CN208194809U - A kind of building curtain wall intelligence glue injection units - Google Patents

A kind of building curtain wall intelligence glue injection units Download PDF

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Publication number
CN208194809U
CN208194809U CN201820315510.1U CN201820315510U CN208194809U CN 208194809 U CN208194809 U CN 208194809U CN 201820315510 U CN201820315510 U CN 201820315510U CN 208194809 U CN208194809 U CN 208194809U
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China
Prior art keywords
axis truss
truss
robot
axis
glue
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CN201820315510.1U
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Chinese (zh)
Inventor
叶博森
李伯基
邓耀星
路湘平
文哲
严超磊
邓俊杰
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Guangzhou Bole Intelligent Technology Co Ltd
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Guangzhou Bole Intelligent Technology Co Ltd
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Priority to CN201820244276 priority
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Abstract

The utility model is a kind of building curtain wall intelligence glue injection units, including truss framework, robot, glue-injection machine, feeding trolley and control cabinet, truss framework includes that support hack lever, X-axis truss, Y-axis truss and Z axis truss, X-axis truss, Y-axis truss and Z axis truss are mutually perpendicular to two-by-two and constitute a space multistory coordinate system;The both ends of X-axis truss are fixed on support hack lever, and Y-axis truss is vertically movably connected on X-axis truss, and Z axis truss is vertically movably connected on Y-axis truss;Robot is connected on Z axis truss, is also connected with camera on Y-axis truss;X-axis truss, Y-axis truss, Z axis truss, camera, glue-injection machine and robot are electrically connected control cabinet.The utility model can intelligently complete the injecting glue operation of building curtain wall, with robot and vision system, under the automatic control of control cabinet, can substitute manual operation completely.

