Gluing robot and gluing method

Abstract

The invention provides a gluing robot and a gluing method, and the gluing robot comprises a driving module which comprises a first driving unit and a second driving unit, the driving unit comprises a wire coil and a driving motor, and the driving motor is used for driving the corresponding wire coil to take up or pay off; the fixing module comprises a first fixing part and a second fixing part, and each fixing part is used for being fixed to a workpiece to be glued; each glue gun module comprises a gluing head and is used for gluing gaps of the workpieces to be glued; the driving units are directly or indirectly connected with the glue gun module, and cables of wire coils of the driving units are connected with the corresponding fixing parts respectively; or, the driving units are respectively arranged on the corresponding fixing parts, and the cables of the wire coils of the driving units are connected with the glue gun module; and the control module is used for controlling the driving motor, so that the two wire coils take up or pay off, and the glue gun module is driven to operate along the gap. According to the scheme, the automation degree of gluing can be improved, and the production efficiency is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of caulking, and particularly relates to a caulking robot and a caulking method. Background Art

[0002] Caulking is a process commonly used in the production and manufacturing processes, and its purposes include but are not limited to pasting components, performing sealing, filling treatment, etc. This technology is widely used in various industries such as wind turbines, electronic products, automobiles, household appliances, and medical devices.

[0003] Taking the nacelle housing of a wind turbine as an example, due to the large size of the nacelle housing, the manufacturing process often adopts the process of segmented manufacturing and subsequent splicing. During the splicing process, linear cracks will occur in the nacelle housing, and caulking and sealing treatment needs to be carried out on the cracks to prevent moisture, particles, etc. from penetrating into the interior of the nacelle housing. Conventional caulking work is usually carried out manually by operators, and this method has low efficiency and high working intensity. Summary of the Invention

[0004] The purpose of the present application is to provide a caulking robot and a caulking method, which can improve the degree of automation of caulking and improve production efficiency.

[0005] The present application provides a caulking robot, including:

[0006] A driving module, including a first driving unit and a second driving unit. Both the first driving unit and the second driving unit include a wire reel and a driving motor, and the driving motor is used to drive the corresponding wire reel to wind or unwind the wire;

[0007] A fixing module, including a first fixing component and a second fixing component, and the first fixing component and the second fixing component are used to be fixed to the workpiece to be caulked;

[0008] A glue gun module, the glue gun module includes a caulking head for caulking the gap of the workpiece to be caulked; both the first driving unit and the second driving unit are directly or indirectly connected to the glue gun module. The cable of the wire reel of the first driving unit is connected to the first fixing component, and the cable of the wire reel of the second driving unit is connected to the second fixing component; or, the first driving unit is arranged on the first fixing component, the second driving unit is arranged on the second fixing component, and the cables of the wire reels of the first driving unit and the second driving unit are connected to the glue gun module;

[0009] A control module, which is used to control the driving motor to wind or unwind the wire reels of the first driving unit and the second driving unit, and drive the glue gun module to run along the gap for caulking.

[0010] Optionally, it includes a housing, and the glue gun module is installed on the housing.

[0011] Optionally, the housing is provided with a wire hole. The first driving unit and the second driving unit are installed on the housing, and the cable of the wire reel passes through the wire hole and is connected to the corresponding first fixing member or the second fixing member; or, the first driving unit and the second driving unit are installed on the corresponding first fixing member and the second fixing member, and the cable of the wire reel passes through the wire hole and is fixed to the housing.

[0012] Optionally, rollers for rolling and walking on the surface of the workpiece to be glued are provided on the back of the housing.

[0013] Optionally, the first driving unit and the second driving unit are installed on the housing, and the housing is further provided with a power supply for supplying power to the driving motors of the first driving unit and the second driving unit; and / or, the control module is installed on the housing.

[0014] Optionally, it further includes a distance measuring instrument. The first fixing member and the second fixing member are both provided with the distance measuring instrument, which is used to measure the distance between the first fixing member, the second fixing member and the gap of the workpiece to be glued; the distance measuring instrument is signal-connected to the control module, and the control module controls the rotation angle of the driving motor according to the detected distance and the initial length of the cable.

[0015] Optionally, the glue application module includes a glue gun barrel, a piston, a glue gun motor, a glue gun gear, and a rack adapted to the glue gun gear. The glue gun barrel is fixed to the housing, the piston is located in the glue gun barrel, the piston is connected to the rack, the glue gun motor is installed on the housing, and the glue gun motor drives the glue gun gear to rotate to drive the rack to move, and the movement of the rack can drive the piston to move in the glue gun barrel to compress and apply glue.

[0016] Optionally, the glue application robot further includes a vision sensor for identifying the gap of the workpiece to be glued.

[0017] This application also provides a glue application method applied to the glue application robot described in any one of the above. The method includes:

[0018] Obtain the distances between the first fixing member, the second fixing member and the gap, the initial length of the cable, and the glue application direction;

[0019] According to the distances, the initial length of the cable, and the glue application direction, control the driving motor to rotate to drive the corresponding wire reel to take in or pay out the wire, so that the glue application head moves along the gap to apply glue.

[0020] Optionally, the gap to be caulked extends in the vertical direction, and the first fixing member and the second fixing member are fixed to the workpiece to be caulked in a manner symmetric with respect to the gap.

[0021] Optionally, according to the spacing, the initial length of the cable, and the caulking direction, controlling the driving motor to rotate to drive the corresponding cable reel to wind or unwind the cable, so that the caulking head moves along the gap for caulking includes:

[0022] In response to the caulking direction being vertically upward, controlling the driving motor of the left cable reel to drive the left cable reel to wind the cable, and controlling the driving motor of the right cable reel to drive the right cable reel to wind the cable synchronously with the left cable reel, to achieve vertical upward movement and drive the glue gun module to start caulking;

[0023] In response to the caulking direction being vertically downward, controlling the driving motor of the left cable reel to drive the left cable reel to unwind the cable, and controlling the driving motor of the right cable reel to drive the right cable reel to unwind the cable synchronously with the left cable reel, to achieve vertical downward movement and drive the glue gun module to start caulking.

