CN111229562A - Gluing method and device of gluing robot and gluing robot - Google Patents
Gluing method and device of gluing robot and gluing robot Download PDFInfo
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- CN111229562A CN111229562A CN202010014905.XA CN202010014905A CN111229562A CN 111229562 A CN111229562 A CN 111229562A CN 202010014905 A CN202010014905 A CN 202010014905A CN 111229562 A CN111229562 A CN 111229562A
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- glue
- corner
- gluing
- nozzle
- mechanical arm
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05D—PROCESSES FOR APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05D1/00—Processes for applying liquids or other fluent materials
- B05D1/26—Processes for applying liquids or other fluent materials performed by applying the liquid or other fluent material from an outlet device in contact with, or almost in contact with, the surface
- B05D1/265—Extrusion coatings
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
- B05B15/00—Details of spraying plant or spraying apparatus not otherwise provided for; Accessories
- B05B15/50—Arrangements for cleaning; Arrangements for preventing deposits, drying-out or blockage; Arrangements for detecting improper discharge caused by the presence of foreign matter
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05C—APPARATUS FOR APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05C11/00—Component parts, details or accessories not specifically provided for in groups B05C1/00 - B05C9/00
- B05C11/10—Storage, supply or control of liquid or other fluent material; Recovery of excess liquid or other fluent material
- B05C11/1002—Means for controlling supply, i.e. flow or pressure, of liquid or other fluent material to the applying apparatus, e.g. valves
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05C—APPARATUS FOR APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05C5/00—Apparatus in which liquid or other fluent material is projected, poured or allowed to flow on to the surface of the work
- B05C5/02—Apparatus in which liquid or other fluent material is projected, poured or allowed to flow on to the surface of the work the liquid or other fluent material being discharged through an outlet orifice by pressure, e.g. from an outlet device in contact or almost in contact, with the work
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- Application Of Or Painting With Fluid Materials (AREA)
- Coating Apparatus (AREA)
Abstract
The application provides a method, device and robot are glued to corner of gluing robot relates to architectural equipment technical field, the corner of gluing robot is beaten and is glued the method and include: controlling the mechanical arm to move the glue nozzle to an alignment corner, and dispensing glue on the corner; after corner gluing is finished, controlling a mechanical arm to move the glue nozzle to glue along a first gluing track positioned on one side of a corner by taking the corner as a starting point; and after the gluing on one side of the corner is finished, controlling the mechanical arm to move the glue nozzle to glue along a second gluing track on the other side of the corner by taking the corner as a starting point. The scheme provided by the application can realize smooth processing of the corners.
Description
Technical Field
The application relates to the technical field of building equipment, relates to a gluing method, and particularly relates to a corner gluing method and device and a gluing robot.
Background
At present, the glass cement gluing operation is carried out manually at the closing-in positions of indoor-mounted table boards, aluminum alloy door frames and the like of buildings in the decoration engineering stage. The experience and skill level of each constructor are different, which results in uneven construction quality.
In the scene of gluing construction, a large number of corners exist, gluing smooth treatment needs to be carried out at the corners at the moment, and operators need to have abundant operation experience.
Disclosure of Invention
In order to achieve the purpose that the gluing robot can well finish smooth gluing at the corner, the following technical scheme is specially provided:
in a first aspect, the application provides a corner gluing method of a gluing robot, which includes the following steps:
controlling the mechanical arm to move the glue nozzle to an alignment corner, and dispensing glue on the corner;
after corner gluing is finished, controlling a mechanical arm to move the glue nozzle to glue along a first gluing track positioned on one side of a corner by taking the corner as a starting point;
and after the gluing on one side of the corner is finished, controlling the mechanical arm to move the glue nozzle to glue along a second gluing track on the other side of the corner by taking the corner as a starting point.
In one embodiment, the step of controlling the moving mechanical arm to move the glue nozzle to align with the corner and perform glue dispensing on the corner includes:
controlling a glue-applying motor arranged on the mechanical arm to rotate forwards to drive a glue-injecting rod to extrude a glue cylinder;
when the glue outlet amount of the corner glue dispensing reaches the glue receiving amount, the glue beating motor is controlled to rotate reversely to remove the pressure of the glue injecting rod on the glue cylinder, and the mechanical arm is controlled to continuously keep the glue nozzle aligned with the corner to reach the set stop time period.
