Glue injection system and glue injection method based on 3D printing, electronic equipment and readable storage medium

Abstract

The embodiment of the invention provides a glue injection system and method based on 3D printing, electronic equipment and a readable storage medium, the glue injection method is applied to the glue injection system to inject glue into a stiffening truss of a wall frame, and the glue injection method comprises the steps that the included angle theta between the length direction of the stiffening truss and the first direction of movement of the wall frame is obtained; based on the included angle theta, the first movement speed V1 of the wall frame and the length size L1 of the stiffening truss, the second movement speed V2 of a glue injection head of the glue injection system in the second direction is obtained through calculation, and the second direction is perpendicular to the first direction; and controlling the glue injection head to move along the second direction at the second movement speed V2. In the process that the wall frame moves along the first direction at the first movement speed V1 along with the conveying mechanism, the glue injection head moves along the second direction at the second movement speed V2, so that the glue injection head can be always located above the stiffening truss corresponding to the glue injection head and is used for compensating the inclined included angle of the stiffening truss, and the phenomenon of glue injection deviation is avoided.

Description

Technical Field

[0001] The present application relates to the technical field of modular prefabricated buildings, and in particular to a 3D printing-based glue injection system, a glue injection method, an electronic device, and a readable storage medium. Background Art

[0002] In the prior art, the forming process of assembled modular prefabricated walls in the construction field includes the following steps: forming a wall frame, injecting glue at the position of the wall frame where the cement slab is to be laid, laying the cement slab, and fixing it with nails.

[0003] In the glue injection process, the glue injection head is set above the wall frame, and the wall frame moves along the preset direction while the glue injection head remains in the preset direction for continuous glue injection. When the wall frame moves along the preset direction, there is usually an angle between the edge of the wall frame to be injected with glue and the preset direction, which leads to the problem of glue injection deviation.

[0004] At present, the glue injection deviation can be avoided by strictly controlling the production process, dimensional error, placement angle of the wall frame and other parameters of the glue injection system. However, there are problems such as high equipment production precision, high operating requirements for operators, and high production costs. Summary of the invention

[0005] In order to solve the above problems, an object of the embodiments of the present invention is to provide a glue injection system, a glue injection method, an electronic device and a readable storage medium based on 3D printing.

[0006] In a first aspect, an embodiment of the present invention provides a glue injection method, which is applied to a glue injection system to inject glue into a stiffening truss of a wall frame, comprising:

[0007] Obtaining an angle θ between the length direction of the stiffening truss and the first direction of movement of the wall frame;

[0008] Based on the angle θ, the first movement speed V1 of the wall frame, and the length L1 of the stiffening truss, a second movement speed V2 of the glue injection head of the glue injection system along a second direction is calculated, and the second direction is perpendicular to the first direction;

[0009] The glue injection head is controlled to move along the second direction at the second movement speed V2.

[0010] Further, the second movement speed V2 of the glue injection head of the glue injection system along the second direction is calculated based on the angle θ, the first movement speed V1 of the wall frame, and the length L1 of the stiffening truss, including:

[0011] Based on the angle θ and the length L1 of the stiffening truss, the Pythagorean theorem is used to calculate the length L1 of the stiffening truss corresponding to the first right angle length L2 of the moving side of the wall frame and the second right angle length L3 of the injection head side;

[0012] Based on the first movement speed V1 of the wall frame and the first right-angle length L2, calculating the time T required for the wall frame to move past the glue injection head;

[0013] Based on the second right-angle length L3 and the time T, a second movement speed V2 of the glue injection head along the second direction is calculated.

[0014] Further, the obtaining of the angle θ between the length direction of the stiffening truss and the first direction of movement of the wall frame includes:

[0015] Acquire an image of the wall frame;

[0016] Identify the angle β between the straight line where the stiffening truss is located and the straight line where the glue injection head is located in the image;

[0017] Calculate 90°-β to obtain the angle θ.

[0018] Further, the obtaining of the angle θ between the length direction of the stiffening truss and the first direction of movement of the wall frame includes:

[0019] The wall frame is arranged on the transmission mechanism, and the transmission mechanism drives the wall frame to move along the first direction;

[0020] Respectively obtain the straight line where the transmission mechanism frame is located and the straight line where the stiffening truss in the wall frame is located;

[0021] The angle θ between the straight line where the transmission mechanism frame is located and the straight line where the stiffening truss is located is identified.

[0022] Furthermore, the stiffening trusses include a plurality of stiffening trusses, and the plurality of stiffening trusses are arranged at intervals along the second direction;

[0023] The glue injection heads include a plurality of them, and the plurality of stiffening trusses correspond one-to-one to the positions of the plurality of glue injection heads.

[0024] In a second aspect, an embodiment of the present invention further provides a 3D printing-based glue injection system for injecting glue into a stiffening truss of a wall frame, comprising:

[0025] A glue injection head, the glue injection head corresponds to the stiffening truss and is used to inject glue onto the stiffening truss;

[0026] A camera, located above the glue injection head, for collecting an image of the wall frame; and

[0027] A controller is electrically connected to the camera and the glue injection head respectively, and is used to control the glue injection head to move along a second direction perpendicular to the movement direction of the wall frame according to the image collected by the camera.

