Glass curtain wall glue line centering device

Abstract

The invention discloses a glass curtain wall glue line centering device which comprises a glue line positioning mechanism and a glue line centering mechanism. The two glue line positioning mechanisms are arranged in a central symmetry mode, the upper ends of the two glue line positioning mechanisms are connected with the glass curtain wall gluing operation robot, the lower end of one glue line positioning mechanism is tightly attached to the edge of one side of a glue line all the time, and the lower end of the other glue line positioning mechanism is tightly attached to the edge of the other side of the glue line all the time. The two glue line positioning mechanisms are used for positioning the center line of a glue line; the glue line centering mechanism is rotationally connected with the two glue line positioning mechanisms, a rhombic structure is formed in the glue line centering mechanism, and the glue gun head is located at the middle point of the rhombic structure, so that the glue gun head is always aligned with the center line of a glue line in the movement process of the glass curtain wall gluing operation robot. The glue line positioning mechanism is used for positioning the edge of a glue line according to the principle that two points form a straight line, so that the center line of the glue line is positioned; the glue line centering mechanism ensures that a glue gun head is always aligned with the center line of a glue line in the movement process of the glass curtain wall gluing operation robot, the glue line positioning precision is improved, and the robot is allowed to have larger transverse deviation.

Description

Technical Field

[0001] The invention belongs to the technical field of building robots, and in particular relates to a glass curtain wall glue joint centering device. Background Art

[0002] Glass curtain wall has the advantages of beautiful appearance, light weight, good lighting, etc., and is one of the main forms of building exterior walls. Gluing operation refers to the application of glue to the gaps at the joints of glass panels during the construction and installation of glass curtain walls to ensure the sealing and waterproofness of glass curtain walls. At present, the gluing work of glass curtain walls is still done manually, which is not only inefficient but also extremely dangerous. Therefore, it is of great significance to study the automatic gluing equipment for glass curtain walls.

[0003] The automated gluing equipment needs to accurately locate the glue seam during operation and ensure that the glue gun head is located on the glue seam center line. However, the prior art does not have automated equipment applied to glass curtain wall gluing operations, and the traditional automated equipment centering strategies mostly use sensors to collect data and control motors, cylinders and other moving elements through a control unit to complete centering and positioning. This centering and positioning method not only consumes computing resources and has poor real-time performance, but also requires adjustment of the deviation between the glue gun head and the glue seam center line, reducing the work efficiency of the gluing operation. Therefore, the present invention proposes a glass curtain wall glue seam centering device. Summary of the invention

[0004] In view of the deficiencies in the prior art, the technical problem to be solved by the present invention is to provide a glass curtain wall glue joint centering device.

[0005] The present invention solves the technical problem by adopting the following technical solution:

[0006] A glue seam centering device for a glass curtain wall is characterized in that the device comprises a glue seam positioning mechanism and a glue seam centering mechanism; the two glue seam positioning mechanisms are arranged in a central symmetrical manner, the upper ends of the two glue seam positioning mechanisms are connected to a glass curtain wall glue coating operation robot, the lower end of one glue seam positioning mechanism is always in close contact with the edge of one side of the glue seam, and the lower end of the other glue seam positioning mechanism is always in close contact with the edge of the other side of the glue seam, and the two glue seam positioning mechanisms position the glue seam center line; the glue seam centering mechanism is rotatably connected to the two glue seam positioning mechanisms, a rhombus structure is formed in the glue seam centering mechanism, and a glue gun head is located at the midpoint of the rhombus structure, ensuring that the glue gun head is always aligned with the glue seam center line during the movement of the glass curtain wall glue coating operation robot.

[0007] Furthermore, the glue seam positioning mechanism includes an L-shaped connecting rod, a torsion spring, an L-shaped positioning rod, a fixed probe rod and a sliding probe rod; the two L-shaped connecting rods are arranged at a certain angle, and the vertical end of the L-shaped connecting rod is equipped with a torsion spring, and the torsion spring is also fixedly connected to the glass curtain wall glue coating operation robot; the long end of the L-shaped positioning rod is provided with a slide groove, the upper end of the sliding probe rod is slidably connected to the slide groove, the middle part is rotatably connected to the horizontal end of one of the L-shaped connecting rods, and the lower end extends into the glue seam and always close to the edge of the glue seam; the upper end of the fixed probe rod is rotatably connected to the middle part of the L-shaped positioning rod, the middle part is rotatably connected to the horizontal end of the other L-shaped connecting rod, and the lower end extends into the glue seam and always close to the edge of the glue seam.