In one embodiment, the controlling the mechanical arm to drive the glue nozzle to glue along a first glue applying track on one side of a corner with the corner as a starting point includes:
when the mechanical arm is controlled to drive the glue nozzle to move to a preset glue collecting position in front of the tail end of the first glue applying track, the glue applying motor is controlled to rotate reversely to remove the pressure on the glue cylinder, and meanwhile, the mechanical arm is controlled to drive the glue nozzle to continuously move to the tail end of the first glue applying track;
the control arm drives the gluey mouth uses the corner as the starting point and glues the step of the orbit and carry out the rubber coating along being located the second of corner opposite side, includes:
when the mechanical arm is controlled to drive the glue nozzle to move to a preset glue collecting position in front of the tail end of the second glue spraying track, the glue spraying motor is controlled to rotate reversely to remove pressure on the glue barrel, and meanwhile, the mechanical arm is controlled to drive the glue barrel to continuously move to the tail end of the second glue spraying track.
In one embodiment, when the glue discharging amount of corner glue dispensing is detected to reach the glue collecting amount, recording a first position of a glue injection rod driven by a glue injection motor;
the control arm drives the gluey mouth uses the corner as the starting point and glues the rubber coating along the first orbit of gluing that is located corner one side and includes:
controlling the mechanical arm to drive the rubber nozzle to move to a corner;
controlling the gluing motor to rotate positively to drive the glue injection rod to a first position;
the control mechanical arm drives the glue nozzle to move along a first glue applying track, and simultaneously controls the glue applying motor to rotate positively to drive the glue applying rod to extrude the glue barrel.
In one embodiment, when the mechanical arm is controlled to drive the glue nozzle to move to a preset glue collecting position in front of the tail end of the first glue applying track, a second position of a glue injecting rod driven by a glue applying motor is recorded;
the control arm drives the gluey mouth uses the corner as the starting point and glues the orbit along the second that is located the corner opposite side and glue including:
controlling the mechanical arm to drive the rubber nozzle to move to a corner;
controlling the gluing motor to rotate positively to drive the glue injection rod to a second position;
and the control mechanical arm drives the glue nozzle to move along the second glue spraying track, and simultaneously controls the glue spraying motor to rotate positively to drive the glue spraying rod to extrude the glue barrel.
In one embodiment, the gluing method of the gluing robot further includes:
after the corner gluing is finished, controlling an electric brush to clean the residual glue of the glue nozzle;
or
After the gluing on one side of the corner is finished, controlling the electric brush to clean the residual glue of the glue nozzle;
or
And after the other side of the corner is coated with the glue, controlling the electric brush to clean the residual glue of the glue nozzle.
In one embodiment, the step of controlling the electric brush to clean the residual glue of the glue nozzle comprises the following steps:
the control arm removes the jiao zui to the epitaxial department of electric brush, starts electric brush and rotates, clears up the surplus glue on the jiao zui.
In a second aspect, the present application further provides a corner gluing device of a gluing robot, which includes:
the corner dispensing module is used for controlling the mechanical arm to move the glue nozzle to an aligned corner and dispensing the corner;
the first gluing module is used for controlling the mechanical arm to move the gluing nozzle to glue along a first gluing track positioned on one side of a corner by taking the corner as a starting point after corner gluing is finished;
and the second gluing module is used for controlling the mechanical arm to move the gluing nozzle to glue along a second gluing track positioned on the other side of the corner by taking the corner as a starting point after gluing on one side of the corner is finished.
In a third aspect, the present application further provides a gluing robot, which includes:
one or more processors;
a memory;
one or more applications, wherein the one or more applications are stored in the memory and configured to be executed by the one or more processors, the one or more programs configured to: the corner gluing method of the gluing robot provided by any embodiment of the first aspect is implemented.
In a fourth aspect, the present application further provides a storage medium storing computer readable instructions, where the computer readable instructions, when executed by one or more processors, cause the one or more processors to perform the steps of the corner gluing method of the gluing robot provided in any one of the embodiments of the first aspect.
The application provides a method of gluing is beaten to corner of beating robot for the mode that the gluey direction of beating of the play gluey speed and the packing element of the moving speed through control arm, packing element realizes that the corner is in order to smooth to beat and glues, this technical scheme beats gluey three-section that is independent respectively with beating of corner and glues, can simplify the control degree of difficulty of beating the in-process of gluing. In addition, glue is applied to the corners firstly, and then glue is applied to the two sides of the corners, so that glue can be prevented from being piled at the corners. In addition, the corner gluing method of the gluing robot can realize seamless splicing of gluing at the corners and smooth treatment of the corners by accurately controlling the tracks of gluing positions.
Additional aspects and advantages of the present application will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the present application.
