A duct gluing robot and a method of using the same

Abstract

The application discloses a wind pipe gluing robot and a use method thereof, and relates to the technical field of wind pipe processing. The wind pipe gluing robot comprises a moving support, the moving support comprises a fixed cylinder, an extension support, a magnetic force adsorption wheel and a limiting plate assembly, the upper and lower ends of the fixed cylinder are provided with driving boxes, the position close to the driving boxes of the fixed cylinder is provided with a movable hole, the extension support is movably connected in the movable hole, and the end away from the fixed cylinder of the extension support is movably connected with the magnetic force adsorption wheel. The wind pipe gluing robot and the use method thereof are provided, the magnetic force adsorption wheel is adsorbed to the inner wall of the wind pipe, the driving function plate is moved in the wind pipe to complete the glue spraying, glue scraping and drying operations, the glue spraying is not limited by the distance, the wind pipe gluing robot has the climbing function, the technical problem that the traditional technology can only spray glue after the wind pipe is made and the glue cannot be dried and maintained after being sprayed is solved, and the hinged seat and the magnetic force adsorption wheel are detachable structures and are high in adaptability.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of air pipe processing technology, in particular to an air pipe gluing robot and a using method thereof. BACKGROUND

[0002] Currently, the air pipe on the construction site is made on site, and no matter rectangular or circular air pipe will leave a longitudinal seam after folding, and various mouthpieces (including joint angle mouthpieces) are used for jointing. For some clean engineering or nuclear engineering, the air pipe leakage rate is required to be extremely low, and for smoke exhaust air pipe, a fully welded air pipe is usually used, but the production and installation process of the air pipe is relatively complex, and the cost of the stainless steel air pipe used for welding is too high (the conventional galvanized iron pipe is not suitable for welding). The air pipe connected by the general mouthpiece has a large air leakage rate, so the conventional technology is to seal various gaps in the air pipe section after folding (the circular air pipe is edge folding), mouthpiece jointing and flange connection.

[0003] The gap of the general air pipe is usually at the flange connection and the longitudinal seam, the gap at the flange connection can be installed at the same time by sealing glue and sealing pad, and the sealing glue for the longitudinal seam is used for the pipe section which is relatively long, so it is impossible to realize the gluing in the whole length range, especially for the longitudinal seam gluing inside the air pipe, the traditional technology cannot be involved. SUMMARY

[0004] The present application aims to provide an air pipe gluing robot and a using method thereof, which is adsorbed to the inner wall of the air pipe by the magnetic adsorption wheel, and the driving function plate is moved in the air pipe to complete the glue spraying, glue scraping and drying operations, the glue spraying is not limited by distance, has the function of climbing high, and overcomes the technical problems that the traditional technology can only spray glue after production, the distance of manual glue spraying is limited, and the glue cannot be dried and maintained after glue spraying, so as to solve the problems in the above background technology.

[0005] To achieve the above-mentioned purpose, the present application provides the following technical scheme: an air pipe gluing robot, comprising a moving support, the moving support comprises a fixed cylinder, a telescopic support, a magnetic adsorption wheel and a limiting plate assembly, the upper and lower ends of the fixed cylinder are provided with driving boxes, the position close to the driving box of the fixed cylinder is provided with a movable hole, the telescopic support is movably connected in the movable hole, the end away from the fixed cylinder of the telescopic support is movably connected with the magnetic adsorption wheel, one side of the fixed cylinder is fixedly connected with the limiting plate assembly, and one side of the limiting plate assembly is fixedly connected with a function plate;

[0006] The function plate is provided with a glue gun, a glue scraping plate and a hot air outlet, the end close to the hot air outlet of the function plate is provided with a hot air generating device, and the air outlet of the hot air generating device is connected with the hot air outlet through an extension pipe;

[0007] The glue gun is provided with a spray pipe, and one end of the spray pipe is fixedly connected with a glue storage box.

[0008] Preferably, the telescopic support is connected with a steering gear near one end of the fixed cylinder, the steering gears on the telescopic supports of the same height are engaged with each other, the steering gears are connected with the driving box, the telescopic support is provided with a hinged seat at the other end away from the fixed cylinder, and the hinged seat is hingedly connected with a magnetic adsorption wheel.

[0009] Preferably, the magnetic adsorption wheel comprises a driving wheel, a mounting wheel frame and an encoder, the mounting wheel frame is hingedly connected with the hinged seat, the driving wheel is mounted in the mounting wheel frame, the encoder is mounted at one end of the mounting wheel frame, the encoder is connected with the rotating shaft of the driving wheel, and not less than two magnetic rings are embedded in the surface of the driving wheel.