[0024] Optionally, according to the spacing, the initial length of the cable, and the caulking direction, controlling the driving motor to rotate to drive the corresponding cable reel to wind or unwind the cable, so that the caulking head moves along the gap for caulking includes:

[0025] When moving upward in the vertical direction, when the included angle between the cable of the left cable reel and the cable of the right cable reel and the vertical direction is greater than a first preset angle or a stop instruction is received, the control module controls the driving motor to turn off.

[0026] Optionally, according to the spacing, the initial length of the cable, and the caulking direction, controlling the driving motor to rotate to drive the corresponding cable reel to wind or unwind the cable, so that the caulking head moves along the gap for caulking includes:

[0027] In response to the caulking direction being horizontally leftward, controlling the driving motor of the left cable reel to drive the left cable reel to wind the cable, and the driving motor of the right cable reel to drive the right cable reel to unwind the cable, to achieve uniform horizontal leftward movement and drive the glue gun module to start caulking;

[0028] In response to the caulking direction being horizontally rightward, controlling the driving motor of the right cable reel to drive the right cable reel to wind the cable, and the driving motor of the left cable reel to drive the left cable reel to unwind the cable, to achieve uniform horizontal rightward movement and drive the glue gun module to start caulking.

[0029] Optionally, according to the spacing, the initial length of the cable, and the caulking direction, controlling the rotation of the driving motor to drive the corresponding cable reel to wind or unwind the cable, so that the caulking head moves along the gap for caulking includes:

[0030] When moving horizontally to the left, when the angle between the cable of the cable reel on the left and the vertical direction is less than the second preset angle or a stop command is received, the control module controls the driving motor to shut down;

[0031] When moving horizontally to the right, when the angle between the cable of the cable reel on the right and the vertical direction is less than the second preset angle or a stop command is received, control the driving motor to shut down.

[0032] Optionally, according to the spacing, the initial length of the cable, and the caulking direction, controlling the rotation of the driving motor to drive the corresponding cable reel to wind or unwind the cable, so that the caulking head moves along the gap for caulking includes:

[0033] In response to the caulking direction being vertically upward, control the driving motor of the cable reel on the left to drive the cable reel on the left to wind the cable, and control the driving motor of the cable reel on the right to drive the cable reel on the right to wind the cable synchronously with the cable reel on the left, to achieve vertical upward movement and drive the glue gun module to start caulking;

[0034] In response to the caulking direction being vertically downward, control the driving motor of the cable reel on the left to drive the cable reel on the left to unwind the cable, and control the driving motor of the cable reel on the right to drive the cable reel on the right to unwind the cable synchronously with the cable reel on the left, to achieve vertical downward movement and drive the glue gun module to start caulking;

[0035] In response to the caulking direction being horizontally to the left, control the driving motor of the cable reel on the left to drive the cable reel on the left to wind the cable, and the driving motor of the cable reel on the right to drive the cable reel on the right to unwind the cable, to achieve uniform horizontal movement to the left and drive the glue gun module to start caulking;

[0036] In response to the caulking direction being horizontally to the right, control the driving motor of the cable reel on the right to drive the cable reel on the right to wind the cable, and the driving motor of the left cable reel to drive the left cable reel to unwind the cable, to achieve uniform horizontal movement to the right and drive the glue gun module to start caulking.

[0037] Optionally, the method further includes:

[0038] Identifying the gap through a vision sensor, and obtaining the caulking direction according to the gap.

[0039] The caulking robot in this application can suspend the caulking gun module through the cables of the cable reels on both sides, and the control module controls the speed of taking in and paying out the cables of the cable reels, so that the caulking gun module can move along a predetermined trajectory, thereby achieving the following technical effects:

[0040] 1. The caulking robot can move automatically, thereby reducing manual intervention to optimize the caulking process and providing a coherent and consistent operation, which can reduce the consumption of glue and waste, and thus effectively reduce the production cost and labor cost;

[0041] 2. Improve accuracy. Compared with a handheld electric caulking gun, the caulking robot obviously has a more accurate control ability for caulking speed and caulking path. BRIEF DESCRIPTION OF THE DRAWINGS

[0042] Figure 1 is a schematic structural diagram of the caulking robot in the embodiment of the present application;

[0043] Figure 2 is Figure 1 an axonometric view of the housing part of the caulking robot in;

[0044] Figure 3 is Figure 1 a sectional view taken along the line A-A in;

[0045] Figure 4 is Figure 1 a left view of;

[0046] Figure 5 is Figure 4 a top view of;

[0047] Figure 6 is a schematic diagram of a right triangle formed by the cable of the cable reel, the gap, the fixing part and the perpendicular line between the gaps when the caulking robot in the embodiment of the present application moves horizontally to the right;

[0048] Figure 7 is a schematic diagram of a right triangle formed by the cable of the cable reel, the gap, the fixing part and the perpendicular line between the gaps when the caulking robot in the embodiment of the present application moves horizontally to the left;

[0049] Figure 8 is a schematic diagram of a right triangle formed by the cable of the cable reel, the gap, the fixing part and the perpendicular line between the gaps when the caulking robot in the embodiment of the present application moves vertically upward;

[0050] Figure 9 is a schematic diagram of a right triangle formed by the cable of the cable reel, the gap, the fixing part and the perpendicular line between the gaps when the caulking robot in the embodiment of the present application moves vertically downward;

[0051] Figure 10This is a flowchart of the caulking method in the embodiments of the present application.

[0052] The descriptions of the reference numerals in the above drawings are as follows:

[0053] 100 - Caulking robot;

[0054] 1 - Housing; 1a - Wire hole; 2 - Wire reel; 21 - Cable; 3 - Rangefinder; 4 - First gearbox; 5 - Driving motor; 61 - First fixing component; 62 - Second fixing component; 7 - Power supply; 8 - Control module; 9 - Caulking gun module; 9a - Rack; 9b - Caulking gun barrel; 9c - Piston; 9d - Caulking head; 9e - Caulking gun gear; 9f - Second gearbox; 9g - Caulking gun motor; 10 - Roller.

[0055] 200 - Workpiece to be caulked; 201 - Gap. Detailed implementation manners

[0056] In order to enable those skilled in the art of the present technology to better understand the solution of the present application, the present application will be further described in detail below with reference to the drawings and specific implementation manners.