[0028] Furthermore, it also includes:

[0029] Colloid pumping mechanism;

[0030] The glue injection mechanism, the colloid pumping mechanism is connected to the glue injection mechanism, the glue injection end of the glue injection mechanism is installed with the glue injection head, and the colloid pumping mechanism is used to pump the glue to the glue injection head through the glue injection mechanism.

[0031] Furthermore, a pumping booster is provided on the glue injection mechanism.

[0032] Furthermore, the glue injection head is formed by 3D printing technology.

[0033] Furthermore, the camera is used to collect images of the wall frame and send them to the controller;

[0034] The controller is used to obtain the angle θ between the length direction of the stiffening truss and the first direction of movement of the wall frame. Based on the angle θ, the first movement speed V1 of the wall frame, and the length dimension L1 of the stiffening truss, the controller calculates the second movement speed V2 of the glue injection head along the second direction, and controls the glue injection head to move along the second direction at the second movement speed V2.

[0035] In a third aspect, an embodiment of the present invention further provides a glue injection device, which is applied to a glue injection system to inject glue into a stiffening truss of a wall frame, comprising:

[0036] An acquisition unit, used for acquiring an angle θ between a length direction of the stiffening truss and a first direction of movement of the wall frame;

[0037] A calculation unit; used to calculate a second movement speed V2 of the glue injection head of the glue injection system along a second direction perpendicular to the first direction based on the angle θ, the first movement speed V1 of the wall frame, and the length L1 of the stiffening truss; and

[0038] The execution unit is used to control the glue injection head to move along the second direction at the second movement speed V2.

[0039] Furthermore, the calculation unit comprises:

[0040] A first calculation module is used to calculate, based on the angle θ and the length dimension L1 of the stiffening truss, a first right-angle length L2 corresponding to the length dimension L1 on the moving side of the wall frame and a second right-angle length L3 corresponding to the length dimension L1 on the injection head side by using the Pythagorean theorem;

[0041] A second calculation module is used to calculate the time T required for the wall frame to move past the glue injection head based on the first movement speed V1 of the wall frame and the first right-angle length L2; and

[0042] The third calculation module is used to calculate the second movement speed V2 of the glue injection head along the second direction based on the second right-angle length L3 and the time T.

[0043] In a fourth aspect, an embodiment of the present invention further provides an electronic device, comprising: a processor, a memory, and a computer program stored in the memory and capable of running on the processor, wherein the computer program implements the above-mentioned glue injection method when executed by the processor.

[0044] In a fifth aspect, an embodiment of the present invention further provides a computer-readable storage medium, on which a computer program is stored, and when the computer program is executed by a processor, the above-mentioned glue injection method is implemented.

[0045] In a fifth aspect, an embodiment of the present invention further provides a computer program product, comprising computer-readable instructions, which implement the above-mentioned glue injection method when executed by a processor.

[0046] This application has the following beneficial effects:

[0047] In the solution provided in the first aspect of the embodiment of the present invention, in order to solve the problem of glue injection deviation, the angle θ between the length direction of the stiffening truss and the first direction of the wall frame movement is obtained, and based on the angle θ, the first movement speed V1 of the wall frame, and the length dimension L1 of the stiffening truss, the second movement speed V2 of the glue injection head of the glue injection system along the second direction is calculated; the glue injection head is controlled to move along the second direction at the second movement speed V2. When the wall frame moves along the first direction at the first movement speed V1 with the transmission mechanism, the glue injection head moves along the second direction at the second movement speed V2, so that the glue injection head can always be located above the stiffening truss corresponding to it, so as to compensate for the tilt angle of the stiffening truss, thereby avoiding the phenomenon of glue injection deviation.

[0048] In the solution provided in the second aspect of the embodiment of the present invention, the 3D printing-based glue injection system is used to inject glue into the stiffening trusses of the wall frame, which has the beneficial effects of the above-mentioned glue injection method.

[0049] In the solution provided in the third aspect of the embodiment of the present invention, the glue injection device has the beneficial effects of the above-mentioned glue injection method.

[0050] In the solution provided in the fourth aspect of the embodiment of the present invention, the electronic device has the beneficial effects of the above-mentioned glue injection method. BRIEF DESCRIPTION OF THE DRAWINGS

[0051] The drawings described herein are used to provide further understanding of the present application and constitute a part of the present application. The illustrative embodiments of the present application and their descriptions are used to explain the present application and do not constitute improper limitations on the present application.