[0010] Preferably, the limiting plate assembly comprises a limiting plate body, an incomplete gear and a moving frame, one side of the limiting plate body is fixedly connected with the fixed cylinder, the limiting plate body is provided with the incomplete gear with a reversible motor at one end, a limiting sliding groove is formed in the limiting plate body, the moving frame is movably connected with the limiting sliding groove, one side of the moving frame is provided with internal teeth engaged with the incomplete gear, and the side of the moving frame away from the limiting plate body is fixedly connected with the function plate.

[0011] Preferably, the moving frame is provided with limiting blocks at two ends in a symmetrical manner, the side of the moving frame close to the limiting plate body is provided with a spherical sliding block, and the spherical sliding block is movably connected with the limiting sliding groove.

[0012] Preferably, the limiting sliding groove comprises an annular groove, a straight groove and an arc-shaped groove, the straight groove penetrates through the annular groove and the arc-shaped groove, the positions of the intersection points of the straight groove and the annular groove and the arc-shaped groove correspond to the positions of the spherical sliding blocks, and the centers of the annular groove and the arc-shaped groove are on the center line of the rotating shaft of the incomplete gear.

[0013] Preferably, one side of the function plate is provided with a guide rod, the spray pipe penetrates through the guide rod, and the end of the function plate close to the glue gun is provided with a gap detection sensor, an infrared sensor and an illuminating device.

[0014] Preferably, the function plate is connected with the glue gun, the scraping plate and the hot air outlet through electric telescopic rods respectively, and the electric telescopic rods and the function plate are detachable structures.

[0015] Preferably, the glue storage tank is provided with a pressure gauge, a flow meter and an alarm lamp, the output end of the glue storage tank is connected with the spray pipe, the side of the glue storage tank close to the spray pipe is provided with a wire winding device, the spray pipe is wound on the wire winding device, and the wire winding device is provided with a wire winding motor.

[0016] Another technical problem to be solved by the application is to provide a use method of the air pipe glue spraying robot.

[0017] S1: A steering motor is installed in the drive box, which drives one of the steering gears to rotate, and the two meshing steering gears rotate at the same time, so that the two telescopic supports at the same height rotate towards or reverse each other, the angle between the telescopic supports is adjusted, the length of the telescopic supports is adjusted, the moving support is adjusted to a position suitable for the shape of the air pipe, one end of the glue gun is first inserted into the pipeline, and the magnetic adsorption wheel is adsorbed on the inner wall of the air pipe through the magnetic ring; the robot is started to work for glue spraying;

[0018] S2: The magnetic adsorption wheel moves along the inner wall of the air pipe, and in the process, the gap detection sensor detects the size of the gap at the joint of the air pipe, and transmits the detected gap size to the system control end; in the appropriate gap, the glue gun sprays glue, and the glue scraping plate scrapes the sprayed glue, and the hot air outlet sends constant-temperature hot air to the sealing glue through the hot air generating device to accelerate the drying of the sealing glue;

[0019] S3: The encoder is installed on the rotating shaft of the drive wheel and rotates with the drive wheel, the rotating distance of the drive wheel is calculated through the rotating speed pulse signal generated by the encoder and the diameter of the drive wheel, the detection distance comparison data is generated, the winding motor is controlled to work, the winding device and the robot move at the same time, and the spray pipe is timely released;

[0020] S4: When the infrared sensor detects that the robot has moved to the edge of the air pipe, the drive wheel is controlled to stop moving forward, at this time, the glue spraying work stops, the forward and reverse motor drives the incomplete gear to rotate forward, the moving frame is driven to move in position through the inner teeth, the function plate extends the limiting plate body, the glue scraping and drying continue to work, the scraping and drying of the end part of the air pipe are completed, when the incomplete gear rotates to be engaged with the limiting block, the moving frame is rotated by the incomplete gear, the function plate is controlled to rotate, and then the drive wheel is controlled to rotate reversely, the glue scraping plate and the hot air outlet are controlled to work reversely, at this time, the winding device reversely winds the spray pipe;

[0021] S5: After completing the daily glue spraying work, the system control end performs daily work amount statistics and storage, and simultaneously, the setting of the air pipe glue spraying robot is cleared, and the system control end sets a maintenance reminder according to the work amount of the air pipe glue spraying robot.

[0022] Compared with the prior art, the beneficial effects of the present application are:

[0023] 1: The magnetic adsorption wheel is adsorbed on the inner wall of the air pipe, the function plate is driven to move in the air pipe to complete the glue spraying, glue scraping and drying operations, the glue spraying is not limited by distance, has the function of climbing, and overcomes the technical problems that the traditional technology can only spray glue after production, the manual glue spraying distance is limited, and the glue cannot be dried and maintained after being sprayed.