Description

A kind of building curtain wall intelligence glue injection units
Technical field
The utility model relates to the utensils of building decoration engineering, and in particular to the edge utensil of construction material.
Background technique
Building curtain wall includes the structure composition that the periphery of glass plate and glass plate plays a supportive role, and wall has single layer and bilayer Two kinds, building curtain wall has good ornamental value and decoration function, but building curtain wall itself can not play the branch of building Support effect.In the manufacture craft of building curtain wall, wherein just include two important techniques of assembling and injecting glue of curtain wall, the two Technique exactly fits together outer frame body and glass plate, then injecting glue is carried out to the position of encapsulation, so that outer frame body be combined On a glass.Glue injection units are a significant elements in building curtain wall processing.
In building curtain wall injecting glue industry, current main working method is full manual work, by being accomplished manually to curtain wall Assembling and injecting glue.With the progress and development of intellectualized technology, all trades and professions constantly promote intelligentized requirement, it is necessary to one The device of the intelligent injecting glue of kind is improved efficiency with substituting manual operation, reduces cost.
Utility model content
In order to overcome the above-mentioned deficiency of the prior art, the purpose of this utility model is to provide a kind of building curtain walls intelligently to infuse Glue unit, the building curtain wall intelligence glue injection units can substitute manual operation completely, reduce injecting glue cost.
The technical solution of the utility model realization above-mentioned purpose are as follows:
A kind of building curtain wall intelligence glue injection units, including truss framework, robot, glue-injection machine, feeding trolley and control Cabinet, the truss framework include that support hack lever, X-axis truss, Y-axis truss and Z axis truss, support frame as described above bar are vertically set on On ground, the X-axis truss, Y-axis truss and the Z axis truss are mutually perpendicular to two-by-two and constitute a space multistory coordinate System;The both ends of the X-axis truss are fixed on support frame as described above bar, and the Y-axis truss is vertically movably connected in the X-axis purlin On frame, the Z axis truss is vertically movably connected on the Y-axis truss;
The robot is connected on the Z axis truss, is also connected with camera on the Y-axis truss;
The feeding trolley is placed on the lower zone of the Y-axis truss;
The X-axis truss, the Y-axis truss, the Z axis truss, the camera, the glue-injection machine and the machine People is electrically connected the control cabinet;
The artificial articulated robot of machine, and it is connected with colloid-injecting gun on the top of the robot, colloid-injecting gun passes through Sebific duct is connected on the glue-injection machine;It is connected with autocontrol valve on the colloid-injecting gun, described in autocontrol valve electrical connection Control cabinet.
It further include mounting base, support frame as described above bar is fixedly connected on the mounting base.
The rail for limiting feeding trolley moving direction is provided on the mounting base.
Including at least four support frame as described above bars, and at least two X-axis truss.
Bracing wire fence is also in the surrounding of the mounting base.
The mounting base includes at least six pieces small dismountable iron plates.
Artificial five joint of the machine or six articulated robots.
The rail is limit guide rail or sliding rail.
The rail is parallel with the X-axis truss.
The utility model have compared with prior art it is below the utility model has the advantages that
The utility model can intelligently complete the injecting glue operation of building curtain wall, with robot and vision system, Under the automatic control of control cabinet, manual operation can be substituted completely, and accuracy is high, and high-efficient, processing precisely, substantially reduces note Glue cost.And the utility model can be set to mobile form, arbitrarily can carry and shift.Feeding trolley is in rail Under limit, running track is fixed, thus ensure that transport accuracy and path it is accurate.
Detailed description of the invention
Fig. 1 is the main view of the utility model;
Fig. 2 is the left view of the utility model;
Fig. 3 is the top view of the utility model.
Specific embodiment
The utility model is described in further detail in the following with reference to the drawings and specific embodiments.
Embodiment:
Such as Fig. 1, a kind of building curtain wall intelligence glue injection units, including truss framework, robot 1, glue-injection machine 2, feeding trolley 3 And control cabinet 4, the truss framework includes supporting hack lever 51, X-axis truss 52, Y-axis truss 53 and Z axis truss 54, described Support hack lever 51 is vertically arranged on the ground, and the X-axis truss 52, Y-axis truss 53 and the Z axis truss 54 mutually hang down two-by-two Direct join constitutes a space multistory coordinate system;The both ends of the X-axis truss 52 are fixed on support frame as described above bar 51, the Y-axis Truss 53 is vertically movably connected on the X-axis truss 52, and the Z axis truss 54 is vertically movably connected in the Y-axis purlin On frame 53;
The robot 1 is connected on the Z axis truss 54, is also connected with camera 6 on the Y-axis truss 53;
Such as Fig. 3, the feeding trolley 3 is placed on the lower zone of the Y-axis truss 53;
The X-axis truss 52, the Y-axis truss 53, the Z axis truss 54, the camera 6, the glue-injection machine 2 and The robot 1 is electrically connected the control cabinet 4;
The robot 1 is articulated robot 1, and is connected with colloid-injecting gun 7, colloid-injecting gun 7 on the top of the robot 1 It is connected on the glue-injection machine 2 by sebific duct;It is connected with autocontrol valve on the colloid-injecting gun 7, which is electrically connected Connect the control cabinet 4.It is connected with glue rifle in the end of the injected rubber hose, as shown in Figure 1, glue rifle is connected to the end of robot, And control valve is provided in glue rifle, which is connected on control cabinet, controls glue rifle by automatic control program Injecting glue amount and speed.
It further include mounting base 8, support frame as described above bar 51 is fixedly connected on the mounting base 8.
Such as Fig. 2, the rail 81 for limiting 3 moving direction of feeding trolley is provided on the mounting base 8.
Such as Fig. 1, it is preferable that including at least four support frame as described above bars 51, and at least two X-axis truss 52.
Such as Fig. 1 and Fig. 3, bracing wire fence 9 is also in the surrounding of the mounting base 8.The setting of bracing wire fence is opposite In used using the utility model as moveable factory be it is more preferable, play the role of well prompt and warning.
Such as Fig. 3, the mounting base 8 includes at least six pieces small dismountable iron plates.Mounting base is stitched together, just A supporting plane can be formed, entire unit supports are got up.
