A robot gluing distance automatic compensation system and method

Abstract

The invention discloses a robot gluing distance automatic compensation system and method, comprising: a robot control cabinet, a quantitative glue gun, a distance sensor, a sensor turntable, a sensor rotating motor and a cable and a robot, the quantitative glue gun is installed on the robot, the distance sensor turntable is installed on the quantitative glue gun, the distance sensor is installed on the sensor turntable, the sensor rotating motor drives the distance sensor to rotate on the circumference of the turntable, and is connected to the robot control cabinet through a cable, the distance sensor and the robot control system adopt bus communication, and transmit measurement data to the robot in real time; the invention adopts a relative position measurement system of the glue gun and the workpiece, so that the position of the glued workpiece relative to the glue gun or the shape of the workpiece changes, and the robot automatically adjusts the position distance between the glue gun and the glued workpiece so that the distance between the glue gun and the workpiece of the robot is kept stable, thereby improving the gluing quality and avoiding the phenomenon that the glue gun collides with the workpiece and causes damage to the gluing equipment.

Description

Technical Field

[0001] The present invention relates to the technical field of robot gluing, and in particular to a robot gluing distance automatic compensation system and method. Background Art

[0002] With the continuous increase in labor costs and the reduction in the manufacturing costs of industrial robots, industrial robots replacing humans and performing gluing operations by industrial robots have become an inevitable trend in the development of the manufacturing industry.

[0003] Industrial robot gluing places high demands on the repeatability of the workpiece's position. However, the repeatability of some workpiece dimensions and the accuracy of the workpiece positioning device cannot meet the requirements of the gluing operation, making it impossible for the robot to automatically adjust the distance between the glue gun and the workpiece to be glued to remain stable. There is even the phenomenon of collision between the glue gun and the workpiece, causing damage to the gluing equipment. Summary of the Invention

[0004] The purpose of the present invention is to provide a robot gluing distance automatic compensation system and method to solve the problems raised in the above background technology.

[0005] To achieve the above-mentioned objectives, the present invention provides the following technical solutions: a robot gluing distance automatic compensation system, comprising: a robot control cabinet, a quantitative glue gun, a distance measuring sensor, a sensor turntable, a sensor rotating motor, a cable, a robot and a glue gun nozzle, wherein the quantitative glue gun is installed on the robot, the distance measuring sensor is installed on the sensor turntable, the sensor rotating motor is installed on the quantitative glue gun, the glue gun nozzle passes through the sensor turntable, the distance measuring sensor and the sensor rotating motor are connected to the robot control cabinet via a cable, the distance measuring sensor and the robot control system adopt bus communication to transmit measurement data to the robot control cabinet in real time.

[0006] Furthermore, the sensor rotation motor serves as the external axis of the robot. The robot controls the rotation of the turntable to drive the distance measuring sensor to move, so that the distance measuring sensor is always located in front of the gluing track during the gluing process.

[0007] Furthermore, a robot gluing automatic compensation method is applied to a robot gluing distance automatic compensation system, fixing the workpiece to be glued, and teaching the robot gluing trajectory. The teaching method includes: moving the robot to the gluing point position, rotating the sensor and rotating the motor to move the distance measuring sensor to the gluing trajectory position, recording the measurement data of the distance measuring sensor, when the position of the workpiece changes, the robot moves to the gluing point position, reads the data of the distance measuring sensor again, calculates the two measured position deviation data, and the robot program automatically compensates for the position deviation data to keep the relative position of the quantitative glue gun and the workpiece unchanged.

[0008] Furthermore, the measurement data is corrected. For each glue application point, if there is a difference between the measured distance and the robot compensation direction, compensation is performed using the same correction coefficient method.

[0009] Compared with the prior art, the beneficial effect of the present invention is that the robot automatically adjusts the position distance between the glue gun and the workpiece to be glued, so that the distance between the robot's glue gun and the workpiece remains stable, thereby improving the gluing quality and avoiding the phenomenon of damage to the gluing equipment caused by collision between the glue gun and the workpiece. BRIEF DESCRIPTION OF THE DRAWINGS

[0010] Figure 1 Schematic diagram of the hardware structure;

[0011] Figure 2 This is an enlarged schematic diagram of area A;

[0012] Figure 3 This is a schematic diagram of the sensor turntable;

[0013] In the figure: 1. Robot control cabinet; 2. Dosing glue gun; 3. Distance sensor; 4. Sensor turntable; 5. Sensor rotation motor; 6. Glue gun nozzle; 7. Robot; 8. Cable; 9. Workpiece. DETAILED DESCRIPTION

[0014] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only 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 making creative efforts are within the scope of protection of the present invention.