Drawings
The foregoing and/or additional aspects and advantages of the present application will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:
fig. 1 is an application environment diagram of a corner gluing method of a gluing robot according to an embodiment of the present application;
fig. 2 is a schematic flow chart of a corner gluing method of a gluing robot according to an embodiment of the present application;
FIG. 3 is a detailed flow chart illustrating the step S210;
FIG. 4 is a schematic diagram illustrating a detailed flow of one embodiment of step S220;
FIG. 5 is a schematic diagram illustrating a detailed flow of another embodiment of step S220;
fig. 6 is a schematic perspective view illustrating a structure for cleaning residual glue in the gluing robot according to an embodiment of the present application;
fig. 7 is a schematic flow chart illustrating a corner gluing method of a gluing robot according to another embodiment of the present application;
FIG. 8 is a schematic view of the internal structure of a corner gluing device of a gluing robot according to an embodiment of the present application;
fig. 9 is a schematic internal structure diagram of a gluing robot according to an embodiment of the present application.
Detailed Description
Reference will now be made in detail to embodiments of the present application, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the drawings are exemplary only for the purpose of explaining the present application and are not to be construed as limiting the present application.
Fig. 1 is an application environment diagram of a corner gluing method of a gluing robot according to an embodiment of the present application. In the present application, the application environment of the corner gluing method of the gluing robot is the gluing robot 100. In one embodiment of the present application, the glue robot 100 includes a robotic arm 110, a glue motor 120, and a gripper assembly. Wherein, beat the end at arm 110 that gluey motor 120 and centre gripping subassembly 121 installed, beat gluey motor 120 can drive centre gripping subassembly 121 and press from both sides tightly and loosen packing element 130, and exert thrust through annotating gluey pole 122 to the afterbody of packing element 130 for packing element goes out packing element 130 and includes the stack shell and installs the jiao zui 131 in the anterior part of stack shell.
Referring to fig. 2, fig. 2 is a schematic flow chart of a corner gluing method of a gluing robot according to an embodiment of the present application.
The application provides a method of gluing in corner of robot that glues includes following step:
s210, controlling the movable mechanical arm 110 to move the glue nozzle 131 to an aligned corner, and dispensing the corner;
s220, after corner gluing is finished, controlling the mechanical arm to move the glue nozzle 131 to glue along a first gluing track on one side of the corner by taking the corner as a starting point;
and S230, after the gluing on one side of the corner is finished, controlling the mechanical arm to move the glue nozzle 131 to glue along a second gluing track on the other side of the corner by taking the corner as a starting point.
The first gluing track and the second gluing track can be two side lines of the corner detected in advance.
In steps S210 to S230, the mechanical arm 110 drives the glue cylinder 130 to be transported to the glue dispensing area, the glue nozzle 131 is aligned with the glue dispensing position, the glue injection rod 122 is driven to extend forward and push the tail of the glue cylinder 130, so that the glue nozzle 131 discharges glue, and glue dispensing is realized.
Specifically, the glue injection rod 122 of the glue injection motor 120 is inserted into the tail of the barrel body of the glue barrel 130, so that the end of the glue injection rod 122 abuts against the bottom of the glue barrel 130, and a pushing force in the direction of the glue nozzle 131 is subsequently applied to the bottom, so that glue is discharged from the glue nozzle 131, and a preparation is made for executing a glue injection operation. If the glue nozzle 131 discharges glue too early, and the glue nozzle 131 has already accumulated too much glass glue during gluing, the glue accumulation phenomenon will occur at the glue applying starting end. If the glue outlet of the glue nozzle 131 is too late and there is no glass glue at the glue nozzle 131 during gluing, the glass glue will be not full or even broken at the starting end of gluing.
After the installation of the glue cartridge 130 is completed, the robot arm 110 is controlled and moved by the control device so that the glue nozzle 131 is aligned with the corner position. When the fact that the glue nozzle 131 is aligned with the corner is confirmed, the information of completing alignment is fed back to the control device, and driving information is sent to the glue spraying motor 120, so that the glue injection rod 122 extends forwards and pushes the bottom of the glue barrel 130, the glass glue is pushed out at the glue nozzle 131, the glass glue is aligned with the corner to complete glue spraying, and the glue spraying operation on the corner is achieved.
After the gluing operation of the corner is completed, the control device moves the robot arm 110 according to the acquired path of the first gluing track, so that the glue nozzle 131 moves along the first gluing track from the position of the corner. In the process, the control device sends driving information to the glue applying motor 120, so that the glue injection rod 122 pushes the bottom of the glue cylinder 130 forward, the glue nozzle 131 performs glue application while moving along the first glue applying track, and glue applying operation is realized.
