WO2021022590A1

WO2021022590A1 - Automatic adhesive injection robot and system thereof

Info

Publication number: WO2021022590A1
Application number: PCT/CN2019/101895
Authority: WO
Inventors: 罗庆高; 周冲
Original assignee: 方大智创科技有限公司
Priority date: 2019-08-02
Filing date: 2019-08-22
Publication date: 2021-02-11
Also published as: CN110339975A

Abstract

Disclosed is an automatic adhesive injection robot, comprising an articulated robot arm (11), an adhesive-dispensing gun (12) mounted on the articulated robot arm (11), a robot control system, a location camera (13) and an adhesive outlet amount adjustment mechanism (14), wherein the location camera (13) is mounted on the articulated robot arm (11), and is used for acquiring a real-time image of a structural member (21) to be bonded; the adhesive outlet amount adjustment mechanism (14) is mounted on the articulated robot arm (11), and is used for adjusting an adhesive outlet amount of the adhesive-dispensing gun (12); and the robot control system is simultaneously in signal connection with the articulated robot arm (11), the location camera (13) and the adhesive outlet amount adjustment mechanism (14), the robot control system identifies the real-time image of the structural member to be bonded, which image is acquired by the location camera (13), and determines, according to an identification result, the starting point position and movement trajectory during adhesive injection of the adhesive-dispensing gun (12), and the robot control system controls the action of the adhesive outlet amount adjustment mechanism (14) according to the thickness and width of an injected adhesive layer, the length of an adhesive joint and a preset movement rate of the adhesive-dispensing gun (12), so as to adjust the adhesive outlet amount of the adhesive-dispensing gun (12).

Description

Automatic glue robot and its system

This application is based on the Chinese patent application with the application number 201910710089.3 and the application date on August 2, 2019, and claims its priority. The entire content of the application is hereby incorporated into this application as a whole.

Technical field

This application relates to the technical field of bonding between industrial structural parts, and in particular to an automatic glue-dispensing robot and its system that can automatically locate the glue-dispensing track and automatically adjust the glue-dispensing amount.

Background technique

At present, in some industries, many of the connections between structural parts and structural parts are bonded by structural adhesives, such as the bonding of curtain wall panels and frames in the curtain wall industry, and the bonding of subway and high-speed rail platform doors and glass, etc. Etc., but not limited to the above two. Because the thickness and width of the glue layer and the length and position of the glue seam required for different parts are different, the current industries basically use manual glue, but the labor intensity of manual glue is high and it is difficult to guarantee due to the different technical levels of operators. The uniformity of glue quality, meanwhile, manual glue glue wastes a lot of structural glue and low productivity. At present, there is an urgent need for an automatic glue dispensing robot system that can automatically locate the glue trajectory and automatically adjust the glue amount.

Application content

The technical problem to be solved by this application is to provide an automatic glue-dispensing robot and system that can automatically locate the glue-dispensing track and automatically adjust the glue-dispensing amount.

To solve the above technical problems, this application adopts the following technical solutions:

An automatic glue dispensing robot includes an articulated manipulator, a glue gun installed on the articulated manipulator, a robot control system, a positioning camera, and a glue output adjustment mechanism, the positioning camera is installed on the articulated manipulator The upper part is used to obtain real-time images of the structural parts to be bonded; the glue output adjustment mechanism is installed on the articulated manipulator, and is used to adjust the glue output of the glue gun; the robot control system also Signal connection with the articulated manipulator, positioning camera and glue output adjustment mechanism, the robot control system recognizes the real-time image of the structure to be bonded obtained by the positioning camera and determines the glue dispensing time of the glue gun according to the recognition result The starting position and movement trajectory of the articulated manipulator are controlled to drive the glue gun to move along the movement trajectory. The robot control system is based on the thickness and width of the glue layer, the length of the glue gap and the glue dispensing The preset moving speed of the gun controls the action of the glue output adjustment mechanism to adjust the glue output of the glue dispensing gun.

