End effector of automatic glue coating and scraping device with force control and collaborative operation method

Abstract

The invention provides an end effector of an automatic glue coating and scraping device with force control and a collaborative operation method, and belongs to the field of aeronautical manufacturing engineering and aircraft assembly.The end effector comprises an automatic glue coating device and an automatic glue scraping device which are installed on a suspension arm and fixed to the tail end of an executing mechanism through the suspension arm; the automatic glue spreading device and the automatic glue scraping device are respectively provided with a force control sensor, a servo motor, a servo motor driver, a sensor transmitter and a control system, the rotating speed or the rotating direction of the servo motor is controlled by dynamically detecting the glue pushing and glue scraping stress conditions, the glue spreading amount and the glue scraping thickness are automatically adjusted, and the glue spreading efficiency is improved. And the production process requirement of automatic glue spreading and automatic glue scraping is met, the structure is light and handy, and installation is convenient.

Description

Technical Field

[0001] The invention belongs to the field of aviation manufacturing engineering and aircraft assembly, and relates to an end effector of an automatic glue-coating device with force control and a collaborative operation method, which is used for sealant coating during the assembly process of an aircraft. Background Art

[0002] Gluing, as an important joining method, is widely used in the manufacturing of aircraft products. Currently, manual gluing is mostly used. However, the quality of manual gluing is limited by individual skill, and the uniformity and thickness of the glue cannot be guaranteed. It relies entirely on the worker's experience. After the gluing is completed, a dedicated person is required to perform polishing and inspection. This is inefficient and can easily lead to uneven and discontinuous gluing, waste, and other problems. Moreover, most glues emit toxic fumes that are harmful to the human body. Gluing is a key process in aircraft manufacturing. International companies have pioneered the use of digital manufacturing technologies, utilizing robots to apply glue to areas with high sealing requirements, such as aircraft frames, flaps, and fuel tanks. This has improved the sealing and bonding process, promoted technological advancements in gluing, and is now gradually entering the realm of automation. In my country's aircraft manufacturing industry, the gluing process has not yet been automated, primarily due to the small batch sizes and complex structures of aircraft production. However, existing gluing equipment is no longer able to meet the process requirements of future aircraft. Research on automated, flexible, and low-cost automated gluing systems has become a new development trend. Numerous gluing and scraping tools and devices exist in the prior art. For example, Chinese invention application publication number CN115502040A discloses an end effector for an automatic gluing robot and a gluing method. The gluing actuator is mounted on the robot's mechanical arm and controls the gluing process according to a pre-set processing program. However, these existing gluing and scraping tools and devices are prone to defects such as uneven gluing and uneven gluing thickness during daily production. This not only makes operation inconvenient, but also reduces production quality and efficiency. Summary of the Invention

[0003] The technical problem solved by the present invention is to provide an end effector of an automatic glue coating and scraping device with force control and a collaborative operation method. The real-time force data is collected by a glue coating force control sensor arranged on the glue barrel push rod and a three-dimensional glue scraping force control sensor arranged at the end of the glue scraping push rod, and the rotation speed of the glue coating servo motor and the forward and reverse rotation of the glue scraping servo motor are controlled to realize the force balance function. The device has the functions of force balance control and force state maintenance, as well as rapid force balancing function, so as to realize fast and high-quality automatic gluing and automatic scraping.

[0004] The technical solution adopted in the present invention is:

[0005] An end effector of an automatic gluing and scraping device with force control includes an automatic gluing device and an automatic gluing device fixedly mounted at the end of an actuator. The actuator drives the two to complete the gluing and scraping operations along a planned path. Both are provided with a force control sensor, a servo motor, a reducer, a signal feedback actuator and a control system. The force control sensor detects the force conditions of the glue pushing and scraping, the control system issues instructions, and the signal feedback actuator controls the servo motor to adjust the speed or direction according to the instructions of the control system, thereby realizing automatic adjustment of the glue application amount and the scraping thickness, meeting the production process requirements of automatic gluing first and then automatic scraping.

[0006] The automatic gluing device and the automatic gluing device are fixed to the end of the actuator through a boom, and the two are fixed on both sides of the boom respectively. A flange is provided at the rear end of the boom, which is fixedly connected to the end of the actuator through the flange. The boom is driven by the actuator to rotate, and the relative positions of the automatic gluing device and the automatic gluing device are changed to realize the switching between the gluing operation and the gluing operation.

[0007] The automatic gluing device includes a gluing device housing, a gluing servo motor, a gluing reducer, a gluing ball screw, a gluing piston rod, a gluing force control sensor, a gluing push rod, a gluing mechanism, a gluing signal feedback actuator, and a gluing control system. The gluing servo motor, gluing reducer, gluing ball screw, gluing piston rod, gluing force control sensor, gluing push rod, and gluing signal feedback actuator are disposed within the gluing device housing. The gluing mechanism is detachably mounted at the front end of the gluing device housing. The gluing control system is integrated with the actuator control system.

[0008] The output end of the glue coating servo motor is connected to the glue coating reducer, the output end of the glue coating reducer is connected to the glue coating ball screw, the front end of the glue coating ball screw is connected to the glue coating piston rod, the front end of the glue coating piston rod is fixed with a glue coating force control sensor, the front end of the glue coating force control sensor is fixed with a glue coating push rod, the glue coating push rod passes through the glue coating device housing and acts on the glue discharging mechanism, the glue coating ball screw converts the rotational motion of the glue coating servo motor into linear motion of the glue coating piston rod, driving the glue coating push rod to push the glue discharging mechanism to realize glue discharging; the glue coating control system is used to set glue coating control parameters and send control instructions, the glue coating force control sensor detects the glue pushing force in real time, the glue coating signal feedback actuator feeds back the force signal of the glue coating force control sensor and sends it to the glue coating control system, the glue coating control system sends a control instruction after calculation, and the glue coating signal feedback actuator adjusts the rotation speed of the glue coating servo motor to realize real-time adjustment of the glue discharging speed and glue discharging amount.

[0009] The gluing signal feedback actuator includes a gluing servo motor driver and a gluing force control sensor pressure transmitter. The gluing force control sensor pressure transmitter sends the gluing force control sensor force signal to the gluing control system, and the gluing servo motor driver executes the control instructions sent by the gluing control system to adjust the rotation speed of the gluing servo motor.