According to the setting of the first gluing track, when the glue nozzle 131 moves to the tail end of the first gluing track, the control device obtains feedback information of the completion of the gluing operation on the first gluing track according to the coordinate feedback of the moving path. At this time, the control device gives a movement command to the robot arm 110 to return to the corner, and controls the robot arm 110 to rotate the glue nozzle 131 to the corner. Again, the control device moves the mechanical arm 110 according to the acquired path of the second gluing track, so that the glue nozzle 131 moves along the second gluing track from the corner position. In addition, in the process of moving along the second gluing track, the control device sends driving information to the gluing motor 120, so that the glue injection rod 122 extends forwards and pushes the bottom of the glue barrel 130, the glue nozzle 131 moves along the second gluing track and simultaneously glues, and gluing is performed, and gluing operation is achieved.
When the first gluing track and the second gluing track are glued, the control system controls the mechanical arm 110 to drive the glue cylinder 130 at a constant speed, and controls the glue injection rod 122 to push forwards at a constant speed, so that glue is uniformly discharged, and the corresponding side edges are uniformly glued.
According to the corner gluing method of the gluing robot, compared with a mode that the corner is smoothly glued by controlling the moving speed of the mechanical arm, the glue outlet speed of the glue cylinder and the gluing direction of the glue cylinder, the gluing at the corner is independent three-section gluing, and the control difficulty in the gluing process can be simplified. In addition, glue is applied to the corners firstly, and then glue is applied to the two sides of the corners, so that glue can be prevented from being piled at the corners.
Further, in step S220, when the mechanical arm 110 is controlled to drive the glue nozzle 131 to move to the preset glue receiving position before the end of the first glue applying track, the glue applying motor 120 is controlled to rotate reversely to remove the pressure on the glue cylinder 130, and the mechanical arm is controlled to drive the glue nozzle 131 to continue to move to the end of the first glue applying track.
More specifically, according to the setting of the first glue applying track, the glue nozzle 131 applies glue from a corner as a starting point and moves along the first glue applying track, and when the preset glue receiving position before the end of the first glue applying track is reached, the control device sends an instruction to the glue applying motor 120, so that the glue applying motor 120 rotates reversely, the glue applying rod 122 retreats and is away from the bottom of the glue barrel 130, the pressure on the glue barrel 130 is removed, and the glue nozzle 131 stops glue discharging, so that glue receiving is realized.
In step S220, when the mechanical arm 110 is controlled to drive the glue nozzle 131 to move to the preset glue receiving position before the end of the second glue applying track, the glue applying motor 120 is controlled to rotate reversely to remove the pressure on the glue cylinder 130, and meanwhile, the mechanical arm 110 is controlled to drive the glue nozzle 131 to continue to move to the end of the first glue applying track.
More specifically, according to the setting of the second glue applying track, the glue applying nozzle 131 applies glue from the corner as a starting point and moves along the second glue applying track, and when the preset glue receiving position before the tail end of the second glue applying track is reached, the control device sends an instruction to the glue applying motor 120, so that the glue applying motor 120 rotates reversely, the glue applying rod 122 retreats and is away from the bottom of the glue barrel 130, the pressure on the glue barrel 130 is removed, and the glue applying nozzle 131 stops glue discharging, so that glue receiving is realized.
If the glue is collected only at the tail end of the first glue applying track or the second glue applying track, the glue nozzle continues to discharge glue at the tail end of the first glue applying track or the second glue applying track due to the residual pressure of the glue cylinder, so that glue is stacked at the tail end of the first glue applying track or the second glue applying track. The technical scheme that this embodiment provided receives before reaching the orbit end of gluing and glues for glue more even.
In this embodiment, the preset glue receiving position may be obtained by calculating the current rotation speed of the glue applying motor 120 and the moving speed of the mechanical arm. If the rotating speed of the gluing motor 120 is larger, the glue outlet amount corresponding to unit time is larger, and therefore, the distance between the preset glue receiving position and the tail end of the corresponding gluing track is larger. The moving speed of the mechanical arm is larger, the distance that the glue nozzle 131 advances in unit time is larger, and therefore, the distance between the preset glue receiving position and the tail end of the corresponding glue applying track is larger.
For step S210, the method may further include: and calculating and setting the glue consumption of the corner, moving the mechanical arm 110 to enable the glue nozzle 131 to be aligned to the corner, and dispensing the glue on the corner according to the set glue consumption. According to the depth of the corner and the angle formed by the two side edges, the preset glue consumption amount of the corner is determined, so that the corner is just uniformly covered with a layer of glass glue, glue stacking is avoided, and the situation of insufficient glue coating is avoided.
Referring to fig. 3, fig. 3 is a schematic view illustrating a detailed flow of step S210.