[0052] Figure 1 It shows a schematic diagram of the structure of the wall frame being transferred to the glue injection process under an ideal state;

[0053] Figure 2 A schematic structural diagram of a glue injection system and a cement board paving device provided by an embodiment of the present invention from a first perspective is shown;

[0054] Figure 3 A schematic structural diagram of a glue injection system and a cement board paving device from a second viewing angle is shown in an embodiment of the present invention;

[0055] Figure 4 A schematic diagram of the injection process is shown;

[0056] Figure 5 It shows a schematic structural diagram in which the starting end of the wall frame provided by an embodiment of the present invention is located at a position corresponding to the glue injection head;

[0057] Figure 6 A trigonometric function relationship diagram of the wall frame inclination angle θ provided by an embodiment of the present invention is shown;

[0058] Figure 7 The working principle diagram of the glue injection method provided by the embodiment of the present invention is shown;

[0059] Figure 8 It shows a schematic structural diagram of a wall frame provided by an embodiment of the present invention running to a terminal position relative to a glue injection head;

[0060] Fig. 9 A block diagram of a glue injection device proposed in one embodiment of the present application is shown.

[0061] Icons: 001-wall frame; 003-transmission mechanism; 004-stiffening truss; 005-cement slab paving equipment; 007-first direction; 009-second direction; 100-glue injection head; 101-camera; 105-glue injection station; 107-paving station; 200-glue injection device; 210-acquisition unit; 220-computing unit; 230-execution unit. DETAILED DESCRIPTION

[0062] In order to make the technical solutions and advantages in the embodiments of the present application more clearly understood, the exemplary embodiments of the present application are further described in detail below in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present application, rather than an exhaustive list of all the embodiments. It should be noted that the embodiments in the present application and the features in the embodiments can be combined with each other without conflict.

[0063] In the description of the present invention, it is to be understood that the terms “vertical”, “horizontal”, “inside”, “outside”, “up”, “down”, “front”, “back”, “left”, “right”, “center”, “longitudinal”, “lateral”, “length”, “width”, “thickness”, etc., indicating orientations or positional relationships are based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present invention.

[0064] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include one or more of the features. In the description of the present invention, the meaning of "plurality" is two or more, unless otherwise clearly and specifically defined.

[0065] In the present invention, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be an indirect connection through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0066] The production process of assembled modular prefabricated walls includes first assembling and welding the square columns, stiffening trusses, steel bars and other components to form a wall frame, and then the wall frame moves with the transmission mechanism to the glue injection process, that is, the glue injection system is used to inject glue on the upper surface of the stiffening trusses in the wall frame; after the glue injection process, cement boards are laid on the stiffening trusses of the wall frame through paving equipment, and finally nailed to fix in the nailing process.

[0067] Ideally, if Figure 1As shown, the transmission mechanism 003 drives the wall frame 001 to move along the transmission direction. During the movement, the length direction of the stiffening truss 004 in the wall frame 001 is the same as the transmission direction of the wall frame 001. The glue injection device (glue injection head 100) is located above the wall frame 001. Through the movement of the wall frame 001 and the continuous glue injection of the glue injection device, the top surface of the stiffening truss 004 along the length direction can be coated with glue, thereby meeting the glue injection requirements.

[0068] However, in most cases, there is a certain deviation in the position of the wall frame 001 placed on the transmission mechanism 003, resulting in an angle between the length direction of the stiffening truss 004 in the wall frame 001 and the movement direction of the transmission mechanism 003. In this case, the glue injection equipment can only inject glue to part of the stiffening truss 004, and the remaining parts will have the problem of glue injection deviation, which will affect the stability of the subsequent paving of cement slabs and even affect the quality of the prefabricated wall.

[0069] In order to avoid the above-mentioned phenomenon of misaligned glue injection, measures such as strict control of the production process, glue injection size error and the placement of the wall frame can be adopted to improve the process accuracy and operator requirements in the early stage of glue injection. However, the above measures will lead to increased production costs and will also affect production efficiency.

[0070] Based on this, the present application provides a glue injection system and a glue injection method, which can avoid the phenomenon of glue injection deviation without improving the production process, reducing the glue injection size error, and improving the operator's operating requirements.

[0071] The embodiment of the present application provides a 3D printing-based glue injection system for injecting glue into the stiffening truss 004 of the wall frame 001. Please refer to Figure 2 , shown is a schematic structural diagram of the glue injection system and cement board paving equipment from the first perspective.

[0072] The glue injection system based on 3D printing may include a glue injection head 100, a camera 101 and a controller. The wall frame 001 to be injected with glue moves along the first direction 007 of transmission. There are multiple stiffening trusses 004 in the wall frame 001. The glue injection head 100 corresponds to the position of the stiffening truss 004 and the glue injection head 100 is located above the stiffening truss 004. The glue injection head 100 is used to inject glue into the top surface of the stiffening truss 004.

[0073] The wall frame 001 includes a starting position and a terminal position that sequentially pass through the glue injection head 100. When the starting position of the wall frame 001 is located below the glue injection head 100 (such as Figure 5 ), the glue injection head 100 starts to inject glue, and as the wall frame 001 moves along the first direction 007, the glue injection head 100 continues to inject glue until the terminal position of the wall frame 001 is located below the glue injection head 100 (such as Figure 8), the glue injection head 100 stops injecting glue.

[0074] The camera 101 is installed above the glue injection head 100 and is used to collect images of the wall frame 001.

[0075] In order to conveniently take photos of the wall frame 001 , the camera 101 may be directed toward the upstream end of the glue injection head 100 , that is, the side of the wall frame 001 that has not passed the glue injection head 100 .

[0076] The controller is electrically connected to the camera 101 and the glue injection head 100 respectively. The controller receives the image captured by the camera 101, calculates the movement speed of the glue injection head 100 along the second direction 009 perpendicular to the movement direction of the wall frame 001 based on the image, and then controls the glue injection head 100 to move along the second direction 009 at this movement speed.

[0077] The glue injection system, during the movement of the wall frame 001 along the transmission direction, controls the glue injection head 100 to move in the second direction 009 perpendicular to the transmission direction of the wall frame 001, thereby compensating for the deflection angle of the stiffening truss 004, so that the glue injected by the glue injection head 100 can always fall on the top of the stiffening truss 004, thereby meeting the glue injection quality.

[0078] The glue injection system provided in the embodiment of the present application is introduced in detail below.

[0079] Please refer to Figure 2 and Figure 3 , Figure 3 Shown is a schematic structural diagram of the glue injection system and cement board paving equipment from the second perspective.

[0080] Specifically, the glue injection system can also include a colloid pumping mechanism and a glue injection mechanism (not shown in the figure), the colloid pumping mechanism is used to provide glue to the glue injection mechanism, the colloid pumping mechanism is connected to the glue injection mechanism, the glue injection end of the glue injection mechanism is installed with a glue injection head 100, and the colloid pumping mechanism is used to pump glue to the glue injection head 100 through the glue injection mechanism.

[0081] The colloid pumping mechanism is electrically connected to the controller, and the controller controls the start, stop, dispensing and other operations of the colloid pumping mechanism.

[0082] In order to enhance the continuity of glue injection by the glue injection head 100 , a pumping booster may be provided on the glue injection mechanism to increase the glue injection pressure and meet the glue injection effect of the glue injection head 100 .

[0083] Optionally, in the embodiment of the present application, the glue injection head 100 is formed by 3D printing technology. 3D printing technology is to print a layer of powdered materials such as plastics and metals, and then stick these bondable printed layers together layer by layer. Through the accumulation of different "graphics" in each layer, a three-dimensional object is finally formed. Among them, the printing process of each layer is divided into two steps: first, a layer of special glue is sprayed on the area to be formed. The glue droplets themselves are very small and not easy to spread. Then a layer of uniform powder is sprayed. The powder will quickly solidify and bond when it does not meet the glue, while the area without glue remains loose. In this way, the physical model will be "printed" and formed under the alternation of a layer of glue and a layer of powder. After printing, just sweep away the loose powder to "plan" the model. The glue injection head 100 formed by 3D printing technology has the advantages of low cost, easy operation and use.

[0084] Optionally, the camera 101 may be a mature product currently available on the market. The camera 101 is used to collect images of the wall frame 001 and send the collected images to the controller.

[0085] The controller receives the image data sent by the camera 101, and is used to obtain the angle θ between the length direction of the stiffening truss 004 and the first direction 007 of movement of the wall frame 001 from the image data, such as Figure 6 .

[0086] Then, if Figure 7 Based on the obtained included angle θ, the first movement speed V1 of the wall frame 001 , and the length dimension L1 of the stiffening truss 004 , the second movement speed V2 of the glue injection head 100 along the second direction 009 is calculated.

[0087] Finally, the controller controls the glue injection head 100 to move along the second direction 009 at a second movement speed V2.

[0088] In the embodiment of the present application, the wall frame 001 moves from the upstream along the first direction 007 to the glue injection station 105 via the transmission mechanism 003. While the wall frame 001 moves, the controller controls the glue injection head 100 to move accordingly along the second direction 009 to compensate for the deflection caused by the angle θ between the length direction of the stiffening truss 004 in the wall frame 001 and the movement direction of the wall frame 001, so that glue can be applied to the top surface of the stiffening truss 004 as required. The wall frame 001 coated with glue continues to move along the first direction 007 to the downstream paving station 107 under the action of the transmission mechanism 003, and the cement board paving equipment 005 grabs the cement boards and lays them on the stiffening truss 004 of the wall frame 001 piece by piece.

[0089] The embodiment of the present application also provides a glue injection method, which is applied to the above-mentioned glue injection system to inject glue into the wall frame 001. In this embodiment, it specifically refers to the glue injection head 100 of the glue injection system injecting glue into the upper surface of the stiffening truss 004. The glue injection method includes the following steps, please refer to Figure 4 , shown is a schematic diagram of the glue injection process.

[0090] S100. Obtaining the angle θ between the length direction of the stiffening truss 004 and the first direction of movement of the wall frame 001;

[0091] Please refer to Figure 5 and Figure 6 , Figure 5 The structure diagram shown is that the starting end of the wall frame 001 is located at the corresponding position of the glue injection head 100. Figure 6 Shown is a schematic diagram of a simplified triangle.

[0092] When the wall frame 001 moves from the upstream process to the glue injection station 105, since the length direction of the stiffening truss 004 in the wall frame 001 is tilted relative to the transmission direction of the wall frame 001, that is, there is an angle θ( Figure 6 ), obtain the angle θ;

[0093] Optionally, the angle θ may be obtained in a variety of ways, for example, by collecting images of the wall frame 001, the transmission mechanism 003, and the glue injection head 100, extracting corresponding lines from the collected images, and then identifying the angle θ. Two methods are described in detail below.

[0094] The first method may include the following steps:

[0095] S110. Acquire an image of the wall frame 001;

[0096] S120. Identify the angle β between the straight line where the stiffening truss 004 is located and the straight line where the injection head 100 is located in the image, please refer to Figure 6 As shown;

[0097] S130. Calculate 90°-β to obtain the angle θ.

[0098] The second method may include the following steps:

[0099] S150. The wall frame 001 is disposed on the transmission mechanism 003, and the transmission mechanism 003 drives the wall frame 001 to move along the first direction 007;

[0100] S160. Obtain the straight line where the frame of the transmission mechanism 003 and the straight line where the stiffening truss 004 in the wall frame 001 are located respectively;

[0101] S170. Identify the angle θ between the straight line where the frame of the transmission mechanism 003 is located and the straight line where the stiffening truss 004 is located, such as Figure 7 shown.

[0102] S200. Based on the angle θ, the first movement speed V1 of the wall frame 001, and the length L1 of the stiffening truss 004, the second movement speed V2 of the glue injection head 100 of the glue injection system along the second direction 009 is calculated;

[0103] The second direction 009 is perpendicular to the first direction 007 .

[0104] Specifically, the following steps may be included. Please continue to refer to Figure 7 shown.

[0105] S210. Based on the angle θ and the length L1 of the stiffening truss 004, the Pythagorean theorem is used to calculate the length L1 of the stiffening truss 004 corresponding to the first right angle length L2 on the moving side of the wall frame 001 and the second right angle length L3 on the side of the injection head 100;

[0106] The length dimension of the stiffening truss 004 of the wall frame 001 is input into the controller in advance, and the length dimension L1 of the stiffening truss 004 corresponding to the first right angle length L2 on the moving side of the wall frame 001 is calculated by the Pythagorean theorem through the formula L1×cosθ. The length dimension L1 of the stiffening truss 004 corresponding to the second right angle length L3 on the side of the glue injection head 100 is calculated through the formula L1×sinθ.

[0107] S220. Based on the first movement speed V1 of the wall frame 001 and the first right angle length L2, the time T required for the wall frame 001 to move through the glue injection head 100 is calculated;

[0108] The wall frame 001 is placed on the transmission mechanism 003, and the transmission mechanism 003 drives the wall frame 001 to move at a set speed, that is, the first movement speed of the wall frame 001 is the set speed of the transmission mechanism 003. When the wall frame 001 passes under the glue injection head 100 at the first movement speed V1, according to distance ÷ speed = time, the required time T can be calculated by L2 ÷ V1.

[0109] S230. Based on the second right-angle length L3 and time T, calculate the second movement speed V2 of the glue injection head 100 along the second direction 009.

[0110] The time for the stiffening truss 004 of the wall frame 001 to pass through the glue injection head 100 is T, and the distance between the starting end and the ending end of the stiffening truss 004 in the second direction 009 is L3. According to distance÷time=speed, the required second movement speed V2 can be calculated by L3÷T.

[0111] S300. Control the glue injection head 100 to move along the second direction 009 at a second movement speed V2.

[0112] Finally, the controller controls the glue injection head 100 to move along the second direction 009 at the second movement speed V2 to compensate for the tilt angle of the stiffening truss 004. That is, when the wall frame 001 moves along the first direction 007 with the transmission mechanism 003 at the first movement speed V1, the glue injection head 100 moves along the second direction 009 at the second movement speed V2, so that the glue injection head 100 can always be located above the upper surface of the stiffening truss 004 corresponding thereto, thereby avoiding the phenomenon of glue injection deviation.

[0113] It can be understood that when the length direction of the stiffening truss 004 in the wall frame 001 is the same as the movement direction of the wall frame 001 and there is no angle, that is, θ is 0, then L3 is 0, V2 is 0, that is, the injection head 100 does not need to move along the second direction 009.

[0114] Optionally, the wall frame 001 includes a plurality of stiffening trusses 004, which are sequentially spaced along the second direction 009. To match the stiffening trusses 004, the number of the glue injection heads 100 also includes a plurality, and the positions of the plurality of clamping trusses and the plurality of glue injection heads 100 correspond one to one, that is, one clamping truss corresponds to one glue injection head 100.

[0115] Optionally, the reinforcing truss 004 can be a through rib or two or more ribs that are disconnected in the middle. For example, in a structure where doors and windows are provided on the wall frame 001, positions for the doors and windows are reserved on the wall frame 001, and then the reinforcing truss 004 are assembled at the remaining positions. Figure 5 As shown. Under this structure, the controller controls the glue injection head 100 one by one, and controls each glue injection head 100 individually. The stiffening truss 004 includes through reinforcement and short reinforcement corresponding to the positions of reserved doors and windows, and the glue injection head 100 will be controlled respectively corresponding to different stiffening trusses 004, that is, the controller controls the glue injection head 100 corresponding to the through reinforcement to continuously inject glue; controls the glue injection head 100 corresponding to the short reinforcement to inject glue only at the stiffening truss 004, and stops injecting glue at the position of the door and window.

[0116] Of course, it is understandable that the number of glue injection heads 100 can be much greater than the number of stiffening trusses 004. The corresponding glue injection heads 100 are controlled to inject glue according to the number and position requirements of the stiffening trusses 004, and the glue injection heads 100 at other positions do not work.

[0117] In addition, since the distance between the stiffening trusses 004 is not fixed, the distance between the glue injection heads 100 can be adjusted accordingly, and the distance and position of the glue injection heads 100 can be adjusted to adapt to the position of the stiffening trusses 004 corresponding thereto.

[0118] The present application also provides a glue injection device corresponding to the glue injection method. Fig. 9 , which is a block diagram of a glue injection device, the glue injection device 200 may include:

[0119] An acquisition unit 210 is used to acquire an angle θ between a length direction of the stiffening truss and a first direction of movement of the wall frame;

[0120] A calculation unit 220 is used to calculate a second movement speed V2 of the glue injection head of the glue injection system along a second direction perpendicular to the first direction based on the angle θ, the first movement speed V1 of the wall frame, and the length L1 of the stiffening truss;

[0121] The execution unit 230 is used to control the glue injection head to move along the second direction at a second movement speed V2.

[0122] Optionally, the acquiring unit may further include:

[0123] A first acquisition module is used to acquire an image of a wall frame;

[0124] The first recognition module is used to recognize the angle β between the straight line where the stiffening truss is located and the straight line where the glue injection head is located in the image;

[0125] The calculation module is used to calculate 90°-β and obtain the angle θ.

[0126] In other optional embodiments, the acquiring unit may further include:

[0127] The second acquisition module is used to respectively acquire the straight line where the frame of the transmission mechanism is located and the straight line where the stiffening truss in the wall frame is located;

[0128] The second identification module is used to identify the angle θ between the straight line where the transmission mechanism frame is located and the straight line where the stiffening truss is located.

[0129] Optionally, the calculation unit may include:

[0130] The first calculation module is used to calculate the length L1 of the stiffening truss corresponding to the first right-angle length L2 on the moving side of the wall frame and the second right-angle length L3 on the injection head side based on the angle θ and the length L1 of the stiffening truss using the Pythagorean theorem;

[0131] The second calculation module is used to calculate the time T required for the wall frame to move through the glue injection head based on the first movement speed V1 and the first right angle length L2 of the wall frame;

[0132] The third calculation module is used to calculate the second movement speed V2 of the glue injection head along the second direction based on the second right-angle length L3 and the time T.

[0133] It should be noted that the device embodiment in the present application corresponds to the aforementioned method embodiment. The specific principles in the device embodiment can be found in the contents of the aforementioned method embodiment and will not be repeated here.

[0134] The present application also provides an electronic device. It should be noted that the computer system of the electronic device described below is only an example and should not bring any limitation to the functions and scope of use of the embodiments of the present application.

[0135] The computer system includes a central processing unit (CPU), which can perform various appropriate actions and processes according to the program stored in the read-only memory (ROM) or the program loaded from the storage part to the random access memory (RAM), such as executing the method in the above embodiment. In the RAM, various programs and data required for system operation are also stored. The CPU, ROM and RAM are connected to each other through a bus. The input / output (I / O) interface is also connected to the bus.

[0136] The following components are connected to the I / O interface: an input part including a keyboard, a mouse, etc.; an output part including a cathode ray tube (CRT), a liquid crystal display (LCD), etc., and a speaker; a storage part including a hard disk, etc.; and a communication part including a network interface card such as a LAN (Local Area Network) card, a modem, etc. The communication part performs communication processing via a network such as the Internet. A drive is also connected to the I / O interface as needed. Removable media, such as a magnetic disk, an optical disk, a magneto-optical disk, a semiconductor memory, etc., are installed on the drive as needed so that a computer program read therefrom is installed into the storage part as needed.

[0137] In particular, according to an embodiment of the present application, the process described above with reference to the flowchart can be implemented as a computer software program. For example, an embodiment of the present application includes a computer program product, which includes a computer program carried on a computer-readable medium, and the computer program includes a program code for executing the method shown in the flowchart. In such an embodiment, the computer program can be downloaded and installed from a network through a communication part, and / or installed from a removable medium. When the computer program is executed by a central processing unit (CPU), various functions defined in the system of the present application are executed.