[0008] Furthermore, the glue seam centering mechanism includes a corner connector, a connecting rod, a sliding rod connector and a sliding rod; the four corner connectors are evenly distributed on the circumference, the adjacent side ears of two adjacent corner connectors are rotatably connected to the two ends of the corresponding connecting rods, the lower ends of the two corner connectors located at the diagonal positions are respectively rotatably connected to the short ends of the L-shaped positioning rods of the two glue seam positioning mechanisms, and the four corner connectors and the four connecting rods together constitute a diamond structure; the four sliding rods are cross-distributed, each sliding rod is respectively inserted into the upper end of the corresponding corner connector, and the sliding rod is slidably connected to the corner connector, the inner ends of the four sliding rods are respectively fixed to the connecting disk on the upper part of the glue gun head through the sliding rod connector, and the glue gun head is located at the midpoint of the diamond structure.

[0009] Furthermore, the corner connector is provided with side ears on both sides, a connecting seat on the upper end, and a connecting column on the lower end.

[0010] Compared with the prior art, the present invention has the following beneficial effects:

[0011] The glue seam positioning mechanism of the present invention utilizes a fixed probe rod and a sliding probe rod to always contact the glue seam edge, and positions the glue seam edge based on the principle that two points form a straight line, thereby positioning the glue seam center line and ensuring that the center line of the glue seam can be accurately positioned no matter how the glue seam changes.

[0012] The four corner connectors and four connecting rods of the glue seam centering mechanism form a diamond structure. The characteristics of the diamond diagonals being perpendicular to each other and the center of the diagonals being the midpoint of the diamond are used to ensure that the glue gun head is always aligned with the glue seam center line during the movement of the glass curtain wall glue coating robot, thereby improving the glue seam positioning accuracy. When the robot is laterally offset, the glue seam centering mechanism is used to keep the glue gun head aligned with the glue seam center line, thereby allowing the glass curtain wall glue coating robot to have a larger lateral offset, reducing the adjustment time of the glass curtain wall glue coating robot for the lateral offset and improving the operation efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] Figure 1 It is a schematic diagram of the overall structure of the present invention;

[0014] Figure 2 It is a structural schematic diagram of the L-shaped connecting rod of the present invention;

[0015] Figure 3 It is a schematic diagram of the connection between the fixed probe rod and the sliding probe rod and the L-shaped positioning rod of the present invention;

[0016] Figure 4 is a schematic diagram of a diamond structure of the present invention;

[0017] Figure 5 It is a schematic diagram of the connection between the slide rod and the glue gun head of the present invention;

[0018] Figure 6 It is a schematic structural diagram of a corner connector of the present invention;

[0019] Icons: 1. Glue seam positioning mechanism; 2. Glue seam centering mechanism; 3. Glue gun head;

[0020] 11. L-shaped connecting rod; 12. torsion spring seat; 13. torsion spring; 14. L-shaped positioning rod; 15. fixed probe rod; 16. sliding probe rod; 21. corner connector; 22. connecting rod; 23. sliding rod connector; 24. sliding rod. DETAILED DESCRIPTION

[0021] Specific embodiments are given below in conjunction with the accompanying drawings. The specific embodiments are only used to introduce the technical solutions of the present invention in detail and are not intended to limit the protection scope of the present application.

[0022] The present invention provides a glass curtain wall glue joint centering device (hereinafter referred to as the device, see Figures 1 to 6 ), including a glue seam positioning mechanism 1 and a glue seam centering mechanism 2; the two glue seam positioning mechanisms 1 are arranged in a central symmetrical manner, the upper ends of the two glue seam positioning mechanisms 1 are connected to the glass curtain wall glue coating operation robot, the lower end of one glue seam positioning mechanism 1 is always close to the edge of one side of the glue seam, and the lower end of the other glue seam positioning mechanism 1 is always close to the edge of the other side of the glue seam; the glue seam centering mechanism 2 is rotatably connected to the two glue seam positioning mechanisms 1, and the glue gun head 3 is located at the midpoint of the rhombus structure formed by the glue seam centering mechanism 2. The glue seam centering mechanism 2 uses the characteristics that the diagonals of the rhombus are perpendicular to each other and the midpoint of the diagonals is the midpoint of the rhombus, so that the glue gun head 3 is always aligned with the center line of the glue seam, thereby realizing the centering of the glue gun head 3 and the glue seam.

