Automatic glue scraping system and glue scraping method for special-shaped surface

Abstract

The invention discloses an automatic glue scraping system and a glue scraping method for a special-shaped surface. Relates to the field of surface treatment of special-shaped components. The problems that during existing glue scraping operation, when a complex curved surface or a special-shaped structure is faced, manual glue scraping efficiency is low, and the manual glue scraping is greatly limited by a tool clamp are solved. The device comprises a cooperative mechanical arm, a mechanical arm extension tool, a glue scraping tool and glue preparing and supplying equipment, the shaft end of the cooperative mechanical arm is rotationally connected with the head end of the mechanical arm extension tool, the mechanical arm extension tool is connected with the glue scraping tool, and the glue scraping tool is connected with a glue supplying opening of the glue preparing and supplying equipment through a pipeline. The glue scraping tool comprises a guide rod, a rotary connection support, a rotary connection shaft, a sliding connection inner support frame, a sliding connection outer support frame and a general support frame; the bottom of the guide rod is connected with the rotary connecting support and the sliding connecting inner supporting frame through the rotary connecting shaft, and the rotary connecting support and the sliding connecting outer supporting frame are connected with the overall supporting frame. The device is applied to the field of automatic glue scraping on special-shaped surfaces.

Description

Technical Field

[0001] The invention relates to the field of surface treatment of special-shaped components, and in particular to an automatic glue scraping system and a glue scraping method for special-shaped surfaces. Background Art

[0002] With the continuous advancement of industrial manufacturing technology, the surface treatment process for special-shaped components has become a critical factor affecting workpiece performance and reliability. In fields such as automotive manufacturing, electronic packaging, and aerospace, the quality of the adhesion between special-shaped components and protective layers directly determines the service life and safety of the workpiece. As a result, automated scraping technology has gradually developed into an emerging intelligent manufacturing direction. Automatic scraping systems for special-shaped surfaces offer cost-effectiveness, high production efficiency, and flexible process module adaptability. Combined with digital modeling and real-time quality monitoring technologies, they significantly improve scraping process consistency and workpiece yield.

[0003] At present, traditional scraping operations are still mainly manual. When faced with complex curved surfaces or special-shaped structures, manual scraping is inefficient and is greatly restricted by tooling and fixtures. Due to the diverse curvature of special-shaped surfaces, uneven manual force can easily lead to fluctuations in the thickness of the glue layer, and even cause deformation of the substrate or overflow of the glue, seriously affecting the appearance and performance of the workpiece.

[0004] In addition, manual scraping makes it difficult to accurately control the amount of glue output, which not only causes material waste, but may also increase subsequent cleaning costs due to glue contaminating non-target areas, and cannot meet high-precision and high-standard industrial needs. Summary of the Invention

[0005] In order to solve the problem that manual scraping is inefficient and greatly restricted by fixtures when scraping glue on complex curved surfaces or special-shaped structures, the present invention provides an automatic scraping system and method for special-shaped surfaces.

[0006] The technical solution of the present invention is: An automatic glue scraping system for special-shaped surfaces, comprising a collaborative robotic arm, a robotic arm extension tooling, a glue scraping tooling, and glue dispensing and supplying equipment. The shaft end of the collaborative robotic arm is rotatably connected to the head end of the robotic arm extension tooling, the tail end of the robotic arm extension tooling is connected to the glue scraping tooling, the glue scraping tooling is connected to the glue supply port of the glue dispensing and supplying equipment via a pipeline, and the glue scraping tooling includes a guide rod, a rotating connection support, a rotating connection shaft, a sliding connection inner support frame, a sliding connection outer support frame, and an overall support frame. The bottom of the guide rod is rotatably connected to the rotary connection support and the sliding connection inner support frame respectively through a rotary connection shaft, and the bottom of the rotary connection support and the sliding connection outer support frame is fixedly connected to the top end surface of the overall support frame; The sliding connection inner support frame and the sliding connection outer support frame constitute a sliding connection support, and the sliding connection support and the rotating connection support are in an asymmetric structure. The sliding connection inner support frame is located in the sliding connection outer support frame and is separated from the sliding connection outer support frame. The sliding connection inner support frame slides in the sliding connection outer support frame along the long side direction of the scraper tooling to ensure that the overall scraper tooling can rotate in a small range around the single axis of the rotating connection support when it is tilted. At the same time, the sliding connection inner support frame slides in the sliding connection outer support frame, and at this time, the two guide rods are in a non-parallel structure.

