Unit curtain wall intelligent assembly system

Abstract

The present invention relates to the field of curtain walls, and discloses an intelligent assembly system for unit curtain walls. The intelligent assembly system for unit curtain walls of the present invention comprises: a tray, a conveying device, a glass assembly device, a structural adhesive coating device, a sealant coating device and a detection device. The glass assembly device, the structural adhesive coating device, the sealant coating device and the detection device are respectively arranged at the glass assembly station, the structural adhesive coating station, the sealant coating station and the appearance inspection and protective film pasting station of the conveying device, and the glass, structural adhesive and sealant are automatically assembled on the curtain wall frame, and the detection device detects the assembled unit curtain wall. The intelligent assembly system for unit curtain walls of the present invention is controlled by a PLC control system, and the glass assembly process, structural adhesive coating and sealant coating process of the unit curtain wall realize intelligent and automatic assembly, which improves production efficiency and ensures the assembly quality of each process.

Description

Technical Field

[0001] The embodiments of the present invention relate to the field of curtain walls, and in particular to an intelligent assembly system for unit curtain walls. Background Art

[0002] With the development of society and economy, various buildings have sprung up, driving the vigorous development of the building decoration industry and putting forward higher requirements for the building decoration industry. The decoration of building exterior walls is mainly divided into four categories: paint, ceramic tiles, stone, and glass. The different choices of each material and construction process have created different styles and forms of the building's appearance. Among them, glass curtain walls are widely used because of their beautiful appearance.

[0003] The glass unit curtain wall includes a curtain wall frame, glass and edge guard. The glass is bonded to the curtain wall frame with structural adhesive, and the edge guard is installed on the side walls of the curtain wall frame and the glass. Filler (foam rod) is added between the edge guard and the glass. Finally, sealant is used to seal the edge guard and the glass to complete the assembly of the unit curtain wall.

[0004] The inventors of the present application have discovered that, during the assembly of unit curtain walls in the prior art, each assembly process mainly relies on manual assembly, with a low degree of automation and production efficiency, and the assembly quality of each process is difficult to control, which cannot meet modern production needs. Summary of the invention

[0005] The object of the present invention is to provide an intelligent assembly system for unit curtain walls to solve the problems in the above-mentioned background technology of low automation and production efficiency during the assembly of unit curtain walls and difficulty in controlling the assembly quality of the unit curtain walls.

[0006] The embodiment of the present invention provides a unit curtain wall intelligent assembly system, including: a tray, a conveying device, a glass assembly device, a structural adhesive coating device, a sealant coating device and a detection device;

[0007] The conveying device is provided with a frame-mounting station, a glass assembly station, a primer coating station, a structural adhesive coating station, a first glue scraping station, an edge protection and filler assembly station, a sealant coating station, a second glue scraping station, an angle protection and decorative frame assembly station, an appearance inspection and protective film attachment station, and a material unloading station in sequence along the conveying direction, and the conveying device is provided with a blocking mechanism at each station;

[0008] The glass assembly device, the structural adhesive coating device, the sealant coating device and the detection device are respectively arranged at the glass assembly station, the structural adhesive coating station, the sealant coating station and the appearance detection and protective film pasting station;

[0009] The tray is used to carry the curtain wall frame of the unit curtain wall;

[0010] The conveying device is used to convey the pallet carrying the curtain wall frame from the upper frame station to the unloading station, and to convey the pallet unloaded with the unit curtain wall from the unloading station to the upper frame station, and the blocking mechanism is used to prevent the pallet from moving on the conveying device;

[0011] The upper frame station is used to load the curtain wall frame on the pallet;

[0012] The glass assembly station is used to assemble glass on the curtain wall frame on the tray;

[0013] The primer coating station is used to coat the glass and the curtain wall frame with primer;

[0014] The structural adhesive application station is used to apply structural adhesive between the glass and the curtain wall frame;

[0015] The first glue scraping station is used to trim the glue seam of the structural glue;

[0016] The edge protection and filling material assembly station is used to install edge protection and filling materials;

[0017] The sealant application station is used to apply sealant between the edge guard and the glass;

[0018] The second glue scraping station is used to trim the glue seam of the sealant;

[0019] The corner guard and decorative frame assembly station is used to install the corner guard and decorative frame;

[0020] The appearance inspection station is used to inspect the assembled unit curtain wall;

[0021] The unloading station is used to unload the assembled unit curtain wall from the pallet.

[0022] The unit curtain wall intelligent assembly system of the present invention is provided with a pallet, a conveying device, a glass assembly device, a structural glue coating device, a sealant coating device and a detection device. The curtain wall frame of the unit curtain wall is placed on the pallet, and the conveying device drives the pallet to move, passing through each assembly station of the unit curtain wall in sequence. The glass assembly device, the structural glue coating device and the sealant coating device automatically assemble glass, apply structural glue and sealant on the curtain wall frame respectively, and the detection device detects the assembled unit curtain wall. After the assembled unit curtain wall is unloaded, the conveying device returns the empty pallet to the upper frame station to realize the circular movement of the pallet. The unit curtain wall intelligent assembly system of the present invention is controlled by a PLC control system. The glass assembly process, structural glue coating and sealant coating process of the unit curtain wall realize intelligent automatic assembly, improve production efficiency, and ensure the assembly quality of each process.

[0023] In a feasible solution, the pallet includes: a pallet body and a clamping mechanism;

[0024] The clamping mechanism is arranged on the tray body;

[0025] The clamping mechanism comprises: a first left slide plate, a first right slide plate, a first front slide plate, a first rear slide plate, a first screw rod and a second screw rod;

[0026] The first left slide plate, the first right slide plate, the first front slide plate and the first rear slide plate are all provided with baffles;

[0027] When the first screw rod and the second screw rod are arranged perpendicularly to each other on the tray body, the threads at both ends of the first screw rod and the second screw rod are arranged in opposite directions;

[0028] The first left slide plate and the first right slide plate are slidably arranged on the tray body, and the first left slide plate and the first right slide plate are respectively engaged at two ends of the first screw rod in a mirror-symmetrical manner, and the first screw rod is used to drive the first left slide plate and the first right slide plate to move closer to and away from each other when rotating;

[0029] The first front slide plate and the first rear slide plate are slidably arranged on the tray body, and the first front slide plate and the first rear slide plate are respectively engaged at two ends of the second screw rod in a mirror-symmetrical manner, and the second screw rod is used to drive the first front slide plate and the first rear slide plate to move closer to and away from each other when rotating;

[0030] The first left slide plate, the first right slide plate, the first front slide plate and the first rear slide plate are used to carry a curtain wall frame, and the baffle plate is used to clamp the curtain wall frame.

[0031] In a feasible solution, the clamping mechanism further includes: a linkage shaft;

[0032] The second screw rod is provided with a first bevel gear;

[0033] A second helical gear is provided at one end of the linkage shaft;

[0034] The linkage shaft is arranged on the tray body and is perpendicular to the second screw rod. The second bevel gear is meshed with the first bevel gear. When the linkage shaft rotates, it is used to drive the second screw rod to rotate.

[0035] In a feasible solution, the conveying device includes: a double-layer conveying bracket, a first conveying mechanism, a second conveying mechanism, a first lifting and translation mechanism, and a second lifting and translation mechanism;

[0036] The two ends of the double-layer conveying bracket respectively form the upper frame station and the unloading station, and the double-layer conveying bracket includes: an upper bracket and a lower bracket;

[0037] The first conveying mechanism is arranged on the upper bracket, and comprises: a first driving motor, a plurality of first rotating shafts and a plurality of first rollers;

[0038] The plurality of first rotating shafts are arranged on the upper bracket at equal intervals, and both ends of the first rotating shafts are provided with the first rollers, and the first rollers are used to carry the tray;

[0039] The first rotating shaft is connected to the first driving motor, and the first driving motor is used to drive the first roller to rotate;

[0040] The second transmission mechanism is arranged on the lower bracket, and the second transmission mechanism comprises: a second driving motor, a first driving shaft, a first driven shaft and a first synchronous belt;

[0041] The first driving shaft and the first driven shaft are respectively arranged at two ends of the lower bracket, the first driving shaft and the first driven shaft are connected by the first synchronous belt transmission, and the first synchronous belt is used to carry the tray;

[0042] The second driving motor is drivingly connected to the first driving shaft, and the second driving motor is used to drive the first driving shaft and the first synchronous belt to rotate;

[0043] The first lifting and translation mechanism and the second lifting and translation mechanism are respectively arranged at the upper frame station and the unloading station;

[0044] The first lifting and translation mechanism comprises: a first lifting platform, a third driving motor, a second driving shaft, a second driven shaft and a second synchronous belt;

[0045] The third driving motor is connected to the second driving shaft, and the second driving shaft is connected to the second driven shaft through the second synchronous belt transmission;

[0046] The second lifting and translation mechanism comprises: a second lifting platform, a fourth driving motor, a third driving shaft, a third driven shaft and a third synchronous belt;

[0047] The fourth driving motor is connected to the third driving shaft through transmission, and the third driving shaft is connected to the third driven shaft through the third synchronous belt.