[0023] The glue seam positioning mechanism 1 comprises an L-shaped connecting rod 11, a torsion spring seat 12, a torsion spring 13, an L-shaped positioning rod 14, a fixed probe rod 15 and a sliding probe rod 16; wherein the two L-shaped connecting rods 11 are arranged at a certain angle, the vertical end of the L-shaped connecting rod 11 is installed with a torsion spring 13 through the torsion spring seat 12, a torsion spring stopper is provided on the torsion spring seat 12, one end of the torsion spring 13 is fixedly connected to the torsion spring stopper, and the other end is fixedly connected to the glass curtain wall glue coating operation robot; a sliding groove is provided at the long end of the L-shaped positioning rod 14, a slider is provided at the upper end of the sliding probe rod 16, the sliding probe rod 16 is slidably connected to the sliding groove of the L-shaped positioning rod 14 through the slider, the middle part of the sliding probe rod 16 is rotatably connected to the horizontal end of one of the L-shaped connecting rods 11, and the lower end of the sliding probe rod 16 extends into In the glue seam, the torque generated by the torsion spring 13 makes the lower end of the sliding probe rod 16 always close to the edge of the glue seam; the upper end of the fixed probe rod 15 is rotatably connected to the middle part of the L-shaped positioning rod 14, and the middle part is rotatably connected to the horizontal end of another L-shaped connecting rod 11, and the lower end extends into the glue seam. The torque generated by the torsion spring 13 makes the lower end of the fixed probe rod 15 always close to the edge of the glue seam; since the lower end of the fixed probe rod 15 and the lower end of the sliding probe rod 16 are always close to the edge of the glue seam, it is equivalent to positioning the edge of the glue seam at two points and determining the straight line where the edge of the glue seam is located. Therefore, the edges on both sides of the glue seam can be positioned by the fixed probe rods 15 and the sliding probe rods 16 of the two glue seam positioning mechanisms 1, and the midline of the edges on both sides of the glue seam is the center line of the glue seam, thereby realizing the positioning of the center line of the glue seam.

[0024] The glue seam centering mechanism 2 includes a corner connector 21, a connecting rod 22, a sliding rod connector 23 and a sliding rod 24; wherein the four corner connectors 21 are evenly distributed on the circumference, the adjacent side ears of two adjacent corner connectors 21 are rotatably connected to the two ends of the corresponding connecting rods 22, the lower ends of the two corner connectors 21 located at the diagonal positions are rotatably connected to the short ends of the two L-shaped positioning rods 14, the four corner connectors 21 and the four connecting rods 22 together constitute a rhombus structure, the corner connector 21 and the connecting rod 22 are respectively equivalent to the vertices and sides of the rhombus structure; the four sliding rods 24 are cross-distributed, each sliding rod 24 is respectively inserted into the upper end of the corresponding corner connector 21, and the sliding rod 24 is slidably connected to the corner connector 21, the inner ends of the four sliding rods 24 are respectively fixedly connected to the connecting disk on the upper part of the glue gun head 3 through the sliding rod connector 23, the outer ends of the sliding rods 24 extend out of the corner connector 21 and are suspended in the air, and the glue gun head 3 is located at the midpoint of the rhombus structure. The glue seam centering mechanism 2 utilizes the characteristics that the diagonals of the rhombus are perpendicular to each other and the midpoint of the diagonals is the midpoint of the rhombus, so that the glue gun head 3 is always aligned with the center line of the glue seam, thereby achieving the centering of the glue gun head 3 and the glue seam.

[0025] The corner connector 21 has side ears connected to the connecting rod 22 on both sides, a connecting seat connected to the sliding rod 24 on the upper end, and a connecting column connected to the L-shaped positioning rod 14 on the lower end.