[0007] Furthermore, the sliding connection outer support frame is a rectangular structure with a hollow middle, and mounting holes for mounting on the top of the overall support frame are provided around the sliding connection outer support frame. A slide groove structure is formed between the sliding connection outer support frame and the top end surface of the overall support frame, so that the bottom plate of the sliding connection inner support frame slides in the slide groove, and the guide rod on the frame body is driven to slide by the sliding connection inner support frame.

[0008] Furthermore, the scraper tool also includes a glue supply port, a glue storage box, a moving roller, a glue outlet, a glue overflow prevention baffle and a scraper; The glue supply port passes through the middle position of the top of the overall support frame, and the bottom of the glue storage box is provided with a glue outlet, and the glue supply port and the glue outlet are both connected to the glue storage box; The bottom of the overall support frame is respectively connected to the moving roller, the anti-overflow baffle and the scraper to form an integral structure. The scraper is located behind the glue outlet. When the glue passes through the glue supply port, it is first stored in the glue storage box. When the glue storage box reaches the upper limit of the volume, the glue flows out from the glue outlet. According to the specified movement direction, the glue will be smeared by the scraper after flowing down, and only the glue with the predetermined scraping thickness requirement will be retained, and the rest of the glue continues to move forward with the movement.

[0009] Furthermore, the robot arm extension tooling includes a connecting flange, an extension rod and an end connection box; One end of the extension rod is fixedly connected to the connecting flange through a bolt assembly, one end of the extension rod is fixedly connected to the end connecting box through a bolt assembly, and the connecting flange on the robot arm extension tooling is connected to the end of the sixth axis of the collaborative robot arm.

[0010] Furthermore, the scraper tooling is only connected as a whole to the end connection box of the robot arm extension tooling. The end connection box is provided with a through hole for inserting the guide rod. The guide rod extends from the bottom of the end connection box and connects the cover plate to the guide rod. At this time, the scraper tooling is suspended on the end connection box.

[0011] Furthermore, the glue dispensing and supplying equipment includes a feeding device, a metering device and a dynamic mixing device. The feeding device, the metering device and the dynamic mixing device are connected in sequence through pipelines, and finally the pipelines are connected to the glue supply port on the scraping tooling.

[0012] Furthermore, the collaborative robot arm and the feeding device of the glue dispensing and supplying equipment are respectively fixed on the ground, the metering device of the glue dispensing and supplying equipment is installed on the collaborative robot arm, and the dynamic mixing device of the glue dispensing and supplying equipment is installed on the robot arm extension tooling.

[0013] Furthermore, the number of guide rods of the scraper tool is two, and the guide rods include a buffer spring and a cover plate; A buffer spring is sleeved on the guide rod, a cover plate is connected to the top of the guide rod, and the guide rod and the cover plate are connected by screws; The guide rod and the cover plate suspend the scraper tooling on the end connection box, and the buffer spring ensures that the scraper tooling has both rigidity and flexibility when it moves up and down as a whole, ensuring that the thickness of the glue layer is uniform.

[0014] Furthermore, the rotating connection support, the sliding connection inner support frame and the sliding connection outer support frame on the scraper tooling work together to achieve the scraper tooling's self-adaptation to the irregular surface; The moving roller on the scraper tooling always faces forward in the scraping direction and contacts the surface of the workpiece during scraping. The scraper plate is always behind the scraping direction during scraping. By adjusting the gap between the scraper plate and the surface of the workpiece, it is always fixed to ensure uniform thickness of the glue layer.