The robot 1 is five joints or six articulated robots 1.
Preferably, the rail 81 is limit guide rail or sliding rail.
Such as Fig. 3, the rail 81 is parallel with the X-axis truss 52.
The workflow of the utility model:
1), under the transport of feeding trolley, curtain wall unit body is moved to the underface of truss framework.
2), the camera in truss framework takes pictures to the curtain wall unit body of lower section, and after the completion of taking pictures, information is fed back To the central control system of control cabinet, control system is according to the position deviation adjust automatically program of curtain wall unit body.
3), program command is sent to truss framework, robot and glue-injection machine by central control system, and truss framework receives After instruction, three truss of truss framework are adjusted to corresponding position, to move the robot into the beginning injecting glue calculated Position, then robot adjusts the axis joint of itself, and the glue rifle of robot end is moved to the gap for needing injecting glue.Truss Framework, robot and glue-injection machine cooperate according to program, control the speed and running track of plastic emitting, guarantee injecting glue stabilization and Quality.
4), after the completion of injecting glue, the curtain wall for completing injecting glue is removed by workspace by feeding trolley.
In the movement of above-mentioned truss framework, the movement including X-axis truss, Y-axis truss and Z axis truss, these three Truss is mutually vertical, so that the cooperation of three truss realizes three-dimensional movement, three-dimensional position is finally realized with mobile robot It moves, then cooperates the cooperation between multiple joints of robot itself, complete injecting glue.
The explanation of primary structure:
Mounting base: preferred embodiment is made of 6 pieces of square iron plates, is fixed between iron plate with connecting plate, truss framework is solid It is scheduled on 6 pieces of iron plates, thus convenient transportation, leveling, displaying.Mounting base plays the role of bottom surface support, while mounting base Detachably, after mounting base and other structures being disassembled, entire glue injection units are divided into multiple individual structures, can be certainly By carrying and shifting.Meanwhile the utility model can also be not provided with mounting base, directly fix truss framework on the ground, Realize a kind of fixed glue injection units.
Truss framework: in order to provide the support and connection of robot, and robot motion is driven.
Robot: using domestic six-joint robot, flexibility ratio is higher for robot, connects glue on the 6th axis of robot Rifle can allow glue rifle to carry out injecting glue to curtain wall unit body from different positions.
Glue-injection machine: existing glue injection equipment has injected rubber hose connection between glue rifle, for controlling the speed and flow of glue.
Feeding trolley and rail: rail is mounted on mounting base, it is preferable that such as Fig. 2, the wheel and rail of feeding trolley Agree with, trolley can flexibly move on rail along rail, and the curtain wall unit body of injecting glue is needed to be placed on trolley.It works in injecting glue When, feeding trolley plays the role of support platform;At other, feeding trolley makes as the tool carried and transported With.
Nine axis composite machine people's kinetic control systems of the utility model:
Six articulated robot control systems continue to use the matched hardware system of robot, are connected to this programme by industrial bus Central control system, the servo-drive of three axis truss (i.e. three truss of the utility model) directly passes through central control system Carry out closed-loop control.When the motion range of six articulated robots will reach capacity, six joints are replaced respectively by three axis truss Robot one, two, Three-axis drive robot continues to move.
Central control system with the communication of six articulated robots and central control system be based on industrial 485 buses and Modbus bus.
The utility model provides a kind of central control system structure and software design based on MES:
The innovative production by product of this programme, which executes, directly relates to design end, by research product design parameter with The correlation of technological parameter establishes design drawing to processing parameter basic database, and designer joins according to preset condition Product data are input to database by number, and technological parameter is linked to robot off-line programming software by software algorithm, thus machine Technique can efficiently be required the exercise data and the instruction that are converted to robot by people's off-line programming software.
The utility model also provides a kind of peculiar mechanical structure of building curtain wall injecting glue:
Existing robot injecting glue technology, is mainly used in 3C electronics industry and automobile industry, and robot end clamps glue Rifle carries out injecting glue operation on the surface of target workpiece.And the injection process of building curtain wall product requires to be more than in surface injecting glue, Glue rifle also needs to be deep into the gap the inside injecting glue after glass and aluminum alloy frame combination.
Gap between glass and aluminum alloy frame is in addition to linear type, and there is also the irregular shapes such as right angle or fillet.At this A little different regions, the direction of glue rifle and the speed of plastic emitting are all different, if controlling bad glue rifle direction and plastic emitting speed Degree, all can cause injecting glue uneven, seriously affect injecting glue quality.The utility model can preferably overcome the above-mentioned prior art not Foot realizes all-dimensional multi-angle intelligence injecting glue.
The utility model also provides the vision and laser sensor fusion application technology of a kind of building curtain wall injecting glue:
This programme is by the profile real time detection algorithm of innovative combined high precision line laser sensor, to the geometry in gap Feature is precisely identified that line laser sensor is mounted on end effector of robot and glue rifle laid parallel, robot end The direction of motion of end actuator is line laser sensor preceding, and the profile information in gap is included by such line laser sensor in advance Width and depth are acquired, and transfer to central control system, matrix resolving are carried out by algorithm, with preset robot motion track It compares, output X, Y, Z location and pose difference, then exports to robot and glue-injection machine, so that robot and glue-injection machine can To be run according to optimal trajectory.
The embodiments of the present invention is without being limited thereto, according to the above content of the utility model, utilizes the general of this field Logical technological know-how and customary means, under the premise of not departing from the utility model above-mentioned basic fundamental thought, the utility model may be used also To make the modification, replacement or change of other diversified forms, all fall within the utility model rights protection scope.