[0010] The gluing device shell includes a gluing motor protective cover, a gluing rear end flange, a gluing actuator shell and a gluing front end flange. The gluing motor protective cover is fixed on one side of the boom, the front end of the gluing motor protective cover is fixed to the gluing rear end flange, the front side of the gluing rear end flange is fixed to the gluing actuator shell, and the gluing front end flange is fixed to the front end of the gluing actuator shell; the gluing servo motor, gluing reducer and gluing signal feedback actuator are fixed in the gluing motor protective cover; the front end of the gluing ball screw passes through the gluing rear end flange and extends into the gluing actuator shell; the gluing piston rod, gluing force control sensor and gluing push rod are located in the gluing actuator shell, the gluing push rod passes through the gluing front end flange, and the gluing mechanism is detachably mounted on the gluing front end flange.

[0011] The gluing reducer is fixed in the gluing motor protective cover through a gluing reducer fixing seat.

[0012] The rear end of the glue-coated ball screw is connected to the output end of the glue-coated reducer through a glue-coated coupling.

[0013] A glue-coated bearing box is fixed at the center of the glue-coated rear end flange, where the glue-coated ball screw passes through. The glue-coated ball screw passes through the glue-coated bearing box and is used to support the glue-coated ball screw.

[0014] A guide sleeve is installed at the center of the front end flange of the glue coating, that is, the place where the glue coating push rod passes through. The glue coating push rod and the guide sleeve are slidably matched to achieve support.

[0015] The glue discharging mechanism includes a glue nozzle, a glue barrel fixing sleeve, a glue barrel and a glue pushing cap. The glue barrel fixing sleeve is detachably installed at the front end of the glue coating device shell, the glue barrel is placed in the glue barrel fixing sleeve, the glue nozzle is fixed at the front end of the glue barrel fixing sleeve and is connected to the glue barrel, and the glue pushing cap is arranged in the glue barrel and fixed at the front end of the glue pushing rod.

[0016] The rear end of the glue barrel fixing sleeve is provided with a quick handle, and quick assembly and disassembly are achieved through the quick handle and the front end of the glue coating device shell.

[0017] The automatic scraping device includes a scraping device housing, a scraping three-dimensional force control sensor, a scraping push rod, a scraping ball screw, a scraping reducer, a scraping servo motor, a scraping mechanism, a scraping signal feedback actuator and a scraping control system.

[0018] The scraper servo motor, scraper reducer, scraper ball screw, scraper push rod, and scraper signal feedback actuator are arranged inside the scraper device housing, the scraper servo motor output end is connected to the scraper reducer, the scraper reducer output end is connected to the scraper ball screw, the scraper ball screw front end is connected to the scraper push rod, the scraper push rod front end passes through the scraper device housing and is fixedly connected to the scraper three-dimensional force control sensor, the scraper mechanism is installed at the front end of the scraper three-dimensional force control sensor, the scraper control system is integrated with the actuator control system for setting scraper control parameters and sending control instructions; the scraper ball screw converts the rotational motion of the scraper servo motor into linear motion of the scraper push rod, the scraper three-dimensional force control sensor detects the scraping force in real time, the scraper signal feedback actuator feeds back the force signal of the scraper three-dimensional force control sensor and sends it to the scraper control system, the scraper control system sends a control instruction after calculation, and the scraper signal feedback actuator adjusts the rotation direction of the scraper servo motor, and adjusts the scraping thickness by adjusting the forward and reverse rotation of the scraper servo motor in real time.

[0019] The scraper signal feedback actuator includes a scraper servo motor driver and a scraper three-dimensional force control sensor transmitter. The scraper three-dimensional force control sensor transmitter sends the force signal of the scraper three-dimensional force control sensor to the scraper control system, and the scraper servo motor driver executes the control instructions sent by the scraper control system to adjust the rotation direction of the scraper servo motor.

[0020] The scraper device housing includes a scraper motor protective cover, a scraper rear flange, a scraper actuator housing and a scraper front flange. The scraper motor protective cover is fixed to the end of the actuator, the front end of the scraper motor protective cover is fixed to the scraper rear flange, the front side of the scraper rear flange is fixed to the scraper actuator housing, and the front end of the scraper actuator housing is installed with the scraper front flange; the scraper reducer, scraper servo motor, and scraper signal feedback actuator are fixed in the scraper motor protective cover, and the front end of the scraper ball screw passes through the scraper rear flange and extends into the scraper actuator housing; the scraper push rod is located in the scraper actuator housing, and the two are slidably matched, and the front end of the scraper push rod passes through the scraper actuator housing.

[0021] The scraper reducer is installed in the scraper motor protective cover through a scraper reducer fixing seat.

[0022] The rear end of the scraper ball screw is connected to the output end of the scraper reducer through a scraper coupling.

[0023] A scraper bearing box is installed at the center of the scraper rear flange, that is, the place where the scraper ball screw passes through. The scraper ball screw passes through the scraper bearing box and is used to support the scraper ball screw.

[0024] The scraping mechanism comprises a scraping plate and a three-finger clamp, the three-finger clamp is fixed on a scraping three-dimensional force control sensor, and the scraping plate is clamped in the three-finger clamp.

[0025] Furthermore, all control cables on the automatic gluing device and the automatic gluing device are routed from inside the corresponding devices, reducing the risk of external force collision and scratching.

[0026] A collaborative operation method of an end effector of an automatic glue-coating device with force control, comprising the following steps:

[0027] Step 1. Input the process path planning for forming the required glue layer into the controller of the actuator. The actuator operates the automatic scraper device to rise to the upper limit position and switches to the gluing operation mode, so that the scraper position is higher than the gluing nozzle position to ensure that there will be no scraper collision during the gluing operation.

[0028] Step 2. The actuator drives the automatic gluing device to move at a constant speed along the planned process path to perform automated gluing operations.

[0029] The movement of the actuator and the start of glue extrusion by the automatic glue coating device are triggered by the IO signal; the automatic glue coating control algorithm is used to control the glue pushing force of the automatic glue coating device to achieve uniform glue extrusion; when a turn occurs in the process path, the arc transition method is used to ensure that the movement speed of the actuator remains constant; uniform glue coating is achieved through uniform glue extrusion control and uniform movement of the actuator.

[0030] Step 3. After completing the automated gluing operation, the actuator operates the automatic scraping device to descend, so that the scraper plate is positioned lower than the gluing nozzle, thereby achieving rapid switching of the scraping operation mode.

[0031] Step 4. After completing the switching of the scraping operation mode, the actuator drives the automatic scraping device to move at a uniform speed according to the planned process path to perform automated scraping operation. During the operation, the automatic scraping control algorithm is used to control the scraping force of the automatic scraping device to control the uniformity of the scraping thickness. In order to ensure the accuracy of the scraping force control, the scraping speed should be kept slow and uniform.