[0024] 2、The hinged seat and the magnetic adsorption wheel of the application are detachable structures, the magnetic adsorption wheel can be replaced, so as to be suitable for the metal wall of rectangular, circular, elliptical air ducts with different radian or straight line, the length and angle of the telescopic support can be adjusted, the air ducts with different shapes can be adapted, and the adaptability is high;

[0025] 3、The encoder of the application is connected with the rotating shaft of the driving wheel, the rotating distance of the driving wheel is calculated through the rotating speed pulse signal generated by the encoder and the diameter of the driving wheel, and the line winding device is arranged, the line winding device and the robot movement are simultaneously realized, the spray pipe is timely put or collected, the spray pipe is prevented from being too long in the air duct, and the influence of the spray pipe on the glue spraying work is avoided;

[0026] 4、The function plate of the application can realize the extension and rotation functions under the action of the limiting plate assembly, the glue spraying work of the air duct edge can be completed, the working order of the glue gun, the glue scraping plate and the hot air outlet is not changed, the robot can continuously go back and forth to spray glue, scrape and dry the glue joint, and the end position of the air duct does not need to be manually glued, and the automation degree is high. BRIEF DESCRIPTION OF DRAWINGS

[0027] Figure 1 It is the overall structure diagram of the application;

[0028] Figure 2 It is the structure diagram of the moving support and the function plate of the application;

[0029] Figure 3 It is the internal structure diagram of the fixed cylinder of the application;

[0030] Figure 4 It is the structure diagram of the limiting plate assembly of the application;

[0031] Figure 5 It is the first state diagram of the incomplete gear in the forward rotation of the application;

[0032] Figure 6 It is the second state diagram of the incomplete gear in the forward rotation of the application;

[0033] Figure 7 It is the first state diagram of the incomplete gear in the reverse rotation of the application;

[0034] Figure 8 It is the second state diagram of the incomplete gear in the reverse rotation of the application;

[0035] Figure 9 It is the structure diagram of the moving frame of the application;

[0036] Figure 10 It is the state diagram of the function plate extension limiting plate body of the application;

[0037] Figure 11The structure diagram of the hot air generating device of the present application.

[0038] In the figure: 1, mobile support; 11, fixed cylinder; 111, drive box; 112, movable hole; 12, telescopic support; 121, steering gear; 122, hinged seat; 13, magnetic adsorption wheel; 131, drive wheel; 1311, magnetic ring; 132, mounting wheel frame; 133, encoder; 14, limit plate assembly; 141, limit plate body; 1411, limit sliding groove; 14111, annular groove; 14112, straight groove; 14113, arc groove; 142, incomplete gear; 143, moving frame; 1431, inner teeth; 1432, limit block; 1433, spherical sliding block; 2, function plate; 21, glue gun; 211, spray pipe; 22, glue scraping plate; 23, hot air outlet; 24, hot air generating device; 25, guide rod; 26, gap detection sensor; 27, infrared sensor; 3, glue storage tank; 31, pressure gauge; 32, flow meter; 33, alarm lamp; 34, wire winder. DETAILED DESCRIPTION

[0039] The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative work fall within the scope of protection of the present application.

[0040] Please refer to Figures 1-3 A duct gluing robot, comprising a mobile support 1, the mobile support 1 comprising a fixed cylinder 11, a telescopic support 12, a magnetic adsorption wheel 13 and a limit plate assembly 14, the upper and lower ends of the fixed cylinder 11 are provided with drive boxes 111, the fixed cylinder 11 is provided with a movable hole 112 near the position of the drive box 111, the telescopic support 12 is movably connected in the movable hole 112, the end of the telescopic support 12 away from the fixed cylinder 11 is movably connected with the magnetic adsorption wheel 13, one side of the fixed cylinder 11 is fixedly connected with the limit plate assembly 14, and one side of the limit plate assembly 14 is fixedly connected with a function plate 2.

[0041] The end of the telescopic support 12 close to the fixed cylinder 11 is connected with a steering gear 121, the steering gears 121 on the telescopic supports 12 of the same height are meshed with each other, the steering gear 121 is connected with the drive box 111, and the end of the telescopic support 12 away from the fixed cylinder 11 is provided with a hinged seat 122, and the hinged seat 122 is hingedly connected with the magnetic adsorption wheel 13.