For step S210, the method may further include:
s211, controlling the gluing motor 120 arranged on the mechanical arm 110 to rotate positively to drive the glue injection rod 122 to extrude the glue cylinder 130;
s212, when it is detected that the glue discharging amount reaches the glue receiving amount, controlling the glue applying motor 120 to reverse the power to remove the pressure of the glue applying rod 122 on the glue cylinder 130, and controlling the mechanical arm 110 to keep the glue nozzle aligned with the corner for the set staying time period.
In the process of steps S111-S112, the control device controls the glue applying motor 120 to rotate forward, so that the glue injecting rod 122 pushes forward and presses the glue cylinder 130. When glue discharging amount reaches the glue collecting amount, the control device receives feedback information that the glue discharging amount reaches the glue collecting amount, and sends an instruction to the glue spraying motor 120, so that the glue spraying rod 122 is reversed to be separated from the bottom of the glue cylinder 130, the pressure on the glue cylinder 130 is removed, the glue nozzle 131 stops glue discharging, glue collecting is achieved, the point-like gluing excess at the corner is avoided, and the glue piling phenomenon at the corner is formed.
In this embodiment, the glue receiving amount is less than the preset glue using amount, and if the rotation speed of the glue applying motor 120 is higher, the glue discharging speed in unit time is higher, and the glue discharging amount is higher, so that the difference between the corresponding glue receiving amount and the preset glue using amount is larger. The mechanical arm 110 continues to keep the glue nozzle 131 aligned with the corner for a set staying time period, and the glass glue continues to be discharged from the glue nozzle 131 to the corner position under the action of residual pressure of the glue cylinder 130, so that the glue discharging amount at the corner reaches a preset glue using amount.
When detecting that the glue output of corner point gluing reaches the glue receiving amount, the first position of the glue injection rod 122 driven by the glue injection motor is recorded.
Referring to fig. 4, fig. 4 is a schematic diagram illustrating a detailed flow of one embodiment of step S220.
On this basis, step S220 may further include:
s221, controlling the mechanical arm 110 to drive the glue nozzle 131 to move to a corner;
s222, controlling the gluing motor 120 to rotate positively to drive the glue injection rod 122 to a first position;
and S223, controlling the mechanical arm 110 to drive the glue nozzle 131 to move along the first glue applying track, and simultaneously controlling the glue applying motor 120 to rotate forward to drive the glue applying rod 122 to extrude the glue cylinder 130.
When gluing to the corner, the record is received and is glued the first position of pole 122 when gluing to when beginning to glue first beating the orbit, push away the pole 122 of gluing again to the first position, make glue mouth 131 just be in at the initial position of first beating the orbit of gluing and wait to go out the gluey state, avoid first beating the initial position of gluing the orbit position and glue and can appear not full or the disconnected condition of gluing.
After the corner dispensing is completed, the mechanical arm 110 is controlled to drive the glue cylinder 130 to move to a preset glue receiving position before the end of the first glue dispensing track, and a second position of the glue dispensing rod 122 driven by the glue dispensing motor 120 is recorded.
Referring to fig. 5, fig. 5 is a schematic view illustrating a detailed flow of another embodiment of step S220.
Likewise, step S220 may further include:
s224, controlling the mechanical arm 110 to drive the glue nozzle 131 to move to a corner;
s225, controlling the gluing motor 120 to rotate forward to drive the glue injection rod 122 to a second position;
s226, controlling the mechanical arm 110 to drive the glue nozzle 131 to move along the second glue applying track, and simultaneously controlling the glue applying motor 120 to rotate forward to drive the glue injecting rod 122 to extrude the glue cylinder 130.
When the first gluing track is glued, the second position of the glue injection rod 122 during glue collection is recorded. When glue the track to the second and begin to beat and glue, will annotate gluey pole 122 and push away the second position again for the packing element is in at the second initial position of beating the orbit of gluing and just is in and treats out gluey state, avoids the second to beat the initial position of gluing the track position and beats to glue and will appear not full or disconnected gluey condition.
If when the glue nozzle 131 reaches the glue collecting position, when the previous glue cylinder is used up and needs to be replaced, the glue cylinder is again glued along the first glue applying track or the second glue applying track, the position pushed by the glue injecting rod of the previous glue cylinder is not required to be recorded at the moment, and the glue injecting rod 122 is only required to be pushed to the preset fixed glue discharging position of the new glue cylinder, so that the first glue applying track and the second glue applying track are prevented from being insufficiently pressed at the starting position.
Referring to fig. 6, fig. 6 is a schematic perspective view of a structure for cleaning residual glue in a gluing robot according to an embodiment of the present application.