[0015] Furthermore, the automatic scraping system and method for scraping glue on special-shaped surfaces include the following steps: Step 1: Glue preparation: The glue is first supplied by the feeding device of the glue dispensing and supplying equipment, and then transported to the metering device through a pipeline for measurement to ensure the correct proportion and weight of each component of the glue. After measurement, it is transported through a pipeline to the dynamic mixing device for full mixing. Step 2: Glue supply: The mixed glue passes through the pipe and the end connection box of the robot arm extension tooling, and is finally connected to the glue supply port. It enters the glue storage box for temporary storage. When the volume of the glue storage box reaches the upper limit, the glue flows out from the glue outlet. Step 3: Scrape glue: The scraping trajectory of the collaborative robot arm is determined by the surface shape of the scraper tooling and the workpiece. First, a theoretical scraping path is generated based on the robot's base coordinate system information, the workpiece surface data, and the scraper tooling size model. Then, the actual scraping is formed through manual precision calibration. When executing the predetermined scraping trajectory, the moving roller of the scraper tooling first contacts the workpiece surface. The posture of the collaborative robot arm is adjusted to ensure that the gap between the scraper blade and the workpiece surface meets the scraping thickness requirements. According to the specified movement direction, the glue will flow down and will be smeared by the scraper blade, retaining only the glue required for the predetermined scraping thickness, while the remaining glue continues to move forward with the movement. Step 4: Adjust the thickness of the scraper: The rotating connection support, the sliding connection inner support frame and the sliding connection outer support frame work together to realize the adaptive adaptation of the scraper tooling to the special-shaped surface. The moving roller is always facing the front of the scraping direction and in contact with the workpiece surface when scraping glue. The scraper is always behind the scraping direction when scraping glue. The gap between the scraper and the workpiece surface is always fixed by adjusting to ensure the uniform thickness of the glue layer.

[0016] Compared with the prior art, the present invention has the following effects: This invention has a wide range of applications, adapting to the automated scraping needs of a variety of complex curved surfaces and special-shaped structures, supporting the processing of workpieces of varying sizes and shapes, and achieving integrated scraping and assembly operations. This significantly improves production efficiency, and the fully automated process shortens cycle times while reducing labor costs, meeting the high-efficiency, high-precision production demands of modern industry.

[0017] The present invention mainly has the functions of automatic glue supply and scraping glue on special-shaped surfaces, controls the glue dispensing and supplying equipment to supply glue to the scraping tool through the pipeline along the extension rod of the robot arm, and controls the cooperative robot arm to move according to the predetermined scraping trajectory to realize the scraping work on the special-shaped surface. According to the actual working conditions, the accuracy and stability of the glue discharge can be guaranteed by accurately adjusting the relevant parameters of the glue dispensing and supplying system; the anti-overflow glue baffle can ensure that during the glue discharge process, the glue only flows out from the glue outlet, preventing the glue from overflowing through other mechanical connection parts of the scraping tool; the non-fixed parallel relationship of the guide shaft achieved by the rotating support frame and the sliding support frame can expand the geometric posture of the scraping tool as a whole in space, and realize the self-adaptation of the scraping tool to the special-shaped surface. At the same time, the buffer spring ensures that the scraping tool as a whole has both rigidity and flexibility when moving up and down, ensuring the uniform thickness of the glue layer.

[0018] The rotating connection support and the sliding connection support of the present invention have an asymmetric structure, which ensures that when the scraper tooling as a whole is tilted due to the surface characteristics of the product, it can rotate in a small range around the rotating connection support single axis, and at the same time, the sliding connection inner support frame slides in a small range on the sliding connection outer support frame. At this time, the two guide rods are in a non-parallel relationship, which expands the adaptability of the scraper tooling as a whole to the product surface. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 It is a structural schematic diagram of the present invention; Figure 2 It is a structural schematic diagram of the scraping tool of the present invention; Figure 3 It is a rear view of the scraping tool of the present invention; Figure 4 It is a rear view of the scraping tool of the present invention; Figure 5 It is a structural schematic diagram of the anti-overflow glue baffle of the present invention; Figure 6 It is a structural schematic diagram of the robot arm extension tooling of the present invention; Figure 7 This is a schematic structural diagram of a guide rod inserted into the terminal connection box of the present invention; Figure 8 Schematic diagram of the sliding connection of the sliding connection inner support frame and the sliding connection outer support frame of the present invention; Figure 9 It is a workflow diagram of the present invention; Collaborative robotic arm 1, robotic arm extension tooling 2, glue scraping tooling 3, glue dispensing and supplying equipment 4; Connecting flange 201, extension rod 202, end connection box 203; Guide rod 301, rotatable connection support 302, rotatable connection shaft 303, sliding connection inner support frame 304, sliding connection outer support frame 305, glue supply port 306, cover plate 307, buffer spring 308, overall support frame 309, glue storage box 310, moving roller 311, glue outlet 312, anti-glue overflow baffle 313, and glue scraper 314; Feeding device 401 , metering device 402 , dynamic mixing device 403 . DETAILED DESCRIPTION

[0020] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. The following embodiments are used to illustrate the present invention but are not used to limit the scope of the present invention.