[0042] Specifically, a steering motor is installed in the drive box 111, the output end of the steering motor is connected with the center shaft of the steering gear 121, the steering motor drives one of the steering gears 121 to rotate, the two meshing steering gears 121 rotate at the same time, the two telescopic supports 12 at the same height rotate towards each other or in opposite directions at the same time, the angle between the telescopic supports 12 is adjusted, and the stability of the robot during work is improved.

[0043] The hinged seat 122 and the magnetic adsorption wheel 13 are detachable structures, which can replace the magnetic adsorption wheel 13, so as to adapt to the metal walls of rectangular, circular, elliptical air pipes with different radii or straight lines. The magnetic adsorption wheel 13 is connected through the hinged seat 122, and after the angle between the two telescopic supports 12 is changed, the magnetic adsorption wheel 13 can rotate at an angle to adapt to the angle adjustment of the inner wall of the air pipe.

[0044] Please refer to Figures 1-3 The magnetic adsorption wheel 13 includes a drive wheel 131, a mounting wheel frame 132, and an encoder 133. The mounting wheel frame 132 is hingedly connected with the hinged seat 122, the drive wheel 131 is installed in the mounting wheel frame 132, the encoder 133 is installed at one end of the mounting wheel frame 132, the encoder 133 is connected with the rotating shaft of the drive wheel 131, and the surface of the drive wheel 131 is embedded with not less than two magnetic rings 1311.

[0045] Specifically, a wheel hub motor is arranged in the drive wheel 131, which has a driving structure to control the movement or stop of the drive wheel 131. A speed sensor is installed in the drive wheel 131 to monitor the speed of the drive wheel 131. The drive wheel 131 is adsorbed on the inner wall of the air pipe through the magnetic ring 1311. The purpose of arranging not less than two magnetic rings 1311 is to automatically adjust the angle between the telescopic support 12 and the telescopic support 12 to meet the adsorption of all magnetic rings 1311 when the angle between the two telescopic supports 12 is changed, without the need for artificial control.

[0046] The encoder 133 is installed on the rotating shaft of the drive wheel 131 and rotates with the rotation of the drive wheel 131. The rotating distance of the drive wheel 131 is calculated by the rotating speed pulse signal generated by the encoder 133 and the diameter of the drive wheel 131, the detection distance comparison data is generated, the extension or retraction length of the nozzle 211 is controlled, and the nozzle 211 in the air pipe is prevented from being too long to affect the work of the robot.

[0047] Please refer to Figures 4-10The limiting plate assembly 14 comprises a limiting plate body 141, an incomplete gear 142 and a moving frame 143, one side of the limiting plate body 141 is fixedly connected with the fixed cylinder body 11, one end of the limiting plate body 141 is provided with the incomplete gear 142 with a forward and reverse motor, a limiting sliding groove 1411 is formed in the limiting plate body 141, the moving frame 143 is movably connected with the limiting sliding groove 1411, one side of the moving frame 143 is provided with an inner tooth 1431 engaged with the incomplete gear 142, and the side, away from the limiting plate body 141, of the moving frame 143 is fixedly connected with the functional plate 2.

[0048] Specifically, the forward and reverse motor is installed in the interior of the fixed cylinder body 11, the forward and reverse motor drives the incomplete gear 142 to rotate forward or reversely, when the incomplete gear 142 rotates, the moving frame 143 is driven to move and rotate by the inner tooth 1431, the position of the moving frame 143 is adjusted, thereby the position of the functional plate 2 is adjusted, the functional plate 2 is extended and rotated, in order to adapt to the needs of the end of the air pipe being glued, the robot moving back and forth in the air pipe.

[0049] Both ends of the moving frame 143 are symmetrically provided with limiting blocks 1432, one side of the moving frame 143 close to the limiting plate body 141 is provided with a spherical sliding block 1433, and the spherical sliding block 1433 is movably connected with the limiting sliding groove 1411.

[0050] Specifically, the spherical sliding block 1433 moves in the limiting sliding groove 1411, the limiting sliding groove 1411 has a certain wrapping effect on the spherical sliding block 1433, the limiting plate body 141 cannot be separated from the moving frame 143, the spherical sliding block 1433 is provided with two groups, the two groups of spherical sliding blocks 1433 are symmetrically arranged at both ends of the moving frame 143, each group of spherical sliding blocks 1433 is provided with four spherical sliding blocks 1433, and each group of four spherical sliding blocks 1433 is distributed in a square shape.

[0051] The limiting sliding groove 1411 comprises an annular groove 14111, a straight groove 14112 and an arc-shaped groove 14113, the straight groove 14112 penetrates through the annular groove 14111 and the arc-shaped groove 14113, the positions of the intersection points of the straight groove 14112 and the annular groove 14111 and the arc-shaped groove 14113 correspond to the positions of the spherical sliding blocks 1433, and the centers of the annular groove 14111 and the arc-shaped groove 14113 are on the center line of the rotating shaft of the incomplete gear 142.

