CN210546052U - Intelligent glue injection equipment for building curtain wall - Google Patents
Intelligent glue injection equipment for building curtain wall Download PDFInfo
- Publication number
- CN210546052U CN210546052U CN201921050587.1U CN201921050587U CN210546052U CN 210546052 U CN210546052 U CN 210546052U CN 201921050587 U CN201921050587 U CN 201921050587U CN 210546052 U CN210546052 U CN 210546052U
- Authority
- CN
- China
- Prior art keywords
- glue injection
- glue
- building curtain
- axis truss
- curtain wall
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
Abstract
The utility model discloses an intelligent glue injection device for a building curtain wall, which comprises a three-axis truss, a glue injection machine, a glue injection robot, a visual system and a control system, wherein the glue injection robot is arranged at the bottom of a Z-axis truss of the three-axis truss; the vision system is arranged on the Z-axis truss and comprises a first vision sensor and a second vision sensor, wherein the first vision sensor is used for preliminarily positioning the curtain wall and feeding back preliminary positioning information to the control system, the second vision sensor is used for accurately positioning the curtain wall and feeding back accurate positioning information to the control system, and the control system plans an adhesive injection track by combining curtain wall parameters and instructs the adhesive injection robot to perform adhesive injection on the curtain wall. The equipment has the advantages of high glue injection precision, convenient operation and the like.
Description
Technical Field
The utility model relates to a building decoration technical field specifically is a building curtain intelligence injecting glue equipment.
Background
The building curtain wall comprises a glass plate and a structure with the periphery of the glass plate playing a supporting role, the wall body has a single layer and a double layer, the building curtain wall has good ornamental and decorative effects, but the building curtain wall cannot play a supporting role of a building. The manufacturing process of the building curtain wall comprises two important processes of assembling the curtain wall and injecting glue, wherein the two processes are that an outer frame body and a glass plate are assembled together, and then glue is injected to the packaging position, so that the outer frame body is combined on the glass plate. The glue injection process is an important link in the processing of the building curtain wall.
In the building curtain injecting glue trade, present main working method mainly relies on manual control to glue the rifle and carries out the injecting glue operation to the curtain, and this kind of injecting glue mode has following defect: 1. the precision is low, the glue is easy to be injected unevenly, the waste of the glue is caused or the product quality is influenced; 2. the processing efficiency is low, and only small batch operation can be realized; 3. the operation difficulty is high, the dependence on the technical level of workers is strong, and the labor intensity is high.
SUMMERY OF THE UTILITY MODEL
An object of the utility model is to provide a building curtain intelligence injecting glue equipment can improve the efficiency and the accurate degree of injecting glue to solve the problem of proposing among the above-mentioned background art.
In order to realize the first purpose, the utility model provides a following technical scheme: an intelligent glue injection device for a building curtain wall comprises a three-axis truss, a glue injection machine, a glue injection robot, a vision system and a control system electrically connected with the components, wherein the three-axis truss comprises a support upright post, an X-axis truss, a Y-axis truss and a Z-axis truss; the supporting upright posts stand on the ground, and the X-axis truss is arranged on the supporting upright posts; the Y-axis truss is movably connected to the X-axis truss, and the Z-axis truss is movably connected to the Y-axis truss; the glue injection robot is movably arranged at the bottom of the Z-axis truss; on the visual system installation Z axle truss, including being used for carrying out preliminary location and feeding back preliminary positioning information to control system's first visual sensor and being used for carrying out accurate positioning and feeding back accurate positioning information to control system's second visual sensor to the building curtain, control system combines building curtain parameter automatic planning injecting glue orbit and instructs the injecting glue robot to carry out the injecting glue to the building curtain.
As a preferred scheme, the glue injection robot is a multi-axis robot, the top of the robot is connected with the Z-axis truss, the tail of the robot is provided with a glue injection module, and the glue injection module is provided with a glue injection gun.
As another preferred scheme, the glue injection gun is connected with the glue injection machine through a rubber tube, the rubber tube is connected with at least one automatic control valve, and the automatic control valve is electrically connected with the control system.
Further, the automatic control valve comprises a glue mixing valve and at least one pneumatic ball valve, and the glue mixing valve and the pneumatic ball valve are installed on the side edge of the Z-axis truss and electrically connected with the control system.
In another preferred scheme, the glue injection module is provided with a liftable automatic glue scraping plate. And a notch for the glue injection gun to pass through is arranged in the middle of the automatic glue scraping plate.
Preferably, the vision system further comprises a laser ranging sensor for detecting the height, the laser ranging sensor being installed below the second vision sensor.
In another preferred embodiment, the Z-axis truss is provided with a supplementary light source, and the supplementary light source is located on the same side of the second vision sensor.