[0021] Specific implementation method 1: Combination Figure 1 — Figure 4The present embodiment is described. The present embodiment is an automatic glue scraping system for special-shaped surfaces, which comprises a collaborative robot arm 1, a robot arm extension tool 2, a glue scraping tool 3 and a glue dispensing and supplying device 4. The shaft end of the collaborative robot arm 1 is rotatably connected to the head end of the robot arm extension tool 2, the tail end of the robot arm extension tool 2 is connected to the glue scraping tool 3, and the glue scraping tool 3 is connected to the glue supply port of the glue dispensing and supplying device 4 through a pipeline. It is characterized in that the glue scraping tool 3 includes a guide rod 301, a rotating connection support 302, a rotating connection shaft 303, a sliding connection inner support frame 304, a sliding connection outer support frame 305 and an overall support frame 309; The bottom of the guide rod 301 is rotatably connected to the rotary connection support 302 and the sliding connection inner support frame 304 respectively through the rotary connection shaft 303. The bottom of the rotary connection support 302 and the sliding connection outer support frame 305 are fixedly connected to the top end surface of the overall support frame 309. The sliding connection inner support frame 304 and the sliding connection outer support frame 305 constitute a sliding connection support, and the sliding connection support and the rotating connection support 302 are in an asymmetric structure. The sliding connection inner support frame 304 is in the sliding connection outer support frame 305, and is separated from the sliding connection outer support frame 305. The sliding connection inner support frame 304 slides in the sliding connection outer support frame 305 along the long side direction of the scraper tooling to ensure that the overall scraper tooling 3 can rotate in a small range around the rotating connection support 302 when it is tilted. At the same time, the sliding connection inner support frame 304 slides in the sliding connection outer support frame 305. At this time, the two guide rods 301 are in a non-parallel structure.

[0022] The collaborative robot arm 1 is fixed on the ground, the robot arm extension rod 2 is installed on the 6th axis of the collaborative robot arm 1, and the scraper tool 3 is installed at the end of the robot arm extension rod 2 The glue dispensing and supplying device 4 is fixed on the ground, connected to the glue scraping tool 3 through a pipeline, and communicates with the collaborative robot arm 1 and the glue dispensing and supplying device 4 through a network cable.

[0023] Specific implementation method 2: Combination Figure 1 — Figure 4 Describing this embodiment, this embodiment is an automatic glue scraping system for special-shaped surfaces, the sliding connection outer support frame 305 is a rectangular structure with a hollow center, and the sliding connection outer support frame 305 is provided with mounting holes around it for mounting on the top of the overall support frame 309, and a slide groove structure is formed between the sliding connection outer support frame 305 and the top end face of the overall support frame 309, so that the bottom plate of the sliding connection inner support frame 304 slides in the slide groove, and the guide rod 301 on the frame body is driven to slide by the sliding connection inner support frame 304.

[0024] The sliding connection inner support frame 304 and the sliding connection outer support frame 305 together constitute a sliding connection support. The sliding connection inner support frame 304 is located inside the sliding connection outer support frame 305 and can slide in a small range along the long side direction of the scraper tooling; The rotating connection support 302, the sliding connection inner support frame 304, and the sliding connection outer support frame 305 work together to realize the adaptive adaptation of the scraping tool to the special-shaped surface; the moving roller 311 is always facing the front of the scraping direction and in contact with the workpiece surface when scraping glue, and the scraper plate 314 is always at the rear of the scraping direction when scraping glue. By adjusting the gap between the scraper plate 314 and the workpiece surface to be always fixed, the thickness of the glue layer is ensured to be uniform.

[0025] Specific implementation method three: Combination Figure 1 — Figure 5 This embodiment describes an automatic glue scraping system for special-shaped surfaces. The glue scraping tool 3 further includes a glue supply port 306, a glue storage box 310, a moving roller 311, a glue outlet 312, an anti-overflow glue baffle 313 and a glue scraper 314. The glue supply port 306 passes through the top middle position of the overall support frame 309, and the glue storage box 310 has a glue outlet 312 at the bottom, and the glue supply port 306 and the glue outlet 312 are both connected to the glue storage box 310; The bottom of the overall support frame 309 is connected to the moving roller 311, the anti-overflow glue baffle 313 and the scraper 314 to form an integral structure. The scraper 314 is located behind the glue outlet 312. When the glue passes through the glue supply port 306, it is first stored in the glue storage box 310. When the glue storage box 310 reaches the upper limit of the volume, the glue flows out from the glue outlet 312. According to the specified movement direction, the glue will be smeared by the scraper 314 after flowing down, and only the glue required for the predetermined scraping thickness will be retained, and the rest of the glue continues to move forward with the movement.

[0026] The glue supply port 306 and the glue outlet 312 are both connected to the glue storage box 310 , which as a whole is mounted on the overall support frame 309 together with the moving roller 311 , the anti-overflow glue baffle 313 , and the glue scraper 314 ; the glue scraper 314 is located behind the glue outlet 312 .

[0027] The anti-overflow baffle 313 can ensure that during the glue discharging process, the glue only flows out from the glue outlet 312, thereby preventing the glue from overflowing through other mechanical connection parts of the glue scraping tool 3.

[0028] Specific implementation method four: Combination Figure 6 This embodiment describes an automatic scraping system for special-shaped surfaces. The robot arm extension tooling 2 includes a connecting flange 201, an extension rod 202, and an end connection box 203. One end of the extension rod 202 is fixedly connected to the connecting flange 201 through a bolt assembly, and one end of the extension rod 202 is fixedly connected to the end connecting box 203 through a bolt assembly, and the connecting flange 201 on the robot arm extension tooling 2 is connected to the end of the sixth axis of the collaborative robot arm 1.

[0029] Specific implementation method five: Combination Figure 6 The present embodiment is described as an automatic scraping system for special-shaped surfaces. The scraping tool 3 is integrally connected to the end connection box 203 of the robot arm extension tool 2. The end connection box 203 is provided with a through hole for inserting the guide rod 301. The guide rod 301 extends from the bottom of the end connection box 203 and connects the cover plate 307 with the guide rod 301. At this time, the scraping tool 3 is suspended on the end connection box 203.

[0030] The function of the guide rod 301 is to connect the end connection box 203 and the main body of the scraper tooling. The use of hard materials ensures that the overall posture of the scraper tooling is stable during operation. There are two guide rods 301, which are respectively connected to the rotating connection support 302 and the sliding connection inner support frame 304 through the rotating connection shaft 303.

[0031] Specific implementation method six: combination Figure 1 Describing this embodiment, this embodiment is an automatic glue scraping system for special-shaped surfaces, the glue dispensing and supplying equipment 4 includes a feeding device 401, a metering device 402 and a dynamic mixing device 403, the feeding device 401, the metering device 402 and the dynamic mixing device 403 are connected in sequence through pipelines, and finally the pipelines are connected to the glue supply port 306 on the glue scraping tooling 3.

[0032] The glue is first provided by the feeding device 401 and transported to the metering device 402 through a pipeline for metering to ensure that the proportion and weight of the various components of the glue are correct. After the metering is completed, it is transported to the dynamic mixing device 403 through a pipeline for full mixing. The mixed glue passes through the terminal connection box 203 through the pipeline and is finally connected to the glue supply port 306, and enters the glue storage box 310 for temporary storage. When the volume of the glue storage box 310 reaches the upper limit, the glue flows out from the glue outlet 312. When executing the predetermined scraping trajectory movement, the moving roller 311 of the scraping tool 3 first contacts the surface of the workpiece. By adjusting the posture of the collaborative robot arm 1, it is ensured that the gap between the scraping plate 314 and the workpiece surface meets the scraping thickness requirements. According to the specified movement direction, the glue will be smeared by the scraping plate 314 after flowing down, and only the glue required for the predetermined scraping thickness will be retained, and the rest of the glue will continue to move forward with the movement.

[0033] Specific implementation method seven: combination Figure 1 — Figure 6Describe this embodiment, this embodiment is an automatic glue scraping system for special-shaped surfaces, the collaborative robot arm 1 and the feeding device 401 of the glue mixing and supplying equipment 4 are respectively fixed on the ground, the metering device 402 of the glue mixing and supplying equipment 4 is installed on the collaborative robot arm 1, and the dynamic mixing device 403 of the glue mixing and supplying equipment 4 is installed on the robot arm extension tooling 2.