Preferably, the glue output adjustment mechanism includes a lever type connecting rod and an electric push rod, one end of the lever type connecting rod is connected with the glue valve of the dispensing gun, and the other end is connected with the electric push rod Connected, the robot control system controls the expansion and contraction of the electric push rod according to the thickness and width of the glue layer, the length of the glue gap and the preset moving speed of the glue gun, and then links the lever-type connecting rod to adjust the glue The glue output of the gun.

Preferably, the electric push rod includes a stepping motor, a sleeve, and a push rod placed in the sleeve, and the push rod can slide relative to the sleeve under the drive of the stepping motor.

Preferably, the automatic glue dispensing robot further includes a shadowless lamp installed on the articulated manipulator.

Preferably, the automatic glue-dispensing robot further includes a telescopic cylinder, through which the shadowless lamp is mounted on the articulated manipulator.

Preferably, the automatic glue-dispensing robot further includes a robot control box, the robot control system is arranged in the robot control box, and a power source for supplying power to the automatic glue-dispensing robot is also arranged in the robot control box.

Preferably, the articulated manipulator is a 6-joint manipulator.

Preferably, the automatic glue dispensing robot further includes a robot base, and the articulated manipulator is fixedly installed on the robot base.

An automatic glue-dispensing robot system includes a workbench for placing structural parts to be bonded and the automatic glue-dispensing robot as described above.

Preferably, the automatic glue dispensing robot system further includes a structural glue mixer, which is connected to a glue gun, and is used to mix two or more structural glues evenly and output them to the glue gun.

The beneficial technical effect of the application is that the automatic glue-dispensing robot of the application can determine the starting position and movement track of the glue gun during glue-dispensing by identifying the real-time images of the structural parts to be bonded obtained by the positioning camera, and realizes the Automatic positioning of the glue track; in addition, the automatic glue dispensing robot is provided with a glue amount adjustment mechanism, which can act under the control of the robot control system to adjust the glue amount of the glue gun, thereby Realize the automatic adjustment of the glue amount when the automatic glue glue robot glues.

Description of the drawings

Figure 1 is a schematic diagram of the structure of the automatic glue dispensing robot system of the application;

Figure 2 is a front view of the automatic glue dispensing robot of the application.

detailed description

In order to enable those of ordinary skill in the art to more clearly understand the purpose, technical solutions, and advantages of the application, the application will be further elaborated below with reference to the accompanying drawings and embodiments.

Figure 1 is a schematic structural diagram of the automatic glue dispensing robot system of this application; Figure 2 is a front view of the automatic glue dispensing robot of this application, and the articulated manipulator part is defaulted in this view.

As shown in FIG. 1, in an embodiment of the present application, the automatic glue-dispensing robot system includes a workbench 20 for placing the structural parts 21 to be bonded and an automatic glue-dispensing robot 10 on one side of the workbench 20. The automatic glue-dispensing robot 10 is used to glue the structural parts 21 placed on the workbench 20.

As shown in FIGS. 1 and 2, the automatic glue dispensing robot includes an articulated manipulator 11, a point glue gun 12, a robot control system, a positioning camera 13 and a glue output adjustment mechanism 14. The glue gun 12, the positioning camera 13 and the glue output adjustment mechanism 14 are all mounted on the front end of the articulated manipulator 11, wherein the glue gun 12 controls the structural member 21 under the control of the articulated manipulator 11. For glue dispensing, the positioning camera 13 is used to obtain a real-time image of the structural member 21 to be bonded, and the glue output adjustment mechanism 14 is used to adjust the glue output of the glue gun 12. The robot control system is simultaneously signal-connected to the articulated manipulator 11, the positioning camera 13 and the glue output adjustment mechanism 14, and the robot control system recognizes the real-time image of the structural member 21 to be bonded obtained by the positioning camera 13 And according to the recognition result, the starting point position and movement track of the glue gun 12 are determined, and the articulated manipulator is controlled to drive the glue gun to move along the movement track from the starting position. The robot control system The action of the glue output adjusting mechanism 14 is controlled according to the thickness and width of the glue layer, the length of the glue gap and the preset moving speed of the glue gun 12 to adjust the glue output of the glue gun 12.