The gluing robot 100 for implementing the corner gluing method of the gluing robot in the present application may further include: an electric brush 141 and a driving motor 140 controlling the electric brush 141, the electric brush 141 being installed at a front end of the driving motor 140.
In the present embodiment, the driving motor 140 is mounted on one base 150, and an alignment jig 160 is provided on the base 150 at the opposite side to the driving motor 140. The alignment frame 160 includes a guide 161 vertically installed on the base 150, an alignment stage 162 slidably installed on the guide 161, and an alignment block 163 fixedly connected to one side of the alignment stage 162 close to the base 150, wherein an alignment hole (not shown) for the glue nozzle 131 to extend to the upper side of the cutting disc is formed in the alignment block 163. The alignment block 163 is located on a side of the alignment table 162 away from the electric brush 141. A positioning detection device is further disposed on the base 150 at a side close to the aligning frame 160 for detecting the position of the glue cartridge 130.
And after the corners, the side edges corresponding to the first gluing track and the second gluing track are glued and collected, the electric brush 141 is controlled to clean the residual glue of the glue nozzle 131.
In combination with the structure of the glue dispensing robot 100 provided in this embodiment, when the positioning detection device detects that the glue nozzle 131 moves to the set area of the alignment jig 160, the position information of the glue nozzle 131 is fed back to the control device, the position information of the alignment hole is fed back to the mechanical arm 110 by the control device, and the mechanical arm 110 is started to transport the glue nozzle 131 to the alignment hole and is inserted into the alignment hole. When the inserting depth of the glue nozzle 131 is just above the edge of the glue nozzle 131 and the electric brush 141, the mechanical arm 110 is controlled to drive the glue cylinder 130 to move downwards along the guide member 161, the glue nozzle 131 applies downward pressure to the alignment rack 160 through the alignment hole, and moves to the extension part of the electric brush 141 along the guide member 161, so that the electric brush 141 can contact residual glue on the glue nozzle 131. When the positioning detection device detects that the glue nozzle 131 reaches the extension position of the electric brush 141, a signal indicating that the glue nozzle 131 reaches the position of the electric brush 141 for cleaning the residual glue is fed back to the control device, the control device starts the driving motor 140 to rotate according to the fed-back signal, and the electric brush 141 rotates to clean the residual glue on the glue nozzle 131.
Therefore, the residual glue remained on the glue nozzle 131 in the glue applying operation of the previous glue applying track can be avoided, so that the glue is piled at the initial part of the glue applying operation of the next glue applying track, and the glue applying quality is ensured.
Referring to fig. 7, fig. 7 is a schematic flow chart of a corner gluing method of a gluing robot according to another embodiment of the present application;
in order to clearly describe the corner gluing method of the gluing robot provided by the present application, the following embodiments are described in detail. The corresponding steps of this embodiment include:
s701, performing glue dispensing operation at a corner;
s702, collecting the glue and cleaning the residual glass glue;
s703, moving the rubber nozzle 131 to a corner;
s704, preparing glue discharging by the glue nozzle 131;
s705, gluing the side gluing track of the first gluing track;
s706, collecting the glue and cleaning the residual glass glue;
s707, moving the rubber nozzle 131 to a corner;
s708, preparing glue discharging by the glue nozzle 131;
s709, gluing the side gluing track of the second gluing track;
s710, collecting the glue and cleaning the residual glass glue.
Based on the same inventive concept as the method for generating the problem information, an embodiment of the present invention further provides a corner gluing device of a gluing robot, as shown in fig. 8, including:
the corner dispensing module 810 is configured to move the mechanical arm 110 to align the glue nozzle 131 with a corner, and dispense the corner;
the first gluing module 820 is used for moving the mechanical arm 110 according to a first gluing track after corner gluing is finished, and controlling the glue nozzle 131 to glue along a side line of a corner by taking the corner as a starting point;
the second gluing module 830 is configured to control the mechanical arm 110 to rotate the glue nozzle 131 to the corner, move the mechanical arm 110 according to a second gluing track, and control the glue nozzle 131 to glue along the other side line of the corner with the corner as a starting point;
the first gluing track and the second gluing track are two side lines of the corner detected in advance, and the gluing mode comprises glue dispensing and glue coating.