[0138] It should be noted that the computer-readable storage medium shown in the embodiment of the present application may be a computer-readable signal medium or a computer-readable storage medium or any combination of the above two. The computer-readable storage medium may be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, device or device, or any combination of the above. More specific examples of computer-readable storage media may include, but are not limited to: an electrical connection with one or more wires, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM), a flash memory, an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above. In the present application, a computer-readable storage medium may be any tangible medium containing or storing a program, which may be used by an instruction execution system, device or device or used in combination with it. In the present application, a computer-readable signal medium may include a data signal propagated in a baseband or as part of a carrier wave, wherein a computer-readable program code is carried. Such propagated data signals may take a variety of forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination of the above. Computer-readable signal media may also be any computer-readable medium other than computer-readable storage media, which may send, propagate, or transmit programs for use by or in conjunction with an instruction execution system, apparatus, or device. The program code contained on the computer-readable medium may be transmitted using any appropriate medium, including but not limited to: wireless, wired, etc., or any suitable combination of the above.

[0139] The flowchart and block diagram in the accompanying drawings illustrate the possible architecture, functions and operations of the system, method and computer program product according to various embodiments of the present application. Wherein, each box in the flowchart or block diagram can represent a module, a program segment, or a part of the code, and the above-mentioned module, program segment, or a part of the code contains one or more executable instructions for realizing the specified logical function. It should also be noted that in some alternative implementations, the functions marked in the box can also occur in a different order from the order marked in the accompanying drawings. For example, two boxes represented in succession can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each box in the block diagram or flowchart, and the combination of the boxes in the block diagram or flowchart can be implemented with a dedicated hardware-based system that performs a specified function or operation, or can be implemented with a combination of dedicated hardware and computer-readable instructions.

[0140] The units involved in the embodiments described in this application may be implemented by software or hardware, and the units described may also be set in a processor. The names of these units do not, in some cases, constitute limitations on the units themselves.

[0141] As another aspect, the present application further provides a computer-readable storage medium, which may be included in the electronic device described in the above embodiments; or may exist independently without being assembled into the electronic device. The above computer-readable storage medium carries computer-readable instructions, and when the computer-readable storage instructions are executed by a processor, the method in any of the above embodiments is implemented.

[0142] According to one aspect of an embodiment of the present application, a computer program product is provided, the computer program product including computer-readable instructions, the computer-readable instructions being stored in a computer-readable storage medium. A processor of an electronic device reads the computer-readable instructions from the computer-readable storage medium, and the processor executes the computer-readable instructions, so that the electronic device executes the method in any of the above embodiments.

[0143] In the embodiments of the present application, the term "module" or "unit" refers to a computer program or a part of a computer program with a predetermined function, and works together with other related parts to achieve a predetermined goal, and can be implemented in whole or in part by using software, hardware (such as processing circuits or memories) or a combination thereof. Similarly, a processor (or multiple processors or memories) can be used to implement one or more modules or units. In addition, each module or unit can be a part of the overall module or unit of the module or unit function.

[0144] It should be noted that, although several modules or units of the equipment for action execution are mentioned in the above detailed description, this division is not mandatory. In fact, according to the embodiments of the present application, the features and functions of two or more modules or units described above can be embodied in one module or unit. On the contrary, the features and functions of one module or unit described above can be further divided into being embodied by multiple modules or units.

[0145] Through the description of the above implementation methods, it is easy for those skilled in the art to understand that the example implementation methods described here can be implemented by software or by combining software with necessary hardware. Therefore, the technical solution according to the implementation method of the present application can be embodied in the form of a software product, which can be stored in a non-volatile storage medium (which can be a CD-ROM, a USB flash drive, a mobile hard disk, etc.) or on a network, including several instructions to enable an electronic device (which can be a personal computer, a server, a touch terminal, or a network device, etc.) to execute the method according to the implementation method of the present application.

[0146] Those skilled in the art will readily appreciate other embodiments of the present application after considering the specification and practicing the embodiments disclosed herein. The present application is intended to cover any variations, uses or adaptations of the present application, which follow the general principles of the present application and include common knowledge or customary techniques in the art that are not disclosed in the present application. It should be understood that the present application is not limited to the precise structures described above and shown in the accompanying drawings, and various modifications and changes can be made without departing from the scope thereof. The scope of the present application is limited only by the appended claims.

[0147] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit it. Although the present application 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 make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present application.

Claims

1. A glue injection method, applied to a glue injection system to inject glue into a stiffening truss of a wall frame, characterized in that: include: Obtaining an angle θ between the length direction of the stiffening truss and the first direction of movement of the wall frame; Based on the angle θ, the first movement speed V1 of the wall frame, and the length L1 of the stiffening truss, a second movement speed V2 of the glue injection head of the glue injection system along a second direction is calculated, and the second direction is perpendicular to the first direction; The glue injection head is controlled to move along the second direction at the second movement speed V2.