The utility model discloses building curtain looks intelligent injecting glue equipment's operation mode includes following step:
transferring the building curtain wall to the detection range of a vision system;
setting relevant parameters on a human-computer interface on a control system;
activating a vision system, and preliminarily positioning X/Y coordinates of corner points of the building curtain wall by using a first vision sensor and feeding back detected information to a control system;
the second vision sensor accurately positions the X/Y coordinates of the corner point of the building curtain wall and feeds detected information back to the control system;
a laser ranging sensor in the vision system measures the Z coordinate of the building curtain wall corner point;
the control system identifies the glue injection track through the acquired signals and calculates the glue injection track through a machine learning algorithm, and outputs the X/Y/Z position to the glue injection robot;
and activating the glue injection robot and the glue injection machine, and moving the glue injection robot according to the glue injection track and injecting glue through the glue gun.
Preferably, the glue injection robot performs glue injection by using an interpolation linkage method.
Compared with the prior art, the utility model discloses the beneficial effect who reaches is:
1. the three-axis truss is linked with the multi-axis robot, so that the flexibility of the glue injection equipment is improved, various glue injection forms can be realized, and the glue injection process requirements of large-area, complex and special-shaped screen unit bodies can be met;
2. the corner point coordinates of the building curtain wall are positioned, detected and measured through a vision system, so that the building curtain wall positioning and detecting device is suitable for different types of products;
3. the Z-axis truss is provided with the first visual sensor and the second visual sensor, primary positioning in a large range and accurate positioning in a small range are carried out on the glue injection track respectively, detection accuracy is guaranteed while large-range identification is achieved, and the problems of accuracy and glue injection unevenness in the prior art are solved.
4. The glue injection robot injects glue by utilizing an interpolation linkage mode, accurately controls the position and the posture of a glue gun aiming at a glue injection point, and can be expanded to complex special-shaped products such as curves;
5. the glue mixing valve and the pneumatic ball valve are arranged, the glue amount or the glue ratio and the glue outlet amount are accurately controlled, and the waste of the glue amount is reduced.
6. The automation degree is high, and the problems of low production efficiency, high horizontal dependence on workers and high labor intensity in the prior art are solved.
7. The supplementary light source is arranged, and when the equipment is in an environment with insufficient light, the supplementary light source can increase the brightness of the building curtain wall and ensure the quality of visual detection.
Drawings
The accompanying drawings are included to provide a further understanding of the invention, and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention, and together with the description serve to explain the invention and not to limit the invention. In the drawings:
fig. 1 is a schematic structural view of the intelligent visual inspection glue injection equipment for the building curtain wall of the utility model;
FIG. 2 is a top view of the intelligent visual inspection glue injection equipment for the building curtain wall of the utility model;
fig. 3 is a structural view of the Z-axis truss and the glue injection robot of the present invention;
FIG. 4 is a schematic view of FIG. 3 from another perspective;
the system comprises an X-axis truss 1, a Y-axis truss 2, a Z-axis truss 3, a glue injection robot 4, a glue injection machine 5, a building curtain wall 6, a first vision sensor 31, a second vision sensor 32, a laser ranging sensor 33, a supplementary light source 34, a glue injection module 41, a glue injection gun 42 and an automatic glue scraping plate 43.
Detailed Description
The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative work belong to the protection scope of the present invention.
Example 1
Referring to fig. 1 and 2, the present embodiment provides an intelligent glue injection apparatus for a building curtain wall, which includes a three-axis truss, a glue injection machine 5, a glue injection robot 4, and a control system electrically connected to the above components, for injecting glue to an edge of a building curtain wall 6.
The three-axis truss comprises a support upright post, an X-axis truss 1, a Y-axis truss 2 and a Z-axis truss 3; the plurality of support columns are erected on the ground, and the X-axis truss is erected on the support columns; the Y-axis truss is movably connected to the X-axis truss, and the Z-axis truss is movably connected to the Y-axis truss.
Referring to fig. 3 and 4, the Z-axis truss is provided with a vision system for identifying and detecting the glue injection track of the building curtain wall. The vision system comprises a first vision sensor 31 for preliminary positioning of the glue injection track, a second vision sensor 32 for accurate positioning of the glue injection track, and a laser ranging sensor 33 for measuring the height distance. The first vision sensor and the second vision sensor are located on the side edge of the Z-axis truss, and the laser ranging sensor is installed below the second vision sensor. Through setting up first vision sensor and second vision sensor, respectively carry out preliminary location on a large scale and the accurate positioning of minim scope to the injecting glue orbit, guaranteed the detection precision when realizing discerning on a large scale.