[0052] When the incomplete gear 142 rotates and drives the inner tooth 1431 to move, the moving frame 143 moves linearly under the limitation of the spherical slide 1433 along the linear groove 14112. When the incomplete gear 142 rotates to the position where the limiting block 1432 is engaged, a group of spherical slides 1433 moves out of the limiting plate body 141, and another group of spherical slides 1433 corresponds to the intersection position of the linear groove 14112 and the annular groove 14111. At this time, under the action of the limiting block 1432, the moving frame 143 cannot move linearly and rotates along with the incomplete gear 142. The group of spherical slides 1433 left on the limiting plate body 141 rotates in the annular groove 14111, and the group of spherical slides 1433 placed outside the limiting plate body 141 moves to the intersection point of the arc-shaped groove 14113 and the linear groove 14112 under the rotating action of the moving frame 143 through the arc-shaped groove 14113. When the incomplete gear 142 reverses the rotation, the incomplete gear 142 continues to drive the moving frame 143 to move in the linear groove 14112 until the limiting block 1432 at the other end of the moving frame 143 is engaged with the incomplete gear 142, and the moving frame 143 is controlled to turn again.

[0053] Through the above structure, the control function plate 2 realizes position adjustment. When the function plate 2 extends out of the limiting plate body 141, the end of the air pipe can be scraped and dried. After the function plate 2 rotates, the robot reverses the position in the air pipe to ensure that the glue gun 21 is always located at one end of the robot advancing. The working order of the glue gun 21, the scraping plate 22 and the hot air outlet 23 is unchanged, so that the robot can continuously go back and forth to spray glue, scrape and dry the glue joint. In actual operation, after completing the spraying once, the glue gun 21 can stop spraying, and the scraping and drying can be repeated. The glue gun 21 can be used for secondary glue supplement.

[0054] Please refer to Figures 1-2 and Figure 11 The function plate 2 is provided with the glue gun 21, the scraping plate 22 and the hot air outlet 23. The end of the function plate 2 close to the hot air outlet 23 is provided with the hot air generating device 24. The air outlet of the hot air generating device 24 is connected with the hot air outlet 23 through the telescopic pipe.

[0055] Specifically, the hot air generating device 24 includes a resistance wire, a fan and a box body. The resistance wire and the fan are installed in the box body. The fan blows air to the heated resistance wire to realize the generation of hot air. The hot air is blown to the sealant to be dried through the hot air outlet 23 to accelerate the drying of the sealant.

[0056] The function plate 2 is connected with the glue gun 21, the scraping plate 22 and the hot air outlet 23 through the electric telescopic rod. The electric telescopic rod and the function plate 2 are detachable.

[0057] Specifically, the distance between the glue gun 21, the glue scraping plate 22 and the hot air outlet 23 and the gap of the air pipe can be controlled by setting the electric telescopic rod, and the electric telescopic rod and the function plate 2 are detachable structures, so that the distance between the glue gun 21, the glue scraping plate 22 and the hot air outlet 23 can be controlled.

[0058] One side of the function plate 2 is provided with a guide rod 25, and the spray pipe 211 penetrates through the guide rod 25. The end of the function plate 2 close to the glue gun 21 is provided with a gap detection sensor 26, an infrared sensor 27 and an illuminating device.

[0059] Specifically, the guide rod 25 guides the spray pipe 211 to avoid affecting the glue spraying work. The gap detection sensor 26 is used for detecting the size of the gap at the joint of the air pipe. The gap detection sensor 26 can adopt a special gap detection sensor provided by Germany MIRAI, and the detected gap size is transmitted to the system control end. The system sets the gap size that can be glued. If the gap exceeds the range, the system will alarm to avoid the gap being too large and the gluing effect being poor. Once the alarm is started, the glue gun 21 will stop working. During the trial operation stage, the gap detection sensor 26 can be used to detect the gluing route. The air pipe gluing robot does not start the glue gun 21 to realize empty running, and then glues according to the gluing route detected by the gap detection sensor 26. The infrared sensor 27 is used for detecting whether the robot moves to the edge of the air pipe. When the infrared sensor 27 detects that the robot has moved to the edge of the air pipe, the control driving wheel 131 stops moving forward. After the function plate 2 rotates in the direction, the driving wheel 131 moves reversely in the air pipe until all the gluing work is completed.

[0060] The glue gun 21 is provided with a spray pipe 211, and one end of the spray pipe 211 is fixedly connected with a glue storage tank 3.