[0015] See also Figure 1-3 , the present invention provides a technical solution: Figure 1 and Figure 2 As shown, a robot glue coating distance automatic compensation system includes: a robot control cabinet 1, a quantitative glue gun 2, a distance sensor 3, a sensor turntable 4, a sensor rotating motor 5, a cable 8, a robot 7 and a glue gun nozzle 6. The quantitative glue gun 2 is installed on the robot 7. Figure 3 As shown, the distance sensor 3 is installed on the sensor turntable 4, the sensor rotating motor 5 is installed on the quantitative glue gun 2, the glue gun nozzle 6 passes through the sensor turntable, and the distance sensor 3 and the sensor rotating motor 5 are connected to the robot control cabinet 1 through a cable 8. The distance sensor 3 and the robot control system use bus communication to transmit measurement data to the robot control cabinet 1 in real time.

[0016] In this embodiment, Figure 2As shown, preferably, the sensor rotating motor 5 serves as the external axis of the robot 7, and the robot 7 controls the rotation of the turntable to drive the distance sensor 3 to move, so that the distance sensor 3 is always located in front of the gluing track during the gluing process.

[0017] Furthermore, the present invention provides a robot gluing automatic compensation method, which is applied to a robot gluing distance automatic compensation system. First, the workpiece 9 to be glued is fixed, and the robot 7 is taught the gluing trajectory. The teaching method is specifically as follows: first, the robot 7 is moved to the gluing point position, and the sensor rotation motor 5 is rotated to move the distance measuring sensor 3 to the gluing trajectory position, and the measurement data of the distance measuring sensor 3 is recorded. When the position of the workpiece 9 changes, the robot 7 moves to the gluing point position, reads the data of the distance measuring sensor 3 again, calculates the two measured position deviation data, and the robot program automatically compensates for the position deviation data to keep the relative position of the quantitative glue gun 2 and the workpiece 9 unchanged.

[0018] In this embodiment, the measurement data is preferably corrected. For each gluing point, there is a difference between the measured distance and the robot compensation direction, and compensation is performed using the same correction coefficient method to keep the distance between the robot's glue gun and the workpiece stable, thereby improving the gluing quality and avoiding damage to the gluing equipment caused by collision between the glue gun and the workpiece.

[0019] While embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions, and variations may be made to these embodiments without departing from the principles and spirit of the invention, and that the scope of the invention is defined by the appended claims and their equivalents.

Claims

1. A robot gluing distance automatic compensation system, comprising: A robot control cabinet (1), a quantitative glue gun (2), a distance sensor (3), a sensor turntable (4), a sensor rotating motor (5), a cable (8), a robot (7) and a glue gun nozzle (6), characterized in that the quantitative glue gun (2) is installed on the robot (7), the distance sensor (3) is installed on the sensor turntable (4), the sensor rotating motor (5) is installed on the quantitative glue gun (2), the glue gun nozzle (6) passes through the sensor turntable (4), the distance sensor (3) and the sensor rotating motor (5) are connected to the robot control cabinet (1) through the cable (8), the distance sensor (3) and the robot control system adopt bus communication to transmit measurement data to the robot control cabinet (1) in real time; the sensor rotating motor (5) serves as the external axis of the robot (7), the robot (7) controls the turntable to rotate, drives the distance sensor (3) to move, so that the distance sensor (3) is always located in front of the glue coating track during the glue coating process.

2. A robot gluing automatic compensation method, applied to a robot gluing distance automatic compensation system as claimed in claim 1, characterized in that: A workpiece (9) to be glued is fixed, and the robot (7) is taught a glue-spreading trajectory. The teaching method includes: moving the robot (7) to a glue-spreading point position, rotating the sensor rotation motor (5) to move the distance sensor (3) to the glue-spreading trajectory position, recording the measurement data of the distance sensor (3), and when the position of the workpiece (9) changes, the robot (7) moves to the glue-spreading point position, reads the data of the distance sensor (3) again, calculates the position deviation data of the two measurements, and the robot program automatically compensates the position deviation data, so that the relative position of the quantitative glue gun (2) and the workpiece (9) remains unchanged.

3. The robot gluing automatic compensation method according to claim 2 is characterized in that: Correct the measurement data. For each glue application point, there is a difference between the measured distance and the robot compensation direction, and compensation is performed using the same correction coefficient method.

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