When working, the articulated manipulator 11 moves under the control of the robot control system to drive the positioning camera 13 to translate. The positioning camera 13 starts to work, photographs the structure 21 on the workbench 20, and captures real-time images Send to the robot control system. The robot control system recognizes the real-time image obtained by the positioning camera 13 and determines the starting position and movement track of the glue gun 12 when dispensing glue according to the recognition result. The movement track may be a straight line, a diagonal line or an irregular curve. After determining the starting position and movement trajectory of the glue gun 12 when dispensing glue, the articulated manipulator 11 moves under the control of the robot control system to drive the glue gun 12 to the starting position, and drives the point according to the preset moving speed The glue gun 12 moves along the determined movement track to automatically complete the glue dispensing work. During the glue dispensing process, the robot control system controls the action of the glue output adjustment mechanism 14 to adjust the glue dispensing according to the thickness and width of the glue layer, the length of the glue gap and the moving speed of the glue gun 12 The glue output of the gun 12, where the thickness and width of the glue layer can be input to the robot control system before the glue is actually started. The length of the glue gap can be calculated from the movement trajectory of the glue gun 12. The moving speed of the glue gun 12 is a preset moving speed, which is input to the robot control system before the glue dispensing work starts. The glue output adjustment mechanism 14 is used to adjust the glue output of the glue gun 12, so that the glue output can be accurately controlled, which is less than manual materials and can save costs.

Preferably, as shown in FIG. 2, the glue output adjustment mechanism 14 includes a lever-type connecting rod 141 and an electric push rod 140. The electric push rod 140 includes a stepping motor 144, a sleeve 142 and a setter. The push rod 143 in the sleeve 142. One end of the push rod 143 is slidably connected with the sleeve 142, and can telescopically and slide up and down relative to the sleeve 142 under the drive of the stepping motor 144. One end of the lever-type connecting rod 140 is connected with the glue valve 121 of the glue gun 12, and the other end is connected with the other end of the push rod 143 of the electric push rod 140. When working, the robot control system controls the rotation of the stepping motor 143 according to the thickness and width of the glue layer, the length of the glue gap and the preset moving speed of the glue gun 12, and drives the push rod 143 to expand and contract. , And then link the lever type connecting rod 141 to adjust the glue output of the glue gun 12.

Preferably, as shown in Fig. 2, since the positioning camera 13 is sensitive to light, it is greatly affected by the lighting of the workshop. In order to enable the positioning camera 13 to obtain clear real-time images, the automatic glue-dispensing robot 10 further includes a shadowless lamp 15 which is installed on the articulated manipulator 11. The shadowless lamp 15 in the embodiment of the present application adopts a square shadowless lamp, which can effectively eliminate the ambient light interference, so that the positioning camera 13 can obtain a clear real-time image, thereby enabling the robot control system to accurately locate the starting point and position of the glue gun 12 when dispensing glue. The movement trajectory of the dispensing gun 12 is precisely controlled.

The automatic glue dispensing robot further includes a telescopic cylinder 16 through which the shadowless lamp 15 is mounted on the articulated manipulator 11. The telescopic cylinder 16 can be extended and contracted under the control of the robot control system. When the positioning camera 13 starts shooting, the telescopic cylinder 16 extends, presses down the shadowless lamp 15 to a specified height, illuminates the structure 21 (workpiece), and the shooting and positioning is completed After that, the telescopic cylinder 16 contracts to retract the shadowless lamp 15 without affecting the glue dispensing work of the glue gun 12.

Preferably, as shown in FIG. 1, the automatic glue-dispensing robot 10 further includes a robot control box 17 and a robot base 18, and the articulated manipulator 11 is fixedly installed on the robot base 18. The robot control system and the power supply for supplying power to the automatic glue-dispensing robot 11 are arranged in the robot control box 17, and the operation control of the articulated manipulator 11 can be realized by controlling the robot control box 17. In the embodiment of the present application, the articulated manipulator 11 is a 6-joint manipulator.