Claims (9)

1. a kind of building curtain wall intelligence glue injection units, it is characterised in that: including truss framework, robot (1), glue-injection machine (2), send Trolley (3) and control cabinet (4), the truss framework include support hack lever (51), X-axis truss (52), Y-axis truss (53) with And Z axis truss (54), support frame as described above bar (51) are vertically arranged on the ground, the X-axis truss (52), Y-axis truss (53) with And the Z axis truss (54) is mutually perpendicular to two-by-two and constitutes a space multistory coordinate system;The both ends of the X-axis truss (52) are solid It is scheduled on support frame as described above bar (51), the Y-axis truss (53) is vertically movably connected on the X-axis truss (52), the Z Axis truss (54) is vertically movably connected on the Y-axis truss (53);
The robot (1) is connected on the Z axis truss (54), is also connected with camera on the Y-axis truss (53) (6);
The feeding trolley (3) is placed on the lower zone of the Y-axis truss (53);
The X-axis truss (52), the Y-axis truss (53), the Z axis truss (54), the camera (6), the glue-injection machine (2) and the robot (1) is electrically connected the control cabinet (4);
The robot (1) is articulated robot (1), and is connected with colloid-injecting gun (7) on the top of the robot (1), is infused Glue rifle (7) is connected on the glue-injection machine (2) by sebific duct;It is connected with autocontrol valve on the colloid-injecting gun (7), this is automatic Control valve is electrically connected the control cabinet (4).
2. a kind of building curtain wall intelligence glue injection units according to claim 1, it is characterised in that: further include mounting base (8), support frame as described above bar (51) is fixedly connected on the mounting base (8).
3. a kind of building curtain wall intelligence glue injection units according to claim 2, it is characterised in that: in the mounting base (8) rail (81) for limiting feeding trolley (3) moving direction is provided on.
4. a kind of building curtain wall intelligence glue injection units according to claim 1, it is characterised in that: including at least described in four It supports hack lever (51), and at least two X-axis truss (52).
5. a kind of building curtain wall intelligence glue injection units according to claim 2, it is characterised in that: in the mounting base (8) surrounding is also with bracing wire fence (9).
6. a kind of building curtain wall intelligence glue injection units according to claim 2, it is characterised in that: the mounting base (8) Including at least six pieces small dismountable iron plates.
7. a kind of building curtain wall intelligence glue injection units according to claim 1, it is characterised in that: the robot (1) is Five joints or six articulated robots (1).
8. a kind of building curtain wall intelligence glue injection units according to claim 3, it is characterised in that: the rail (81) is limited Position guide rail or sliding rail.
9. a kind of building curtain wall intelligence glue injection units according to claim 3, it is characterised in that: the rail (81) and institute It is parallel to state X-axis truss (52).
CN201820315510.1U 2018-02-09 2018-03-07 A kind of building curtain wall intelligence glue injection units Active CN208194809U (en)

Priority Applications (2)

Application Number Priority Date Filing Date Title
CN2018202442768 2018-02-09
CN201820244276 2018-02-09

Publications (1)

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Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN110629984A (en) * 2019-08-26 2019-12-31 安溪起星晟汇机械科技有限公司 Curtain wall gluing equipment
CN111097662A (en) * 2020-01-06 2020-05-05 广东博智林机器人有限公司 Gluing method and device of gluing robot, storage medium and gluing robot
CN111632794A (en) * 2020-05-12 2020-09-08 杭州沃镭智能科技股份有限公司 IGBT module heat-conducting silicone grease coating device and using method thereof
WO2021022590A1 (en) * 2019-08-02 2021-02-11 方大智创科技有限公司 Automatic adhesive injection robot and system thereof
CN112411815A (en) * 2020-11-23 2021-02-26 戴仁杰 Processing method of glass partition of house building

Cited By (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2021022590A1 (en) * 2019-08-02 2021-02-11 方大智创科技有限公司 Automatic adhesive injection robot and system thereof
CN110629984A (en) * 2019-08-26 2019-12-31 安溪起星晟汇机械科技有限公司 Curtain wall gluing equipment
CN110629984B (en) * 2019-08-26 2020-11-13 莆田市城厢区任西贸易有限公司 Curtain wall gluing equipment
CN111097662A (en) * 2020-01-06 2020-05-05 广东博智林机器人有限公司 Gluing method and device of gluing robot, storage medium and gluing robot
CN111632794A (en) * 2020-05-12 2020-09-08 杭州沃镭智能科技股份有限公司 IGBT module heat-conducting silicone grease coating device and using method thereof
CN112411815A (en) * 2020-11-23 2021-02-26 戴仁杰 Processing method of glass partition of house building

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