[0034] The collaborative robot arm 1 is used to prepare a good proportion of glue and scrape the glue on the specified special-shaped surface along the desired path.

[0035] The robot arm extension tooling 2 is used to expand the working range of the collaborative robot arm 1 and its length can be adjusted according to process requirements; related pipelines and wiring harnesses can be fixed on the robot arm extension tooling 2.

[0036] Specific implementation method eight: combination Figure 1 — Figure 6 This embodiment describes an automatic scraping system for special-shaped surfaces. The scraping tool 3 has two guide rods 301 , each of which includes a buffer spring 308 and a cover plate 307 . The guide rod 301 is sleeved with a buffer spring 308, and the top end of the guide rod 301 is connected to a cover plate 307, and the guide rod 301 and the cover plate 307 are connected by screws; The guide rod 301 and the cover plate 307 suspend the scraper tool 3 on the terminal connection box 203. The buffer spring 308 ensures that the scraper tool 3 has both rigidity and flexibility when it moves up and down as a whole, ensuring that the thickness of the glue layer is uniform.

[0037] Specific implementation method nine: combined with FIG Figure 1 — Figure 6 This embodiment describes an automatic scraping system for irregularly shaped surfaces. The rotating connection support 302, the sliding connection inner support frame 304, and the sliding connection outer support frame 305 on the scraping tool 3 work together to achieve the scraping tool's self-adaptation to the irregularly shaped surface. The moving roller 311 on the scraper tool 3 always faces the front of the scraping direction and contacts the surface of the workpiece when scraping glue. The scraper plate 314 is always behind the scraping direction when scraping glue. By adjusting the gap between the scraper plate 314 and the surface of the workpiece, it is always fixed to ensure uniform thickness of the glue layer.

[0038] Specific implementation method ten: Combination Figure 1 — Figure 9 This embodiment describes an automatic scraping system for special-shaped surfaces, an automatic scraping system for special-shaped surfaces, and a scraping method. The method includes the following steps: Step 1: Glue preparation: Glue is first provided by the feeding device 401 of the glue dispensing and supplying equipment 4, and transported to the metering device 402 through a pipeline for metering to ensure the correct proportion and weight of the glue components. After metering, it is transported through a pipeline to the dynamic mixing device 403 for full mixing; Step 2: Glue supply: The mixed glue passes through the pipe and the end connection box 203 of the robot arm extension tooling 2, and is finally connected to the glue supply port 306, and enters the glue storage box 310 for temporary storage. When the volume of the glue storage box 310 reaches the upper limit, the glue flows out from the glue outlet 312; Step 3: Scrape glue: The scraping trajectory of the collaborative robot arm 1 is determined by the surface shape of the scraping tool 3 and the workpiece. First, a theoretical scraping path is generated based on the robot base coordinate system information, the workpiece surface data, and the scraping tool size model. Then, the actual scraping is formed through manual precision calibration. When executing the predetermined scraping trajectory movement, the moving roller 311 of the scraping tool 3 first contacts the workpiece surface. By adjusting the posture of the collaborative robot arm 1, it is ensured that the gap between the scraper plate 314 and the workpiece surface meets the scraping thickness requirements. According to the specified movement direction, the glue will be smeared by the scraper plate 314 after flowing down, and only the glue required for the predetermined scraping thickness will be retained. The rest of the glue continues to move forward with the movement. Step 4: Adjust the thickness of the scraper: The rotating connection support 302, the sliding connection inner support frame 304, and the sliding connection outer support frame 305 work together to realize the adaptive adaptation of the scraper tool to the special-shaped surface. The moving roller 311 is always facing the front of the scraping direction and in contact with the workpiece surface when scraping glue. The scraper plate 314 is always behind the scraping direction when scraping glue. By adjusting the gap between the scraper plate 314 and the workpiece surface, it is always fixed to ensure the uniform thickness of the glue layer.

[0039] The above description is merely a preferred embodiment of the present invention and does not constitute any form of limitation to the present invention. Although the present invention has been disclosed as a preferred embodiment as above, it is not intended to limit the present invention. Any technician familiar with the present profession can make some changes or modifications to equivalent embodiments of equivalent changes using the technical content disclosed above without departing from the scope of the technical solution of the present invention. However, any simple modification, equivalent replacement and improvement of the above embodiments made according to the technical essence of the present invention, within the spirit and principles of the present invention, without departing from the content of the technical solution of the present invention, shall still fall within the scope of protection of the technical solution of the present invention.

