiment, a glass gluing system is first provided, as shown in fig. 1 to 6, the glass gluing system provided in this embodiment includes: go up work or material rest 10, spacing 20 of material loading, controller and robot 30, wherein:

the material loading frame 10 is used for bearing glass structures to be glued, and a plurality of glass structures to be glued are placed on one material loading frame 10. A plurality of trigger mounting positions 11 are arranged on the feeding frame 10, the trigger mounting positions 11 are used for mounting triggers 12, one trigger mounting position 11 is used for mounting one trigger 12, and the trigger 12 is detachably connected with the trigger mounting positions 11. In one loading rack 10, if the number of the trigger mounting locations 11 is N and the number of the triggers 12 is M, it is required to satisfy that M is greater than or equal to 0 and less than or equal to N, that is, in a plurality of trigger mounting locations 11, the triggers 12 may not be mounted at all, the triggers 12 may be mounted in all the trigger mounting locations 11, or only one or a few of the trigger mounting locations 11 may be mounted with the triggers 12, and the triggers 12 are not mounted in the remaining trigger mounting locations 11. The number and the position of the triggers 12 installed in the feeding frame 10 are determined by the type of the glass structure (hereinafter referred to as glass 90) to be glued placed in the feeding frame 10, and the number and the installation positions of the triggers 12 corresponding to different types of glass 90 are different.

For example, if there are three trigger mounting positions 11, which are respectively referred to as a first mounting position 11a, a second mounting position 11B and a third mounting position 11c, the three trigger mounting positions 11 can implement eight types of mounting arrangements of the triggers 12, for convenience of description, a represents that the trigger mounting position 11 is mounted with the trigger 12, B represents that the trigger mounting position 11 is not mounted with the trigger 12, and the mounting arrangements of the triggers thereon are listed in order from left to right by the first mounting position 11a, the second mounting position 11B and the third mounting position 11c, then: AAA, ABA, ABB, AAB, BAA, BAB, BBA, BBB. That is to say, eight different trigger 12 arrangement modes can be realized through the loading frame 10 provided with the three trigger mounting positions 11, so that eight different types of glass 90 can be correspondingly placed.

The material loading limiting frame 20 is used for limiting the position of the material loading frame 10, and the material loading frame 10 needs to be placed in the material loading limiting frame 20 before the gluing operation starts. Be provided with detection module in the spacing frame 20 of material loading, detection module includes a plurality of first detectors 21, and the quantity of first detectors 21 equals with the quantity of trigger installation position 11, and the quantity of trigger installation position 11 is N promptly, and then the quantity of first detectors 21 is N also. And the flip-flop 12 mounted on one flip-flop mounting site 11 can trigger one first detector 21 correspondingly.

For example, when three trigger mounting positions 11 (respectively referred to as a first mounting position 11a, a second mounting position 11b, and a third mounting position 11c) are mounted on the feeding frame, three first detectors 21 are correspondingly disposed on the feeding limiting frame, and respectively referred to as a first detector a 21a, a first detector b 21b, and a first detector c 21c, so that the trigger mounted on the first mounting position 11a can trigger the first detector a 21a, the trigger mounted on the second mounting position 11b can trigger the first detector b 21b, and the trigger mounted on the third mounting position 11c can trigger the first detector c 21 c.

If the trigger 12 is installed on the trigger installation position 11, after the loading frame is moved into the loading limiting frame, the first detector 21 corresponding to the trigger installation position 11 will be triggered, so that the open-close state of the first detector 21 is changed from closed to started. If the trigger 12 is not mounted on the trigger mounting position 11, after the loading frame is moved into the loading limit frame, the first detector 21 corresponding to the trigger mounting position 11 is not triggered, and the open/close state of the first detector 21 is still closed.

When the three trigger mounting positions 11 are mounted on the feeding frame, eight combinations exist in the mounting and arrangement modes of the triggers 12 on the feeding frame, so that the detection module in the feeding limiting frame 20 can correspondingly output eight kinds of opening and closing state information.