[0048] The blocking mechanism is arranged on the upper bracket, and comprises: a first sensor, a blocking cylinder and a blocking block;

[0049] The first sensor is used to detect the tray;

[0050] The stopper is connected to the movable end of the blocking cylinder. The extension and retraction of the movable end of the blocking cylinder is used to drive the stopper to rise and fall. When the stopper rises, it is used to prevent the tray from moving on the first conveying mechanism.

[0051] In a feasible solution, the glass assembly device includes: a glass display rack, a centering mechanism and a grabbing and transporting mechanism;

[0052] The glass display rack is arranged on one side of the conveying device and is used for placing the glass to be assembled;

[0053] The centering mechanism and the grabbing and transporting mechanism are arranged between the glass display rack and the conveying device;

[0054] The centering mechanism comprises: a centering platform, a fifth drive motor, a sixth drive motor, a second left slide plate, a second right slide plate, a second front slide plate, a second rear slide plate, a third screw rod and a fourth screw rod;

[0055] The third screw rod and the fourth screw rod are arranged perpendicular to each other on the centering platform;

[0056] The threads at both ends of the third screw rod are arranged in opposite directions, the second left slide plate and the second right slide plate are slidably arranged on the centering platform, and the second left slide plate and the second right slide plate are respectively engaged with the two ends of the third screw rod in a mirror-symmetrical manner;

[0057] The third screw rod is connected to the fifth drive motor, and the fifth drive motor is used to drive the third screw rod to rotate, and the third screw rod is used to drive the second left slide plate and the second right slide plate to move closer to and away from each other when rotating;

[0058] The threads at both ends of the fourth screw rod are arranged in opposite directions, the second front slide plate and the second rear slide plate are slidably arranged on the centering platform, and the second front slide plate and the second rear slide plate are respectively engaged with the two ends of the fourth screw rod in a mirror-symmetrical manner;

[0059] The fourth screw rod is connected to the sixth drive motor, and the sixth drive motor is used to drive the fourth screw rod to rotate, and the fourth screw rod is used to drive the second front slide plate and the second rear slide plate to move closer to and away from each other when rotating;

[0060] The second left slide plate, the second right slide plate, the second front slide plate and the second rear slide plate are all provided with clamping plates, the clamping plates protrude from the table surface of the centering table, and the clamping plates are used to clamp the glass on the centering table;

[0061] The grabbing and handling mechanism comprises: a first manipulator, a suction cup bracket and a plurality of vacuum suction cups;

[0062] The suction cup bracket is set on the first manipulator, and the multiple vacuum suction cups are arranged in a matrix on the suction cup bracket. The vacuum suction cups are used to suck the glass on the glass display rack, place the sucked glass on the centering platform, and suck and place the centered glass on the curtain wall frame.

[0063] In a feasible solution, the structural adhesive coating device includes: a first fixing frame, a first moving mechanism, a glue spraying machine and a first glue spraying gun;

[0064] The glue spraying machine is arranged on one side of the first fixing frame;

[0065] The first glue gun is connected to the glue machine through a rubber hose, and the glue machine is used to store structural glue and to transport structural glue to the first glue gun;

[0066] The first moving mechanism comprises: a second manipulator, a first connecting bracket, a fixing block and a rotating cylinder;

[0067] The second manipulator is arranged on the first fixing frame;

[0068] One end of the first connecting bracket is connected to the second manipulator, and the rotating cylinder is arranged at the other end of the first connecting bracket;

[0069] The fixed block is connected to the rotating cylinder, and the first glue gun is arranged on the fixed block.

[0070] In a feasible solution, the sealant coating device includes: a second fixing frame, a third manipulator, a second connecting bracket, a second glue gun, a sealant bag and a glue changing mechanism;

[0071] The sealant plastic bag is used to contain sealant;

[0072] The third manipulator is arranged on the second fixing frame;

[0073] One end of the second connecting bracket is connected to the third manipulator, and the other end is provided with a clamp;

[0074] The second glue gun comprises: a gun head and a gun body;

[0075] The gun body is clamped on the clamp;

[0076] One end of the gun body is connected to a high-pressure gas source, and the other end is detachably connected to the gun head. The gun body is used to place the sealant plastic bag, and the high-pressure gas source is used to push the glue gun piston of the glue gun to make the sealant flow out of the gun head;

[0077] The glue changing mechanism is arranged on one side of the second fixing frame, and the glue changing mechanism is used to enable the second glue gun to replace the sealant bag.

[0078] In a feasible solution, the rubber changing mechanism includes: a workbench, a fixing seat, a push rod, a rubber bag magazine, a limit baffle, a first telescopic device, a second telescopic device, a third telescopic device and a cutter;

[0079] The gun head is provided with a tapered hole, and the gun head is symmetrically provided with connecting grooves on the side wall of the tapered hole;

[0080] The side wall of the gun body is symmetrically provided with connecting pins adapted to the connecting groove;

[0081] The tapered hole is used for inserting the gun body, and when the gun body is inserted, the connecting pin is embedded in and clamped in the connecting groove;

[0082] The fixing seat, the push rod, the plastic bag magazine, the limit baffle, the first telescopic device, the second telescopic device and the third telescopic device are respectively arranged on the workbench;

[0083] The fixing seat is used to fix the gun head;

[0084] The push rod is used to reset the glue gun piston of the glue gun when it is extended into the gun body;

[0085] The plastic bag magazine is used to place the sealant plastic bag, and the plastic bag magazine includes: an inclined section and a vertical section;

[0086] The top of the inclined section is provided with an opening, and the bottom of the vertical section is provided with a rectangular through hole, so that the sealant plastic bag in the plastic bag magazine can slide along the inclined section into the vertical section;

[0087] The limit baffle is arranged on one side of the vertical section, and the first telescopic device is used to push the sealant bag in the vertical section to the limit baffle;

[0088] The second telescopic device is used to push the sealant bag at the limit baffle into the gun body;

[0089] The cutter is connected to the third telescopic device, and the third telescopic device is used to drive the cutter to extend and retract. When the cutter is extended, it is used to cut off the seal of the sealant bag in the gun body.

[0090] In a feasible solution, the side wall of the gun head is symmetrically provided with a clamping plane;

[0091] The fixing seat is provided with a first clamping plate and a second clamping plate, a clamping groove is formed between the first clamping plate and the second clamping plate, the clamping groove is used for the gun head to be inserted, and the first clamping plate and the second clamping plate are used to abut against the clamping plane;

[0092] The first telescopic device comprises: a first telescopic cylinder and a first movable block;

[0093] The first movable block is slidably disposed in the rectangular through hole and connected to the movable end of the first telescopic cylinder. The movable end of the first telescopic cylinder is used to drive the first movable block to extend and retract. When the first movable block is extended, it is used to push the sealant bag in the vertical section to the limit baffle.

[0094] The second telescopic device comprises: a second telescopic cylinder and a second movable block;

[0095] The second movable block is connected to the movable end of the second telescopic cylinder, and the movable end of the second telescopic cylinder is used to drive the second movable block to extend and retract. When the second movable block is extended, it is used to push the sealing rubber bag at the limit baffle into the gun body.