[0057] Please refer to Figures 1-5 , Figure 1 This is a schematic structural diagram of the caulking robot 100 in the embodiments of the present application; Figure 2 For Figure 1 the axonometric view of the housing 1 part of the caulking robot 100 in Figure 3 For Figure 1 the A - A sectional view in Figure 4 For Figure 1 the left view in Figure 5 For Figure 4 the top view of

[0058] The caulking robot 100 in this embodiment is used for automatically caulking the caulking gap 201 of the workpiece 200 to be caulked. The workpiece 200 to be caulked is a device having a gap 201 for caulking and splicing. The workpiece 200 to be caulked is, for example, the nacelle housing of a wind power generation unit. The nacelle housing surrounds the periphery of the main engine of the wind turbine and can enclose important components such as the bearings and impellers of the wind turbine, playing a protective role. The nacelle housing is often large in size and generally adopts a process of segmented manufacturing and subsequent splicing, and a gap 201 that needs to be caulked will be formed at the splicing position. The caulking robot 100 provided in this embodiment can be applied to caulking the gap 201 of the nacelle housing. Of course, the caulking robot 100 can also be applicable to other workpieces 200 to be caulked that have gaps and need caulking, and will not be listed one by one.

[0059] The caulking robot 100 includes a driving module, a fixing module, a caulking gun module 9, and a control module 8. Among them, the fixing module includes two fixing components, namely a first fixing component 61 and a second fixing component 62, and each fixing component is used to be fixed to the workpiece 200 to be caulked. The driving module includes a first driving unit and a second driving unit. Each set of driving units includes a wire reel 2 and a driving motor 5. The driving motor 5 of each set of driving units is used to drive the corresponding wire reel 2 to wind or unwind the wire. Each set of driving units can also be equipped with a first gearbox 4, which is used to connect the driving motor 5 and the wire reel 2 to reduce speed and increase torque.

[0060] The caulking gun module 9 of the caulking robot 100 includes a caulking head 9d, which is used to caulk the gap 201 of the workpiece 200 to be caulked. The caulking gun module 9 is the specific execution component for caulking the caulking robot 100. The caulking head 9d has a glue outlet 9d1, and the glue in the caulking gun module 9 can be discharged from the glue outlet 9d1 into the gap 201. The caulking head 9d can be a disposable caulking head, which is convenient to replace after caulking to prevent the glue from blocking the caulking head and facilitating the next caulking operation.

[0061] Among them, the first driving unit and the second driving unit are both directly or indirectly connected to the caulking gun module 9. As Figure 2 shown, the caulking robot 100 includes a housing 1. The first driving unit, the second driving unit, and the caulking gun module 9 are all installed in the housing 1, that is, the driving unit is indirectly connected to the caulking gun module 9. The cables 21 of the wire reels 2 of the first driving unit and the second driving unit are respectively connected to the first fixing component 61 and the second fixing component 62. Then, when the wire reel 2 winds or unwinds the wire, the distance between the caulking gun module 9 and the fixing component 6 can be adjusted. Specifically, when the wire reel 2 winds the wire, the distance between the caulking gun module 9 and the first fixing component 61 or the second fixing component 62 where the wire reel 2 is located is reduced. When the wire reel 2 unwinds the wire, the distance between the caulking gun module 9 and the first fixing component 61 or the second fixing component 62 where the wire reel 2 is located is increased. It can be seen that the first driving unit and the second driving unit are respectively arranged on the first fixing component 61 and the second fixing component 62, that is, the first driving unit is fixed on the first fixing component 61, and the second driving unit is arranged on the second fixing component 62. In the working state, the driving motor 5 and the wire reel 2 remain stationary, and the cables 21 of the wire reels 2 of the first driving unit and the second driving unit are both directly or indirectly connected to the caulking gun module 9.

[0062] From Figure 1It can be seen that no matter the driving unit is set in the fixed part or fixed relatively to the glue gun module 9, the two cables 21 of the two cable drums 2 suspend the glue gun module 9 between the first fixed part 61 and the second fixed part 62. When the length of the cable 21 changes, the position of the glue gun module 9 also changes accordingly. The first fixed part 61 and the second fixed part 62 are set separately, so it is easy to adjust the distance between the two, and fix them in a suitable position as needed, which is more flexible. It can be seen that the first fixed part 61 and the second fixed part 62 can also be a whole, such as the fixed module includes a mounting rod, and the two ends of the mounting rod constitute a fixed part respectively, but the relative position of the first fixed part 61 and the second fixed part 62 cannot be adjusted. In this embodiment, the driving unit and the glue gun module 9 are both set in the housing 1, so that the volume of the first fixed part 61 and the second fixed part 62 is small, and it is easy to achieve fixation with the workpiece 200 to be glued. The first fixed part 61 and the second fixed part 62 are, for example, fixed suction cups, which can be adsorbed on the workpiece 200 to be glued, and the adsorption method is, for example, vacuum adsorption, magnetic adsorption, etc., which is not specifically limited in this embodiment. It can be seen that the first fixing component 61 and the second fixing component 62 can also be fixed to the workpiece to be glued 200 by other means. For example, when the workpiece to be glued 200 is originally provided with connecting holes or process holes, they can also be connected to the workpiece to be glued 200 through connecting parts, and can also be adhered to the workpiece to be glued 200. The specific fixing method is not limited.

[0063] The gluing robot 100 in this embodiment is also provided with a control module 8, which can control the driving motor 5 to make the two wire drums 2 reel in or out, so that the glue gun module 9 changes position according to the expected target. The position change is specifically manifested as running along the gap 201 of the workpiece 200 to be glued, so that the glue gun module 9 can automatically move along the gap 201 to achieve automatic gluing.

[0064] like Figure 2 As shown, the glue robot 100 in this embodiment also includes a distance meter 3. The first fixed component 61 and the second fixed component 62 are both provided with the distance meter 3. The fixed component 6 is used to measure the distance between the gap 201 of the workpiece 200 to be glued, that is, the vertical distance between the gap 201; the distance meter 3 is connected to the control module 8 by signal. The control module 8 controls the rotation angle of the drive motor 5 according to the detected distance and the length of the cable 21, and then realizes the movement of the glue gun module 9. The working principle of the glue robot 100 during operation is described in detail below.

[0065] 1. When the gap 201 to be glued is a horizontal gap 201:

[0066] You can continue to refer to Figure 6 , Figure 6This is the schematic diagram of the right triangle formed by the cable 21 of the wire reel 2, the gap 201, the fixing member 6, and the perpendicular line between the gap 201 when the caulking robot 100 moves horizontally to the right in the embodiment of the present application.

[0067] When the gap 201 is horizontally arranged, the caulking robot 100 needs to move horizontally. Figure 3 In this case, the glue gun module 9 of the caulking robot 100 moves horizontally to the right. The positions of the first fixing member 61 and the second fixing member 62 are A and B respectively, and the first fixing member 61 and the second fixing member 62 are at the same height. The position of the glue outlet 9d1 of the glue gun head 9d of the glue gun module 9 is C. To simplify the figure, Figures 6-9 in this case, the housing 1 is set at point C as a whole. AC and BC represent the initial wire lengths of the two cables 2 on both sides. When the glue gun module 9 moves leftward by a distance Δd, the position of the glue outlet 9d1 is C'.

[0068] In the initial state, the wire release lengths of the two wire reels 2 are fixed, that is, the initial wire lengths of the cables 21 are known, and the initial wire lengths of the two cables 21 are equal. Assume that the initial wire length of the cable 21 is x. Define left and right from the perspective facing the gap 201. Perpendicular lines are drawn from the first fixing member 61 and the second fixing member 62 on the left and right sides to the gap 201 respectively, and the perpendicular points are E and D respectively. The lengths of the perpendicular lines are both h, that is, the distance between the fixing member 6 and the gap 201 is h. The lengths of the gap segments between the left perpendicular line and the cable 21, and between the right perpendicular line and the cable 21 are both d. Since the glue gun module 9 needs to move horizontally along the gap 201, then x and d are variables, while h needs to remain unchanged. When the glue outlet 9d1 moves from position C to position C', the length of the cable 21 on the left side increases from x to x", and the length of the cable 21 on the right side decreases from x to x'.

[0069] Among them, the change amount Δd of d is the moving distance of the glue gun module 9. The moving speed of the glue gun module 9 is a known value. Assume that the moving speed is u and the moving time is t, then Δd = u * t. Since the rotation speed of the driving motor 5 can be controlled by a program and the rotation speed of the wire reel 2 is determined by the rotation speed of the driving motor 5, the rotation speed of the wire reel 2 can be controlled by a program. There is the following relationship between the rotation speed n of the wire reel 2, the radius r of the wire reel 2, and the linear speed v of the wire reel 2: v = 2πnr. Then the relationship between the linear speed v of the wire reel 2 and the moving time t can be constructed. The difference between the cable 21 decreasing from x to x' is x - vt. Assume that the glue gun module 9 needs to move to the right. According to the Pythagorean theorem, C'D 2 +h 2 = BC' 2 , that is, (CD - CC') + h 2 = BC' 2 , substituting the distance values, the following formula can be constructed:

[0070] (d - u * t) 2 + h 2 = (x - vt) 2

[0071] In the above formula, only t and v are variables. When the glue gun module 9 needs to move horizontally in a straight line at a set moving speed u, the relational expression between the linear speed v of the wire reel 2 and time t can be obtained, and then the control module 8 can control the driving motor 5 to operate the linear speed v of the wire reel 2 according to this relational expression.

[0072] It can be known that the left and right cables 21 provide a combined force to suspend the glue gun module 9. Therefore, when the right wire reel 2 takes in wire, the left wire reel 2 pays out wire synchronously. The length of the left cable 21 increases from x to x'', and the increased difference is x + vt, and d increases to d + u * t. The control principle of the control module 8 for the left wire reel 2 is the same, except that the formula changes as follows:

[0073] (d + u * t) 2 + h 2 = (x + vt) 2

[0074] Input or transmit the moving speed u, spacing h, initial lengths d and x of the glue gun module 9 into the control module 8. The receiving unit of the control module 8 accepts the above specific values, and then according to the relational expression between the linear speed v of the wire reel 2 and time t, it can control the two driving motors 5 to separately control the corresponding wire reels 2, so that the two cables 21 always suspend the glue gun module 9 to move horizontally along the gap 201.

[0075] As Figure 7 shown, Figure 7 This is the schematic diagram of the right triangle formed by the cable 21 of the wire reel 2, the gap 201, the first fixing member 61, the second fixing member 62 and the perpendicular line between the gaps 201 when the caulking robot 100 moves horizontally to the left in the embodiment of the present application. The operating principle of the caulking robot 100 moving horizontally to the left is the same as that of moving horizontally to the right, except for the opposite direction. When moving to the left, the left wire reel 21 takes in wire, and the right wire reel 21 pays out wire. The linear speed formulas for taking in and paying out wire are the same as the above formulas and will not be elaborated here.

[0076] Second, when the gap 201 to be caulked is a vertical gap 201:

[0077] You can continue to refer to Figure 8 for understanding. Figure 8 This is the schematic diagram of the right triangle formed by the cable 21 of the wire reel 2, the gap 201, the fixing member 6 and the perpendicular line between the gaps 201 when the caulking robot 100 moves vertically upward in the embodiment of the present application.

[0078] When the gap 201 is a vertical gap, the caulking robot 100 needs to move vertically.

[0079] Taking the gap 201 as a reference and from the perspective facing the gap 201, define the two sides of the gap 201 as the left side and the right side respectively. The calculation principle for the above horizontal movement is the same. For the first fixing member 61 and the second fixing member 62 on the left and right sides, they are A and B, and the position of the glue outlet 9d1 is C. Move vertically upward to C', and the moving distance is △d = u*t. The cable 21 on both sides is shortened from the initial cable length x to x' by taking in the cable. The first fixing member 61 and the second fixing member 62 draw perpendicular lines to the gap 201, and the perpendicular points are D, obtaining a distance of h. Different from horizontal movement, during horizontal movement, one cable reel 2 takes in the cable while the other cable reel 2 pays out the cable, so the control of the two cable reels 2 on both sides is opposite. However, during vertical movement, both cable reels 2 pay out the cable or take in the cable simultaneously, so the control of the two cable reels 2 on both sides is the same, and both are controlled by the cable take-in formula. When taking in the cable, the formula for the cable speed v of the cable reel 2 and the movement time t can be obtained as follows:

[0080] (d - u*t) 2 +h 2 =(x - vt) 2

[0081] Looking again Figure 9 , Figure 9 This is the schematic diagram of the right triangle formed by the cable 21 of the cable reel 2, the gap 201, the first fixing member 61, the second fixing member 62, and the perpendicular line between the second fixing member 62 and the gap 201 when the caulking robot 100 moves vertically downward in the embodiment of the present application. Obviously, the two cable reels 2 on both sides need to be controlled to pay out the cable, and the cable length increases from x to x”. It can be controlled according to the following cable payout formula:

[0082] (d + u*t) 2 +h 2 =(x + vt) 2

[0083] In the above embodiment, it is necessary to obtain the distance between the first fixing member 61, the second fixing member 62, and the gap 201. Specifically, a distance measuring instrument 3 can be set to obtain this data. The distance measuring instrument 3 can be set on the first fixing member 61 and the second fixing member 62 to facilitate directly measuring the data. It can be known that the distance between the first fixing member 61, the second fixing member 62, and the gap 201 is not limited to being obtained by the distance measuring instrument 3. For example, the distance can be directly set, and the first fixing member 61 and the second fixing member 62 can be installed at this distance position. Using the distance measuring instrument 3 has a higher degree of automation and wider adaptability.

[0084] It should be noted that during the above calculations, the fixing components on both sides are at the same height, so the calculation and control of the wire reels 2 on both sides are relatively simple. However, it can be seen that the fixing components on both sides are not limited to being at the same height. Even if there is a certain height difference, the relationship between the linear velocity v and the movement time t of the wire reel 2 can still be obtained by establishing a right triangle as above. When the first fixing component 61 and the second fixing component 62 are at the same height, the calculation data of the wire reels 2 on both sides are the same, and the control is simpler.

[0085] It can be seen from this that the caulking robot 100 in this embodiment suspends the caulking gun module 9 through the cables 21 of the wire reels 2 on both sides, and the control module 8 controls the winding and unwinding speeds of the wire reels 2 so that the caulking gun module 9 can walk along a predetermined trajectory, thereby achieving the following technical effects:

[0086] 1. The caulking robot 100 can walk automatically, thereby reducing manual intervention to optimize the caulking process and providing continuous and consistent operations, which can reduce the usage amount of glue and waste, and thus effectively reduce the production cost and labor cost;

[0087] 2. Improve accuracy. Compared with a handheld electric caulking gun, the caulking robot 100 obviously has more accurate control capabilities for caulking speed and caulking path.

[0088] The caulking robot 100 in the above embodiment includes a housing 1, and the caulking gun module 9 and the first driving unit and the second driving unit can all be fixed to the housing 1. In this way, the housing 1 provides an installation space for multiple components, facilitating assembly and actual use, and the housing 1 can also provide protection for each component. As Figure 2 shown, one side of the housing 1 is open, and the other side back plate faces the workpiece 200 to be caulked, which can prevent caulking from affecting components such as the control module 8 inside the housing 1. The housing 1 can also be a fully enclosed shell structure. For example, a cover plate is provided to cover Figure 2 the triangular opening of the housing 1 in the figure, and the cover plate is detachable to facilitate operations such as maintenance and debugging.

[0089] As Figure 1 、 2As shown in the figure, the housing 1 is provided with a wire hole 1a. The first driving unit and the second driving unit are installed in the housing 1. Then, the cable 21 of the cable reel 2 in the first driving unit and the second driving unit can pass through the wire hole 1a and be connected to the corresponding fixing member 6. In this way, there is a certain limit to the cable 21, which is beneficial to the stability of the suspension of the housing 1. Or, when the first driving unit and the second driving unit are installed on the fixing member 6, the cable 21 of the cable reel 2 can pass through the wire hole 1a and be fixed to the housing 1. The housing 1 in this embodiment is generally triangular, with the bottom side of the triangle facing upward, and wire holes 1a are provided at the positions of the two bottom angles of the triangle to ensure symmetric suspension positions and more stable suspension. Of course, the shape of the housing 1 is not limited to triangular, and square or circular shapes are also possible.

[0090] In the housing 1 of this embodiment, rollers 10 for rolling and walking on the surface of the workpiece 200 to be caulked can be provided on the back. The rollers 10 are, for example, disk-shaped wheel bodies or ball structures, etc. In this way, when the cable 21 drives the housing 1 to move along the gap 201, the rollers 10 can roll along the surface of the workpiece 200 to be caulked, thereby reducing friction and ensuring the smooth movement of the housing 1 carrying the glue gun module 9.

[0091] Both the first driving unit and the second driving unit in this embodiment further include a power source 7. The power source 7 is specifically a battery, and the battery is used to supply power to the driving motors 5 of the first driving unit and the second driving unit. When the driving motors 5 and the cable reels 2 of the first driving unit and the second driving unit are both arranged in the housing 1, the power source 7 is also installed in the housing 1. The above control module 8 can also be installed in the housing 1.

[0092] As Figure 4 shown, the glue gun module 9 in this embodiment specifically includes a glue gun barrel 9b, a piston 9c, a glue gun motor 9g, a glue gun gear 9e, and a rack 9a adapted to the glue gun gear 9e. The glue gun barrel 9b is fixed to the housing 1, for example, fixed to the housing 1 through Figure 4 the buckle 9h shown in the figure. The glue gun barrel 9b can also be fixed to the housing 1 through other fixed connection methods, such as fastening with fastening screws, etc. This embodiment does not make a limitation. The piston 9c is located in the glue gun barrel 9b, and the piston 9c is connected to the rack 9a. At this time, the rack 9a is equivalent to the piston rod of the piston 9c. The reciprocating movement of the rack 9a can drive the reciprocating movement of the piston 9c. The space between the piston 9c and the caulking head 9d is used to store glue. The glue is, for example, silicone, polyurethane and other glue products.

[0093] The glue gun motor 9g is installed on the housing 1, and the battery 7 mentioned above can also power the glue gun motor 9g. The glue gun motor 9g is used to drive the glue gun gear 9e to rotate, and can be specifically transmitted to the glue gun gear 9e through the second gearbox 9f. Since the glue gun motor 9g and the glue gun barrel 9b are fixed relative to the housing 1, after the rack 9a and the glue gun gear 9e are meshed, the rotation of the glue gun gear 9e will drive the rack 9a to move linearly. The rack 9a moves relative to the glue gun barrel 9b, which can drive the piston 9c to move axially in the glue gun barrel 9b. When it moves in the direction close to the glue head 9d, the glue can be compressed. Of course, when the rack 9a moves in the opposite direction, the piston 9c moves in the direction away from the glue head 9d of the glue gun barrel 9b, and the glue can be reloaded.

[0094] It can be seen that in this embodiment, the glue gun motor 9g drives the glue head 9d to automatically glue, and the glue gun gear 9e and the rack 9b cooperate to accurately control the amount of glue output, which is conducive to achieving uniform glue output and ensuring the consistency of glue quality. It is not limited by the skills and experience of the operator, and accordingly, it can further reduce the waste of glue and reduce costs. Moreover, compared with manual gluing, the glue robot 100 can automatically walk and automatically glue, and can perform the gluing task faster and continuously, effectively improving production efficiency. In addition, due to the realization of automated gluing, the working environment can be optimized, the time for operators to contact glue and chemicals with their hands can be reduced, and a safer working environment can be provided.

[0095] The present application also provides a method for applying glue, which is performed by the glue applying robot 100 described in any of the above embodiments. Figure 10 The gluing method specifically includes the following steps:

[0096] Fix the first fixing component 61 and the second fixing component 62 to the workpiece 200 to be glued, so that the glue head 9d of the glue module is aligned with the gap 201 to be glued, that is, the glue outlet 9d1 can cover the gap 201;

[0097] Input the distance between the first fixing part 61, the second fixing part 62 and the gap 201, as well as the initial length and the gluing direction of the cable 21 to the control module 8; the distance, the initial length and the gluing direction can be directly input to the control module 8 as detection values, or can be transmitted to the control module 8 after detection by corresponding detection elements, such as the distance meter 3 detecting the distance, the visual sensor described below can detect the gap 201 and obtain the gluing direction, and the initial length of the cable 21 can be measured manually, or can be obtained by detection by the reel 2's own retractable length calculation module;

[0098] Based on the spacing and the initial length of the cable 21, the control module 8 can calculate the linear velocity of the corresponding wire reel 2 according to the glue application direction in combination with the above formula stored internally, so as to control the rotation of the drive motor 5. That is, the drive motor 5 can rotate in response to the input instruction of the glue application direction, and drive the corresponding wire reel 2 to take up or pay out the wire, so that the glue gun head 9d moves linearly along the gap 201.

[0099] Before fixing the first fixing member 61 and the second fixing member 62, the cables 21 of the two wire reels 2 can be adjusted to equal initial lengths. Of course, the adjustment of the length of the cable 21 and the fixing steps of the first fixing member 61 and the second fixing member 62 are not limited.

[0100] In addition, as mentioned above, when the gap 201 to be glued extends in the vertical direction, the first fixing member 61 and the second fixing member 62 can be fixed to the workpiece 200 to be glued manually or by a robotic arm in a manner symmetric with respect to the gap 201. The robotic arm can be part of a glue application robot or a separate device. The first fixing member 61 and the second fixing member 62 are symmetrically arranged, so that the control of the wire reel 2 is relatively simple, and the control of the two wire reels 2 on both sides is synchronized.

[0101] At this time, the glue application method includes the following steps:

[0102] In response to the glue application direction being vertically upward, control the drive motor 5 of the left wire reel 2 to drive the left wire reel 2 to take up the wire, and control the drive motor 5 of the right wire reel 2 to drive the right wire reel 2 to take up the wire synchronously with the left wire reel 5, so as to achieve vertical upward movement and drive the glue gun module 9 to start glue application;

[0103] In response to the glue application direction being vertically downward, control the drive motor 5 of the left wire reel 2 to drive the left wire reel 2 to pay out the wire, and control the drive motor 5 of the right wire reel 2 to drive the right wire reel 2 to pay out the wire synchronously with the left wire reel 2, so as to achieve vertical downward movement and drive the glue gun module 9 to start glue application.

[0104] Specifically, when the control module 8 controls the glue gun module 9 to move upward to apply glue to the gap 201, the stop operation conditions can be set. For example, when the angle between the cable 21 of the wire reel 2 and the vertical direction is greater than the first preset angle or a stop instruction is received, the control module 8 controls the drive motor 5 to turn off. As Figure 8As shown, when the glue gun module 9 moves upward, the angle between the cable 21 and the vertical direction becomes larger and larger. If the angle reaches 90°, the two cables 21 will be in a horizontal state. In this case, the suspension stability of the housing 1 provided with the glue gun module 9 will be weakened, and it will no longer be possible to further pull it upward. Therefore, when controlling the upward movement, it is possible to choose to keep the angle between the cable 21 and the vertical direction not exceeding 90°. For example, the first preset angle can be set to 80° to ensure the suspension of the cable 21 on the glue gun module 9 and control the upward movement stroke. Of course, according to the actual situation, the operator can directly input a stop command to stop the glue application. For example, although the angle has not yet reached the first preset angle, the glue application has been completed. There are various ways to input the stop command, such as wireless remote control of the control module 8.

[0105] When the glue gun module 9 moves downward, the control method is similar to the above-mentioned upward control method. When moving downward, the angle between the cable 21 and the vertical direction will gradually decrease. The preset angle of this angle is set according to the total length of the cable 21. For example, if the cable 21 has been fully released, the angle is the minimum angle. An angle smaller than this minimum angle by a certain margin can be set as the preset angle to avoid insufficient cable length affecting the glue application. It should be noted that when applying glue downward, due to the uncertain length of the gap 201, when moving downward to the lowest position, the angle between the cable 21 and the vertical direction may not have reached the set preset angle, and the glue gun module 9 may touch the ground or the platform. To avoid this situation, for the case of applying glue downward, a stop glue application command can be directly manually output, or during actual use, for the glue application of the vertical gap 201, only upward glue application is performed and no downward glue application is carried out to ensure safe use.