Preferably, as shown in FIG. 1, the automatic glue dispensing robot system further includes a structural glue mixer 30, which is connected to the glue gun 12 and is used to mix more than two structural glues evenly Then output to the glue gun 12 to meet different bonding requirements.

The above descriptions are only preferred embodiments of the application, and do not impose any formal limitations on the application. Those skilled in the art can apply various equivalent changes and improvements on the basis of the above-mentioned embodiments, and all equivalent changes or modifications within the scope of the claims shall fall within the protection scope of this application.

Summary of the invention

technical problem

The solution to the problem

The beneficial effects of the invention

Claims

An automatic glue dispensing robot, comprising an articulated manipulator, a glue gun installed on the articulated manipulator, and a robot control system, characterized in that: the automatic glue dispensing robot also includes a positioning camera and a glue output adjustment mechanism,

The positioning camera is installed on the articulated manipulator for obtaining real-time images of the structural parts to be bonded;

The glue output adjustment mechanism is installed on the articulated manipulator for adjusting the glue output of the glue gun;

The robot control system is simultaneously signal-connected with the articulated manipulator, positioning camera, and glue output adjustment mechanism, and the robot control system recognizes the real-time image of the structure to be bonded obtained by the positioning camera and determines it according to the recognition result The starting point and the movement track of the glue gun when dispensing glue, the action of the articulated manipulator is controlled to drive the glue gun to move along the movement track, and the robot control system is based on the thickness, width, and glue layer of the glue layer. The length of the slit and the preset moving speed of the glue gun control the action of the glue output adjustment mechanism to adjust the glue output of the glue gun.
The automatic glue dispensing robot according to claim 1, wherein the glue output adjustment mechanism comprises a lever-type connecting rod and an electric push rod, and one end of the lever-type connecting rod is connected to the glue gun. The glue valve is connected, and the other end is connected with the electric push rod. The robot control system controls the expansion and contraction of the electric push rod according to the thickness and width of the glue layer, the length of the glue gap and the preset moving speed of the glue gun , And then link the lever-type connecting rod to adjust the glue output of the glue gun.
The automatic glue-dispensing robot according to claim 2, wherein the electric push rod includes a stepping motor, a sleeve and a push rod placed in the sleeve, and the push rod is in the The stepper motor can slide relative to the sleeve.
The automatic glue-dispensing robot according to any one of claims 1 to 3, wherein the automatic glue-dispensing robot further comprises a shadowless lamp, and the shadowless lamp is installed on the articulated manipulator.
The automatic glue-dispensing robot of claim 4, wherein the automatic glue-dispensing robot further comprises a telescopic cylinder, and the shadowless lamp is installed on the articulated manipulator through the telescopic cylinder.
The automatic glue-dispensing robot according to claim 5, wherein the automatic glue-dispensing robot further comprises a robot control box, the robot control system is arranged in the robot control box, and the robot control box is also arranged There is a power source for powering the automatic glue-dispensing robot.
8. The automatic glue-dispensing robot according to claim 6, wherein the articulated manipulator is a 6-joint manipulator.
8. The automatic glue-dispensing robot according to claim 7, wherein the automatic glue-dispensing robot further comprises a robot base, and the articulated manipulator is fixedly installed on the robot base.
An automatic glue-dispensing robot system, characterized in that: the automatic glue-dispensing robot system includes a worktable for placing structural parts to be bonded and the automatic glue-dispensing robot according to any one of claims 1-8.
The automatic glue dispensing robot system according to claim 9, characterized in that: the automatic glue dispensing robot system further comprises a structural glue mixer, and the structural glue mixer is connected with a glue gun for combining two or more kinds of glue. The structural glue of the compound is uniformly mixed and then output to the glue gun.