When the first detector 21 is triggered by the on-state and the first detector 21 is not triggered by the off-state, the on-off state information included in the signal sent by the detection module including the three first detectors 21 is the on-off state information of the three first detectors 21 (the first detector a 21a, the first detector b 21b and the first detector c 21c), and when the first installation position 11a, the second installation position 11b and the third installation position 11c are listed in the left-to-right sequence, the installation arrangement mode of the triggers 12 thereon is as follows: when AAA, ABA, ABB, AAB, BAA, BAB, BBA, BBB, corresponding to it, the detection module sends out the first detector A21 a, the first detector B21 b and the first detector C21 c, and the on-off state information is listed from left to right in sequence as follows: opening, closing, opening and closing.

The controller receives the opening and closing state information of each first detector 21 sent by the detection module, matches the gluing path, and sends the matched gluing path to the robot, so that the robot moves the glass according to the matched gluing path.

The embodiment also provides a control method of the glass gluing system, which is suitable for the glass gluing system and comprises the following steps:

the method comprises the steps that start-stop state information sent by a detection module is obtained through a controller, and one piece of start-stop state information comprises the start-stop state of each first detector;

the controller acquires gluing path information corresponding to the opening and closing state information according to a preset path matching table, wherein the path matching table comprises a plurality of pieces of opening and closing state information, and one piece of opening and closing state information corresponds to one piece of gluing path information;

and the controller sends the acquired gluing path information corresponding to the opening and closing state information to the robot.

In the following table, taking three trigger mounting positions 11 in the rack 10 as an example, the following comparison table is obtained for the matching relationship among the glass model, the mounting arrangement mode of the triggers 12, the opening/closing state information and the gluing path information, and is table 1:

serial number	Glass type	Trigger arrangement mode	On/off state information	Glue application path information
					1	D1	AAA	Opener for opening	C1
2	D2	ABA	Opening and closing opener	C2
					3	D3	ABB	On-off closure	C3
4	D4	AAB	Open and close	C4
					5	D5	BAA	Close and open	C5
6	D6	BAB	Closed and open	C6
					7	D7	BBA	Close and open	C7
8	D8	BBB	Closing device	C8

TABLE 1

In table 1, D indicates the glass type, and the number of the subsequent numbers is different, which indicates that the glass type is different, a indicates that the trigger 12 is installed at the installation site, B indicates that the trigger 12 is not installed at the installation site, on indicates that the first detector is triggered, and off indicates that the first detector is not triggered. It can be known from table 1 that, because the quantity of trigger 12 installation position is three, then there are eight kinds of the installation mode of arranging of trigger 12 that it can realize, then correspond the glass (D1-D8) that can represent eight different models, the glass of different models corresponds there is different trigger 12 installation mode of arranging, thereby make after the material loading spacing frame is placed to the last work or material rest, the change that opens and close state of the first detector on the material loading spacing frame takes place differently, detection device sends different state information, the controller matches rubber coating route information according to the state information that receives, and send the rubber coating route information that matches to the robot, the robot removes glass according to rubber coating route information.

In table 1, the correspondence table between the opening/closing state information and the gluing path information is a path matching table, as shown in table 2 below:

serial number	On/off state information	Glue application path information
			1	Opener for opening	C1
2	Opening and closing opener	C2
			3	On-off closure	C3
4	Open and close	C4
			5	Close and open	C5
6	Closed and open	C6
			7	Close and open	C7
8	Closing device	C8

TABLE 2

For example, when the glass is model D1, the triggers are mounted at all three trigger mounting locations 11 of the loader when the glass is placed in the loader 10, or before the glass is placed in the loader 10.