[0106] When applying glue to the horizontally extending gap 201, as described above, the first fixing member 61 and the second fixing member 62 can be fixed at the same height of the workpiece 200 to be glued, which is conducive to control.

[0107] At this time, the glue application method includes the following steps:

[0108] In response to the glue application direction being horizontally to the left, control the drive motor 5 of the left reel 2 to drive the left reel 2 to take up the line, and the drive motor 5 of the right reel 2 to drive the right reel 5 to pay out the line, so as to achieve a uniform horizontal movement to the left and drive the glue gun module 9 to start applying glue;

[0109] In response to the glue application direction being horizontally to the right, control the drive motor 5 of the right reel 2 to drive the right reel 2 to take up the line, and the left drive motor 5 to drive the left reel 2 to pay out the line, so as to achieve a uniform horizontal movement to the right and drive the glue gun module 9 to start applying glue.

[0110] Similarly, at this time, a second preset angle can be set, and the angle between the cable 21 of the cable reel 2 and the vertical direction will also change. When applying glue while moving to the right, the angle between the right cable 21 and the vertical direction will gradually decrease, and the angle between the left cable 21 and the vertical direction will gradually increase. Conversely, when applying glue to the left, the angle between the left cable 31 and the vertical direction will gradually decrease, and the angle between the right cable 21 and the vertical direction will gradually increase. For example, set the second preset angle between the cable 21 and the vertical direction. When the angle between one side of the cable 21 and the vertical direction is equal to 0° when moving to the same side, the cable 21 on that side can no longer continue to move and suspend the glue gun module 9. Therefore, the second preset angle can be set to, for example, 10° to ensure the reliability of the suspension movement. When the angle between the cable 21 on one side of the moving direction and the vertical direction is less than the second preset angle, or when a stop command is received, the control module 8 controls the drive motor 5 to turn off.

[0111] In this embodiment, the control module 8 can be a single-chip microcomputer. The control module 8 can also be a Raspberry Pi (a more advanced single-board computer). At this time, a vision sensor can be further added, so that the glue application robot 100 can automatically identify the gap 201 through the vision sensor, and calculate the winding and unwinding speeds of the cables 21 on both sides through program processing, so that the glue gun module 9 can apply glue along a straight gap or a zigzag gap, making the glue application robot 100 more intelligent and having a wider application range. That is, when setting the vision sensor, it is not limited to applying glue only in the horizontal direction or only in the vertical direction. The winding or unwinding of the two cable reels 2 on both sides can be adjusted in a timely manner according to the change of the gap to move in the horizontal or vertical direction at the same time. However, for the cabin shell, the gaps 201 to be glued are all straight seams. A simple single-chip microcomputer can be used to run and control by pre-storing the above formula, which is simple and reliable and has a low cost.

[0112] In this article, specific examples are used to elaborate on the principle and implementation manner of the present application. The description of the above embodiments is only used to help understand the method and its core idea of the present application. It should be noted that for those of ordinary skill in the art in this technical field, without departing from the principle of the present application, several improvements and modifications can be made to the present application, and these improvements and modifications also fall within the protection scope of the claims of the present application.

Claims

1. A caulking robot, characterized in that, it includes: A driving module, including a first driving unit and a second driving unit. Both the first driving unit and the second driving unit include a wire reel (2) and a driving motor (5). The driving motor (5) is used to drive the corresponding wire reel (2) to wind or unwind the wire; A fixing module, including a first fixing part (61) and a second fixing part (62). The first fixing part (61) and the second fixing part (62) are used to be fixed to the workpiece to be caulked (200); A caulking gun module (9). The caulking gun module (9) includes a caulking head (9d) for caulking into the gap (201) of the workpiece to be caulked (200). The first driving unit and the second driving unit are both directly or indirectly connected to the caulking gun module (9). The wire (21) of the wire reel (2) of the first driving unit is connected to the first fixing part (61), and the wire (21) of the wire reel (2) of the second driving unit is connected to the second fixing part (62); or, the first driving unit is arranged on the first fixing part (61), the second driving unit is arranged on the second fixing part (62), and the wire (21) of the wire reels (2) of the first driving unit and the second driving unit is connected to the caulking gun module (9); A control module (8) for controlling the driving motor (5) to wind or unwind the wire reels (2) of the first driving unit and the second driving unit, and drive the caulking gun module (9) to run along the gap (201) for caulking.

2. The caulking robot according to claim 1, characterized in that, it includes a housing (1), and the caulking gun module (9) is installed on the housing (1).

3. The caulking robot according to claim 2, characterized in that, The housing (1) is provided with a wire hole (1a). The first driving unit and the second driving unit are installed on the housing (1). The wire (21) of the wire reel (2) passes through the wire hole (1a) and is connected to the corresponding first fixing part (61) or the second fixing part (62); or, the first driving unit and the second driving unit are installed on the corresponding first fixing part (61) and the second fixing part (62), and the wire (21) of the wire reel (2) passes through the wire hole (1a) and is fixed to the housing (1).

4. The caulking robot according to claim 2, characterized in that, The back of the housing (1) is provided with rollers (10) for rolling and walking on the surface of the workpiece to be caulked (200).

5. The caulking robot according to claim 2, characterized in that, The first driving unit and the second driving unit are installed on the housing (1), and the housing (1) is further provided with a power supply (7). The power supply (7) is used to supply power to the driving motors (5) of the first driving unit and the second driving unit; and / or, the control module (8) is installed on the housing (1).

6. The caulking robot according to any one of claims 1-5, characterized in that, It further includes a rangefinder (3). The first fixing member (61) and the second fixing member (62) are both provided with the rangefinder (3). The rangefinder (3) is used to measure the distance between the first fixing member (61), the second fixing member (62) and the gap (201) of the workpiece (200) to be caulked. The rangefinder (3) is signal-connected to the control module (7). The control module (7) controls the rotation angle of the drive motor (5) according to the detected distance and the initial length of the cable (21).