[0061] Please refer to Figures 1-2 The glue storage tank 3 is provided with a pressure gauge 31, a flow meter 32 and an alarm lamp 33. The output end of the glue storage tank 3 is connected with the spray pipe 211. One side of the glue storage tank 3 close to the spray pipe 211 is provided with a wire winder 34, and the spray pipe 211 is wound on the wire winder 34.

[0062] Specifically, the pressure gauge 31 and the flow meter 32 on the glue storage tank 3 can facilitate real-time observation of the glue injection condition. When the amount of glue in the glue storage tank 3 is insufficient, generally less than 1 / 4, the alarm lamp 33 alarms. When the amount of glue is seriously insufficient, the system can urgently stop the glue spraying work of the nozzle, but the drying and scraping work does not stop.

[0063] The wire winder 34 is provided with a wire winding motor. The wire winding motor controls the wire winder 34 to pay off or take up the wire.

[0064] Specifically, the encoder 133 calculates the moving distance of the robot, controls the winding motor to work through the control system, realizes that the winding device 34 moves simultaneously with the robot, and timely releases or collects the spray pipe 211, prevents the spray pipe 211 from being too long in the air pipe, and avoids that the spray pipe 211 affects the progress of the glue spraying work.

[0065] The air pipe glue spraying robot further comprises a system control end, the system control end is provided with a display screen, the system control end remotely controls the work of the air pipe glue spraying robot, the display screen displays the working state of the air pipe glue spraying robot in real time, receives the data transmitted by various sensors of the air pipe glue spraying robot, and is used for realizing automatic and digital operation, the system control end is provided with a statistical module, a storage module, a zero clearing module, a setting module and an emergency stop module, the statistical module is used for counting daily workloads, the storage module is used for storing data, the zero clearing module is used for clearing cache data, the setting module is used for setting parameters of the air pipe glue spraying robot and setting maintenance dates, and the emergency stop module one-key controls the stop of the work of the air pipe glue spraying robot.

[0066] In order to better show the use process of the air pipe glue spraying robot, the embodiment presents a use method of the air pipe glue spraying robot, comprising the following steps:

[0067] S1: the steering motor is installed in the driving box 111, the steering motor drives one of the steering gears 121 to rotate, the two steering gears 121 meshed with each other rotate at the same time, the two telescopic supports 12 at the same height rotate towards or reversely at the same time, the angle between the telescopic supports 12 is adjusted, the length of the telescopic support 12 is adjusted, the moving support 1 is adjusted to a position suitable for the shape of the air pipe, one end of the glue gun 21 is first inserted into the pipeline, the magnetic adsorption wheel 13 is adsorbed to the inner wall of the air pipe through the magnetic ring 1311, and the robot is started to work for glue spraying;

[0068] S2: the magnetic adsorption wheel 13 moves along the inner wall of the air pipe, in the process, the gap detection sensor 26 detects the gap size of the joint of the air pipe, and transmits the detected gap size to the system control end, in the appropriate gap, the glue gun 21 sprays glue, the glue scraping plate 22 scrapes the sprayed glue, and constant-temperature hot air is delivered to the sealing glue through the hot air generating device 24 and the hot air outlet 23, so that the sealing glue is dried.

[0069] S3: the encoder 133 is installed on the rotating shaft of the driving wheel 131 and rotates with the driving wheel 131, the rotating distance of the driving wheel 131 is calculated through the rotating speed pulse signal generated by the encoder 133 and the diameter of the driving wheel 131, contrast data of the detected distance are generated, the winding motor is controlled to work, the winding device 34 moves simultaneously with the robot, and the spray pipe 211 is timely released.

[0070] S4: When the infrared sensor 27 detects that the robot has moved to the edge of the air pipe, the control driving wheel 131 stops moving forward, at this time, the glue spraying work stops, the forward and reverse motor drives the incomplete gear 142 to rotate forward, drives the moving frame 143 to move through the inner tooth 1431, the function plate 2 extends the limiting plate body 141, the glue scraping and drying continue, the scraping and drying of the end of the air pipe are completed, when the incomplete gear 142 rotates to be clamped with the limiting block 1432, the incomplete gear 142 drives the moving frame 143 to rotate, the control function plate 2 rotates, and then the driving wheel 131 reverses to control the glue scraping plate 22 and the hot air outlet 23 to work reversely, at this time, the line winder 34 reversely winds the spray pipe 211;

[0071] S5: After completing the daily glue spraying work, the system control end performs daily work amount statistics and storage, and resets the setting of the air pipe glue spraying robot, and the system control end sets a maintenance reminder according to the work amount of the air pipe glue spraying robot.

[0072] In summary: the air pipe glue spraying robot and the using method thereof are provided, the magnetic adsorption wheel 13 is adsorbed to the inner wall of the air pipe, the function plate 2 is driven to move in the air pipe to complete the glue spraying, glue scraping and drying operations, the glue spraying is not limited by distance, has the climbing function, and the technical problems that the traditional technology can only spray glue after production, the manual glue spraying distance is limited, and the sprayed glue cannot be dried and maintained after spraying are overcome; the hinged seat 122 and the magnetic adsorption wheel 13 are detachable structures, the magnetic adsorption wheel 13 can be replaced, so as to be suitable for rectangular, circular, oval air pipes with different radii or linear metal walls, the length and angle of the telescopic support 12 can be adjusted, different shapes of air pipes can be adapted, and the adaptability is high; the encoder 133 is connected with the rotating shaft of the driving wheel 131, the rotating distance of the driving wheel 131 is calculated according to the rotating speed pulse signal generated by the encoder 133 and the diameter of the driving wheel 131, and the line winder 34 is arranged, so that the line winder 34 and the robot move simultaneously, the spray pipe 211 is timely wound or unwound, the spray pipe 211 is prevented from being too long in the air pipe, and the spray pipe 211 is prevented from affecting the glue spraying work; the function plate 2 can realize the extension and rotation functions under the action of the limiting plate assembly 14, the glue spraying work of the edge of the air pipe can be completed, the working order of the glue gun 21, the glue scraping plate 22 and the hot air outlet 23 is unchanged, the robot can continuously go back and forth to spray glue, scrape and dry the glue joint, and the end position of the air pipe does not need to be manually glued, and the automation degree is high.

[0073] The above is only a preferred specific embodiment of the present application, but the protection scope of the present application is not limited to this, any person skilled in the art can make equivalent replacement or change according to the technical solution and the inventive concept of the present application within the technical range disclosed by the present application, which should be covered in the protection scope of the present application.

Claims

1. A duct gluing robot comprising a mobile support (1), characterized in that: The mobile support (1) comprises a fixed cylinder (11), a telescopic support (12), a magnetic adsorption wheel (13) and a limiting plate assembly (14), the upper and lower ends of the fixed cylinder (11) are provided with driving boxes (111), the position close to the driving boxes (111) of the fixed cylinder (11) is provided with a movable hole (112), the telescopic support (12) is movably connected in the movable hole (112), the end away from the fixed cylinder (11) of the telescopic support (12) is movably connected with the magnetic adsorption wheel (13), one side of the fixed cylinder (11) is fixedly connected with the limiting plate assembly (14), and one side of the limiting plate assembly (14) is fixedly connected with a function plate (2); the function plate (2) is provided with a glue gun (21), a glue scraping plate (22) and a hot air outlet (23), one end of the function plate (2) close to the hot air outlet (23) is provided with a hot air generating device (24), and the air outlet of the hot air generating device (24) is connected with the hot air outlet (23) through an elastic tube; the glue gun (21) is provided with a spray pipe (211), and one end of the spray pipe (211) is fixedly connected with a glue storage box (3); The limiting plate assembly (14) comprises a limiting plate body (141), an incomplete gear (142) and a moving frame (143), one side of the limiting plate body (141) is fixedly connected with the fixed cylinder (11), one end of the limiting plate body (141) is provided with the incomplete gear (142) with a reversible motor, a limiting sliding groove (1411) is formed in the limiting plate body (141), the moving frame (143) is movably connected to the limiting sliding groove (1411), one side of the moving frame (143) is provided with an internal gear (1431) engaged with the incomplete gear (142), and the side, away from the limiting plate body (141) of the moving frame (143), is fixedly connected with the function plate (2); The two ends of the moving frame (143) are symmetrically provided with limiting blocks (1432), one side of the moving frame (143) close to the limiting plate body (141) is provided with a spherical sliding block (1433), and the spherical sliding block (1433) is movably connected with the limiting sliding groove (1411); The limiting sliding groove (1411) comprises an annular groove (14111), a straight groove (14112) and an arc-shaped groove (14113), the straight groove (14112) penetrates through the annular groove (14111) and the arc-shaped groove (14113), the positions of the intersection points of the straight groove (14112) and the annular groove (14111) and the arc-shaped groove (14113) correspond to the positions where the spherical sliding block (1433) is distributed, and the centers of the annular groove (14111) and the arc-shaped groove (14113) are on the center line of the rotating shaft of the incomplete gear (142).