Further, the vision system further comprises a supplementary light source 34, the supplementary light source is located on the same side of the second vision sensor, and when the building curtain wall is in an environment with insufficient light, the supplementary light source can increase the brightness of the building curtain wall and ensure the quality of vision detection.
Referring to fig. 3 and 4, the glue injection robot 4 is movably connected to the bottom of the Z-axis truss, and in this embodiment, the glue injection robot is a multi-axis robot, and the three-axis truss and the multi-axis robot are linked to improve flexibility of the glue injection equipment, so that various glue injection forms can be realized, and the glue injection process requirements of large-area, complex and special-shaped building curtain walls can be met.
Bear, injecting glue robot top and Z axle truss connection, the afterbody is equipped with an injecting glue module 41, the injecting glue module is equipped with one and extends the injecting glue rifle 42 downwards, and the injecting glue rifle afterbody is hook-like, does benefit to the clearance of stretching into between curtain and glass. The glue injection gun is connected with the glue injection machine through a rubber tube, the rubber tube is connected with at least one automatic control valve, in the embodiment, the automatic control valve comprises a glue mixing valve and a pneumatic ball valve, the glue mixing valve and the pneumatic ball valve are installed on the side edge of the Z-axis truss 3 and are electrically connected with the control system, and the control of the glue output and the mixed components of glue is facilitated.
Further, for making the injecting glue more even, the injecting glue module is equipped with the automatic offset plate 43 of scraping of liftable, be equipped with the breach that supplies the injecting glue rifle to pass through in the middle of the automatic offset plate of scraping. When the glue injection robot works, the automatic glue scraping plate descends, and the side surface of the automatic glue scraping plate close to the building curtain wall is utilized to trowel redundant glue. In addition, the control system operates the automatic doctor blade to lift when the glue gun 42 is ready to pass over a corner, and the automatic doctor blade 43 to lower when the glue chamber passes around a corner.
The embodiment also provides a method for visually detecting the building curtain wall, which is characterized by comprising the following steps of:
1. the building curtain wall is transferred to the detection range of the vision system, and the building curtain wall can be moved in a mode of being pushed by an industrial trolley;
2. setting relevant parameters such as building curtain wall glue injection depth, glass thickness and the like on a human-computer interface on a control system;
3. activating a vision system, and preliminarily positioning X/Y coordinates of corner points of the building curtain wall by using a first vision sensor and feeding back detected information to a control system;
4. the second vision sensor accurately positions the X/Y coordinates of the corner point of the building curtain wall and feeds detected information back to the control system;
5. a laser ranging sensor in the vision system measures the Z coordinate of the corner point of the building curtain wall and feeds back information to the control system;
6. the control system identifies the glue injection track through the acquired signals and calculates the glue injection track through a machine learning algorithm;
7. and activating the glue injection robot and the glue injection machine, and enabling the glue injection robot to send glue injection track information to move according to the control system and to inject glue into the building curtain wall through the glue gun.
Further, the glue injection robot performs glue injection by utilizing an interpolation linkage mode, accurately controls the position and the posture of a glue gun aligned to a glue injection point, and can be expanded to complex special-shaped products such as curves.
Finally, it should be noted that: although the present invention has been described in detail with reference to the foregoing embodiments, it will be apparent to those skilled in the art that modifications may be made to the embodiments described in the foregoing embodiments, or equivalents may be substituted for elements thereof. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (8)
1. An intelligent glue injection device for a building curtain wall is characterized by comprising a three-axis truss, a glue injection machine, a glue injection robot, a vision system and a control system electrically connected with the components, wherein the three-axis truss comprises a support upright post, an X-axis truss, a Y-axis truss and a Z-axis truss; the supporting upright posts stand on the ground, and the X-axis truss is arranged on the supporting upright posts; the Y-axis truss is movably connected to the X-axis truss, and the Z-axis truss is movably connected to the Y-axis truss; the glue injection robot is movably arranged at the bottom of the Z-axis truss; on the visual system installation Z axle truss, including being used for carrying out preliminary location and feeding back preliminary positioning information to control system's first visual sensor and being used for carrying out accurate positioning and feeding back accurate positioning information to control system's second visual sensor to the building curtain, control system combines building curtain parameter automatic planning injecting glue orbit and instructs the injecting glue robot to carry out the injecting glue to the building curtain.
2. The intelligent glue injection equipment for the building curtain wall as claimed in claim 1, wherein the glue injection robot is a multi-axis robot, the top of the robot is connected with the Z-axis truss, the tail of the robot is provided with a glue injection module, and the glue injection module is provided with a glue injection gun.