When the number of the loading frames 10 is one, the operator can confirm the type of the glass when the glass is placed on the loading frame 10, and the triggers 12 are installed at corresponding positions on the loading frame 10, so that the installation positions and the number of the triggers 12 are matched with the type of the glass placed on the loading frame 10. Or, if the glass is not manually placed in the upper rack 10, a trigger mounting manipulator may be provided, the device for placing the glass in the upper rack transmits the glass model information to the trigger mounting manipulator, so that the trigger mounting manipulator mounts the triggers 12 at corresponding positions on the upper rack 10, and the mounting positions and the number of the triggers 12 are matched with the models of the glass placed on the upper rack 10. When the model of the glass placed on the feeding frame 10 is changed, the trigger 12 is correspondingly changed.

When the number of the loading frames 10 is multiple, the installation number and the positions of the triggers 12 on different loading frames 10 are different, that is, one loading frame 10 is always used for placing glass of a unique corresponding model, that is, after the triggers 12 are installed on the loading frames 10, the trigger does not need to be replaced subsequently. When placing glass into the feeding frame 10, a feeding person or equipment matches the corresponding feeding frame 10 according to the glass model, and then places the glass onto the feeding frame 10 matched with the model.

After the feeding frame is placed on the feeding limiting frame, the three triggers 12 correspondingly trigger the three first detectors 21 on the feeding limiting frame, so that the opening and closing states of the three first detectors 21 are changed into 'open', the state information received by the controller is 'open-open', the controller obtains gluing path information C1 matched with the received state information according to a reading path matching table (table 2), the controller sends the gluing path information C1 to the robot, and the robot moves glass of a D1 model according to the gluing path information C1.

It should be noted that the gluing path information is matched with the type of the glass, and the gluing path information corresponding to different types of glass may be the same or different. Or the gluing path information corresponding to part of the glass with different models is the same, and the gluing path information corresponding to part of the glass with different models is different.

As shown in fig. 3 to 6, the loading frame 10 includes a frame body 13, a plurality of loading platforms 14 for loading the glass 90 are disposed on the frame body 13, and a traveling wheel 15 is disposed at the bottom of the frame body 13 to facilitate moving the loading frame 10. The trigger mounting position provided on the frame body 13 is used for mounting a trigger.

For example, when the trigger 12 is fixedly connected to the frame body 13 by a bolt, the trigger mounting position 11 may specifically be a bolt hole, or the trigger mounting position 11 includes a limiting groove disposed in the frame body 13 and a bolt hole formed at the bottom of the limiting groove, the limiting groove is used for limiting the trigger 12, and the bolt hole is used for mounting a bolt for fixing the trigger 12. When the trigger 12 is inserted into the frame body 13, the trigger mounting portion 11 includes a limiting groove, and an opening of the limiting groove faces upward or obliquely upward. With this arrangement, the bottom portion region of the trigger 12 can be inserted into the stopper groove. When the trigger 12 is connected to the frame body 13 by magnetic attraction, the trigger 12 may include a first magnetic member, and the trigger mounting portion 11 may include a second magnetic member, and the first magnetic member and the second magnetic member are magnetically attracted to each other. For example, the first magnetic member is a ferromagnetic metal sheet and the second magnetic member is a magnet, or the first magnetic member is a magnet and the second magnetic member is a ferromagnetic metal sheet, or both the first magnetic member and the second magnetic member are magnets.

In one embodiment of this embodiment, the first detector 21 is a contact sensor, and the trigger 12 includes a baffle plate, and when the loading frame 10 is placed in position in the loading-limiting frame 20, the baffle plate contacts with the corresponding contact sensor, so as to trigger the contact sensor.

In another specific implementation manner of this embodiment, the first detector 21 and the trigger 12 may adopt an opposite-type photoelectric sensor, the opposite-type photoelectric sensor includes an emitting device and a receiving device, the emitting device is disposed on the trigger 12, the receiving device is disposed on the first detector 21, when the trigger 12 is mounted on the trigger mounting location 11 corresponding to the first detector 21, and the loading frame 10 is placed in place in the loading limiting frame 20, the receiving device can receive light emitted by the emitting device opposite thereto, so that the first detector 21 triggers.