[0032] Furthermore, the automatic gluing control algorithm includes the following steps:

[0033] Step a. According to the actual requirements of gluing and field experience, the corresponding relationship between the glue output and the glue pushing force output by the automatic gluing device is obtained by experimental method; the target glue pushing force value required for the target glue output is calculated based on the corresponding relationship, and the glue pushing force is used as the control input of the automatic gluing control algorithm, and the target glue pushing force value is input into the gluing control system. and push force control cycle , start gluing operation.

[0034] Step b. Read the current actual glue pushing force from the glue force control sensor .

[0035] Step c. Calculate the error of the current cycle's pushing force .

[0036] Step d. Pushing force error of the current cycle , combined with the timely response coefficient set based on experience , calculate the immediate response term .

[0037] Step e. The error in the pushing force in the past n cycles is combined with the cumulative compensation coefficient set based on experience. , the cumulative compensation items can be obtained .

[0038] Step f. Pushing force error from the previous cycle And the current cycle push force error And the change suppression coefficient set according to experience , calculate the change suppression term .

[0039] Step g. Calculate and output the speed increment of the gluing servo motor in the current control cycle .

[0040] Step h. The calculated The actual speed of the servo motor Add together to get the current target speed of the motor , As the output of the automatic gluing control algorithm, it is passed to the gluing servo motor driver to control the motor speed of the current cycle.

[0041] Step i. Jump to step b and loop the calculation for the next cycle to continuously and stably reach the set pushing force.

[0042] Furthermore, the automatic scraping control algorithm includes the following steps:

[0043] Step 1: According to the actual requirements of scraping glue and field experience, the corresponding relationship between the glue layer thickness and the scraping force output by the automatic scraping device is obtained by experimental method; the target scraping force value required for the target glue layer thickness is calculated based on the corresponding relationship, and the scraping force is used as the control input of the automatic scraping control algorithm, and the scraping force target value is input into the scraping control system. and scraping force control cycle , start scraping glue.

[0044] Step 2: The actual scraping force is read by the scraping three-dimensional force control sensor. , for each cycle, calculate the scraping force error of the current cycle .

[0045] Step 3: Use the position correction value of the previous cycle and the position correction value of the previous cycle ,according to , calculate the position correction of the scraper servo motor in the current cycle ,in, are three control parameters, which are given according to experience. For the first cycle, the position correction amount of the previous cycle and the cycle before that is 0. For the second cycle, the position correction amount of the cycle before that is 0.

[0046] Step 4: The conversion ratio between the motor encoding value and the scraper displacement can be known from the scraper servo motor model and transmission ratio. , because of Calculate the encoder value increment required by the scraper servo motor in the current cycle ; Since the motor encoding value should be an integer, Perform rounding operation.

[0047] Step 5: and the current encoding value of the scraper servo motor Add together to get the motor position control value of the current cycle , As the output of the automatic scraping control algorithm, it is transmitted to the scraping servo motor driver for scraping servo motor control.

[0048] Step 6: Go to step 2 and repeat the calculation for the next cycle to stably and continuously reach the set scraping force.

[0049] The beneficial effects of the present invention are as follows: a glue coating force control sensor is provided at the front end of the glue coating piston rod of the present invention, which controls the rotation speed of the glue coating servo motor according to the force value, thereby achieving controllable glue output; a glue scraping three-dimensional force control sensor is provided at the front end of the glue scraping push rod, which controls the forward and reverse rotation of the glue scraping servo motor according to the force value, thereby achieving controllable glue scraping thickness; the present invention has the function of maintaining the force state, has a light structure, and is easy to install. BRIEF DESCRIPTION OF THE DRAWINGS

[0050] Figure 1 This is a schematic diagram of the overall structure of the end effector of the automatic glue coating device with force control.

[0051] Figure 2 This is a schematic diagram of an automatic scraping device.

[0052] Figure 3 It is a schematic diagram of an automatic gluing device.

[0053] In the figure: 1-automatic gluing device; 1.1-glue nozzle; 1.2-glue barrel fixing sleeve; 1.3-glue barrel; 1.4-glue push cap; 1.5-glue push rod; 1.6-quick handle; 1.7-glue actuator housing; 1.8-glue force control sensor; 1.9-glue piston rod; 1.10-glue ball screw; 1.11-glue bearing box; 1.12-glue coupling; 1.13-glue reducer fixing seat; 1.14-glue reducer; 1.15-glue motor protective cover; 1.16 glue servo motor; 1.17-glue rear end flange; 1.18-guide sleeve; 1.19-glue front end flange; 1.20-glue servo motor Machine driver; 1.21-Glue application force control sensor pressure transmitter; 2-Automatic scraping device; 2.1-Glue scraping plate; 2.2-Three-finger gripper; 2.3-Glue scraping three-dimensional force control sensor; 2.4-Glue scraping front flange; 2.5-Glue scraping actuator housing; 2.6-Glue scraping push rod; 2.7-Glue scraping ball screw; 2.8-Glue scraping rear flange; 2.9-Glue scraping bearing box; 2.10-Glue scraping reducer fixing seat; 2.11-Glue scraping coupling; 2.12-Glue scraping reducer; 2.13-Glue scraping motor protective cover; 2.14-Glue scraping servo motor; 2.15-Glue scraping servo motor driver; 2.16-Glue scraping three-dimensional force control sensor transmitter; 3-Crane arm. DETAILED DESCRIPTION

[0054] The embodiments of the present invention are described in detail below, examples of which are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention, and are not to be construed as limiting the present invention.

[0055] An end effector of an automatic glue coating device with force control, such as Figure 1 It includes an automatic gluing device 1 and an automatic gluing device 2 installed on the boom 3. The two are fixed to the end of the actuator through the boom 3. The glue output of the automatic gluing device 1 is continuously adjustable in the range of 0~1.0ml / s, and the gluing speed is continuously adjustable in the range of 0~20mm / s. The glue thickness error of the automatic gluing device 2 is ±0.05mm, and the glue scraping speed is continuously adjustable in the range of 0~20mm / s.

[0056] A flange is provided at the rear end of the boom 3, which is fixedly connected to the end of the actuator through the flange. The actuator drives the boom 3 to rotate, thereby changing the relative positions of the automatic gluing device 1 and the automatic gluing device 2, thereby realizing the switching between the gluing operation mode and the gluing operation mode.