3. The intelligent glue injection equipment for the building curtain wall as claimed in claim 2, wherein the glue injection gun is connected with the glue injection machine through a rubber tube, the rubber tube is connected with at least one automatic control valve, and the automatic control valve is electrically connected with the control system.
4. The intelligent glue injection equipment for the building curtain wall as claimed in claim 3, wherein the automatic control valve comprises a glue mixing valve and at least one pneumatic ball valve, and the glue mixing valve and the pneumatic ball valve are mounted on the side edge of the Z-axis truss and electrically connected with the control system.
5. The intelligent glue injection equipment for building curtain walls according to claim 2, wherein the glue injection module is provided with a liftable automatic glue scraping plate.
6. The intelligent glue injection equipment for the building curtain wall according to claim 5, wherein a notch for a glue injection gun to pass through is formed in the middle of the automatic glue scraping plate.
7. The intelligent glue injection equipment for building curtain walls according to claim 1, wherein the vision system further comprises a laser ranging sensor for detecting height, and the laser ranging sensor is installed below the second vision sensor.
8. The intelligent glue injection equipment for building curtain walls according to claim 1, wherein the Z-axis truss is provided with a supplementary light source, and the supplementary light source is located on the same side of the second vision sensor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921050587.1U CN210546052U (en) | 2019-07-08 | 2019-07-08 | Intelligent glue injection equipment for building curtain wall |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921050587.1U CN210546052U (en) | 2019-07-08 | 2019-07-08 | Intelligent glue injection equipment for building curtain wall |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN210546052U true CN210546052U (en) | 2020-05-19 |
Family
ID=70664937
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201921050587.1U Active CN210546052U (en) | 2019-07-08 | 2019-07-08 | Intelligent glue injection equipment for building curtain wall |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN210546052U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2022246891A1 (en) * | 2021-05-25 | 2022-12-01 | 东莞市方大新材料有限公司 | Automatic adhesive applying system for curtain wall and operation method of automatic adhesive applying system |
| WO2023006086A1 (en) * | 2021-07-29 | 2023-02-02 | 中建八局第二建设有限公司 | Glue injection robot for curtain wall gaps |
-
2019
- 2019-07-08 CN CN201921050587.1U patent/CN210546052U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2022246891A1 (en) * | 2021-05-25 | 2022-12-01 | 东莞市方大新材料有限公司 | Automatic adhesive applying system for curtain wall and operation method of automatic adhesive applying system |
| WO2023006086A1 (en) * | 2021-07-29 | 2023-02-02 | 中建八局第二建设有限公司 | Glue injection robot for curtain wall gaps |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN110216046A (en) | A kind of building curtain wall intelligence glue injection equipment and its method to building curtain wall vision-based detection | |
| CN210546052U (en) | Intelligent glue injection equipment for building curtain wall | |
| CN109671123B (en) | Sole glue spraying equipment and method based on monocular vision | |
| CN109914756A (en) | Indoor wall 3D putty based on indoor construction intelligent robot prints smooth processing method | |
| CN108589979B (en) | Method and equipment for decorating large-space robot module partition suspended ceiling | |
| CN206577971U (en) | A kind of automatic tracking dispenser system based on streamline | |
| CN104631801A (en) | Architectural coating spraying robot | |
| CN208194809U (en) | A kind of building curtain wall intelligence glue injection units | |
| WO2018023853A1 (en) | Spraying and printing system for wall surface and spraying method | |
| CN208379839U (en) | A kind of large space robot module partition furred ceiling decorating apparatus | |
| CN107765236A (en) | A kind of fully-mechanized mining working surface hydraulic support absolute position and Attitute detecting device and method | |
| CN110405780A (en) | A kind of paving wall ceramic tile intelligent robot | |
| CN107413590A (en) | A kind of watchband automatic glue spreaders based on machine vision | |
| CN202787918U (en) | Automatic intelligent equipment for efficiently paving building coats | |
| CN104631800A (en) | Use method of architectural coating spraying robot | |
| CN206378850U (en) | A kind of bluetooth module automates burning test device | |
| CN108620840B (en) | Aircraft cabin door intelligent installation method based on AGV intelligent parallel robot | |
| CN113290556A (en) | Robot gluing path planning method | |
| CN113893979B (en) | Automatic spraying method and device for vehicle | |
| CN210689546U (en) | Automobile glass curvature laser detection device | |
| CN208249220U (en) | Glass blank host computer | |
| CN105544990B (en) | The line setting and template construction method of arc accommodation rail | |
| CN206747779U (en) | A kind of new production and processing streamline | |
| CN205701287U (en) | A kind of intelligence gluing end effector | |
| CN107225904A (en) | A kind of wall paints method and device |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant |