Automatic gluing system for refrigerator

Abstract

The invention provides an automatic refrigerator gluing system which comprises an electric appliance control module, an operation module, a clamping module, a manipulator module and a gluing module, the operation module collects refrigerator information data such as the height, the width, the depth and the position of a refrigerator and transmits the refrigerator information data to the electric appliance control module; the electric appliance control module controls the clamping module to clamp and position a refrigerator and controls the operation module to move the refrigerator to a designated position from an original assembly line, and after the refrigerator reaches the designated position, the manipulator module drives the gluing module to move to a gluing position under the control of the electric appliance control module. And the gluing module is used for gluing the refrigerator under the control of the electric appliance control module. According to the automatic gluing system for the refrigerator, refrigerator pre-rotation production is adopted for replacing manual work, automatic gluing can be achieved, the labor cost is reduced, and the production efficiency is improved.

Description

Technical Field

[0001] The invention relates to the technical field of refrigerator pre-installation production management, and in particular to an automatic gluing system for refrigerators. Background Art

[0002] Currently, in the production process of refrigerator pre-assembly production line, the installation process of hot melt adhesive on the corners is realized by manual gluing, which has the following disadvantages:

[0003] 1. Manual gluing is inefficient and takes too long, which has a great impact on the production rhythm.

[0004] 2. The amount of glue applied at each glue point cannot be completely consistent, resulting in poor sealing effect.

[0005] 3. For different models, different gluing points, manual gluing can easily cause leakage, resulting in the refrigerator being scrapped.

[0006] 4. The temperature of the glue that needs to be injected is relatively high, and manual operation is more likely to cause injury.

[0007] 5. Manual gluing can easily lead to waste of hot melt adhesive and increase the cost burden of the enterprise.

[0008] 6. During the production process, the entire process is greatly affected by human factors and unforeseen unexpected problems are prone to occur.

[0009] Due to the many shortcomings of manual gluing, we invented a new automatic gluing system for refrigerators to solve the above technical problems. Summary of the invention

[0010] The purpose of the present invention is to provide an automatic gluing system for refrigerators which can replace manual labor in refrigerator pre-production, realize automatic gluing, reduce labor costs, and improve production efficiency.

[0011] The object of the present invention can be achieved through the following technical measures: an automatic gluing system for a refrigerator, which includes an electrical control module, an operation module, a clamping module, a manipulator module and a gluing module. The operation module collects refrigerator information data such as the height, width, depth and position of the refrigerator, and transmits the refrigerator information data to the electrical control module. The electrical control module controls the clamping module to tighten the positioning of the refrigerator, and controls the operation module to move the refrigerator from the original assembly line to a designated position. After the refrigerator arrives at the designated position, the manipulator module drives the gluing module to move to the gluing position under the control of the electrical control module, and the gluing module glues the refrigerator under the control of the electrical control module.

[0012] The purpose of the present invention can also be achieved by the following technical measures:

[0013] The automatic glue application system of the refrigerator further includes an alignment module. The alignment module is connected to the electrical control module. The alignment module collects the position and offset information of the refrigerator through multiple photoelectric sensors, and determines whether the position of the refrigerator needs to be adjusted or exceeds the limit based on the position and offset information of the refrigerator. When it is determined that the position of the refrigerator needs to be adjusted, the alignment module sends a refrigerator adjustment signal to the electrical control module. The electrical control module controls the cylinder to extend through the first solenoid valve to block the refrigerator. After the alignment module adjusts the position of the refrigerator, it sends a reset signal to the electrical control module, and the electrical control module controls the first solenoid valve to retract the cylinder, and the refrigerator is aligned. When it is determined that the position of the refrigerator exceeds the limit, the alignment module issues an alarm for the refrigerator position exceeding the limit to alert the operator, and transmits the alarm signal for the refrigerator position exceeding the limit to the electrical control module. When the electrical control module receives the alarm signal for the refrigerator position exceeding the limit, it stops the operation of the line body.

[0014] The operation module includes multiple distance sensors, which collect the information data of the refrigerator in real time, including the position, height, width, depth and position of the refrigerator, and transmit the refrigerator information data to the electrical control module. The electrical control module converts the refrigerator information data into electrical signal data, and then transmits the electrical signal data to the operation module. The operation module performs actions according to the electrical signal data obtained from the electrical control module, so as to control the movement of the refrigerator, including the parallel movement of the refrigerator during the glue application operation, the stop action, the lifting of the refrigerator at the starting position, and the lowering of the refrigerator at the ending position.

[0015] The operation module includes 8 distance sensors. The movement data of the 8 distance sensors B1, B2, B3, B4, B5, B6, B7, and B8 are respectively defined as A1, A2, A3, A4, A5, A6, A7, and A8. The position, height, width, and depth data of the refrigerator are respectively P0, H1, W1, and L1. The distance between distance sensors B1 and B2 is set as D1, the distance between distance sensors B3 and B4 is D2, the distance between distance sensors B5 and B6 is D3, and the distance between distance sensors B7 and B8 is D4. The data of D1, D2, D3, and D4 are obtained according to their installation positions. After the 8 distance sensors are installed in place, the 4 data of D1, D2, D3, and D4 are obtained by measuring the distance between two points and are fixed values. The positions of the 8 distance sensors are as follows: B1 is located at the starting position of the operation module; B2 is located at the ending position of the operation module; B3 is located at the starting position of the orthostatic module; B4 is located at the ending position of the orthostatic module; B5 is located at the starting position of the clamping module; B6 is located at the ending position of the clamping module; B7 is located at the lowest position of the clamping module, and B8 is located at the highest position of the clamping module. During the operation, the data of the 8 distance sensors change according to the position of the refrigerator. The operation module controls the movement of the refrigerator. After the clamping module finishes clamping, the corresponding instantaneous data A1, A2, A3, A4, A5, A6, A7, and A8 are obtained from the 8 distance sensors. Then the operation module calculates the 4 data of P0, H1, W1, and L1 of the current refrigerator. The calculation formulas are as follows:

[0016] P0 = k0*(D1 - A1 + A2) + b0

[0017] H1 = k1*(D2 - A3 + A4) + b1

[0018] W1 = k3*(D3 - A5 + A6) + b3

[0019] L1 = k4*(D4 - A7 + A8) + b4

[0020] In the formulas, k1, k2, k3, and k4 are proportional parameters, and the conventional numerical values are 1. b1, b2, b3, and b4 are offset parameters, and the conventional numerical values are 0.

[0021] The operation module includes five servo motors: a first servo motor, a second servo motor, a third servo motor, a fourth servo motor, and a fifth servo motor; when measuring the height of the refrigerator, the operation module sends a height operation instruction to the electrical control module, and the electrical control module controls the first servo motor and the second servo motor to operate. The first servo motor and the second servo motor drive the operation of the operation module. After the refrigerator is clamped, the proximity switch of the operation module touches the outer shell of the refrigerator, triggers a signal, and feeds the signal back to the electrical control module. After receiving the signal feedback, the electrical control module controls the first servo motor and the second servo motor to stop operating, and sends the recorded A1 and A2 data to the operation module; when measuring the width of the refrigerator, the operation module sends a width operation instruction to the electrical control module, and the electrical control module controls the third servo motor and the fourth servo motor to operate. The third servo motor and the fourth servo motor drive the horizontal fixture of the operation module to operate. After the refrigerator is clamped, the proximity switch of the operation module touches the outer shell of the refrigerator, triggers a signal, and feeds the signal back to the electrical control module. After receiving the signal feedback, the electrical control module controls the third servo motor and the fourth servo motor to stop operating, and sends the recorded A3 and A4 data to the operation module. At the same time, while recording the A3 and A4 data, the A5 and A6 data are sent to the operation module, and the depth data is calculated synchronously; when measuring the position information of the refrigerator, the operation module sends a forward instruction to the electrical control module, and the electrical control module controls the fifth servo motor to operate. The fifth servo motor drives the operation module to move forward and sends the current A7 and A8 to the operation module.

[0022] The electrical control module transmits the refrigerator information data such as the height, width, depth, and position of the refrigerator to the manipulator module. The manipulator module converts the refrigerator information data into three-dimensional matrix coordinates and drives the caulking module to the caulking position according to the obtained three-dimensional matrix coordinates.

[0023] The refrigerator automatic caulking system further includes a correction module. The correction module is connected to the electrical control module, receives the refrigerator information data such as the height, width, depth, and position of the refrigerator transmitted by the electrical control module, calculates the refrigerator information data with the manually set correction parameters, and transmits the calculated result to the electrical control module, which then transmits it to the manipulator module to change the position of the caulking point.

[0024] The caulking module is connected to the electrical control module. After the manipulator module drives the caulking module to the caulking position, the electrical control module controls the second solenoid valve to open, the caulking machine passage is opened, and caulking is performed on the refrigerator. After reaching the set caulking time, the electrical control module controls the second solenoid valve to close and stop caulking.

[0025] The automatic glue - applying system for refrigerators in the present invention can automatically identify the refrigerator type and the corresponding glue - applying points during the pre - installation production process, set corresponding glue - applying parameters according to different glue - applying points, including parameters such as the glue - applying position, the glue - applying range, and the glue - applying time, so as to achieve different parameters for different glue - applying points and realize independence. At the same time, it realizes completely automatic glue - applying during the production process without manual intervention. The automatic glue - applying achieves the independence and complete consistency of the glue volume at each point. Meanwhile, the automatic glue - applying can effectively improve the glue - applying efficiency, reduce the usage amount of hot - melt glue, replace manual labor to save labor costs, effectively reduce the operation cost of the enterprise, and improve competitiveness. Brief Description of the Drawings

[0026] Figure 1 It is a schematic structural diagram of a specific embodiment of the automatic glue - applying system for refrigerators of the present invention;

[0027] Figure 2 It is a flowchart of the operation of the automatic glue - applying system for refrigerators in a specific embodiment of the present invention. Detailed Description of the Embodiment

[0028] It should be noted that the following detailed description is exemplary and is intended to provide further illustration of the present invention. Unless otherwise specified, all technical and scientific terms used herein have the same meaning as commonly understood by those of ordinary skill in the technical field to which the present invention belongs.

[0029] It should be noted that the terms used herein are only for describing the specific embodiments and are not intended to limit the exemplary embodiments according to the present invention. As used herein, unless the context clearly indicates otherwise, the singular form is also intended to include the plural form. In addition, it should be understood that when the terms "comprise" and / or "include" are used in this specification, they indicate the presence of features, steps, operations, and / or combinations thereof.

[0030] As Figure 1 shown, Figure 1 It is a schematic structural diagram of the automatic glue - applying system for refrigerators of the present invention. The automatic glue - applying system for refrigerators includes a positioning module 5, an operation module 1, a clamping module 3, a manipulator module 2, a correction module 7, an electrical control module 4, and a glue - applying module 6.

[0031] Front alignment module 5: It can adjust the tilt angle of the refrigerator, and the adjustment angle range is [0, 30°]. It can identify the position and offset of the refrigerator. The allowance for the refrigerator to extend out of the line body is required to be [200mm, 500mm]. The identification method is to install a photoelectric sensor at the corresponding control position. Once the sensor is triggered, it means that the position of the refrigerator exceeds the limit. Then, the front alignment module 5 alarms and reminds the refrigerator with an incorrect position. At the same time, it transmits a signal to the electrical control module 4. The electrical control module 4 will cut off the power of the line body motor, stop the line body, and remind the operator that the position of the refrigerator needs to be manually adjusted. When the manual adjustment of the position is correct or the refrigerator itself is in the correct state, the front alignment module 5 controls the power-on of the line body motor and continues to run. It communicates with the electrical control module 4. The communication method is the pulse signal mode. The signal is an NPN normally open signal, and the power supply is DC24V.

[0032] Operation Module 1: The overall operation module unit of the device, including controlling various actions such as the movement, stop, lifting, and lowering of the refrigerator. Operation Module 1 includes 8 distance sensors that collect the position, height, width, and depth information of the refrigerator in real time. The sensors are 4 - 20mA analog signals, with a maximum reading distance of 1000mm, a minimum reading distance of 200mm, and a voltage of DC24V. The sensors are connected to the electronic control board of the operation module, and the data is transmitted to the operation module in real time with an update frequency of 10HZ / s. The operation process of Operation Module 1 is controlled by the Electrical Control Module 4. The control method is a pulse command with a transmission frequency of 10KHZ / s and an operation speed of 200mm / s. The operation module obtains corresponding data by monitoring 8 sensors. All data units are millimeters (mm), and the data calculation method is as follows: This operation module includes 8 distance sensors. The movement data of the 8 distance sensors B1, B2, B3, B4, B5, B6, B7, and B8 are respectively defined as A1, A2, A3, A4, A5, A6, A7, and A8. The position, height, width, and depth data of the refrigerator are respectively P0, H1, W1, and L1. Set the distance between distance sensors B1 and B2 as D1, the distance between distance sensors B3 and B4 as D2, the distance between distance sensors B5 and B6 as D3, and the distance between distance sensors B7 and B8 as D4. The data of D1, D2, D3, and D4 are obtained according to their installation positions. After the 8 distance sensors are installed in place, the 4 data of D1, D2, D3, and D4 are obtained by measuring the distance between two points and are fixed values. The positions of the 8 distance sensors are as follows: B1 is located at the starting position of this operation module; B2 is located at the ending position of this operation module; B3 is located at the starting position of this alignment module; B4 is located at the ending position of this alignment module; B5 is located at the starting position of this clamping module; B6 is located at the ending position of this clamping module; B7 is located at the lowest position of this clamping module, and B8 is located at the highest position of this clamping module. During the operation process, the data of the 8 distance sensors change according to the position of the refrigerator. This operation module controls the movement of the refrigerator. After the clamping module finishes clamping, the corresponding instantaneous data A1, A2, A3, A4, A5, A6, A7, and A8 are obtained from the 8 distance sensors, and then this operation module calculates the 4 data of P0, H1, W1, and L1 of the current refrigerator. The calculation formulas are as follows:

[0033] P0 = k0*(D1 - A1 + A2) + b0

[0034] H1 = k1*(D2 - A3 + A4) + b1

[0035] W1 = k3*(D3 - A5 + A6) + b3

[0036] L1 = k4*(D4 - A7 + A8) + b4

[0037] The above k1…k4 are proportional parameters, usually taking the value of 1, and b1…b4 are offset parameters, usually taking the value of 0. Corresponding data is obtained through the above formula, and then the data will be transmitted to the electrical control module 4 through the communication module, and cooperate with the glue application module 6 and the manipulator module 2 to realize the control of glue application during the operation process. The system includes a total of 2 operation modules. Communicate with the electrical control module, and the communication method is the TCP-modus communication protocol. After the operation module obtains the data, it transmits the corresponding data to the electrical control module 4 for use and calculation by other modules. The 2 operation modules 1 respectively lift the top and bottom of the refrigerator and run synchronously, enabling the refrigerator to run synchronously perpendicular to the line body, facilitating glue application. The system can control the position of the refrigerator through the operation module 1, and then under the control of the electrical control module 4, realize the position control of the refrigerator, including operations such as running, stopping, continuing, and returning to the origin.

[0038] Manipulator module 2: The mechanical mechanism that drives the glue application module to operate, including a 6-axis robotic arm body with a load capacity of 20 kg and a teaching pendant for control. Cooperate with the glue application module 6 and the operation module 1 to realize the motion control of automatic glue application. The system includes a total of 2 manipulator modules 2. The manipulator module obtains relevant data according to the electrical control module 4, and the data communication method is the TCP-modus communication protocol. The manipulator module 2 obtains the changing position information of the refrigerator through the obtained data. The data required includes the refrigerator P0, H1, W1, L1. These 4 data are stored in the 4 storage locations D1001, D1002, D1003, D1004 of the electrical control module 4 according to the calculation of the operation module. The IP address of the storage unit is 192.168.60.103. The manipulator module 4 obtains through the command 000000000009011003E90001020001 of the standard TCP-modbus communication. After obtaining these 4 data of the refrigerator, the manipulator drives the glue head to the corresponding glue application position. The three-dimensional matrix conversion method of the manipulator is as follows:

[0039] Set the three-dimensional coordinate relationship of the on-site line body as follows: Take the horizontal south direction perpendicular to the line body as the positive x-axis, take the direction parallel to the line body operation as the positive y-axis, and take the upward direction perpendicular to the line body as the positive z-axis. The three-dimensional conversion matrix is set as HA=(1 0 0, 0 0 1, 0 1 0). The corresponding matrices for the width, height, and depth travel of the refrigerator are HB=(H1 0 0, 0 0 W1, 0 L1 0). The vector matrix of the manipulator relative to the starting point of the positive position is defined as HC=(a1 a2 1, b1 b2 1, c1 c2 1), HC is a constant, and the values of a1, a2, b1, b2, c1, c2 are obtained according to the measured length, width, and height data of the manipulator relative to the starting point of the positive position module. The obtained matrix after conversion is:

[0040] HK = HA * HB * HC

[0041] Obtain the matrix HK and then perform a logical 'AND' operation with HA to obtain HK1

[0042] HK1 = HK and HA

[0043] Then the relative coordinate position that the obtained manipulator needs to move to, with the coordinate values of X0, Y0, and Z0, is

[0044] X0 := HK1[0, 0];

[0045] Y0 := HK1[1, 2];

[0046] Z0 := HK1[2, 1];

[0047] Transmit the obtained coordinate values to the internal module of the manipulator, and then the manipulator controls the glue head to move to the corresponding position. In the same way, the positions of the remaining glue application points on the refrigerator can be obtained. Let the manipulator follow this pattern to obtain the corresponding X1…Xn, Y1…Yn, Z1…Zn, and then execute one by one according to the obtained data. The manipulator stores all the data of the glue application points X0…Xn, Y0…Yn, Z0…Zn into D1100…D1200 in the data of the electrical control module 4 through the TCP-modus communication protocol.

[0048] Clamping module 3: A control mechanism for clamping and positioning the refrigerator, including 4 groups of linear slides and 2 groups of cylinders, which can effectively position the refrigerator. The data obtained by the 4 groups of linear slides are the four data A3, A4, A5, and A6 of the sensors 3, 4, 5, and 6 in the operation module, which can cooperate with the operation module to calculate H1, W1, and L1 in the refrigerator data. Communicate with the electrical control module 4 in the pulse signal mode of communication.

[0049] Correction module 7: It can adjust the position of the glue application point during the operation of the refrigerator to adapt to the change of the current glue application position of the refrigerator or adjust the current position. Communicate with the electrical control module. Through the TCP-modus communication protocol, the relative position data in the manipulator module 2 is read into the correction module through D1100…D1200 in the data of the electrical control module 4, and then calculated with the manually set correction parameters. The calculated result is transmitted to the electrical control module 4, and then the electrical control module 4 transmits it to the manipulator module 2 to change the position of the glue application point. The specific calculation method is as follows:

[0050] It is set that the glue application point A of the refrigerator needs to be adjusted. The moving amount of the x-axis in the adjustment data is xt, the moving amount of the y-axis is yt, and the moving amount of the z-axis is zt. The data displacement of this glue application point is X n,Y n ,Z n , the current displacement after correction is as follows:

[0051] X n = X n + xt;

[0052] Y n = Y n + yt;

[0053] Z n = Z n + zt;

[0054] Glue application module 6: A device for applying glue to various points of the refrigerator, including 2 sets of pneumatic automatic glue application systems and 2 sets of glue applicators. Communicates with the electrical control module 4 in the pulse output signal mode, with the signal being 24V normally open and powered by DC24V. Controls whether to apply glue to a certain position of the refrigerator and the amount of glue. The amount of glue in the glue application module 6 is controlled by the glue application time, and the glue application time is determined by manual input.

[0055] Electrical control module 4: The electrical control module 4 is the control center of all modules and controls the operation processes of the remaining all modules through the PLC.

[0056] In one embodiment, the cooperation operation mode of the PLC and each module is as follows:

[0057] PLC Control Operation Module: The PLC controls the operation module by controlling the servo motors, with a total of 5 servo motors controlled. Among them, 2 servo motors measure the height of the refrigerator, 2 servo motors control the width of the refrigerator, and 1 servo motor controls the position of the refrigerator. The control method is that the PLC sends pulse signals to the servo motors, and the movement speed of the servo motors is controlled by the frequency of the pulse signals. The height operation process is as follows: When the operation module needs to perform height calculation, the operation module sends a height operation instruction to the electrical control module, and then the PLC controls the operation of the servo motor by sending pulses. The servo motor drives the fixture of the operation module to operate. When the refrigerator is clamped, the proximity switch of the operation module touches the outer shell of the refrigerator, triggers a signal, and feeds the signal back to the PLC. When the PLC receives the signal, it controls the servo motor to stop operating and sends the recorded pulse digital information to the operation module. The width operation process is as follows: When the operation module needs to perform width calculation, the operation module sends a width operation instruction to the electrical control module, and then the PLC controls the operation of the servo motor by sending pulses. The servo motor drives the horizontal fixture of the operation module to operate. When the refrigerator is clamped, the proximity switch of the operation module touches the outer shell of the refrigerator, triggers a signal, and feeds the signal back to the PLC. When the PLC receives the signal, it controls the servo motor to stop operating and sends the recorded pulse digital information to the operation module. The position operation process is as follows: When the operation module needs to obtain the current position information, the operation module sends a forward instruction to the electrical control module, and then the PLC controls the operation of the servo motor by sending pulses. The servo motor drives the operation module to move forward and synchronously sends the current pulse signal to the operation module.

[0058] PLC Control Manipulator Module: The data of the PLC control operation module needs to be transmitted to the manipulator in real time. Therefore, the PLC control manipulator module synchronously sends all the current pulse signal data to the manipulator module to facilitate the manipulator module to calculate relevant parameters based on the data.

[0059] PLC Control Alignment Module: The PLC realizes its function by controlling the operation of 2 cylinders and the motor of the line body. When the alignment system determines that there is a problem with the refrigerator and corresponding adjustments are required, the alignment module sends a request to the PLC. Then the PLC controls the solenoid valve to extend the cylinder to block the refrigerator until the position of the refrigerator is adjusted properly. When the alignment system sends a reset signal, the PLC controls the solenoid valve to retract the cylinder, and then the refrigerator can pass through the alignment module to complete this adjustment. When the alignment module cannot adjust the position of the refrigerator and manual intervention is required, the alignment module sends a signal to the PLC, and the PLC will stop the power supply of the line body motor to stop the line body and at the same time use the alarm light to remind the operator.

[0060] PLC-controlled Gluing Module: Whether the gluing module performs the gluing action is controlled by the PLC. After the PLC controls the manipulator module to reach the specified position, the PLC controls whether the gluing module operates by controlling the opening and closing of the solenoid valve. After the PLC controls the solenoid valve to open, the passage of the glue machine is opened, and the glue in the glue machine will flow out and fall to the specified position of the refrigerator. When the glue volume is completed, the PLC will control the solenoid valve to close, thus stopping the gluing.

[0061] PLC-controlled Correction Module: The PLC transmits all data to the correction module. The correction module contains a matrix conversion algorithm for data. The data is converted and calculated through the algorithm, and the calculated data is fed back to the PLC. Then the PLC feeds the data back to the other required modules for processing.

[0062] Figure 2 The following is a flowchart of the operation of the refrigerator automatic gluing system in a specific embodiment of the present invention. When the refrigerator automatic gluing system operates, it includes the following steps:

[0063] Step 1: The refrigerator enters the system through the positioning module. The system collects the refrigerator position information through the position sensor of the operation module, determines the refrigerator position, and performs corresponding positioning processing on the refrigerator.

[0064] Step 2: After the refrigerator enters the specified position, through the operation module of the refrigerator, the refrigerator type and the gluing position are determined. Through the electrical control module, the position of the gluing point is saved in the PLC. The system clamps and lifts the refrigerator through the clamping module, disengaging it from the original line.

[0065] Step 3: The system controls the refrigerator to continue moving to the specified position through the operation module. Then, through the electrical control module, it controls the manipulator module to drive the gluing module to bring the glue head to the specified gluing position. Then the correction module is run to further calibrate the position of the glue head. Then it controls the start of gluing, and controls the gluing amount by controlling the time and speed of gluing through the sensor. After the gluing is completed, the next gluing point is obtained through the electrical control module, and continue to run according to this step. Finally, all gluing tasks are completed.

[0066] Step 4: After all the points of the refrigerator are glued, the system controls the clamping module to release the refrigerator through the electrical control module and place the refrigerator back on the original refrigerator line. After that, the operation module controls the entire module to return to the initial position through the position sensor, the manipulator module controls the manipulator to return to the origin, and at the same time the electrical control system returns to the origin, completing all the gluing tasks of this time.

[0067] Step 5: The equipment returns to the starting point, ready to control the next refrigerator.

[0068] Finally, it should be noted that the above are only the preferred embodiments of the present invention and are not intended to limit the present invention. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing embodiments or perform equivalent replacements for some of the technical features. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present invention shall be included within the protection scope of the present invention.

[0069] Except for the technical features described in the specification, the rest are well-known technologies to those skilled in the art.

Claims

1. Refrigerator automatic glue system, characterized by: The automatic gluing system for refrigerators includes an electrical control module, an operation module, a clamping module, a manipulator module and a gluing module. The operation module collects refrigerator information data such as the height, width, depth and position of the refrigerator, and transmits the refrigerator information data to the electrical control module. The electrical control module controls the clamping module to tighten the positioning of the refrigerator, and controls the operation module to move the refrigerator from the original assembly line to the designated position. After the refrigerator arrives at the designated position, the manipulator module drives the gluing module to move to the gluing position under the control of the electrical control module, and the gluing module glues the refrigerator under the control of the electrical control module.

2. The automatic gluing system for refrigerators according to claim 1, characterized in that: The automatic gluing system for refrigerators also includes a positioning module, which is connected to the electrical control module. The positioning module collects the position and offset information of the refrigerator through multiple photoelectric sensors, and determines whether the position of the refrigerator needs to be adjusted or exceeds the limit based on the position and offset information of the refrigerator. When it is determined that the position of the refrigerator needs to be adjusted, the positioning module sends a refrigerator adjustment signal to the electrical control module, and the electrical control module controls the cylinder to extend through the first solenoid valve to block the refrigerator. After adjusting the position of the refrigerator, the positioning module sends a reset signal to the electrical control module, and the electrical control module controls the first solenoid valve to retract the cylinder, and the refrigerator is positioned correctly; when it is determined that the position of the refrigerator exceeds the limit, the positioning module issues a refrigerator position over-limit alarm to remind humans, and transmits the refrigerator position over-limit alarm signal to the electrical control module. When the electrical control module receives the refrigerator position over-limit alarm signal, it stops the operation of the line.

3. The automatic gluing system for refrigerators according to claim 2, characterized in that: The operation module includes multiple distance sensors, which collect refrigerator information data such as the location, height, width, depth and position of the refrigerator in real time, and transmit the refrigerator information data to the appliance control module. The appliance control module converts the refrigerator information data into appliance signal data, and then transmits the appliance signal data to the operation module. The operation module performs actions according to the appliance signal data obtained from the appliance control module, thereby controlling the movement of the refrigerator, including parallel movement of the refrigerator during the gluing operation, stopping action, lifting the refrigerator's starting position, and lowering the refrigerator's ending position.

4. The automatic gluing system for refrigerators according to claim 3, characterized in that: The operation module includes 8 distance sensors. The movement data of the 8 distance sensors B1, B2, B3, B4, B5, B6, B7, and B8 are defined as A1, A2, A3, A4, A5, A6, A7, and A8 respectively. The position, height, width, and depth data of the refrigerator data are P0, H1, W1, and L1 respectively. The phase distance between distance sensors B1 and B2 is set to D1, the phase distance between distance sensors B3 and B4 is set to D2, the phase distance between distance sensors B5 and B6 is set to D3, and the phase distance between distance sensors B7 and B8 is set to D4. The data of D1, D2, D3, and D4 are obtained according to their installation positions. After the 8 distance sensors are installed in place, the 4 data of D1, D2, D3, and D4 are obtained by measuring the distance between two points and are fixed values. The distance sensor positions are B1 at the starting position of the operation module; B2 at the end position of the operation module; B3 at the starting position of the alignment module; B4 at the end position of the alignment module; B5 at the starting position of the clamping module; B6 at the end position of the clamping module; B7 at the bottom position of the clamping module, and B8 at the top position of the clamping module. During operation, the data of the eight distance sensors change according to the position of the refrigerator, and the operation module controls the movement of the refrigerator. When the clamping module is clamped, the corresponding instantaneous data A1, A2, A3, A4, A5, A6, A7, and A8 are obtained from the eight distance sensors, and then the operation module calculates the four data of P0, H1, W1, and L1 of the current refrigerator. The calculation formula is as follows: P0=k0*(D1-A1+A2)+b0 H1=k1*(D2-A3+A4)+b1 W1=k3*(D3-A5+A6)+b3 L1=k4*(D4-A7+A8)+b4 Where k1, k2, k3, and k4 are scale parameters, which are usually set to 1; b1, b2, b3, and b4 are offset parameters, which are usually set to 0.

5. The automatic gluing system for refrigerators according to claim 4, characterized in that: The operation module includes five servo motors: a first servo motor, a second servo motor, a third servo motor, a fourth servo motor and a fifth servo motor; when measuring the height of the refrigerator, the operation module sends a height operation instruction to the electrical control module, and the electrical control module controls the operation of the first servo motor and the second servo motor, and the first servo motor and the second servo motor drive the operation of the operation module. When the refrigerator is clamped, the proximity switch of the operation module contacts the outer shell of the refrigerator, triggers a signal, and feeds the signal back to the electrical control module. After receiving the signal feedback, the electrical control module controls the first servo motor and the second servo motor to stop running, and sends the recorded A1, A2 data to the operation module; when measuring the width of the refrigerator, the operation module sends a width operation instruction to the electrical control module, and the electrical control module controls the first servo motor and the second servo motor to stop running. The third servo motor and the fourth servo motor are running, and the third servo motor and the fourth servo motor drive the horizontal clamp of the operation module to operate. After the refrigerator is clamped, the proximity switch of the operation module contacts the outer shell of the refrigerator, triggers a signal, and feeds the signal back to the electrical control module. After receiving the signal feedback, the electrical control module controls the third servo motor and the fourth servo motor to stop running, and sends the recorded A3 and A4 data to the operation module. At the same time, while recording A3 and A4 data, the A5 and A6 data are sent to the operation module, and the depth data is calculated synchronously; when measuring the position information of the refrigerator, the operation module sends a forward instruction to the electrical control module, and the electrical control module controls the fifth servo motor to operate, and the fifth servo motor drives the operation module forward, and sends the current A7 and A8 to the operation module.

6. The automatic gluing system for refrigerators according to claim 1, characterized in that: The appliance control module transmits refrigerator information data such as the height, width, depth and position of the refrigerator to the manipulator module. The manipulator module converts the refrigerator information data into three-dimensional matrix coordinates and drives the gluing module to the gluing position according to the obtained three-dimensional matrix coordinates.

7. The automatic gluing system for refrigerators according to claim 1, characterized in that: The refrigerator automatic gluing system also includes a correction module, which is connected to the electrical control module, receives refrigerator information data such as the height, width, depth and position of the refrigerator transmitted by the electrical control module, calculates the refrigerator information data with manually set correction parameters, transmits the calculated result to the electrical control module, and the electrical control module transmits it to the manipulator module to change the position of the gluing point.

8. The automatic gluing system for refrigerators according to claim 1, characterized in that: The gluing module is connected to the electrical control module. After the manipulator module drives the gluing module to move to the gluing position, the electrical control module controls the second solenoid valve to open, and the glue machine passage is opened to glue the refrigerator. After the set gluing time is reached, the electrical control module controls the second solenoid valve to close and stop gluing.

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