Example two

In this embodiment, as shown in fig. 6 and 7, in the first embodiment, the feeding limiting frame 20 is provided with a second detector 22, and the second detector 22 is used to detect whether there is glass to be subjected to the glue spreading operation in the feeding frame located in the feeding limiting frame 20.

Preferably, as shown in fig. 3 and 6, in the loading frame 10, the carriers 14 are provided at intervals in the longitudinal direction, and the carriers 14 are used for carrying the edge of the glass 90. That is, when the glass 90 is placed on the carrier table 14, the edge region of the glass 90 is in contact with the carrier table 14, while the central region of the glass 90 is not in contact with the carrier table 14. Since the robot takes out the glasses 90 from the loading frame 10 sequentially from top to bottom, preferably, the second detector 22 is installed at a side of the bottom of the loading limiting frame 20 facing the loading frame 10, and the detection direction of the second detector 22 is upward, that is, the second detector 22 can detect whether there is a glass 90 on the loading frame 10 by detecting whether there is a glass 90 on the loading table 14 at the lowest layer in the loading frame 10. The second detector 22 may employ a laser sensor or an infrared sensor.

When only one feeding limiting frame 20 is arranged in the glass gluing system, after the second detector 22 detects that no glass 90 exists in the feeding frame 10 positioned in the feeding limiting frame 20, a signal is sent to the robot 30, so that the robot 30 stops operating after the current glass 90 gluing operation is completed, and waits for replacing the feeding frame 10 carrying the glass 90.

When a plurality of feeding limiting frames 20 are arranged in the glass gluing system, the robot 30 firstly takes out the glass 90 from the feeding frame 10 in the first feeding limiting frame 20, after the glass 90 in the feeding frame 10 in the first feeding limiting frame 20 is taken out, the second detector 22 is triggered, and after receiving a signal sent by the second detector 22, the controller sends a signal to the robot 30, so that the robot 30 takes out the glass 90 from the feeding frame 10 corresponding to the second feeding limiting frame 20 after finishing the current gluing operation. During specific operation, when the robot 30 performs gluing operation on the glass 90 in the second feeding rack 10, the feeding racks 10 in the first feeding limiting rack 20 are replaced, and the feeding racks 10 filled with the glass 90 are replaced, or after the gluing operation is completed on the glass 90 in all the feeding racks 10, the feeding racks 10 in all the feeding limiting racks 20 can be replaced in a unified manner.

For example, when the number of the loading limiting frames 20 is one, the control method of the glass gluing system may include:

the controller receives state information sent by a detection module in the feeding limiting frame 20, acquires gluing path information corresponding to the state information according to the path matching packet, and sends the acquired gluing path information to the robot 30, so that the robot 30 moves the glass 90 according to the gluing path information;

the controller receives the triggering state information of the second detector 22, and after receiving the information that the second detector 22 is triggered, the controller sends a first control signal to the robot 30, wherein the first control signal enables the robot 30 to stop the pick-up operation after the current gluing operation is completed. The removing operation is an operation of removing the glass 90 from the loading frame 10.

When the number of the feeding limiting frames 20 is N, N is a positive integer, and the number of N is greater than 1, the control method of the glass gluing system may include:

the controller sends position information corresponding to the position of the first feeding limiting frame 20 to the robot 30, so that the robot 30 sequentially takes out the glass 90 from the feeding frames 10 in the first feeding limiting frame 20.

The controller receives the state information sent by the detection module in the first feeding limiting frame 20, acquires gluing path information corresponding to the state information according to the path matching packet, and sends the acquired gluing path information to the robot 30, so that the robot 30 moves the glass 90 according to the gluing path information.

The controller receives the trigger state information sent by the second detector 22 in the first feeding limiting frame 20, and after receiving the triggered information of the second detector 22, the controller sends the position information corresponding to the next feeding limiting frame 20 (at this time, the second feeding limiting frame 20) to the robot 30, and at the same time, the controller obtains the state information sent by the detection module in the second feeding limiting frame 20, obtains the gluing path information corresponding to the state information according to the path matching packet, and sends the obtained gluing path information to the robot 30, so that after the robot 30 finishes the gluing operation of the current glass 90, the glass 90 is taken out by the second feeding frame 10, and the glass 90 taken out by the second feeding frame 10 is driven to move according to the newly obtained gluing path. The controller then receives the triggering state information sent by the second detector 22 in the second feeding limiting frame 20, when the information that the second detector 22 in the second feeding limiting frame 20 is triggered is received, the number of the second limiting frame is several, the number of the second limiting frame is 2, the number of the limiting frame is compared with the number of the second limiting frame, if the number is smaller than the number of the second limiting frame, the controller sends the position information corresponding to the next feeding limiting frame 20 to the robot 30, the gluing path information corresponding to the state information is obtained according to the path matching packet, and the obtained gluing path information is sent to the robot 30, so that after the robot 30 finishes the gluing operation of the current glass 90, the glass 90 is taken out by the next feeding frame 10, and the glass 90 taken out by the next feeding frame 10 is driven to move according to the newly obtained gluing path. When the controller receives the trigger state information sent by the second detector 22 in the nth feeding limiting frame 20, the controller sends a first control signal to the robot 30, and the first control signal enables the robot 30 to stop picking up the workpiece after the current gluing operation is completed.

When the glass gluing system is provided with a plurality of feeding limiting frames 20, as shown in fig. 7, the feeding limiting frames 20 can be fixedly connected in sequence to improve the overall installation stability. In fig. 7, two feed line retainers are fixed together.

EXAMPLE III

The glass gluing system provided in this embodiment is an improvement on the glass gluing system provided in the first embodiment or the second embodiment, and the technical solutions of the glass gluing systems disclosed in the first embodiment and the second embodiment are also included in the technical solutions disclosed in this embodiment, and are not described herein again.

In this embodiment, as shown in fig. 1, the glass gluing system further includes a discharging frame 60 and a discharging limiting frame 70, the discharging frame 60 has the same structure as the charging frame, and the discharging limiting frame 70 has the same structure as the charging limiting frame. The first detector in the detection module in the blanking limiting frame 70 corresponds to the trigger mounting position in the blanking frame 60, and after the blanking frame 60 is placed on the blanking limiting frame 70, the trigger mounted on the blanking frame 60 triggers the corresponding first detector, and the detection module of the blanking limiting frame 70 sends the on-off state information of each first trigger to the controller.

After receiving the on-off state information of each first trigger sent by the detection module of the blanking limiting frame 70, the controller compares the on-off state information of each first trigger sent by the detection module of the feeding limiting frame with the on-off state information of each first trigger sent by the detection module of the feeding limiting frame to judge whether the on-off state information is the same information. For example, if the on-off state information of each first trigger sent by the detection module of the feeding limit frame is "on-off on", and the on-off state information of each first trigger sent by the detection module of the discharging limit frame 70 is also "on-off on", the same information is described, at this time, the controller sends a signal to the robot 30, so that the glass taken out by the feeding frame in the feeding limit frame by the robot 30 is placed on the discharging frame in the discharging limit frame 70 after the gluing is completed.

Example four

The glass gluing system provided in this embodiment is an improvement on the glass gluing system provided in the first embodiment, the second embodiment, or the third embodiment, and the technical solutions of the glass gluing systems disclosed in the first embodiment, the second embodiment, and the third embodiment are also included in the technical solution disclosed in this embodiment, and are not described herein again.

As shown in fig. 1 and 9, in the glass gluing system provided in this embodiment, a centering table 40 is further included, the centering table 40 is provided with a glass limiting area and an alignment mechanism, and the alignment mechanism is used for moving a glass structure to be glued to the glass limiting area, so as to adjust the position of the glass.

Specifically, centering table 40 is located between last work or material rest 10 and the rubber coating head 80 of rubber coating equipment, after the robot takes out glass 90 from last work or material rest 10, put glass 90 on centering table 40, counterpoint mechanism promotes glass 90, so that glass 90 reaches the spacing district of glass, centering table 40 is used for carrying out the accurate regulation to glass 90 position on centering table 40, thereby when making the robot take glass 90 again, can pinpoint glass 90's position, in order to realize more accurate robot and glass 90's location, thereby be convenient for more accurately make the setting region on glass 90 pass through rubber coating head 80 in proper order, and then the rubber coating scope on the more accurate control glass 90.

In a possible implementation manner, the alignment mechanism includes an alignment driver 41 and an alignment pusher 42, the alignment driver 41 is configured to drive the alignment pusher to move, and the alignment pusher 42 is configured to push the glass to be coated to the glass limiting region. A plurality of positioning members 43 are disposed on the centering table 40, and a glass-limiting region is formed in an area surrounded by part or all of the positioning members 43.

That is, if there are five positioning members 43, the glass-limiting region may be defined by five positioning members 43 together, or the glass-limiting region may be defined by three or four positioning members 43. Or four of the five positioning members 43 (first, second, third and fourth) define a glass limiting region for positioning one type of glass 90, and four of the five positioning members 43 (e.g., first, second, third and fifth) that are not identical to the four positioning members 43 define another glass limiting region for positioning another type of glass 90.

When the positioning is performed, the robot places the glass 90 in the area between the glass limiting area and the alignment pushing member 42, the alignment driver 41 drives the alignment pushing member 42 to move towards the glass limiting area, and finally the glass 90 is pushed into the glass limiting area.

The alignment actuator 41 may be driven by a motor, a hydraulic cylinder, or an air cylinder. For example, the alignment actuator 41 includes a hydraulic cylinder including a cylinder body and a cylinder rod, and the cylinder rod is fixedly connected to the alignment pusher 42. The cylinder rod is used for driving the alignment pushing piece 42 to move between the first position and the second position, when the alignment pushing piece 42 is located at the first position, the distance between the alignment pushing piece 42 and the glass limiting area is relatively far, and at the moment, the glass 90 is conveniently placed in the area between the glass limiting area and the alignment pushing piece 42. When the alignment pushing member 42 is located at the second position, the alignment pushing member 42 moves to the edge of the glass limiting region, or the alignment pushing member 42 and the positioning member 43 at this time are enclosed together to form the glass limiting region, which means that the glass 90 moves in place. In the process that the alignment pushing member 42 moves from the first position to the second position under the driving of the alignment driver 41, the alignment pushing member 42 contacts the glass 90 and pushes the glass 90 toward the direction close to the glass limiting region, so that the edge of the glass 90 contacts the positioning member 43 enclosing the glass limiting region, and the glass 90 completely enters the glass limiting region.

In a preferred embodiment, a third detector is mounted on a side of the positioning member 43, and the third detector is used for detecting whether the positioning member 43 is in contact with the glass 90. The third detectors are in signal connection with the controller, the third detectors trigger and send trigger signals when contacting the glass 90, the controller receives the trigger signals sent by the third detectors, and when the third detectors on the positioning piece 43 of the glass limiting area corresponding to the type of the glass 90 all send trigger signals, the contraposition driver 41 is controlled to stop moving, and at the moment, the glass 90 completely enters the glass limiting area.

The third detector may be a contact switch or a proximity switch.

In order to realize the centering adjustment of the glass 90 with more types, the glass gluing system is provided with a plurality of centering tables 40, and the arrangement mode of the positioning pieces 43 in different centering tables 40 is different, so that the formed glass limiting areas are different.

Specifically, the two glass limiting regions are different and may refer to the same shape but different sizes (e.g., areas), the same size (e.g., area) but different shapes, or both the size and the shape.

EXAMPLE five

The glass gluing system provided in this embodiment is an improvement on the glass gluing system provided in any one of the first to fourth embodiments, and the technical solutions of the glass gluing systems disclosed in the first to fourth embodiments are also included in the technical solutions disclosed in this embodiment, and are not described herein again.

As shown in fig. 1, 10 and 11, in the present embodiment, the glass gluing system further comprises a clamp bracket 50, a plurality of clamps 31 of different models are placed on the clamp bracket 50, and the clamps 31 are connected to the end of the robot through quick change connectors 32.

In order to facilitate the taking and placing of the glass, the clamp 31 is specifically a vacuum adsorption clamp, and the clamp 31 is provided with a vacuum chuck 33. In the jigs 31 of different models, the number of the vacuum suction cups 33 is different, and the arrangement positions of the vacuum suction cups 33 are different. For example, a smaller size glass 90 may require a smaller number of vacuum cups 33 on the fixture 31, while a larger size glass 90 may require a relatively larger number of vacuum cups 33 on the fixture 31. One type of fixture 31 may be used for picking and placing one or more types of glass 90.

The replacement of the jig 31 may be manually performed, or the jig holder 50 may be placed within the moving radius of the robot 30 and automatically replaced by the robot 30.

When the glass gluing system is started for the first time and the robot 30 is not provided with the clamp 31, the specific control process can be as follows:

the controller acquires state information sent by the detection module, wherein one piece of state information comprises the on-off state of each first detector;

the controller acquires the clamp model corresponding to the state information according to a clamp matching table, the clamp matching table comprises a plurality of pieces of state information, and one piece of state information corresponds to one piece of clamp model information;

the controller acquires clamp position information according to the clamp model information;

the controller sends the acquired clamp position information to the robot, so that the robot can mount the clamps of the corresponding models at the designated positions of the clamp supports according to the clamp position information;

the controller stores the piece of fixture model information as a current fixture model.

In the case where the robot has a jig mounted thereon, the control process is as follows:

the controller acquires state information sent by the detection module, wherein one piece of state information comprises the on-off state of each first detector;

the controller acquires the clamp model corresponding to the state information according to a clamp matching table, the clamp matching table comprises a plurality of pieces of state information, and one piece of state information corresponds to one piece of clamp model information;

the controller compares the clamp model information with the stored current clamp model, and if the two are different, the controller is used for:

the controller acquires clamp position information according to the clamp model information;

the controller sends the acquired clamp position information to the robot, so that the robot can mount the clamps of the corresponding models at the designated positions of the clamp supports according to the clamp position information;

and the controller deletes the original current clamp information and stores the clamp model information as the current clamp model.

Further, as shown in fig. 10, a shield 51 is mounted on the jig mount 50, the shield 51 is connected to the swing actuator 52, and the shield 51 is movable between the covering position and the opening position by the drive of the swing actuator 52. Specifically, when the protective cover 51 is located at the covering position, the protective cover 51 covers the plurality of clamp placing positions in the clamp bracket 50, the clamp placing positions are used for placing the clamps 31, when the clamp placing positions place the clamps 31, the protective cover 51 is located at the covering position, covers the plurality of clamps 31, and plays a role in protecting and preventing dust for the clamps. One end of the shield 51 is connected to a swing driver 52, and the swing driver 52 can drive the shield 51 to swing, so that the shield 51 moves to an open position where a projection of the shield 51 on a horizontal plane does not coincide with any jig placement position. The swing driver 52 can drive the protection mask 51 to rotate in the horizontal plane, and can also drive the protection mask 51 to rotate in the vertical plane.