[0096] In a feasible solution, the detection device includes: a third fixed frame, a two-dimensional moving mechanism and a detection lens;

[0097] The third fixed frame is provided with a first slide rail and a first linear rack;

[0098] The two-dimensional moving mechanism comprises: a first servo motor, a third connecting bracket, a first gear, a second gear, a second servo motor, a fixed bracket and a second gear;

[0099] The first servo motor is arranged on the third connecting bracket, and the first gear is arranged on the output shaft of the first servo motor;

[0100] The top end of the third connecting bracket is movably arranged on the first slide rail, and the first gear is meshed with the first linear rack;

[0101] The bottom end of the third connecting bracket is provided with a second slide rail and a second linear rack;

[0102] The second servo motor is arranged on the fixed bracket, and the second gear is arranged on the output shaft of the second servo motor;

[0103] The fixed bracket is slidably arranged on the second slide rail, and the second gear is meshed with the second linear rack;

[0104] The detection lens is arranged on the fixing bracket and is used for being electrically connected to an external detection device. The detection lens is used for detecting the size data of the unit curtain wall and transmitting the detection signal to the external detection device. BRIEF DESCRIPTION OF THE DRAWINGS

[0105] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative labor.

[0106] Figure 1 is a cross-sectional schematic diagram of a unit curtain wall in the present invention;

[0107] Figure 2 For the present invention Figure 1 The enlarged view of A in FIG.

[0108] Figure 3 is a schematic diagram of a unit curtain wall intelligent assembly system in an embodiment of the present invention;

[0109] Figure 4 is a schematic diagram of a tray in an embodiment of the present invention;

[0110] Figure 5 In the embodiment of the present invention Figure 4 The enlarged view of point B in FIG.

[0111] Figure 6 is a partial schematic diagram of a conveying device in an embodiment of the present invention;

[0112] Figure 7 is another partial schematic diagram of the conveying device in an embodiment of the present invention;

[0113] Figure 8 is a schematic diagram of a lifting and translation mechanism of a conveying device in an embodiment of the present invention;

[0114] Fig. 9 is a schematic diagram of a glass assembly device in an embodiment of the present invention;

[0115] Fig.10 is a schematic diagram of a centering mechanism in an embodiment of the present invention;

[0116] Fig.11 is a schematic diagram of a grabbing and transporting mechanism in an embodiment of the present invention;

[0117] Fig.12 is a schematic diagram of a structural adhesive coating device in an embodiment of the present invention;

[0118] Fig.13 It is a partial enlarged view of the structural adhesive coating device in the embodiment of the present invention;

[0119] Fig.14 is a schematic diagram of a sealant coating device in an embodiment of the present invention;

[0120] Fig.15 is a schematic diagram of a glue changing mechanism in an embodiment of the present invention;

[0121] Fig.16 is an enlarged view of the glue changing mechanism in the embodiment of the present invention;

[0122] Fig.17 It is a partial enlarged view of the glue changing mechanism in the embodiment of the present invention;

[0123] Fig.18 is a schematic diagram of a detection device in an embodiment of the present invention;

[0124] Fig.19 In the embodiment of the present invention Fig.18 The enlarged view of point C in FIG.

[0125] Fig. 20 In the embodiment of the present invention Fig.18 Magnified view of point D in . DETAILED DESCRIPTION

[0126] In order to make the purpose, technical solution and advantages of the embodiments of the present invention clearer, the technical solution in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0127] As described in the background of the present application, the unit curtain wall 700 in the prior art generally includes a curtain wall frame 710, glass 720, and edge guard 740, etc. Figure 1 , Figure 2As shown, the curtain wall frame 710 is a rectangular frame assembled from an upper horizontal frame, a lower horizontal frame, a left vertical frame and a right vertical frame of aluminum alloy. The assembly process of the unit curtain wall 700 is as follows: the glass 720 is covered on the upper surface of the curtain wall frame 710, a gap is provided between the lower surface of the glass 720 and the upper surface of the curtain wall frame 710, a structural adhesive 730 is injected into the gap between the glass 720 and the curtain wall frame 710, the glass 720 is adhered and fixed to the curtain wall frame 710 by the structural adhesive 730, then a side guard 740 is installed on the side wall of the curtain wall frame 710, and a filler (foam rod) 750 is installed between the side guard 740 and the side wall of the glass 720, and finally a sealant 760 is applied to seal the side guard 740 and the glass 720, and the assembly and production of the unit curtain wall 700 is completed.

[0128] At present, during the assembly and production of the unit curtain wall 700, the assembly process of the glass 720, the application process of the structural adhesive 730, the application process of the sealant 760, and the inspection process after the unit curtain wall 700 is assembled are all completed manually, with low automation and production efficiency. The assembly quality of each process of the unit curtain wall is difficult to control and cannot meet modern production needs. Therefore, the industry needs an automatic production line assembly system for the unit curtain wall to realize the intelligent assembly of the unit curtain wall.

[0129] In order to solve the above problems, the inventor of the present application proposed the technical solution of the present application, and the specific embodiments are as follows:

[0130] like Figure 3 As shown, the unit curtain wall intelligent assembly system of this embodiment is controlled by a PLC controller, and includes: a tray 1, a conveying device 2, a glass assembly device 3, a structural adhesive coating device 4, a sealant coating device 5 and a detection device 6.

[0131] On the conveying device 2, multiple assembly stations are arranged in sequence along the conveying direction of the conveying device 2, including a frame installation station 201, a glass assembly station 202, a reserved station 203, a primer coating station 204, a structural adhesive coating station 205, a first glue scraping station 206, an edge protection and filler assembly station 207, a sealant coating station 208, a second glue scraping station 209, a corner protection and decorative frame assembly station 2010, an appearance inspection and protective film pasting station 2011 and a material unloading station 212. A blocking mechanism 21 is provided on each assembly station of the conveying device 2.

[0132] The glass assembly device 3, the structural adhesive coating device 4, the sealant coating device 5 and the detection device 6 are respectively arranged at the glass assembly station 202, the structural adhesive coating station 205, the sealant coating station 208 and the appearance detection and protective film application station 2011 of the conveying device 2.

[0133] The pallet 1 is placed on the conveying device 2 and is used to load the curtain wall frame 710 of the unit curtain wall 700 .

[0134] The conveying device 2 conveys the pallet 1 carrying the curtain wall frame 710 from the upper frame station 201 to the unloading station 2012, and conveys the pallet 1 unloaded with the unit curtain wall from the unloading station to the upper frame station. The blocking mechanism 21 on each assembly station is used to block the movement of the pallet 1 on the conveying device 2, so that the pallet 1 is fixed on each assembly station to complete the corresponding assembly of the curtain wall frame on the pallet. The details are as follows:

[0135] At the upper frame station 201 of the conveying device 2, the operator places the curtain wall frame 710 on the pallet 1, and clamps and fixes the curtain wall frame through the clamping mechanism of the pallet 1, and makes the center line of the curtain wall frame coincide with the center line of the pallet.

[0136] At the glass assembly station 202 of the conveying device 2 , the pallet 1 transferred from the upper frame station is blocked and fixed on the conveying device, and the glass 720 is automatically assembled to the curtain wall frame 710 on the pallet 1 through the glass assembly device 3 .

[0137] At the reserved workstation 203 of the conveying device 2 , if the unit curtain wall needs to be assembled with specific accessories, the operator assembles the specific accessories on the unit curtain wall at the reserved workstation 203 .

[0138] At the primer coating station 204 of the conveying device 2 , after the pallet 1 is blocked and fixed, the operator applies primer to the locations where the structural adhesive is applied on the glass 720 and the curtain wall frame 710 .

[0139] At the structural adhesive coating station 205 of the conveying device 2, the tray 1 is blocked and fixed on the conveying device, and the structural adhesive 730 is automatically applied to the gap between the glass 720 and the curtain wall frame 710 through the structural adhesive coating device 4, so that the glass 720 is bonded to the curtain wall frame 710.

[0140] At the first glue scraping station 206 of the conveying device 2 , the pallet 1 is blocked and fixed on the conveying device, and the operator trims the glue seam of the applied structural glue 730 .

[0141] At the edge guard and filler assembly station 207 of the conveying device 2 , the pallet 1 is blocked and fixed on the conveying device, and the operator installs the edge guard 740 and filler (foam rod) 750 on the side walls of the curtain wall frame 710 and the glass 720 .

[0142] At the sealant coating station 208 of the conveying device 2 , the tray 1 is blocked and fixed on the conveying device, and the sealant 760 is applied between the edge guard 740 and the glass 720 by the sealant coating device 5 to keep the edge guard 740 and the side wall of the glass 720 sealed.