7. The caulking robot according to any one of claims 2-5, characterized in that, the caulking module (9) includes a caulking gun barrel (9b), a piston (9c), a caulking gun motor (9g), a caulking gun gear (9e), and a rack (9a) adapted to the caulking gun gear (9e). The caulking gun barrel (9b) is fixed to the housing (1). The piston (9c) is located in the caulking gun barrel (9b). The piston (9c) is connected to the rack (9a). The caulking gun motor (9g) is installed on the housing (1), and the caulking gun motor (9g) drives the caulking gun gear (9e) to rotate to drive the rack (9a) to move. The movement of the rack (9a) can drive the piston (9c) to move in the caulking gun barrel (9b) to compress and caulk.

8. The caulking robot according to any one of claims 1-5, characterized in that, the caulking robot further includes a vision sensor, and the vision sensor is used to identify the gap (201) of the workpiece to be caulked.

9. A caulking method, characterized in that, applied to the caulking robot (100) according to any one of claims 1-8, the method includes: acquiring the distances between the first fixing member (61), the second fixing member (62) and the gap (201), the initial length of the cable (21), and the caulking direction; controlling the drive motor (5) to rotate according to the distances, the initial length of the cable (21) and the caulking direction to drive the corresponding wire reel (2) to take in or pay out wire, so that the caulking head (9d) moves along the gap (201) for caulking.

10. The caulking method according to claim 9, characterized in that, the gap (201) to be caulked extends in the vertical direction, and the first fixing member (61) and the second fixing member (62) are fixed to the workpiece (200) to be caulked in a symmetric manner relative to the gap (201).

11. The caulking method according to claim 10, characterized in that, controlling the drive motor (5) to rotate according to the distances, the initial length of the cable (21) and the caulking direction to drive the corresponding wire reel (2) to take in or pay out wire, so that the caulking head (9d) moves along the gap (201) for caulking includes: In response to the caulking direction being vertically upward, control the drive motor (5) of the left wire reel (2) to drive the left wire reel (2) to take up the wire, and control the drive motor (5) of the right wire reel (2) to drive the right wire reel (2) to take up the wire synchronously with the left wire reel (2), so as to achieve vertical upward movement and drive the caulking gun module (9) to start caulking; In response to the caulking direction being vertically downward, control the drive motor (5) of the left wire reel (2) to drive the left wire reel (2) to pay out the wire, and control the drive motor (5) of the right wire reel (2) to drive the right wire reel (2) to pay out the wire synchronously with the left wire reel (2), so as to achieve vertical downward movement and drive the caulking gun module (9) to start caulking.

12. The caulking method according to claim 11, characterized in that controlling the drive motor (5) to rotate to drive the corresponding wire reel (2) to take up or pay out the wire according to the spacing, the initial length of the cable (21), and the caulking direction, so that the caulking head (9d) moves along the gap (201) for caulking includes: When moving upward in the vertical direction, when the included angle between the cable (21) of the left wire reel (2) and the vertical direction and the cable (21) of the right wire reel (2) is greater than the first preset angle or a stop instruction is received, the control module (8) controls the drive motor (5) to turn off.

13. The caulking method according to claim 9, characterized in that controlling the drive motor (5) to rotate to drive the corresponding wire reel (2) to take up or pay out the wire according to the spacing, the initial length of the cable (21), and the caulking direction, so that the caulking head (9d) moves along the gap (201) for caulking includes: In response to the caulking direction being horizontally to the left, control the drive motor (5) of the left wire reel (2) to drive the left wire reel (2) to take up the wire, and the drive motor (5) of the right wire reel (2) to drive the right wire reel (2) to pay out the wire, so as to achieve uniform horizontal movement to the left and drive the caulking gun module (9) to start caulking; In response to the caulking direction being horizontally to the right, control the drive motor (5) of the right wire reel (2) to drive the right wire reel (2) to take up the wire, and the left drive motor (5) to drive the left wire reel (2) to pay out the wire, so as to achieve uniform horizontal movement to the right and drive the caulking gun module (9) to start caulking.

14. The caulking method according to claim 13, characterized in that controlling the drive motor (5) to rotate to drive the corresponding wire reel (2) to take up or pay out the wire according to the spacing, the initial length of the cable (21), and the caulking direction, so that the caulking head (9d) moves along the gap (201) for caulking includes: When moving horizontally to the left, when the included angle between the cable (21) of the left wire reel (2) and the vertical direction is less than the second preset angle or a stop instruction is received, the control module (8) controls the drive motor (5) to turn off; When moving horizontally to the right, when the included angle between the cable (21) of the wire reel (2) on the right side and the vertical direction is less than the second preset angle or a stop instruction is received, the driving motor (5) is controlled to turn off.

15. The caulking method according to claim 9, characterized in that According to the pitch, the initial length of the cable (21), and the caulking direction, controlling the driving motor (5) to rotate to drive the corresponding wire reel (2) to take in or pay out the wire, so that the caulking head (9d) moves along the gap (201) for caulking includes: In response to the caulking direction being vertically upward, controlling the driving motor (5) of the left wire reel (2) to drive the left wire reel (2) to take in the wire, and controlling the driving motor (5) of the right wire reel (2) to drive the right wire reel (2) to take in the wire synchronously with the left wire reel (2), to achieve vertical upward movement and drive the glue gun module (9) to start caulking; In response to the caulking direction being vertically downward, controlling the driving motor (5) of the left wire reel (2) to drive the left wire reel (2) to pay out the wire, and controlling the driving motor (5) of the right wire reel (2) to drive the right wire reel (2) to pay out the wire synchronously with the left wire reel (2), to achieve vertical downward movement and drive the glue gun module (9) to start caulking; In response to the caulking direction being horizontally to the left, controlling the driving motor (5) of the left wire reel (2) to drive the left wire reel (2) to take in the wire, and the driving motor (5) of the right wire reel (2) to drive the right wire reel (2) to pay out the wire, to achieve uniform horizontal movement to the left and drive the glue gun module (9) to start caulking; In response to the caulking direction being horizontally to the right, controlling the driving motor (5) of the right wire reel (2) to drive the right wire reel (2) to take in the wire, and the driving motor (5) of the left side to drive the left wire reel (2) to pay out the wire, to achieve uniform horizontal movement to the right and drive the glue gun module (9) to start caulking.

16. The caulking method according to any one of claims 9 to 15, characterized in that The method further includes: Identifying the gap (201) through a vision sensor, and obtaining the caulking direction according to the gap (201).

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