2. The glue injection method according to claim 1, characterized in that: The method of calculating the second movement speed V2 of the glue injection head of the glue injection system along the second direction based on the angle θ, the first movement speed V1 of the wall frame, and the length L1 of the stiffening truss comprises: Based on the angle θ and the length L1 of the stiffening truss, the Pythagorean theorem is used to calculate the length L1 of the stiffening truss corresponding to the first right angle length L2 of the moving side of the wall frame and the second right angle length L3 of the injection head side; Based on the first movement speed V1 of the wall frame and the first right-angle length L2, calculating the time T required for the wall frame to move past the glue injection head; Based on the second right-angle length L3 and the time T, a second movement speed V2 of the glue injection head along the second direction is calculated.

3. The glue injection method according to claim 1, characterized in that: The step of obtaining the angle θ between the length direction of the stiffening truss and the first direction of movement of the wall frame includes: Acquire an image of the wall frame; Identify the angle β between the straight line where the stiffening truss is located and the straight line where the glue injection head is located in the image; Calculate 90°-β to obtain the angle θ.

4. The glue injection method according to claim 1, characterized in that: The step of obtaining the angle θ between the length direction of the stiffening truss and the first direction of movement of the wall frame includes: The wall frame is arranged on a transmission mechanism, and the transmission mechanism drives the wall frame to move along the first direction; Respectively obtain the straight line where the transmission mechanism frame is located and the straight line where the stiffening truss in the wall frame is located; The angle θ between the straight line where the transmission mechanism frame is located and the straight line where the stiffening truss is located is identified.

5. The glue injection method according to claim 1, characterized in that: The stiffening trusses include a plurality of stiffening trusses, and the plurality of stiffening trusses are arranged at intervals along the second direction; The glue injection heads include a plurality of them, and the plurality of stiffening trusses correspond one-to-one to the positions of the plurality of glue injection heads.

6. A 3D printing-based glue injection system for injecting glue into the stiffening trusses of a wall frame, characterized in that: include: A glue injection head, the glue injection head corresponds to the stiffening truss and is used to inject glue onto the stiffening truss; A camera, located above the glue injection head, for collecting an image of the wall frame; as well as A controller is electrically connected to the camera and the glue injection head respectively, and is used to control the glue injection head to move along a second direction perpendicular to the movement direction of the wall frame according to the image collected by the camera.

7. The 3D printing-based glue injection system according to claim 6, characterized in that: Also includes: Colloid pumping mechanism; The glue injection mechanism, the colloid pumping mechanism is connected to the glue injection mechanism, the glue injection end of the glue injection mechanism is installed with the glue injection head, and the colloid pumping mechanism is used to pump the glue to the glue injection head through the glue injection mechanism.

8. The 3D printing-based glue injection system according to claim 7, characterized in that: A pumping booster is arranged on the glue injection mechanism.

9. The 3D printing-based glue injection system according to claim 6, characterized in that: The glue injection head is formed by 3D printing technology.

10. The 3D printing-based glue injection system according to claim 6, characterized in that: The camera is used to collect the image of the wall frame and send it to the controller; The controller is used to obtain the angle θ between the length direction of the stiffening truss and the first direction of movement of the wall frame. Based on the angle θ, the first movement speed V1 of the wall frame, and the length dimension L1 of the stiffening truss, the controller calculates the second movement speed V2 of the glue injection head along the second direction, and controls the glue injection head to move along the second direction at the second movement speed V2.

11. A glue injection device, used in a glue injection system to inject glue into a stiffening truss of a wall frame, characterized in that: include: An acquisition unit, used for acquiring an angle θ between a length direction of the stiffening truss and a first direction of movement of the wall frame; Computational unit; Used to calculate a second movement speed V2 of the glue injection head of the glue injection system along a second direction based on the angle θ, the first movement speed V1 of the wall frame, and the length L1 of the stiffening truss, where the second direction is perpendicular to the first direction; as well as The execution unit is used to control the glue injection head to move along the second direction at the second movement speed V2.

12. The glue injection device according to claim 11, characterized in that: The computing unit comprises: A first calculation module is used to calculate, based on the angle θ and the length dimension L1 of the stiffening truss, a first right-angle length L2 corresponding to the length dimension L1 on the moving side of the wall frame and a second right-angle length L3 corresponding to the length dimension L1 on the injection head side by using the Pythagorean theorem; A second calculation module is used to calculate the time T required for the wall frame to move past the glue injection head based on the first movement speed V1 of the wall frame and the first right-angle length L2; and The third calculation module is used to calculate the second movement speed V2 of the glue injection head along the second direction based on the second right-angle length L3 and the time T.

13. An electronic device, characterized in that: include: A processor, a memory, and a computer program stored in the memory and capable of running on the processor, wherein the computer program, when executed by the processor, implements the glue injection method according to any one of claims 1 to 5.

14. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the glue injection method according to any one of claims 1 to 5 is implemented.

15. A computer program product, characterized in that It comprises computer-readable instructions, and when the computer-readable instructions are executed by a processor, the glue injection method according to any one of claims 1 to 5 is implemented.

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