Claims

1. An automatic glue scraping system for special-shaped surfaces, comprising a cooperative robot arm (1), a robot arm extension tool (2), a glue scraping tool (3) and a glue dispensing and supplying device (4), wherein the shaft end of the cooperative robot arm (1) is rotatably connected to the head end of the robot arm extension tool (2), the tail end of the robot arm extension tool (2) is connected to the glue scraping tool (3), and the glue scraping tool (3) is connected to the glue supply port of the glue dispensing and supplying device (4) through a pipeline, characterized in that: The scraper tool (3) comprises a guide rod (301), a rotationally connected support (302), a rotationally connected shaft (303), a slidingly connected inner support frame (304), a slidingly connected outer support frame (305), and an overall support frame (309); The bottom of the guide rod (301) is rotatably connected to the rotatable connection support (302) and the sliding connection inner support frame (304) respectively via a rotatable connection shaft (303), and the bottoms of the rotatable connection support (302) and the sliding connection outer support frame (305) are fixedly connected to the top end surface of the overall support frame (309); The sliding connection inner support frame (304) and the sliding connection outer support frame (305) form a sliding connection support, and the sliding connection support and the rotating connection support (302) are in an asymmetric structure. The sliding connection inner support frame (304) is located in the sliding connection outer support frame (305) and is separated from the sliding connection outer support frame (305). The sliding connection inner support frame (304) slides in the sliding connection outer support frame (305) along the long side direction of the scraping tool, so that the scraping tool (3) as a whole can rotate around the rotating connection support (302) in a small range due to the tilt, and at the same time, the sliding connection inner support frame (304) slides in the sliding connection outer support frame (305), and at this time, the two guide rods (301) are in a non-parallel structure.

2. The automatic scraping system for special-shaped surfaces according to claim 1, characterized in that: The sliding connection outer support frame (305) is a rectangular structure with a hollow center. The sliding connection outer support frame (305) is provided with mounting holes around the four sides for mounting on the top of the overall support frame (309). A sliding groove structure is formed between the sliding connection outer support frame (305) and the top end surface of the overall support frame (309), so that the bottom plate of the sliding connection inner support frame (304) slides in the sliding groove, and the sliding connection inner support frame (304) drives the guide rod (301) on the frame body to slide.

3. The automatic scraping system for special-shaped surfaces according to claim 1, characterized in that: The scraper tool (3) further comprises a glue supply port (306), a glue storage box (310), a moving roller (311), a glue outlet (312), a glue overflow prevention baffle (313) and a scraper plate (314); The glue supply port (306) passes through the middle position of the top of the overall support frame (309), and the bottom of the glue storage box (310) has a glue outlet (312), and the glue supply port (306) and the glue outlet (312) are both connected to the glue storage box (310); The bottom of the overall support frame (309) is respectively connected to the moving roller (311), the anti-overflow glue baffle (313) and the scraper (314) to form an integral structure. The scraper (314) is located behind the glue outlet (312). When the glue passes through the glue supply port (306), it is first stored in the glue storage box (310). When the glue storage box (310) reaches the upper limit of the volume, the glue flows out from the glue outlet (312). According to the specified movement direction, the glue will be smeared by the scraper (314) after flowing down, and only the glue required for the predetermined scraping thickness will be retained, and the rest of the glue continues to move forward with the movement.

4. The automatic scraping system for special-shaped surfaces according to claim 1, characterized in that: The robot arm extension tooling (2) comprises a connecting flange (201), an extension rod (202) and an end connection box (203); One end of the extension rod (202) is fixedly connected to the connecting flange (201) via a bolt assembly, and one end of the extension rod (202) is fixedly connected to the end connecting box (203) via a bolt assembly, and the connecting flange (201) on the robot arm extension tooling (2) is connected to the end of the sixth axis of the collaborative robot arm (1).

5. The automatic scraping system for special-shaped surfaces according to claim 1, characterized in that: The scraper tooling (3) is connected as a whole to the end connection box (203) of the robot arm extension tooling (2). The end connection box (203) is provided with a through hole for inserting the guide rod (301). The guide rod (301) extends from the bottom of the end connection box (203) and connects the cover plate (307) to the guide rod (301). At this time, the scraper tooling (3) is suspended on the end connection box (203).