[0057] The automatic gluing device 1 includes a gluing device housing, a gluing push rod 1.5, a gluing force control sensor 1.8, a gluing piston rod 1.9, a gluing ball screw 1.10, a gluing reducer 1.14, a gluing servo motor 1.16, a gluing mechanism, a gluing signal feedback actuator and a gluing control system; wherein the gluing device housing includes a gluing actuator housing 1.7, a gluing motor protective cover 1.15, a gluing rear end flange 1.17 and a gluing front end flange 1.19, the gluing mechanism includes a gluing nozzle 1.1, a glue barrel fixing sleeve 1.2, a glue barrel 1.3, a glue pushing cap 1.4 and a quick handle 1.6, the gluing signal feedback actuator includes a gluing servo motor driver 1.20 and a gluing force control sensor pressure transmitter 1.21, the automatic gluing device 1 also includes a gluing bearing box 1.11, a gluing coupling 1.12, a gluing reducer fixing seat 1.13 and a guide sleeve 1.18, as shown Figure 3 .

[0058] The automatic gluing device 1 is fixed to one side of the boom 3 through the gluing motor protective cover 1.15. The front end of the gluing motor protective cover 1.15 is fixed to the gluing rear end flange 1.17. The center of the gluing rear end flange 1.17 is fixed with a gluing bearing box 1.11. The front side of the gluing rear end flange 1.17 is fixed to the gluing actuator housing 1.7. The gluing reducer fixing seat 1.13 and the gluing servo motor 1.16 are fixed on the gluing motor protective cover 1.15. The gluing reducer fixing seat 1.13 is located on the rear side of the gluing rear end flange 1.17. The machine 1.14 is installed on the glue-coated reducer fixing seat 1.13. The input end of the glue-coated reducer 1.14 is connected to the output end of the glue-coated servo motor 1.16. The rear end of the glue-coated ball screw 1.10 passes through the glue-coated bearing box 1.11 and is connected to the output end of the glue-coated reducer 1.14 through the glue-coated coupling 1.12. The front end of the glue-coated ball screw 1.10 extends into the glue-coated actuator housing 1.7 and is equipped with a glue-coated piston rod 1.9. The glue-coated ball screw 1.10 converts the rotational motion of the glue-coated servo motor 1.16 into the linear motion of the glue-coated piston rod 1.9. Taking into account the mechanical efficiency loss of screw rotation, gear transmission, motor power loss, safety factor and drive margin, and comprehensively considering the motor output indicators, size and weight, combined with the actual product model, the output torque of the rubber-coated servo motor 1.16 selected in this embodiment is 8.19mNm, the reduction ratio of the rubber-coated reducer 1.14 is 1:84, and the rubber-coated ball screw 1.10 selects a precision ball screw with a diameter of 14mm, a lead of 2mm and a stroke of 200mm, which can generate a thrust of 1000N and a rubber pushing stroke of 200mm.

[0059] The front end of the glue actuator housing 1.7 is fixedly connected to the glue front end flange 1.19, and a guide sleeve 1.18 is fixed at the center of the glue front end flange 1.19. The glue barrel fixing sleeve 1.2 is detachably connected to the front side of the glue front end flange 1.19 through a quick handle 1.6 fixed at its rear end; the glue force control sensor 1.8 is installed at the front end of the glue piston rod 1.9, and the glue push rod 1.5 is fixed at the front end of the glue force control sensor 1.8, and the front end of the glue push rod 1.5 passes through the guide sleeve 1.18; the glue barrel 1.3 is placed in the glue barrel fixing sleeve 1.2, and the glue barrel fixing sleeve 1.2 is fixed with a glue nozzle 1.1 that communicates with the glue barrel 1.3, and the glue pushing cap 1.4 is arranged in the glue barrel 1.3 and fixed at the front end of the glue push rod 1.5; the glue barrel fixing sleeve 1.2 and the glue barrel 1.3 inside it are quickly loaded and unloaded with the glue front end flange 1.19 through the quick handle 1.6, thereby realizing quick replacement of the glue barrel 1.3. Taking into account the actual working conditions, the glue force control sensor 1.8 uses a tensile pressure sensor with a rated measuring range of 1000N, and the glue barrel 1.3 uses a standard 8-ounce glue barrel.

[0060] The described gluing control system is integrated with the control system of the actuator and is equipped with an automatic gluing control algorithm for setting gluing control parameters and sending control instructions. The gluing servo motor driver 1.20 and the gluing force control sensor pressure transmitter 1.21 are fixed in the gluing motor protective cover 1.15. The gluing force control sensor 1.8 detects the gluing force in real time. The gluing force control sensor pressure transmitter 1.21 sends feedback based on the force signal of the gluing force control sensor 1.8 to the gluing control system. The gluing control system sends control instructions after calculation. The gluing servo motor driver 1.20 adjusts the rotation speed of the gluing servo motor 1.16, ultimately achieving real-time adjustment of the gluing speed and amount of glue output, so that the automatic gluing device 1 can achieve fast and uniform gluing. Among them, the gluing force control sensor pressure transmitter 1.21 selected in this embodiment has an operating voltage of 12-24V and an output signal of 0-10V analog signal.

[0061] The automatic scraping device 2 includes a scraping device housing, a scraping three-dimensional force control sensor 2.3, a scraping push rod 2.6, a scraping ball screw 2.7, a scraping reducer 2.12, a scraping servo motor 2.14, a scraping mechanism, a scraping signal feedback actuator and a scraping control system; wherein the scraping device housing includes a scraping front flange 2.4, a scraping actuator housing 2.5, a scraping rear flange 2.8 and a scraping motor protective cover 2.13, the scraping mechanism includes a scraping plate 2.1 and a three-finger gripper 2.2, the scraping signal feedback actuator includes a scraping servo motor driver 2.15 and a scraping three-dimensional force control sensor transmitter 2.16, and the automatic scraping device 2 also includes a scraping bearing box 2.9, a scraping reducer fixing seat 2.10 and a scraping coupling 2.11. Figure 2 .

[0062] The automatic scraping device 2 is fixed to the other side of the boom 3 through the scraping motor protective cover 2.13. The front end of the scraping motor protective cover 2.13 is fixedly connected to the scraping rear flange 2.8. A scraping bearing box 2.9 is installed in the center of the scraping rear flange 2.8. The front side of the scraping rear flange 2.8 is fixedly connected to the scraping actuator housing 2.5; the scraping reducer fixing seat 2.10 and the scraping servo motor 2.14 are fixed in the scraping motor protective cover 2.13. The scraping reducer fixing seat 2.10 is located on the rear side of the scraping rear flange 2.8. The scraping reducer 2.12 is fixed on the scraping reducer fixing seat 2.10. The output end of the scraping servo motor 2.14 is connected to the input end of the scraping reducer 2.12. The rear end of the scraping ball screw 2.7 passes through the scraping bearing box 2.9 and is connected to the scraping reducer 2.12 through the scraping coupling 2.11. The output end is connected, the front end of the scraper ball screw 2.7 extends into the scraper actuator housing 2.5 and is fixedly connected to the scraper push rod 2.6, and the scraper push rod 2.6 slides with the inner wall of the scraper actuator housing 2.5; the scraper front flange 2.4 is fixedly connected to the front end of the scraper actuator housing 2.5, and the front end of the scraper push rod 2.6 passes through the scraper front flange 2.4 and is fixedly connected to the scraper three-dimensional force control sensor 2.3, and the front end of the scraper three-dimensional force control sensor 2.3 is fixedly connected to the three-finger clamp 2.2, and the three fingers of the three-finger clamp 2.2 correspond to the three force sensing directions of the scraper three-dimensional force control sensor, and the scraper plate 2.1 is clamped on the three-finger clamp 2.2; the scraper ball screw 2.7 converts the rotational motion of the scraper servo motor 2.14 into the linear motion of the scraper push rod 2.6, thereby adjusting the forward or backward movement of the scraper plate 2.1. Taking into account the mechanical efficiency loss of screw rotation, gear transmission, motor power loss, scraper application force, safety factor and drive margin, and comprehensively considering the motor output indicators, size and weight, combined with the actual product model, the scraper servo motor 2.14 selected in this embodiment has an output torque of 8.19mNm, the scraper reducer 2.12 has a reduction ratio of 1:84, and the scraper ball screw 2.7 is a precision ball screw with a diameter of 14mm, a lead of 2mm and a stroke of 40mm, which can generate a scraper application pressure of 1000N and a scraper stroke of 40mm.

[0063] The scraper control system is integrated with the control system of the actuator and is equipped with an automatic scraper control algorithm for setting scraper control parameters and sending control instructions. The scraper servo motor driver 2.15 and the scraper three-dimensional force control sensor transmitter 2.16 are fixed in the scraper motor protective cover 2.13. The scraper three-dimensional force control sensor 2.3 detects the spatial force state in real time. The scraper three-dimensional force control sensor transmitter 2.16 sends the force signal feedback of the scraper three-dimensional force control sensor 2.3 to the scraper control system. The scraper control system sends control instructions after calculation. The scraper servo motor 2.14 drives the controller to adjust the rotation direction of the scraper servo motor 2.14. The scraper thickness is adjusted by adjusting the forward and reverse rotation of the scraper servo motor 2.14 in real time. At the same time, the actuator adjusts the scraper direction by controlling its spatial posture to achieve fast and uniform scraping. In combination with the actual product model, the three-dimensional force control sensor 2.3 for scraping glue selected in this embodiment outputs an analog signal. Its tensile and pressure measurement range in three directions is 100N, and its torque measurement range in three directions is 3.5NM. The working voltage of the selected three-dimensional force control sensor transmitter 2.16 for scraping glue is optional at 0-5V, and the output signal is a 0-5V analog signal. Specifically: when the force applied to the scraper 2.1 in one direction is greater than the set value, the scraping thickness is greater than the set value, then the scraping servo motor 2.14 is reversed, and the return distance of the scraping push rod 2.6 is dynamically adjusted to reduce the scraping thickness until the pressure value of the scraping three-dimensional force control sensor 2.3 reaches the set value; conversely, if the force value fed back to the scraping three-dimensional force control sensor 2.3 is less than the set force value, the scraping thickness is less than the set value, then the scraping servo motor 2.14 is forwarded, and the return distance of the scraping push rod 2.6 is dynamically adjusted to increase the scraping thickness until the pressure value of the three-dimensional force sensor 2.3 reaches the set value; in addition, when the torque value fed back to the scraping three-dimensional force control sensor 2.3 by the scraper 2.1 is greater than or less than the set value, the control system of the actuator will dynamically adjust the spatial posture position of the actuator, so that the automatic scraping device 2 is adjusted to an appropriate spatial posture until the torque value fed back to the scraping three-dimensional force control sensor 2.3 is equal to the set value.

[0064] A collaborative operation method of an end effector of an automatic glue-coating device with force control, comprising the following steps:

[0065] Step 1. Input the process path planning for forming the required glue layer into the controller of the actuator. The actuator operates the automatic scraper device 2 to rise to the upper limit position, so that the scraper 2.1 is positioned higher than the glue nozzle 1.1 to ensure that there will be no scraper collision problems during the glue coating operation.

[0066] Step 2. The actuator drives the automatic gluing device 1 to move at a constant speed along the planned process path to perform automated gluing operations.

[0067] The movement of the actuator and the start of glue extrusion by the automatic glue coating device 1 are triggered by the IO signal; the automatic glue coating control algorithm is used to control the glue pushing force of the automatic glue coating device 1 to achieve uniform glue extrusion; when a turn occurs in the process path, the arc transition method is used to ensure that the movement speed of the actuator is uniform; uniform glue feeding is achieved through uniform glue extrusion amount control and uniform speed movement of the actuator.

[0068] The automatic gluing control algorithm is as follows:

[0069] Step a. According to the actual requirements of gluing and field experience, the corresponding relationship between the glue output and the glue pushing force output by the automatic gluing device 1 is obtained by experimental method. Assuming the target glue output is 0.5ml / s, the required glue pushing force target value is calculated to be 450N according to the corresponding relationship. The glue pushing force is used as the control input of the automatic gluing control algorithm, and the glue pushing force target value is input into the gluing control system. , push glue force control cycle , start gluing operation.

[0070] Step b. Read the current actual glue pushing force from the glue force control sensor 1.8 .

[0071] Step c. Calculate the error of the current cycle's pushing force .

[0072] Step d. Pushing force error of the current cycle , combined with the timely response coefficient set based on experience , calculate the immediate response term .

[0073] Step e. Assuming that the errors in the past ten cycles are roughly the same (assuming they are all 10N), combined with the cumulative compensation coefficient set based on experience , the cumulative compensation items can be obtained .

[0074] Step f. Pushing force error from the previous cycle And the current cycle push force error , and the change suppression coefficient set according to experience , calculate the change suppression term .

[0075] Step g. Calculate and output the 1.16 speed increment of the gluing servo motor in the current control cycle .

[0076] Step h. The calculated Current actual speed of the servo motor 1.16 with glue Add together to get the current target speed of the motor , As the output of the automatic gluing control algorithm, it is passed to the gluing servo motor driver 1.20 to control the motor speed of the current cycle.

[0077] Step i. Jump to step b and loop the calculation for the next cycle to continuously and stably reach the set pushing force.

[0078] Step 3. After the automatic gluing operation is completed, the actuator operates the automatic scraping device 2 to descend, so that the scraper 2.1 is positioned lower than the gluing nozzle 1.1, thereby realizing a rapid switch of the scraping operation mode.

[0079] Step 4. After completing the switching of the scraping operation mode, the actuator drives the automatic scraping device 2 to move at a uniform speed according to the planned process path to perform automated scraping operation. During the operation, the automatic scraping control algorithm is used to control the scraping force of the automatic scraping device 2. In order to ensure the accuracy of the scraping force control, the scraping speed should be kept slow and uniform.

[0080] The automatic scraping control algorithm is as follows:

[0081] Step 1: According to the actual requirements of scraping glue and field experience, the corresponding relationship between the glue layer thickness and the scraping force output by the automatic scraping device 2 is obtained by experimental method. Assuming the target glue layer thickness is 2mm, the scraping force target value is calculated to be 5N according to the corresponding relationship. The scraping force is used as the control input of the automatic scraping control algorithm and the scraping force target value is input into the scraping control system. and scraping force control cycle , start scraping glue.

[0082] Step 2: The actual scraping force is read by the scraping three-dimensional force control sensor 2.3. , for the first cycle, calculate the scraping force error of the current cycle .

[0083] Step three, by It is known that the scraping force error of the current cycle and the position correction value of the previous cycle need to be known. and the position correction value of the previous cycle , in order to obtain the position correction of the scraper motor in the current cycle , therefore, calculate the position correction value of the first cycle When the position correction of the first two cycles is set to 0 (when calculating the second cycle, only the position correction of the previous cycle needs to be set to 0, and this step is not required for the remaining cycles). The three control parameters According to experience, , then the position correction value of the first cycle can be obtained .

[0084] Step 4: According to the model and transmission ratio of the scraper servo motor 2.14, the scraper plate 2.1 will move downward by 1mm when the motor code value increases by 860160cnt. Therefore, the position correction value of the first cycle is , the encoder value increment required by the motor in the first cycle is equal to Since the motor encoding value should be an integer, the motor encoding value is rounded to get the actual encoding value increment sent to the driver. .

[0085] Step 5: and the current encoding value of the scraper servo motor Add together to get the motor position control value of the current cycle ,Will As the output of the automatic scraping control algorithm, it is passed to the scraping servo motor driver 2.15 to control the scraping servo motor 2.14 (note that the control mode of the scraping servo motor 2.14 should be in CSP cycle synchronous position mode).

[0086] Step 6: Jump to step 2 and repeat the calculation of the next cycle until the set scraping force is reached stably and continuously.

[0087] The above description is only part of the embodiments of the present invention and does not limit the implementation and protection scope of the present invention. Improvements and modifications made by those skilled in the art based on the disclosure of the present invention without departing from the scope of the present invention should be within the scope of protection of the present invention.

Claims

1. An end effector of an automatic scraping device with force control, characterized in that: The invention comprises an automatic glue coating device (1) and an automatic glue scraping device (2) fixedly mounted at the end of an actuator, and the actuator drives the two devices to complete the glue coating and glue scraping operations along a planned path. Both devices are provided with a force control sensor, a servo motor, a reducer, a signal feedback actuator and a control system. The force control sensor detects the force conditions of the glue pushing and scraping, and the signal feedback actuator controls the servo motor to adjust the speed or direction according to the instruction of the control system, thereby realizing automatic adjustment of the glue coating amount and the glue scraping thickness.

2. The end effector of the automatic glue coating device with force control according to claim 1 is characterized in that: The automatic glue coating device (1) and the automatic glue scraping device (2) are fixed to the end of the actuator via a boom (3), and the two are respectively fixed on both sides of the boom (3). The boom (3) is driven by the actuator to rotate, thereby switching the relative positions of the automatic glue coating device (1) and the automatic glue scraping device (2) to realize the switching between the glue coating operation and the glue scraping operation.

3. The end effector of the automatic glue coating device with force control according to claim 2 is characterized in that: The rear end of the boom (3) is provided with a flange, which is fixedly connected to the end of the actuator via the flange.

4. The end effector of the automatic glue coating device with force control according to claim 1 is characterized in that: The automatic gluing device (1) comprises a gluing device housing, a gluing push rod (1.5), a gluing force control sensor (1.8), a gluing piston rod (1.9), a gluing ball screw (1.10), a gluing reducer (1.14), a gluing servo motor (1.16), a gluing mechanism, a gluing signal feedback actuator and a gluing control system; The gluing push rod (1.5), the gluing force control sensor (1.8), the gluing piston rod (1.9), the gluing ball screw (1.10), the gluing reducer (1.14), the gluing servo motor (1.16), and the gluing signal feedback actuator are arranged inside the gluing device housing, the gluing mechanism is detachably mounted at the front end of the gluing device housing, and the gluing control system is integrated with the control system of the actuator; The output end of the gluing servo motor (1.16) is connected to the gluing reducer (1.14), the output end of the gluing reducer (1.14) is connected to the gluing ball screw (1.10), the front end of the gluing ball screw (1.10) is connected to the gluing piston rod (1.9), the front end of the gluing piston rod (1.9) is fixed with a gluing force control sensor (1.8), the front end of the gluing force control sensor (1.8) is fixed with a gluing push rod (1.5), the gluing push rod (1.5) passes through the gluing device housing and acts on the gluing mechanism, and the gluing ball screw (1.10) connects the gluing servo motor (1.16) The rotational motion of the glue-spreading piston rod (1.9) is converted into linear motion, which drives the glue-spreading push rod (1.5) to push the glue-spreading mechanism to realize glue-spreading; the glue-spreading control system is used to set the glue-spreading control parameters and send control instructions, the glue-spreading force control sensor (1.8) detects the glue-spreading force in real time, the glue-spreading signal feedback actuator sends the force signal feedback of the glue-spreading force control sensor (1.8) to the glue-spreading control system, the glue-spreading control system sends the control instruction after calculation, and the glue-spreading signal feedback actuator adjusts the rotation speed of the glue-spreading servo motor (1.16) to realize real-time adjustment of the glue-spreading speed and glue-spreading amount.

5. The end effector of the automatic glue coating device with force control according to claim 4 is characterized in that: The gluing signal feedback actuator comprises a gluing servo motor driver (1.20) and a gluing force control sensor pressure transmitter (1.21). The gluing force control sensor pressure transmitter (1.21) transmits the force signal of the gluing force control sensor (1.8) to the gluing control system. The gluing servo motor driver (1.20) executes the control instruction sent by the gluing control system to adjust the rotation speed of the gluing servo motor (1.16).

6. The end effector of the automatic glue coating device with force control according to claim 4 is characterized in that: The gluing device housing comprises a gluing motor protective cover (1.15), a gluing rear end flange (1.17), a gluing actuator housing (1.7) and a gluing front end flange (1.19) which are fixedly connected in sequence from back to front; the gluing motor protective cover (1.15) is fixedly connected to the end of the actuator, the gluing servo motor (1.16), the gluing reducer (1.14) and the gluing signal feedback actuator are fixed in the gluing motor protective cover (1.15), and the front end of the gluing ball screw (1.10) passes through the gluing rear end flange (1.17) and extends into the gluing actuator housing (1.7); the gluing piston rod (1.9), the gluing force control sensor (1.8) and the gluing push rod (1.5) are located in the gluing actuator housing (1.7), the gluing push rod (1.5) passes through the gluing front end flange (1.19), and the gluing mechanism is detachably mounted on the gluing front end flange (1.19).

7. The end effector of the automatic glue coating device with force control according to claim 6, characterized in that: The glue-coated reducer (1.14) is fixed in the glue-coated motor protective cover (1.15) via the glue-coated reducer fixing seat (1.13).

8. The end effector of the automatic glue coating device with force control according to claim 6, characterized in that: The rear end of the glue-coated ball screw (1.10) is connected to the output end of the glue-coated reducer (1.14) via a glue-coated coupling (1.12).

9. The end effector of the automatic glue coating device with force control according to claim 6, characterized in that: A glue-coated bearing box (1.11) is fixed at the center of the glue-coated rear end flange (1.17), and the glue-coated ball screw (1.10) passes through the glue-coated bearing box (1.11) to achieve support.

10. The end effector of the automatic glue coating device with force control according to claim 6, characterized in that: A guide sleeve (1.18) is fixed at the center of the front end flange (1.19), and the glue-coating push rod (1.5) passes through the guide sleeve (1.18) and slides in conjunction with the guide sleeve to achieve support.

11. The end effector of the automatic glue-coating device with force control according to claim 4, characterized in that: The glue dispensing mechanism comprises a glue coating nozzle (1.1), a glue barrel fixing sleeve (1.2), a glue barrel (1.3) and a glue pushing cap (1.4); the glue barrel fixing sleeve (1.2) is detachably mounted on the front end of the glue coating device housing; the glue barrel (1.3) is placed in the glue barrel fixing sleeve (1.2); the glue coating nozzle (1.1) is fixed to the front end of the glue barrel fixing sleeve (1.2) and communicates with the glue barrel (1.3); and the glue pushing cap (1.4) is arranged in the glue barrel (1.3) and fixed to the front end of the glue coating push rod (1.5).

12. The end effector of the automatic glue coating device with force control according to claim 11, characterized in that: The rear end of the glue barrel fixing sleeve (1.2) is provided with a quick handle (1.6), and quick assembly and disassembly are achieved through the quick handle (1.6) and the front end of the glue coating device housing.

13. The end effector of the automatic glue coating device with force control according to claim 4, characterized in that: All control cables on the automatic gluing device (1) are routed from inside the device, reducing the risk of external collision and scratching.

14. The end effector of the automatic glue coating device with force control according to claim 1, characterized in that: The automatic scraping device (2) comprises a scraping device housing, a scraping three-dimensional force control sensor (2.3), a scraping push rod (2.6), a scraping ball screw (2.7), a scraping reducer (2.12), a scraping servo motor (2.14), a scraping mechanism, a scraping signal feedback actuator and a scraping control system; The scraper push rod (2.6), the scraper ball screw (2.7), the scraper reducer (2.12), the scraper servo motor (2.14), and the scraper signal feedback actuator are arranged inside the scraper device housing. The output end of the scraper servo motor (2.14) is connected to the scraper reducer (2.12), the output end of the scraper reducer (2.12) is connected to the scraper ball screw (2.7), the front end of the scraper ball screw (2.7) is fixedly connected to the scraper push rod (2.6), the front end of the scraper push rod (2.6) passes through the scraper device housing and is fixedly connected to the scraper three-dimensional force control sensor (2.3), the scraper mechanism is installed at the front end of the scraper three-dimensional force control sensor (2.3), and the scraper control The system is integrated with the control system of the actuator and is used to set scraping control parameters and send control instructions; the scraping ball screw (2.7) converts the rotational motion of the scraping servo motor (2.14) into the linear motion of the scraping push rod (2.6), the scraping three-dimensional force control sensor (2.3) detects the scraping force in real time, and the scraping signal feedback actuator sends the force signal feedback based on the three-dimensional force control sensor (2.3) to the scraping control system. The scraping control system sends a control instruction after calculation, and the scraping signal feedback actuator adjusts the rotation direction of the scraping servo motor (2.14). The scraping thickness is adjusted by adjusting the forward and reverse rotation of the scraping servo motor (2.14) in real time.

15. The end effector of the automatic glue coating device with force control according to claim 14, characterized in that: The scraper signal feedback actuator includes a scraper servo motor driver (2.15) and a scraper three-dimensional force control sensor transmitter (2.16). The scraper three-dimensional force control sensor transmitter (2.16) sends the force signal of the scraper three-dimensional force control sensor (2.3) to the scraper control system. The scraper servo motor driver (2.15) executes the control command sent by the scraper control system to adjust the rotation direction of the scraper servo motor (2.14).

16. The end effector of the automatic glue coating device with force control according to claim 14, characterized in that: The scraper device housing comprises a scraper motor protective cover (2.13), a scraper rear flange (2.8), a scraper actuator housing (2.5) and a scraper front flange (2.4) which are fixed in sequence from back to front; the scraper motor protective cover (2.13) is fixed to the end of the actuator, the scraper reducer (2.12), the scraper servo motor (2.14) and the scraper signal feedback actuator are fixed in the scraper motor protective cover (2.13), the front end of the scraper ball screw (2.7) passes through the scraper rear flange (2.8) and extends into the scraper actuator housing (2.5); the scraper push rod (2.6) is located in the scraper actuator housing (2.5), the two are slidably matched, and the front end of the scraper push rod (2.6) passes through the scraper actuator housing (2.5).