2. The duct taping robot of claim 1, wherein: The telescopic support (12) is connected with a steering gear (121) near one end of the fixed cylinder (11), the steering gears (121) on the telescopic supports (12) of the same height are engaged with each other, the steering gears (121) are connected with the driving box (111), and the telescopic support (12) is provided with a hinged seat (122) at the other end away from the fixed cylinder (11), and the hinged seat (122) is hingedly connected with a magnetic adsorption wheel (13).

3. The duct taping robot of claim 2, wherein: The magnetic adsorption wheel (13) comprises a driving wheel (131), a mounting wheel frame (132) and an encoder (133), the mounting wheel frame (132) is hingedly connected with the hinged seat (122), the driving wheel (131) is mounted in the mounting wheel frame (132), one end of the mounting wheel frame (132) is provided with the encoder (133), the encoder (133) is connected with the rotating shaft of the driving wheel (131), and the surface of the driving wheel (131) is embedded with not less than two magnetic rings (1311).

4. The duct taping robot of claim 3, wherein: One side of the function plate (2) is provided with a guide rod (25), the spray pipe (211) penetrates through the guide rod (25), one end of the function plate (2) near the glue gun (21) is provided with a gap detection sensor (26), an infrared sensor (27) and an illuminating device.

5. The duct taping robot of claim 4, wherein: The function plate (2) is connected with the glue gun (21), the glue scraping plate (22) and the hot air outlet (23) through electric telescopic rods, and the electric telescopic rods and the function plate (2) are detachable structures.

6. The duct taping robot of claim 5, wherein: The storage glue box (3) is provided with a pressure gauge (31), a flowmeter (32) and an alarm lamp (33), the output end of the storage glue box (3) is connected with the spray pipe (211), one side of the storage glue box (3) near the spray pipe (211) is provided with a wire winding device (34), the spray pipe (211) is wound on the wire winding device (34), and a wire winding motor is arranged in the wire winding device (34), the wire winding motor controls the wire winding device (34) to pay off or take up the wire.

7. A method of using a duct gluing robot as claimed in claim 6, characterized in that, The method comprises the following steps: S1: a steering motor is mounted in the driving box (111), the steering motor drives one of the steering gears (121) to rotate, the two engaged steering gears (121) rotate at the same time, the two telescopic supports (12) at the same height are controlled to rotate towards each other or in opposite directions at the same time, the angle between the telescopic supports (12) is adjusted, the length of the telescopic supports (12) is adjusted, the moving support (1) is adjusted to a position suitable for the shape of the air pipe, one end of the glue gun (21) is first inserted into the pipeline, the magnetic adsorption wheel (13) is adsorbed to the inner wall of the air pipe through the magnetic ring (1311), and the robot is started to work; S2: the magnetic adsorption wheel (13) moves along the inner wall of the air pipe, in the process, the gap detection sensor (26) detects the size of the gap at the joint of the air pipe, the detected gap size is transmitted to the system control end, the glue gun (21) sprays glue in the appropriate gap, the glue scraping plate (22) scrapes the sprayed glue, constant-temperature hot air is delivered to the sealant through the hot air generating device (24) and the hot air outlet (23), and the sealant is dried; S3: The encoder (133) is installed on the rotating shaft of the driving wheel (131), and rotates with the rotation of the driving wheel (131). The rotating distance of the driving wheel (131) is calculated by the rotating speed pulse signal generated by the encoder (133) and the diameter of the driving wheel (131), the contrast data of the detection distance is generated, the winding motor is controlled to work, the winding device (34) is moved simultaneously with the robot, and the spray pipe (211) is timely released; S4: When the infrared sensor (27) detects that the robot has moved to the edge of the air pipe, the driving wheel (131) is controlled to stop moving forward, at this time, the glue spraying work stops, the forward and reverse motor drives the incomplete gear (142) to rotate forward, drives the moving frame (143) to move through the inner tooth (1431), the function plate (2) extends the limiting plate body (141), the glue scraping and drying continue to work, the scraping and drying of the end of the air pipe are completed, when the incomplete gear (142) is rotated to be engaged with the limiting block (1432), the incomplete gear (142) drives the moving frame (143) to rotate, the function plate (2) is controlled to rotate, and then the driving wheel (131) is controlled to rotate reversely, the glue scraping plate (22) and the hot air outlet (23) are controlled to work reversely, at this time, the winding device (34) reversely winds and releases the spray pipe (211); S5: After completing the daily glue spraying work, the system control end performs daily work amount statistics and storage, and clears the setting of the air pipe glue spraying robot, the system control end sets a maintenance reminder according to the work amount of the air pipe glue spraying robot.

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