[0143] At the second glue scraping station 209 of the conveying device 2, the operator trims the glue seam of the applied sealant.

[0144] At the corner guard and decorative frame assembly station 210 of the conveying device 2 , the operator installs corner guards and decorative frames on the assembled unit curtain wall 700 .

[0145] At the appearance inspection station 211 of the conveying device 2, the pallet 1 is blocked and fixed on the conveying device, and the assembled unit curtain wall 700 is quality inspected by the inspection device 6, and the qualified unit curtain wall 700 is wrapped with a protective film.

[0146] At the unloading station 2012 of the conveying device 2, the operator unloads the assembled unit curtain wall 700 from the pallet, and then the conveying device conveys the pallet to the upper frame station, and the cycle is repeated to achieve intelligent assembly of the unit curtain wall and cyclic conveyance of the pallet.

[0147] It is not difficult to find from the above content that the intelligent assembly system of the unit curtain wall of this embodiment is provided with a pallet, a conveying device, a glass assembly device, a structural glue coating device, a sealant coating device and a detection device. The curtain wall frame of the unit curtain wall is placed on the pallet, and the conveying device drives the pallet to move, passing through each assembly station of the unit curtain wall in turn. The glass assembly device, the structural glue coating device and the sealant coating device automatically assemble glass, apply structural glue and sealant on the curtain wall frame respectively, and the detection device automatically detects the assembled unit curtain wall. After the assembled unit curtain wall is unloaded, the conveying device returns the empty pallet to the upper frame station to realize the circular movement of the pallet. The intelligent assembly system of the unit curtain wall of this embodiment is controlled by a PLC control system. The glass assembly process, structural glue coating and sealant coating process of the unit curtain wall realize intelligent automatic assembly, improve production efficiency, and ensure the assembly quality of each process.

[0148] Optional, such as Figure 4 , Figure 5 As shown, in the unit curtain wall intelligent assembly system in this embodiment, the pallet 1 includes: a pallet body 11 and a clamping mechanism.

[0149] The tray body 11 is a rectangular frame structure. A slide rail is disposed on the top surface of the tray body 11 . Two positioning holes 111 are disposed on the bottom surface of the tray body 11 . Two limiting convex strips are disposed at intervals on the bottom surface of the tray body 11 .

[0150] The clamping mechanism is disposed on the tray body 11 .

[0151] The clamping mechanism includes: a first left slide plate 121 , a first right slide plate 122 , a first front slide plate 123 , a first rear slide plate 124 , a first screw rod 125 and a second screw rod 126 .

[0152] Two baffles 1201 are provided on the first left skateboard 121, the first right skateboard 122, the first front skateboard 123 and the first rear skateboard 124. The two baffles 1201 are arranged at the end of each skateboard and extend upward. Rubber pads are provided on the top surface of each skateboard and the inner side surface of the baffle.

[0153] The first screw rod 125 and the second screw rod 126 are arranged perpendicularly to each other on the tray body 11, and the threads at the left and right ends of the first screw rod 125 are arranged in opposite directions. Similarly, the threads at the front and rear ends of the second screw rod 126 are also arranged in opposite directions. The ends of the first screw rod 125 and the second screw rod 126 are in a regular hexagonal shape.

[0154] The first left slide 121 and the first right slide 122 are slidably arranged on the slide rail of the tray body 11, and the first left slide 121 and the first right slide 122 are respectively engaged at the left and right ends of the first screw rod 125 in a mirror-symmetrical manner. When the first screw rod 125 rotates, it drives the first left slide 121 and the first right slide 122 to synchronously approach or move away from the center line of the tray body 11 from the left and right sides.

[0155] The first front slide 123 and the first rear slide 124 are slidably arranged on the slide rail of the tray body, and the first front slide 123 and the first rear slide 124 are respectively engaged with the front and rear ends of the second screw rod 126 in a mirror-symmetrical manner. When the second screw rod 126 rotates, it drives the first front slide 123 and the first rear slide 124 to synchronously approach or move away from the center line of the tray body 11 from the front and rear sides.

[0156] The baffles 1201 on each slide are used to clamp the glass placed on the tray.

[0157] Furthermore, in the unit curtain wall intelligent assembly system in this embodiment, the clamping mechanism also includes: a linkage shaft 127.

[0158] A first bevel gear 1261 is fixedly disposed on the second screw rod 126 .

[0159] A second bevel gear 1271 is disposed at one end of the linkage shaft 127 , and the end portion of the other end is in a regular hexagonal shape.

[0160] The linkage shaft 127 is disposed on the tray body 11 and is perpendicular to the second screw rod 126. The second bevel gear 1271 on the linkage shaft 127 is meshed with the first bevel gear 1261 on the second screw rod 126. When the linkage shaft 127 rotates, it drives the second screw rod 126 to rotate. That is, on the left and right sides of the tray, the positions of the first front slider and the first rear slider can be adjusted by rotating the linkage shaft, which is convenient for use.

[0161] In this embodiment, at the upper frame station of the conveying device, the operator places the curtain wall frame 710 on the first left slide, the first right slide, the first front slide and the first rear slide of the clamping mechanism, and rotates the first screw rod by the pneumatic tool to drive the first left slide and the first right slide to approach the center line of the pallet from the left and right sides, so that the baffles on the first left slide and the first right slide clamp the curtain wall frame from the left and right sides; rotates the second screw rod (or linkage shaft) by the pneumatic tool, and the first front slide and the first rear slide approach the center line of the pallet from the front and back sides, so that the baffles on the first front slide and the first rear slide clamp the curtain wall frame from the front and back sides, fix the curtain wall frame on the pallet, and ensure that the center line of the curtain wall frame coincides with the center line of the pallet, and ensure the subsequent assembly accuracy of the unit curtain wall. And by adjusting the distance between the first left slide and the first right slide, and the distance between the first front slide and the first rear slide, the pallet can be loaded with curtain wall frames of different sizes, which increases the applicability of the pallet.

[0162] Optional, such as Figure 6 , Figure 7 and Figure 8 As shown, in the unit curtain wall intelligent assembly system of this embodiment, the conveying device 2 includes: a double-layer conveying bracket 22, a first conveying mechanism 23, a second conveying mechanism 24, a first lifting and translation mechanism 25 and a second lifting and translation mechanism 26.

[0163] The front and rear ends of the double-layer conveying bracket 22 respectively form the upper frame station 201 and the unloading station 2012 of the conveying device 2 . The double-layer conveying bracket 22 includes: an upper bracket 221 and a lower bracket 222 .

[0164] The first conveying mechanism 23 is disposed on the upper support 221 , and includes a first driving motor 231 , a plurality of first rotating shafts 232 and a plurality of first rollers 233 .

[0165] The first driving motor 231 is fixedly disposed on the side wall of the double-layer conveying support 22 .

[0166] A plurality of first rotating shafts 232 are arranged at equal intervals on the top surface of the upper bracket 221 , and first rollers 233 are provided at both ends of the first rotating shafts 232 . The limiting convex strip at the bottom of the tray 1 is placed on the first roller 233 of the first conveying mechanism 23 , and the limiting convex strip is clamped between the left and right side walls of the upper bracket 221 .

[0167] The plurality of first rotating shafts 232 are connected to each other through a transmission chain, and the first rotating shaft 232 is connected to the output end of the first driving motor 231 through a chain transmission. The first driving motor 231 drives the first rotating shaft 232 and the first roller 233 to rotate. When the first roller 233 rotates, it drives the pallet 1 and the curtain wall frame on the pallet to move, so that the pallet is transferred from the upper frame station 201 to the unloading station 2012. In this embodiment, since the assembly production line is long, three first driving motors are arranged on the entire production line, and the three first driving motors drive the first rotating shaft to rotate in sections.

[0168] The second conveying mechanism 24 is disposed on the lower support 222 , and includes: a second driving motor 241 , a first driving shaft 242 , a first driven shaft and a first synchronous belt.

[0169] The first driving shaft 242 and the first driven shaft (not shown in the figure) are respectively arranged at the front and rear ends of the lower bracket 222. The first driving shaft 242 and the first driven shaft are connected by a first synchronous belt (not shown in the figure). When the pallet 1 is placed, the limiting convex strip at the bottom of the pallet is placed on the first synchronous belt.

[0170] The second drive motor 241 is arranged on the side wall of the double-layer conveying bracket 22. The output end of the second drive motor 241 is connected to the first driving shaft 242. The second drive motor 241 drives the first driving shaft 242 to rotate. When the first driving shaft 242 rotates, it drives the first driven shaft and the first synchronous belt to rotate. When the first synchronous belt rotates, it drives the pallet 1 to move, so that the pallet is returned from the unloading station 2012 to the upper frame station 201.

[0171] The first lifting and translating mechanism 25 and the second lifting and translating mechanism 26 are respectively disposed at the upper frame station 201 and the unloading station 2012 at the front and rear ends of the double-layer conveying bracket 22 .

[0172] The first lifting and translating mechanism 25 includes: a first lifting platform 251, a third driving motor 252, a second driving shaft 253, a second driven shaft and a second synchronous belt.

[0173] The third driving motor 252, the second driving shaft 253 and the second driven shaft (not shown) are arranged on the table surface of the first lifting platform 251, the third driving motor 252 is connected to the second driving shaft 253, and the second driving shaft 253 is connected to the second driven shaft through a second synchronous belt.

[0174] The second lifting and translation mechanism 26 comprises: a second lifting platform, a fourth driving motor, a third driving shaft, a third driven shaft and a third synchronous belt. The second lifting and translation mechanism 26 has a substantially same structure as the first lifting and translation mechanism 25 and is arranged in a mirror-symmetrical manner.

[0175] The blocking mechanism 21 is disposed on the upper support 221 , and includes: a first sensor 211 , a blocking cylinder 212 and a blocking block 213 .

[0176] The blocking cylinder 212 is fixedly arranged on the upper bracket 221 , and the stopper 213 is connected to the movable end of the blocking cylinder 212 . The extension and retraction of the movable end of the blocking cylinder 212 drives the stopper 213 to rise and fall.

[0177] The first sensor 211 is arranged on the upper support 221. The first sensor 211 detects the position of the pallet 1. When the pallet reaches the preset position of each assembly station, the first sensor 211 sends a detection signal to the blocking cylinder 212. The blocking cylinder 212 drives the block 213 to rise. The block 213 blocks the movement of the pallet on the first conveying mechanism 23, so that the pallet 1 stops being fixed on the corresponding assembly station to assemble the curtain wall frame loaded on the pallet.

[0178] Preferably, a latch positioning cylinder is provided at each assembly station. When the pallet reaches the preset position of the assembly station, the movable end of the latch positioning cylinder extends to insert the latch into the positioning hole of the pallet. The pallet is accurately positioned at each assembly station to ensure the accuracy of the unit curtain wall assembly.

[0179] In this embodiment, at the upper frame station of the conveying device, after the curtain wall frame is placed on the pallet and fixed, the first lifting and translation mechanism transfers the pallet to the first conveying mechanism, and the first conveying mechanism drives the pallet to pass through each assembly station in sequence to complete the corresponding assembly of the curtain wall frame. The pallet loaded with the assembled unit curtain wall moves from the first moving mechanism to the second lifting and translation mechanism. After the unit curtain wall is unloaded, the second lifting platform of the second lifting and translation mechanism drives the pallet to descend. After descending to the bottom, the pallet with the curtain wall frame unloaded is transferred to the second conveying mechanism, and the second conveying mechanism returns the pallet to the first lifting platform of the first lifting and translation mechanism to complete the assembly of the unit curtain wall and the circular movement of the pallet.

[0180] Optional, such as Fig. 9 , Fig.10 , Fig.11 As shown, in the unit curtain wall intelligent assembly system in this embodiment, the glass assembly device 3 includes: a glass display rack 31, a centering mechanism 32 and a grabbing and transporting mechanism 33.

[0181] The glass display rack 31 is disposed on one side of the conveying device 2 and is used to place the glass 720 to be assembled.

[0182] The centering mechanism 32 and the grabbing and transporting mechanism 33 are arranged between the glass display rack 31 and the conveying device 2 .

[0183] The centering mechanism 32 is used to center the glass to be assembled, and the centering mechanism 32 includes: a centering platform 321, a fifth drive motor 3221, a sixth drive motor 3222, a second left slide plate 3231, a second right slide plate 3232, a second front slide plate 3233, a second rear slide plate 3234, a third screw rod 3241 and a fourth screw rod 3242.

[0184] The centering platform 321 is a rectangular frame structure, and a slide rail is arranged on the centering platform 321 .

[0185] The third screw rod 3241 and the fourth screw rod 3242 are arranged perpendicularly to each other on the centering platform 321 .

[0186] The threads at the left and right ends of the third screw rod 3241 are set in opposite directions, and the second left slide plate 3231 and the second right slide plate 3232 are slidably set on the slide rail of the centering platform, and the second left slide plate 3231 and the second right slide plate 3232 are mirror-symmetrically engaged with the left and right ends of the third screw rod 3241 respectively.

[0187] One end of the third screw rod 3241 is transmission connected to the fifth drive motor 3221, and the fifth drive motor 3221 drives the third screw rod 3241 to rotate. When the third screw rod 3241 rotates, it drives the second left slide plate 3231 and the second right slide plate 3232 to synchronously approach or move away from the center line of the centering platform 321 from the left and right sides.

[0188] The threads at the front and rear ends of the fourth screw rod 3242 are set in opposite directions, the second front slide plate 3233 and the second rear slide plate 3234 are slidably set on the centering platform 321, and the second front slide plate 3233 and the second rear slide plate 3234 are mirror-symmetrically engaged with the front and rear ends of the fourth screw rod 3242 respectively.

[0189] There are two fourth screw rods 3242, and the two fourth screw rods 3242 are connected to the sixth drive motor 3222 through a synchronous belt. The sixth drive motor 3222 drives the fourth screw rod 3242 to rotate. When the fourth screw rod 3242 rotates, it drives the second front slide plate 3233 and the second rear slide plate 3234 to synchronously approach or move away from the center line of the centering platform 321 from the front and rear sides.

[0190] Two clamping plates 32301 are provided on the ends of the second left slide plate 3231 , the second right slide plate 3232 , the second front slide plate 3233 and the second rear slide plate. The clamping plates 32301 extend upward and protrude from the surface of the centering platform 321 .

[0191] The grabbing and transporting mechanism 33 includes: a first manipulator 331 , a suction cup support 332 and a plurality of vacuum suction cups 333 .

[0192] The suction cup bracket 332 is set on the first manipulator 331, and multiple vacuum suction cups 333 are arranged in a matrix on the suction cup bracket 332. The first manipulator 331 drives the suction cup bracket 332 and the vacuum suction cup 333 to move. The vacuum suction cup 333 is used to suck the glass. The suction cup bracket 332 is provided with a second sensor 334. The second sensor 334 detects whether the vacuum suction cup has grasped the glass.

[0193] In this embodiment, the tray loaded with the curtain wall frame is positioned at the glass assembly station of the conveying device, the first manipulator drives the vacuum suction cup to move, sucks the glass on the glass display rack, and places the sucked glass on the centering platform, the fifth driving motor drives the second left slide plate and the second right slide plate to approach the center line of the centering platform from the left and right sides, the clamps on the second left slide plate and the second right slide plate clamp the glass from the left and right sides, so that the center line of the glass coincides with the center line of the centering platform; correspondingly, the sixth driving motor drives the second front slide plate and the second rear slide plate to approach the center line of the centering platform from the front and rear sides, the clamps on the second front slide plate and the second rear slide plate clamp the glass from the front and rear sides, so that the center line of the glass coincides with the center line of the centering platform. The vacuum suction cup sucks the centered glass again, places the glass on the curtain wall frame on the tray, completes the automatic assembly of the glass and the curtain wall frame, and then the tray moves to the downstream assembly station.

[0194] Optional, such as Fig.12 , Fig.13 As shown, in the unit curtain wall intelligent assembly system in this embodiment, the structural adhesive coating device 4 includes: a first fixing frame 41, a first moving mechanism 42, a glue spraying machine 43 and a first glue spraying gun 44.

[0195] The first fixing frame 41 is fixedly arranged, and the conveying device 2 passes through the bottom of the first fixing frame.

[0196] The glue spraying machine 43 is disposed on one side of the first fixing frame 41 .

[0197] The first glue gun 44 is connected to the glue machine 43 through a glue hose. The glue machine 43 contains structural glue, and the glue machine 43 transports the structural glue to the first glue gun 44 .

[0198] The first moving mechanism 42 includes: a second manipulator 421 , a first connecting bracket 422 , a fixing block 423 and a rotating cylinder 424 .

[0199] The second robot arm 421 is disposed on the first fixing frame 41 and is located above the conveying mechanism.

[0200] One end of the first connecting bracket 422 is connected to the connecting flange on the second manipulator 421 through a mounting plate, and the other end of the first connecting bracket 422 is provided with a fixing plate 4221 , and the rotating cylinder 424 is arranged on the fixing plate 4221 of the first connecting bracket 422 .

[0201] The fixed block 423 is connected to the movable end of the rotating cylinder 424 . The rotation of the movable end of the rotating cylinder 424 drives the fixed block 423 to rotate together. The first glue gun 44 is arranged on the fixed block 423 .

[0202] In this embodiment, the pallet transmitted from the upstream assembly station is positioned on the structural glue coating station of the conveying device, and the glue machine conveys the structural glue to the first glue gun. The second manipulator drives the first glue gun to move along the gap between the glass and the curtain wall frame. When the first glue gun moves, the gun nozzle of the first glue gun extends into the gap between the glass and the curtain wall frame, and the structural glue is injected into the gap between the glass and the curtain wall frame, thereby realizing automatic injection of the structural glue. At the right-angle connection of the curtain wall frame, the first glue gun is driven to rotate by a rotating cylinder, so that after the gun nozzle of the first glue gun rotates 90°, the structural glue is continuously injected along the gap between the curtain wall frame and the glass, thereby ensuring continuous glue coating.

[0203] Optional, such as Fig.14 , Fig.15 , Fig.16 , Fig.17 As shown, in the unit curtain wall intelligent assembly system in this embodiment, the sealant coating device 5 includes: a second fixing frame 51, a third manipulator 52, a second connecting bracket 53, a second glue gun 54, a sealant bag 55 and a glue changing mechanism 56.

[0204] The sealant bag 55 contains sealant.

[0205] The second fixing frame 51 is fixedly disposed, and the conveying device 2 passes through the bottom of the second fixing frame 51 .

[0206] The third robot arm 52 is disposed on the second fixing frame 51 .

[0207] One end of the second connecting bracket 53 is connected to the flange 521 of the third manipulator 52 via a connecting plate 531 , and the other end of the second connecting bracket 53 is provided with a clamp 532 .

[0208] The second glue gun 54 includes a gun head 541 and a gun body 542 .

[0209] The gun body 542 of the second glue gun 54 is clamped in the clamp 532 .

[0210] One end of the gun body 542 of the second glue gun 54 is connected to the high-pressure gas source, and the other end of the gun body 542 is detachably connected to the gun head 541. The sealant bag 55 is placed in the gun body of the second glue gun 54. The high-pressure gas delivered by the high-pressure gas source pushes the glue gun piston of the second glue gun 54, so that the sealant in the sealant bag 55 flows out from the gun nozzle of the gun head 541 and is smeared on the gap between the edge guard and the glass.

[0211] The glue changing mechanism 56 is disposed on one side of the second fixing frame 51 . After the sealant in the second glue gun 54 is used up, the third manipulator 52 drives the second glue gun 54 to move to the glue changing mechanism 56 , and the sealant bag in the second glue gun 54 is automatically replaced by the glue changing mechanism.

[0212] Furthermore, in the unit curtain wall intelligent assembly system of this embodiment, the glue changing mechanism 56 includes: a workbench 561, a fixing seat 562, a push rod 563, a glue bag magazine 564, a limit baffle 565, a first telescopic device 5661, a second telescopic device 5662, a third telescopic device 5663 and a cutter 57.

[0213] A conical hole is provided at the end of the gun head 541 of the second glue gun 54 , and two L-shaped connecting grooves 5411 are symmetrically provided on the side wall of the conical hole of the gun head 541 , and the connecting grooves 5411 form an opening on the side wall of the gun head 541 close to the gun body 542 .

[0214] Connecting pins 5421 that match the connecting grooves 5411 are symmetrically arranged on the side walls of the gun body 542 .

[0215] The fixing seat 562 , the push rod 563 , the plastic bag magazine 564 , the limit baffle 565 , the first telescopic device 5661 , the second telescopic device 5662 and the third telescopic device 5663 are respectively arranged on the workbench 561 .

[0216] The fixing seat 562 is provided with a slot, and the gun head 541 of the second glue gun 54 is inserted into the slot, so that the gun head 541 can be fixed on the fixing seat 562, thereby realizing the separation or connection between the gun head and the gun body.

[0217] The push rod 563 is horizontally arranged on the workbench 561 . When the push rod 563 extends into the gun body 542 , it pushes the glue gun piston to reset the glue gun piston of the second glue gun.

[0218] The plastic bag magazine 564 is provided with an inner cavity, and the plastic bag magazine 564 includes: an inclined section and a vertical section. The vertical section is fixed on the workbench 561, and a rectangular through hole is provided at the bottom end of the vertical section, and an opening 5641 is provided at the top of the inclined section. The sealant plastic bags 55 are stacked in sequence in the inner cavity of the plastic bag magazine 564, and the sealant plastic bags 55 can slide freely along the inclined section to the vertical section in the plastic bag magazine 564.

[0219] The limiting baffle 565 is arranged on one side of the vertical section of the plastic bag magazine 564 , and the first telescopic device 5661 is arranged on the other side of the vertical section. The sealing rubber bag 55 at the bottom of the plastic bag magazine 564 is pushed to the limiting baffle 565 through the first telescopic device 5661 .

[0220] The second telescopic device 5662 is disposed at one side of the end of the limiting baffle 565 . When the second telescopic device 5562 is extended, the sealant bag 55 at the limiting baffle 565 is pushed into the gun body of the second glue gun 54 .

[0221] The third telescopic device 5663 is arranged on one side of the fixing seat 562 , and the cutter 57 is connected to the third telescopic device 5663 . The third telescopic device 5663 drives the cutter 57 to extend and retract. When the cutter 57 extends, it cuts off the seal of the sealant bag 55 in the gun body 542 of the second glue gun 54 .

[0222] Furthermore, in the unit curtain wall intelligent assembly system in this embodiment, a clamping plane 5422 is symmetrically provided on the side wall of the gun head 541 of the second glue gun 54.

[0223] A first clamping plate 5621 and a second clamping plate 5622 are provided on the fixing seat 562 at intervals, and a slot is formed between the first clamping plate 5621 and the second clamping plate 5622. The gun head 541 of the second glue gun 54 is inserted into the slot, and the first clamping plate 5621 and the second clamping plate 5622 are abutted against the clamping plane 5422 of the gun head 541, so that the gun head 541 is clamped in the slot of the fixing seat 562.

[0224] The first telescopic device 5661 includes: a first telescopic cylinder 56611 and a first movable block 56612 .

[0225] The first movable block 56612 is slidably disposed in the rectangular through hole of the plastic bag magazine 564 and is connected to the movable end of the first telescopic cylinder 56611. The movable end of the first telescopic cylinder drives the first movable block to extend and retract. When the first movable block is extended, it pushes the sealing rubber bag 55 at the bottom of the plastic bag magazine 564 to the limiting baffle 565, and the first movable block and the limiting baffle clamp the sealing rubber bag.

[0226] The second telescopic device 5662 includes: a second telescopic cylinder 56621 and a second movable block 56622 .

[0227] The second movable block 56622 is connected to the movable end of the second telescopic cylinder 56621, and the movable end of the second telescopic cylinder drives the second movable block to extend and retract. When the second movable block is extended, it pushes the sealant bag clamped by the first movable block and the limit baffle into the gun body 542 of the second glue gun.

[0228] The third telescopic device 5663 is a third telescopic cylinder. When the third telescopic cylinder is extended, it drives the cutter 57 to cut off the seal of the sealant bag in the gun body.