17. The end effector of the automatic glue coating device with force control according to claim 16, characterized in that: The scraper reducer (2.12) is installed in the scraper motor protective cover (2.13) through the scraper reducer fixing seat (2.10).

18. The end effector of the automatic glue coating device with force control according to claim 16, characterized in that: The rear end of the scraper ball screw (2.7) is connected to the output end of the scraper reducer (2.12) via the scraper coupling (2.11).

19. The end effector of the automatic glue coating device with force control according to claim 16, characterized in that: A scraper bearing box (2.9) is installed at the center of the scraper rear flange (2.8), and the scraper ball screw (2.7) passes through the scraper bearing box (2.9) to achieve support.

20. The end effector of the automatic glue coating device with force control according to claim 14, characterized in that: The scraping mechanism comprises a scraping plate (2.1) and a three-finger clamp (2.2); the three-finger clamp (2.2) is fixed on a scraping three-dimensional force control sensor (2.3); and the scraping plate (2.1) is clamped in the three-finger clamp (2.2).

21. The end effector of the automatic glue coating device with force control according to claim 14, characterized in that: All control cables on the automatic glue scraping device (2) are routed from inside the device, reducing the risk of external force collision and scratching.

22. A collaborative operation method for the end effector of the automatic glue coating device with force control according to any one of claims 1 to 21, characterized in that: The steps include: Step 1. The actuator switches the end effector to a gluing operation mode; Step 2. The actuator drives the automatic gluing device (1) to move at a uniform speed along the planned process path to perform automated gluing operations; the automatic gluing control algorithm is used to control the pushing force of the automatic gluing device (1) to achieve uniform speed glue extrusion; uniform glue application is achieved through uniform glue extrusion amount control and uniform speed movement of the actuator; Step 3. After completing the automated gluing operation, switch the end effector to the gluing operation mode; Step 4. After completing the switching of the scraping operation mode, the actuator drives the automatic scraping device (2) to move at a uniform speed according to the planned process path to perform the automatic scraping operation. During the operation, the automatic scraping control algorithm is used to control the scraping force of the automatic scraping device (2) to control the uniformity of the scraping thickness.

23. The collaborative operation method of the end effector of the automatic glue coating device with force control according to claim 22, characterized in that: In step 1, the actuator operates the automatic scraping device (2) to rise to the upper limit position, so that the position of the automatic scraping device (2) is higher than the automatic gluing device (1), completing the switching of the gluing operation mode.

24. The collaborative operation method of the end effector of the automatic glue coating device with force control according to claim 22, characterized in that: In the step 2, when a turn occurs in the process path, an arc transition method is used to ensure that the moving speed of the actuator remains constant.

25. The collaborative operation method of the end effector of the automatic glue coating device with force control according to claim 22, characterized in that: In step 2, the automatic gluing control algorithm includes the following steps: Step a. Determine the corresponding relationship between the glue output amount and the glue pushing force output by the automatic glue coating device (1); calculate the target glue pushing force value required for the target glue output amount based on the corresponding relationship, use the glue pushing force as the control input of the automatic glue coating control algorithm, and input the target glue pushing force value into the glue coating control system. and push force control cycle , start gluing operation; Step b. Read the current actual glue pushing force from the glue force control sensor (1.8) ; Step c. Calculate the error of the current cycle's pushing force ; Step d. Pushing force error of the current cycle , combined with the timely response coefficient set based on experience , calculate the immediate response term ; Step e. The error in the pushing force in the past n cycles is combined with the cumulative compensation coefficient set based on experience. , the cumulative compensation items can be obtained ; Step f. Pushing force error from the previous cycle And the current cycle push force error And the change suppression coefficient set according to experience , calculate the change suppression term ; Step g. Calculate and output the speed increment of the gluing servo motor in the current control cycle ; Step h. The calculated The actual speed of the servo motor Add together to get the current target speed of the motor , As the output of the automatic gluing control algorithm, it is passed to the gluing servo motor driver (1.20) to control the motor speed of the current cycle; Step i. Jump to step b and loop to perform calculations for the next cycle.

26. The collaborative operation method of the end effector of the automatic glue coating device with force control according to claim 25, characterized in that: In the step a, the corresponding relationship between the glue output and the glue pushing force is obtained by experimental method.

27. The collaborative operation method of the end effector of the automatic glue coating device with force control according to claim 22, characterized in that: In step 3, the actuator operates the automatic glue scraping device (2) to descend, so that the position of the automatic glue coating device (1) is higher than the automatic glue scraping device (2), completing the switching of the glue scraping operation mode.

28. The collaborative operation method of the end effector of the automatic scraping device with force control according to claim 22, characterized in that: In step 4, the automatic scraping control algorithm includes the following steps: Step 1: Determine the corresponding relationship between the glue layer thickness and the scraping force output by the automatic scraping device (2); calculate the target scraping force value required for the target glue layer thickness based on the corresponding relationship, use the scraping force as the control input of the automatic scraping control algorithm, and input the scraping force target value into the scraping control system. and scraping force control cycle , start scraping glue operation; Step 2: The scraper 3D force control sensor (2.3) reads the actual scraper force. , for each cycle, calculate the scraping force error of the current cycle ; Step 3: Use the position correction value of the previous cycle and the position correction value of the previous cycle ,according to , calculate the position correction of the scraper servo motor (2.14) in the current cycle ,in, are three control parameters, given based on experience; Step 4: The conversion ratio between the motor code value and the displacement of the automatic scraping device (2) can be obtained from the model and transmission ratio of the scraping servo motor (2.14). , then Calculate the encoder value increment required by the scraper servo motor (2.14) in the current cycle ; Step 5: and the current encoding value of the scraper servo motor Add together to get the motor position control value of the current cycle , As the output of the automatic scraping control algorithm, it is transmitted to the scraping servo motor driver (2.15) to control the scraping servo motor (2.14); Step 6: Jump to step 2 and loop to perform calculations for the next cycle.

29. The collaborative operation method of the end effector of the automatic glue coating device with force control according to claim 28, characterized in that: In the step 1, the corresponding relationship between the thickness of the adhesive layer and the scraping force is obtained by experimental method.

30. The collaborative operation method of the end effector of the automatic glue coating device with force control according to claim 28, characterized in that: In the above step 4, since the motor code value is an integer, it is necessary to Perform rounding operation.

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