Referring to fig. 9, fig. 9 is a schematic view of an internal structure of a corner gluing device of a gluing robot according to an embodiment of the present application. As shown in fig. 9, the gluing robot includes a processor 910, a storage medium 920, a memory 930, and a network interface 940 connected by a system bus. The storage medium 920 of the gluing robot stores an operating system, a database and computer readable instructions, the database may store control information sequences, and when the computer readable instructions are executed by the processor 910, the processor 910 may implement a corner gluing method of the gluing robot, and the processor 910 may implement the functions of the corner gluing module 810, the first gluing model 820 and the second gluing model 830 in the corner gluing device of the gluing robot in the embodiment of fig. 8. The processor 910 of the glue dispensing robot is used to provide computing and control capabilities to support the operation of the entire server. The memory 930 of the gluing robot may store computer readable instructions, which when executed by the processor 910, may cause the processor 910 to perform a method of gluing corners of the gluing robot. The network interface 940 of the gluing robot is used for connecting and communicating with a terminal. Those skilled in the art will appreciate that the structure shown in fig. 9 is a block diagram of only a portion of the structure relevant to the present application, and does not constitute a limitation on the gluing robot to which the present application is applied, and a particular gluing robot may include more or fewer components than those shown in the drawings, or combine some components, or have a different arrangement of components.
In one embodiment, the present invention also provides a storage medium storing computer readable instructions which, when executed by one or more processors, cause the one or more processors to perform the steps of: moving the mechanical arm 110 to align the glue nozzle 131 with the corner, and dispensing the glue on the corner; after corner gluing is finished, the mechanical arm 110 is moved according to the first gluing track, and the glue nozzle 131 is controlled to glue along a side line of one side of the corner by taking the corner as a starting point; controlling the mechanical arm 110 to rotate the glue nozzle 131 to the corner, moving the mechanical arm 110 according to a second gluing track, and controlling the glue nozzle 131 to glue along the other side line of the corner by taking the corner as a starting point; the first gluing track and the second gluing track are two side lines of the corner detected in advance, and the gluing mode comprises glue dispensing and glue coating.
By combining the above embodiments, the application has the following greatest beneficial effects:
the application provides a corner gluing method device of gluing robot and gluing robot can realize seamless concatenation at gluing of corner through the accurate control of the orbit of gluing position, realizes the smooth processing of corner.
Glue is collected after the gluing operation corresponding to each track, the glue injection rod 122 can be reversely rotated by controlling the gluing motor 120120, and the pressure on the glue cylinder 130 is removed, so that the smooth effect of gluing on the current track can be achieved.
After each glue collection, the electric brush 141 is used for cleaning the residual glue on the glue nozzle 131, so that the residual glue remained on the glue nozzle 131 during the glue beating operation of the previous glue beating track can be avoided, the glue beating operation of the next glue beating track cannot be influenced, and the glue beating quality is ensured.
Therefore, the corner gluing method and device of the gluing robot and the gluing robot can solve the technical problem that the gluing robot cannot finish smooth gluing at the corner and influence gluing quality when gluing manually.
It should be understood that, although the steps in the flowcharts of the figures are shown in order as indicated by the arrows, the steps are not necessarily performed in order as indicated by the arrows. The steps are not performed in the exact order shown and may be performed in other orders unless explicitly stated herein. Moreover, at least a portion of the steps in the flow chart of the figure may include multiple sub-steps or multiple stages, which are not necessarily performed at the same time, but may be performed at different times, which are not necessarily performed in sequence, but may be performed alternately or alternately with other steps or at least a portion of the sub-steps or stages of other steps.
The foregoing is only a partial embodiment of the present application, and it should be noted that, for those skilled in the art, several modifications and decorations can be made without departing from the principle of the present application, and these modifications and decorations should also be regarded as the protection scope of the present application.
Claims (10)
1. A gluing method of a gluing robot is characterized by comprising the following steps:
controlling the mechanical arm to move the glue nozzle to an alignment corner, and dispensing glue on the corner;
after corner gluing is finished, controlling a mechanical arm to move the glue nozzle to glue along a first gluing track positioned on one side of a corner by taking the corner as a starting point;
and after the gluing on one side of the corner is finished, controlling the mechanical arm to move the glue nozzle to glue along a second gluing track on the other side of the corner by taking the corner as a starting point.
2. The corner gluing method of a gluing robot as claimed in claim 1,
the control moves the arm and removes the jiao zui and move to aiming at the corner, to the step of the corner point is glued, includes:
controlling a glue-applying motor arranged on the mechanical arm to rotate forwards to drive a glue-injecting rod to extrude a glue cylinder;
when the glue outlet amount of the corner glue dispensing reaches the glue receiving amount, the glue beating motor is controlled to rotate reversely to remove the pressure of the glue injecting rod on the glue cylinder, and the mechanical arm is controlled to continuously keep the glue nozzle aligned with the corner to reach the set stop time period.