In fig. 10, the swing actuator 52 is a pneumatic cylinder, the cylinder body of which is connected to the clamp holder 50, the rod of which is hinged to the end of the protective cover 51, and the area of the protective cover 51 near the end is rotatably connected to the holder. When the cylinder rod of the cylinder stretches, the protective cover 51 can be driven to hinge around the rotary connection part of the protective cover and the bracket. Fig. 10 shows a state in which the protection mask 51 is in the covering position. When the cylinder rod retracts into the cylinder, the protective cover 51 is driven to swing clockwise, so that the clamp can be exposed.

When the protective cover 51 is provided, the protective cover 51 can play a role of protecting and preventing dust for the clamp 31 in the clamp bracket 50 when the clamp 31 is not required to be replaced, and when the robot 30 replaces the clamp 31, the protective cover 51 is driven by the swing driver 52 to move to the open position so that the robot 30 can take out the clamp 31.

Further, the controller is in control connection with the swing actuator 52, when the controller compares the clamp model information with the stored current clamp model, and if the two are different, the controller sends a control signal to the swing actuator 52 to enable the swing actuator 52 to drive the cylinder rod to retract so as to swing the protective cover 51 to the open position.

The above description is only exemplary of the present application and should not be taken as limiting the present application, as any modification, equivalent replacement, or improvement made within the spirit and principle of the present application should be included in the protection scope of the present application.

Claims (10)

1. A glass coating system, comprising:

the trigger mounting positions are detachably mounted on the loading frame, and the number of the triggers is smaller than or equal to that of the trigger mounting positions;

the feeding limiting frame is provided with a detection module, the detection module comprises a plurality of first detectors, the number of the first detectors is equal to that of the trigger mounting positions, and one trigger is used for triggering the corresponding first detector;

the controller is used for receiving the opening and closing state information of each first detector sent by the detection module, acquiring a gluing path according to the opening and closing state information and sending the gluing path;

and the robot is used for taking out the glass to be coated in the material loading frame and moving the glass to be coated according to the coating path sent by the controller.

2. The glass coating system of claim 1, wherein the first detector comprises a contact switch and the trigger comprises a baffle.

3. The glass gluing system of claim 1, wherein the loading limiting frame is provided with a second detector for detecting whether a glass structure to be glued is carried in the loading frame.

4. The glass gluing system according to any one of claims 1 to 3, further comprising a centering table provided with a glass limiting region and an alignment mechanism for moving the glass structure to be glued to the glass limiting region.

5. The glass gluing system according to claim 4, wherein the alignment mechanism comprises an alignment driver and an alignment pushing member, a plurality of positioning members are arranged on the alignment table, the glass limiting area is formed in an area surrounded by part or all of the positioning members, the alignment driver is used for driving the alignment pushing member to move, and the alignment pushing member is used for pushing the glass to be glued to the glass limiting area.

6. A glass coating system according to claim 5, wherein a third detector is mounted to a side of the positioning member for detecting whether the positioning member is in contact with the glass.

7. A glass coating system according to claim 4, wherein the number of the centering tables is multiple, and the shapes and/or areas of the glass limiting areas on different centering tables are different.

8. A glass coating system according to any one of claims 1-3, wherein the robot is provided at its end with a quick-change coupling for connection to a jig, and wherein the glass coating system further comprises a jig holder on which a plurality of different types of jigs are placed.

9. The glass gluing system of any one of claims 1 to 3, further comprising a blanking frame and a blanking limiting frame, wherein the blanking frame and the loading frame have the same structure, and the blanking limiting frame and the loading limiting frame have the same structure.

10. A control method of a glass paste coating system, which is applied to the glass paste coating system according to any one of claims 1 to 9, comprising:

acquiring opening and closing state information sent by the detection module through the controller, wherein one piece of opening and closing state information comprises the opening and closing state of each first detector;

the controller acquires gluing path information corresponding to the opening and closing state information according to a preset path matching table, wherein the path matching table comprises a plurality of pieces of opening and closing state information, and one piece of opening and closing state information corresponds to one piece of gluing path information;

and the controller sends the acquired gluing path information corresponding to the opening and closing state information to the robot.

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