[0229] In this embodiment, the pallet transferred from the upstream assembly station is positioned on the sealant application station of the conveying device, and the third manipulator drives the second glue gun to move along the curtain wall frame. The second glue gun applies the sealant between the edge guard and the glass of the unit curtain wall while moving, so that the edge guard and the glass are sealed. After the sealant in the second glue gun is used up, the second manipulator drives the second glue gun to move to the fixed seat, fixes the gun head in the slot of the fixed seat, rotates the gun body, withdraws the connecting pin from the connecting slot, separates the gun body from the gun head, and the glue gun piston continues to push the sealant bag outward, pushes the empty bag out of the gun body, and drops it into the collection box under the workbench; moves the gun body to the push rod, extends the push rod into the gun body, continues to move the gun body, and the push rod pushes the glue gun piston to reset the glue gun piston; moves the gun body The gun moves to one side of the limit baffle, and the second movable block pushes the sealant bag clamped by the limit baffle and the first movable block, so that the sealant bag enters the gun body; the gun body is moved to the fixed seat again, and the third telescopic cylinder drives the cutter to extend, and the cutter cuts off the seal of the sealant bag; the gun body is then extended into the tapered hole of the gun head, and the gun body is rotated, and the connecting pin is inserted into the connecting groove, so that the gun body and the gun head are connected again, completing the automatic replacement of the sealant bag in the second glue gun, and realizing the continuous application of sealant.

[0230] Optional, such as Fig.18 , Fig.19 , Fig. 20 As shown, in the unit curtain wall intelligent assembly system of this embodiment, the detection device 6 includes: a third fixed frame 61, a two-dimensional moving mechanism and a detection lens 63.

[0231] The third fixing frame 61 is fixedly arranged, and the conveying device 2 passes through the bottom of the third fixing frame.

[0232] The third fixing frame 61 is provided with a first slide rail 611 and a first linear rack 612 .

[0233] The two-dimensional moving mechanism includes: a first servo motor 621 , a third connecting bracket 622 , a first gear, a second gear 623 , a second servo motor 624 and a fixing bracket 625 .

[0234] The first servo motor 621 is fixedly disposed on the top end of the third connecting bracket 622 , and the first gear (not shown in the figure) is disposed on the output shaft of the first servo motor 621 .

[0235] The top end of the third connecting bracket 622 is slidably arranged on the first slide rail 611 of the third fixed frame 61 through a slider, and the first gear is meshed with the first linear rack 612 on the third fixed frame 61, and the first servo motor 621 drives the third connecting bracket 622 to slide left and right along the first slide rail 611 of the third fixed frame 61.

[0236] A second slide rail 6221 and a second linear rack 6222 are provided at the bottom end of the third connecting bracket 622 .

[0237] The second servo motor 624 is disposed on the fixing bracket 625 , and the second gear 623 is disposed on the output shaft of the second servo motor 624 .

[0238] The fixed bracket 625 is slidably arranged on the second slide rail 6221 of the third connecting bracket 622 through a slider, and the second gear 623 is meshed with the second linear rack 6222 on the third connecting bracket 622, and the second servo motor 624 drives the fixed bracket 625 to slide forward and backward along the second slide rail 6221.

[0239] The detection lens 63 is disposed on the fixing bracket 625 . The detection lens 63 is electrically connected to an external detection device. The detection lens 63 detects the size data of the unit curtain wall and transmits a detection signal to the external detection device.

[0240] In this embodiment, the pallet transmitted from the upstream assembly station is positioned at the appearance inspection and protective film sticking station of the conveying device. The two-dimensional moving mechanism drives the inspection lens to servo move in the X-axis and Y-axis directions to scan the four corners of the assembled unit curtain wall. The inspection equipment calculates the length and width, diagonal size and middle grid size of the unit curtain wall, and compares them with the standard size to inspect the assembly quality of the unit curtain wall. The inspected unit curtain wall is transmitted to the unloading station.

[0241] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or replace some or all of the technical features therein with equivalents. However, these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A unit curtain wall intelligent assembly system, characterized in that: include: Pallets, conveying devices, glass assembly devices, structural adhesive application devices, sealant application devices and testing devices; The conveying device is provided with a frame-mounting station, a glass assembly station, a primer coating station, a structural adhesive coating station, a first glue scraping station, an edge protection and filler assembly station, a sealant coating station, a second glue scraping station, an angle protection and decorative frame assembly station, an appearance inspection station, a protective film attachment station and a material unloading station in sequence along the conveying direction, and the conveying device is provided with a blocking mechanism at each station; The glass assembly device, the structural adhesive coating device, the sealant coating device and the detection device are respectively arranged at the glass assembly station, the structural adhesive coating station, the sealant coating station and the appearance detection and protective film pasting station; The tray is used to carry the curtain wall frame of the unit curtain wall; The conveying device is used to convey the pallet carrying the curtain wall frame from the upper frame station to the unloading station, and to convey the pallet unloaded with the unit curtain wall from the unloading station to the upper frame station, and the blocking mechanism is used to prevent the pallet from moving on the conveying device; The upper frame station is used to load the curtain wall frame on the pallet; The glass assembly station is used to assemble glass on the curtain wall frame on the tray; The primer coating station is used to coat the glass and the curtain wall frame with primer; The structural adhesive application station is used to apply structural adhesive between the glass and the curtain wall frame; The first glue scraping station is used to trim the glue seam of the structural glue; The edge protection and filling material assembly station is used to install edge protection and filling materials; The sealant application station is used to apply sealant between the edge guard and the glass; The second glue scraping station is used to trim the glue seam of the sealant; The corner guard and decorative frame assembly station is used to install the corner guard and decorative frame; The appearance inspection station is used to inspect the assembled unit curtain wall; The unloading station is used to unload the assembled unit curtain wall from the pallet; wherein, The structural adhesive coating device comprises: a first fixing frame, a first moving mechanism, a glue spraying machine and a first glue spraying gun; The glue spraying machine is arranged on one side of the first fixing frame; The first glue gun is connected to the glue machine through a rubber hose, and the glue machine is used to store structural glue and to transport structural glue to the first glue gun; The first moving mechanism comprises: a second manipulator, a first connecting bracket, a fixing block and a rotating cylinder; The second manipulator is arranged on the first fixing frame; One end of the first connecting bracket is connected to the second manipulator, and the rotating cylinder is arranged at the other end of the first connecting bracket; The fixed block is connected to the rotating cylinder, and the first glue gun is arranged on the fixed block; The sealant coating device comprises: a second fixing frame, a third manipulator, a second connecting bracket, a second glue gun, a sealant bag and a glue changing mechanism; The sealant plastic bag is used to contain sealant; The third manipulator is arranged on the second fixing frame; One end of the second connecting bracket is connected to the third manipulator, and the other end is provided with a clamp; The second glue gun comprises: a gun head and a gun body; The gun body is clamped on the clamp; One end of the gun body is connected to a high-pressure gas source, and the other end is detachably connected to the gun head. The gun body is used to place the sealant plastic bag, and the high-pressure gas source is used to push the glue gun piston of the glue gun to make the sealant flow out of the gun head; The glue changing mechanism is arranged on one side of the second fixing frame, and the glue changing mechanism is used to enable the second glue gun to replace the sealant bag; The rubber changing mechanism comprises: a workbench, a fixing seat, a push rod, a rubber bag magazine, a limit baffle, a first telescopic device, a second telescopic device, a third telescopic device and a cutter; The gun head is provided with a tapered hole, and the gun head is symmetrically provided with connecting grooves on the side wall of the tapered hole; The side wall of the gun body is symmetrically provided with connecting pins adapted to the connecting groove; The tapered hole is used for inserting the gun body, and when the gun body is inserted, the connecting pin is embedded in and clamped in the connecting groove; The fixing seat, the push rod, the plastic bag magazine, the limit baffle, the first telescopic device, the second telescopic device and the third telescopic device are respectively arranged on the workbench; The fixing seat is used to fix the gun head; The push rod is used to reset the glue gun piston of the glue gun when it is extended into the gun body; The plastic bag magazine is used to place the sealant plastic bag, and the plastic bag magazine includes: an inclined section and a vertical section; The top of the inclined section is provided with an opening, and the bottom of the vertical section is provided with a rectangular through hole, so that the sealant plastic bag in the plastic bag magazine can slide along the inclined section into the vertical section; The limit baffle is arranged on one side of the vertical section, and the first telescopic device is used to push the sealant bag in the vertical section to the limit baffle; The second telescopic device is used to push the sealant bag at the limit baffle into the gun body; The cutter is connected to the third telescopic device, and the third telescopic device is used to drive the cutter to extend and retract, and the cutter is used to cut the seal of the sealant bag in the gun body when it is extended; The side wall of the gun head is symmetrically provided with a clamping plane; The fixing seat is provided with a first clamping plate and a second clamping plate, a clamping groove is formed between the first clamping plate and the second clamping plate, the clamping groove is used for the gun head to be inserted, and the first clamping plate and the second clamping plate are used to abut against the clamping plane; The first telescopic device comprises: a first telescopic cylinder and a first movable block; The first movable block is slidably disposed in the rectangular through hole and connected to the movable end of the first telescopic cylinder. The movable end of the first telescopic cylinder is used to drive the first movable block to extend and retract. When the first movable block is extended, it is used to push the sealant bag in the vertical section to the limit baffle. The second telescopic device comprises: a second telescopic cylinder and a second movable block; The second movable block is connected to the movable end of the second telescopic cylinder, and the movable end of the second telescopic cylinder is used to drive the second movable block to extend and retract. When the second movable block is extended, it is used to push the sealing rubber bag at the limit baffle into the gun body.