3. The corner gluing method of a gluing robot as claimed in claim 1,
the control arm drives the gluey mouth uses the corner as the starting point and glues the rubber coating along the first orbit of gluing that is located corner one side and includes:
when the mechanical arm is controlled to drive the glue nozzle to move to a preset glue collecting position in front of the tail end of the first glue applying track, the glue applying motor is controlled to rotate reversely to remove the pressure on the glue cylinder, and meanwhile, the mechanical arm is controlled to drive the glue nozzle to continuously move to the tail end of the first glue applying track;
the control arm drives the gluey mouth uses the corner as the starting point and glues the step of the orbit and carry out the rubber coating along being located the second of corner opposite side, includes:
when the mechanical arm is controlled to drive the glue nozzle to move to a preset glue collecting position in front of the tail end of the second glue spraying track, the glue spraying motor is controlled to rotate reversely to remove pressure on the glue barrel, and meanwhile, the mechanical arm is controlled to drive the glue barrel to continuously move to the tail end of the second glue spraying track.
4. The gluing method of a gluing robot according to claim 1,
when the glue outlet amount of corner glue dispensing is detected to reach the glue receiving amount, recording a first position of a glue injection rod driven by a glue injection motor;
the control arm drives the gluey mouth uses the corner as the starting point and glues the rubber coating along the first orbit of gluing that is located corner one side and includes:
controlling the mechanical arm to drive the rubber nozzle to move to a corner;
controlling the gluing motor to rotate positively to drive the glue injection rod to a first position;
the control mechanical arm drives the glue nozzle to move along a first glue applying track, and simultaneously controls the glue applying motor to rotate positively to drive the glue applying rod to extrude the glue barrel.
5. The gluing method of a gluing robot according to claim 1,
when the control mechanical arm drives the glue nozzle to move to a glue collecting position preset in front of the tail end of the first glue beating track, recording a second position of a glue injecting rod driven by a glue beating motor;
the control arm drives the gluey mouth uses the corner as the starting point and glues the orbit along the second that is located the corner opposite side and glue including:
controlling the mechanical arm to drive the rubber nozzle to move to a corner;
controlling the gluing motor to rotate positively to drive the glue injection rod to a second position;
and the control mechanical arm drives the glue nozzle to move along the second glue spraying track, and simultaneously controls the glue spraying motor to rotate positively to drive the glue spraying rod to extrude the glue barrel.
6. The gluing method of the gluing robot of claim 1, further comprising:
after the corner gluing is finished, controlling an electric brush to clean the residual glue of the glue nozzle;
or
After the gluing on one side of the corner is finished, controlling the electric brush to clean the residual glue of the glue nozzle;
or
And after the other side of the corner is coated with the glue, controlling the electric brush to clean the residual glue of the glue nozzle.
7. The corner gluing method of the gluing robot as claimed in claim 6, wherein the step of controlling the electric brush to clean the glue nozzle from the remaining glue comprises:
the control arm removes the jiao zui to the epitaxial department of electric brush, starts electric brush and rotates, clears up the surplus glue on the jiao zui.
8. The utility model provides a beat and glue device is beaten to corner of gluing the robot which characterized in that includes:
the corner dispensing module is used for controlling the mechanical arm to move the glue nozzle to an aligned corner and dispensing the corner;
the first gluing module is used for controlling the mechanical arm to move the gluing nozzle to glue along a first gluing track positioned on one side of a corner by taking the corner as a starting point after corner gluing is finished;
and the second gluing module is used for controlling the mechanical arm to move the gluing nozzle to glue along a second gluing track positioned on the other side of the corner by taking the corner as a starting point after gluing on one side of the corner is finished.
9. A gluing robot, comprising:
one or more processors;
a memory;
one or more applications, wherein the one or more applications are stored in the memory and configured to be executed by the one or more processors, the one or more programs configured to: performing a corner gluing method of a gluing robot according to any one of claims 1 to 7.
10. A storage medium having computer readable instructions stored thereon which, when executed by one or more processors, cause the one or more processors to perform the steps of the corner gluing method of a gluing robot as claimed in any one of claims 1 to 7.
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| CN202010014905.XA CN111229562B (en) | 2020-01-07 | 2020-01-07 | Gluing method and device of gluing robot and gluing robot |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202010014905.XA CN111229562B (en) | 2020-01-07 | 2020-01-07 | Gluing method and device of gluing robot and gluing robot |
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| CN111229562B CN111229562B (en) | 2022-02-08 |
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| CN111760745A (en) * | 2020-07-01 | 2020-10-13 | 广东博智林机器人有限公司 | Glue gun, glue spraying equipment and glue spraying method |
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| CN111229562B (en) | 2022-02-08 |
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