6. The automatic scraping system for special-shaped surfaces according to claim 1, characterized in that: The glue dispensing and supplying device (4) comprises a feeding device (401), a metering device (402) and a dynamic mixing device (403), wherein the feeding device (401), the metering device (402) and the dynamic mixing device (403) are connected in sequence via a pipeline, and finally the pipeline is connected to the glue supply port (306) on the scraping tool (3).

7. The automatic scraping system for special-shaped surfaces according to claim 6, characterized in that: The collaborative robot arm (1) and the feeding device (401) of the glue dispensing and supplying equipment (4) are respectively fixed on the ground, the metering device (402) of the glue dispensing and supplying equipment (4) is installed on the collaborative robot arm (1), and the dynamic mixing device (403) of the glue dispensing and supplying equipment (4) is installed on the robot arm extension tooling (2).

8. The automatic scraping system for special-shaped surfaces according to claim 2 or 3, characterized in that: The number of the guide rods (301) of the scraper tool (3) is two, and the guide rods (301) include a buffer spring (308) and a cover plate (307); A buffer spring (308) is sleeved on the guide rod (301), a cover plate (307) is connected to the top end of the guide rod (301), and the guide rod (301) and the cover plate (307) are connected by screws; The guide rod (301) and the cover plate (307) suspend the scraper tool (3) on the terminal connection box (203), and the buffer spring (308) ensures that the scraper tool (3) has both rigidity and flexibility when moving up and down as a whole, thereby ensuring that the thickness of the glue layer is uniform.

9. The automatic scraping system for special-shaped surfaces according to claim 8, characterized in that: The rotating connection support (302), the sliding connection inner support frame (304) and the sliding connection outer support frame (305) on the scraper tool (3) work together to achieve the scraper tool's self-adaptation to the irregular surface; The moving roller (311) on the scraping tool (3) always faces the front of the scraping direction and contacts the surface of the workpiece when scraping the glue, and the scraping plate (314) is always located behind the scraping direction when scraping the glue. By adjusting the gap between the scraping plate (314) and the surface of the workpiece, the thickness of the glue layer is always fixed, ensuring uniformity of the glue layer.

10. The scraping method according to any one of claims 1 to 9, wherein: The method comprises the following steps: Step 1: Glue preparation: The glue is first provided by the feeding device (401) of the glue dispensing and supplying equipment (4), and is transported to the metering device (402) through a pipeline for metering to ensure that the proportions and weights of the various components of the glue are correct. After the metering is completed, the glue is transported to the dynamic mixing device (403) through a pipeline for full mixing; Step 2: Glue supply: The mixed glue passes through the pipe and the end connection box (203) of the robot arm extension tooling (2) and is finally connected to the glue supply port (306), and enters the glue storage box (310) for temporary storage. When the volume of the glue storage box (310) reaches the upper limit, the glue flows out from the glue outlet (312); Step 3: Scrape glue: The scraping trajectory of the collaborative robot arm (1) is determined by the surface shape of the scraping tool (3) and the workpiece. First, a theoretical scraping path is generated based on the robot base coordinate system information, the workpiece surface data and the scraping tool size model, and then the actual scraping is formed through manual precision calibration. When executing the predetermined scraping trajectory movement, the moving roller (311) of the scraping tool (3) first contacts the workpiece surface. By adjusting the posture of the collaborative robot arm (1), it is ensured that the gap between the scraping plate (314) and the workpiece surface meets the scraping thickness requirement. According to the specified movement direction, the glue will be smeared by the scraping plate (314) after flowing down, and only the glue required for the predetermined scraping thickness will be retained, and the rest of the glue continues to move forward with the movement; Step 4: Adjust the thickness of the scraper: The rotating connection support (302), the sliding connection inner support frame (304), and the sliding connection outer support frame (305) work together to realize the self-adaptation of the scraping tool to the special-shaped surface. When scraping glue, the moving roller (311) always faces the front of the scraping direction and contacts the workpiece surface. When scraping glue, the scraping plate (314) is always located behind the scraping direction. By adjusting the gap between the scraping plate (314) and the workpiece surface to be always fixed, the thickness of the glue layer is ensured to be uniform.

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