[0026] The working principle and workflow of the present invention are as follows:

[0027] The device is connected to the glass curtain wall glue coating robot, and the lower ends of the fixed probe rod 15 and the sliding probe rod 16 are extended into the glue seam. The fixed probe rod 15 and the sliding probe rod 16 of one glue seam positioning mechanism 1 are always close to the edge of one side of the glue seam under the action of the torsion spring 13, and the fixed probe rod 15 and the sliding probe rod 16 of the other glue seam positioning mechanism 1 are always close to the edge of the other side of the glue seam under the action of the torsion spring 13. The edge of the glue seam is positioned by the fixed probe rod 15 and the sliding probe rod 16, and the center line of the two edges of the glue seam is the center line of the glue seam.

[0028] The four corner connectors 21 and the four connecting rods 22 together form a diamond structure. The glue gun head 3 is connected to the diamond structure through four cross-distributed sliding rods 24, so that the glue gun head 3 is always located in the center of the diamond structure, and the glue gun head 3 is always aligned with the center line of the glue seam, thereby achieving alignment between the glue gun head 3 and the glue seam of the glass curtain wall.

[0029] Any matters not described in the present invention are applicable to the prior art.

Claims

1. A glass curtain wall glue joint centering device, characterized in that: The device comprises a glue seam positioning mechanism and a glue seam centering mechanism; the two glue seam positioning mechanisms are arranged in a central symmetrical manner, the upper ends of the two glue seam positioning mechanisms are connected to the glass curtain wall glue coating operation robot, the lower end of one glue seam positioning mechanism is always in close contact with the edge of one side of the glue seam, and the lower end of the other glue seam positioning mechanism is always in close contact with the edge of the other side of the glue seam, and the two glue seam positioning mechanisms position the glue seam center line; the glue seam centering mechanism is rotatably connected to the two glue seam positioning mechanisms, a rhombus structure is formed in the glue seam centering mechanism, and the glue gun head is located at the midpoint of the rhombus structure, ensuring that the glue gun head is always aligned with the glue seam center line during the movement of the glass curtain wall glue coating operation robot.

2. The glass curtain wall glue joint centering device according to claim 1, characterized in that: The glue seam positioning mechanism includes an L-shaped connecting rod, a torsion spring, an L-shaped positioning rod, a fixed probe rod and a sliding probe rod; the two L-shaped connecting rods are arranged at a certain angle, and the vertical end of the L-shaped connecting rod is installed with a torsion spring, and the torsion spring is also fixedly connected to the glass curtain wall glue coating operation robot; the long end of the L-shaped positioning rod is provided with a slide groove, the upper end of the sliding probe rod is slidably connected to the slide groove, the middle part is rotatably connected to the horizontal end of one of the L-shaped connecting rods, and the lower end extends into the glue seam and always closely adheres to the edge of the glue seam; the upper end of the fixed probe rod is rotatably connected to the middle part of the L-shaped positioning rod, the middle part is rotatably connected to the horizontal end of the other L-shaped connecting rod, and the lower end extends into the glue seam and always closely adheres to the edge of the glue seam.

3. The glass curtain wall glue joint centering device according to claim 1 or 2, characterized in that: The glue seam centering mechanism includes a corner connector, a connecting rod, a sliding rod connector and a sliding rod; the four corner connectors are evenly distributed on the circumference, the adjacent side ears of two adjacent corner connectors are rotatably connected to the two ends of the corresponding connecting rods, the lower ends of the two corner connectors located at the diagonal positions are respectively rotatably connected to the short ends of the L-shaped positioning rods of the two glue seam positioning mechanisms, and the four corner connectors and the four connecting rods together constitute a diamond structure; the four sliding rods are cross-distributed, each sliding rod is respectively inserted into the upper end of the corresponding corner connector, and the sliding rod is slidably connected to the corner connector, the inner ends of the four sliding rods are respectively fixedly connected to the connecting disk on the upper part of the glue gun head through the sliding rod connector, and the glue gun head is located at the midpoint of the diamond structure.

4. The glass curtain wall glue joint centering device according to claim 3 is characterized in that: The corner connector is provided with side ears on both sides, a connecting seat on the upper end and a connecting column on the lower end.

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