2. The unit curtain wall intelligent assembly system according to claim 1, characterized in that: The pallet comprises: a pallet body and a clamping mechanism; The clamping mechanism is arranged on the tray body; The clamping mechanism comprises: a first left slide plate, a first right slide plate, a first front slide plate, a first rear slide plate, a first screw rod and a second screw rod; The first left slide plate, the first right slide plate, the first front slide plate and the first rear slide plate are all provided with baffles; When the first screw rod and the second screw rod are arranged perpendicularly to each other on the tray body, the threads at both ends of the first screw rod and the second screw rod are arranged in opposite directions; The first left slide plate and the first right slide plate are slidably arranged on the tray body, and the first left slide plate and the first right slide plate are respectively engaged at two ends of the first screw rod in a mirror-symmetrical manner, and the first screw rod is used to drive the first left slide plate and the first right slide plate to move closer to and away from each other when rotating; The first front slide plate and the first rear slide plate are slidably arranged on the tray body, and the first front slide plate and the first rear slide plate are respectively engaged at two ends of the second screw rod in a mirror-symmetrical manner, and the second screw rod is used to drive the first front slide plate and the first rear slide plate to move closer to and away from each other when rotating; The first left slide plate, the first right slide plate, the first front slide plate and the first rear slide plate are used to carry a curtain wall frame, and the baffle plate is used to clamp the curtain wall frame.

3. The unit curtain wall intelligent assembly system according to claim 2 is characterized in that: The clamping mechanism further comprises: a linkage shaft; The second screw rod is provided with a first bevel gear; A second helical gear is provided at one end of the linkage shaft; The linkage shaft is arranged on the tray body and is perpendicular to the second screw rod. The second bevel gear is meshed with the first bevel gear. When the linkage shaft rotates, it is used to drive the second screw rod to rotate.

4. The unit curtain wall intelligent assembly system according to claim 1, characterized in that: The conveying device comprises: a double-layer conveying bracket, a first conveying mechanism, a second conveying mechanism, a first lifting and translation mechanism, and a second lifting and translation mechanism; The two ends of the double-layer conveying bracket respectively form the upper frame station and the unloading station, and the double-layer conveying bracket includes: an upper bracket and a lower bracket; The first conveying mechanism is arranged on the upper bracket, and comprises: a first driving motor, a plurality of first rotating shafts and a plurality of first rollers; The plurality of first rotating shafts are arranged on the upper bracket at equal intervals, and both ends of the first rotating shafts are provided with the first rollers, and the first rollers are used to carry the tray; The first rotating shaft is connected to the first driving motor, and the first driving motor is used to drive the first roller to rotate; The second transmission mechanism is arranged on the lower bracket, and the second transmission mechanism comprises: a second driving motor, a first driving shaft, a first driven shaft and a first synchronous belt; The first driving shaft and the first driven shaft are respectively arranged at two ends of the lower bracket, the first driving shaft and the first driven shaft are connected by the first synchronous belt transmission, and the first synchronous belt is used to carry the tray; The second driving motor is drivingly connected to the first driving shaft, and the second driving motor is used to drive the first driving shaft and the first synchronous belt to rotate; The first lifting and translation mechanism and the second lifting and translation mechanism are respectively arranged at the upper frame station and the unloading station; The first lifting and translation mechanism comprises: a first lifting platform, a third driving motor, a second driving shaft, a second driven shaft and a second synchronous belt; The third driving motor is connected to the second driving shaft, and the second driving shaft is connected to the second driven shaft through the second synchronous belt transmission; The second lifting and translation mechanism comprises: a second lifting platform, a fourth driving motor, a third driving shaft, a third driven shaft and a third synchronous belt; The fourth driving motor is connected to the third driving shaft through transmission, and the third driving shaft is connected to the third driven shaft through the third synchronous belt. The blocking mechanism is arranged on the upper bracket, and comprises: a first sensor, a blocking cylinder and a blocking block; The first sensor is used to detect the tray; The stopper is connected to the movable end of the blocking cylinder. The extension and retraction of the movable end of the blocking cylinder is used to drive the stopper to rise and fall. When the stopper rises, it is used to prevent the tray from moving on the first conveying mechanism.

5. The unit curtain wall intelligent assembly system according to claim 1, characterized in that: The glass assembly device comprises: a glass placement rack, a centering mechanism and a grabbing and transporting mechanism; The glass display rack is arranged on one side of the conveying device and is used for placing the glass to be assembled; The centering mechanism and the grabbing and transporting mechanism are arranged between the glass display rack and the conveying device; The centering mechanism comprises: a centering platform, a fifth drive motor, a sixth drive motor, a second left slide plate, a second right slide plate, a second front slide plate, a second rear slide plate, a third screw rod and a fourth screw rod; The third screw rod and the fourth screw rod are arranged perpendicular to each other on the centering platform; The threads at both ends of the third screw rod are arranged in opposite directions, the second left slide plate and the second right slide plate are slidably arranged on the centering platform, and the second left slide plate and the second right slide plate are respectively engaged with the two ends of the third screw rod in a mirror-symmetrical manner; The third screw rod is connected to the fifth drive motor, and the fifth drive motor is used to drive the third screw rod to rotate, and the third screw rod is used to drive the second left slide plate and the second right slide plate to move closer to and away from each other when rotating; The threads at both ends of the fourth screw rod are arranged in opposite directions, the second front slide plate and the second rear slide plate are slidably arranged on the centering platform, and the second front slide plate and the second rear slide plate are respectively engaged with the two ends of the fourth screw rod in a mirror-symmetrical manner; The fourth screw rod is connected to the sixth drive motor, and the sixth drive motor is used to drive the fourth screw rod to rotate, and the fourth screw rod is used to drive the second front slide plate and the second rear slide plate to move closer to and away from each other when rotating; The second left slide plate, the second right slide plate, the second front slide plate and the second rear slide plate are all provided with clamping plates, the clamping plates protrude from the table surface of the centering table, and the clamping plates are used to clamp the glass on the centering table; The grabbing and handling mechanism comprises: a first manipulator, a suction cup bracket and a plurality of vacuum suction cups; The suction cup bracket is set on the first manipulator, and the multiple vacuum suction cups are arranged in a matrix on the suction cup bracket. The vacuum suction cups are used to suck the glass on the glass display rack, place the sucked glass on the centering platform, and suck and place the centered glass on the curtain wall frame.

6. The unit curtain wall intelligent assembly system according to claim 1, characterized in that: The detection device comprises: a third fixed frame, a two-dimensional moving mechanism and a detection lens; The third fixed frame is provided with a first slide rail and a first linear rack; The two-dimensional moving mechanism comprises: a first servo motor, a third connecting bracket, a first gear, a second gear, a second servo motor, a fixed bracket and a second gear; The first servo motor is arranged on the third connecting bracket, and the first gear is arranged on the output shaft of the first servo motor; The top end of the third connecting bracket is movably arranged on the first slide rail, and the first gear is meshed with the first linear rack; The bottom end of the third connecting bracket is provided with a second slide rail and a second linear rack; The second servo motor is arranged on the fixed bracket, and the second gear is arranged on the output shaft of the second servo motor; The fixed bracket is slidably arranged on the second slide rail, and the second gear is meshed with the second linear rack; The detection lens is arranged on the fixing bracket and is used for being electrically connected to an external detection device. The detection lens is used for detecting the size data of the unit curtain wall and transmitting the detection signal to the external detection device.

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