End effector and collaborative operation method of force-controlled automatic glue application device

Abstract

This invention provides an end effector and collaborative operation method for an automatic glue application and scraping device with force control, belonging to the field of aerospace manufacturing engineering and aircraft assembly. It includes an automatic glue application device and an automatic glue scraping device mounted on a boom. The two are fixed to the end of the actuator by the boom. The automatic glue application device and the automatic glue scraping device are respectively equipped with a force control sensor, a servo motor, a servo motor driver, a sensor transmitter, and a control system. By dynamically detecting the force on the glue pushing and scraping, the speed or direction of the servo motor is controlled to realize the automatic adjustment of the glue application amount and scraping thickness, which meets the production process requirements of automatic glue application followed by automatic glue scraping. The structure is lightweight and easy to install.

Description

Technical Field

[0001] This invention belongs to the field of aerospace manufacturing engineering and aircraft assembly, and relates to an end effector of an automatic adhesive application device with force control and a collaborative operation method for applying sealant during aircraft assembly. Background Technology

[0002] Adhesive bonding, as an important joining method, is widely used in the manufacturing process of aircraft products. Currently, manual adhesive application is predominantly employed. The quality of manual application is limited by individual skill levels, making it difficult to guarantee uniformity and thickness of the adhesive. It relies entirely on worker experience, and after application, a specialist is required to perform polishing and inspection. This process is inefficient and prone to uneven, discontinuous, and wasteful application. Furthermore, most adhesives release toxic gases that can harm human health. Adhesive application is a crucial process in aircraft manufacturing. Foreign companies have pioneered the use of digital manufacturing technology, utilizing robots for adhesive application in areas with high sealing requirements, such as aircraft frames, access panels, and fuel tanks. This has improved sealing and bonding processes and promoted technological advancements in adhesive application, gradually moving towards automation. In my country's aircraft manufacturing industry, automated adhesive application is not yet achieved, primarily due to the small batch sizes and complex structures of aircraft production. However, existing adhesive application equipment cannot meet the technological requirements of future aircraft. Therefore, research into automated, flexible, and low-cost automated adhesive application systems has become a new development trend. In the existing technology, there are many glue-applying and glue-scraping tools and devices. For example, Chinese invention application CN115502040A discloses an end effector and glue-applying method for an automatic glue-applying robot. The glue-applying execution device is installed on the robot's robotic arm and is controlled to complete the glue-applying operation according to a set processing program. However, existing glue-applying and glue-scraping tools and devices are prone to defects such as uneven glue application and uneven glue thickness in daily production. They are not only inconvenient to operate, but also have low production quality and efficiency. Summary of the Invention

[0003] The technical problem solved by this invention is to provide an end effector and a collaborative operation method for an automatic glue application and scraping device with force control. By collecting real-time force data through a glue application force control sensor set on the glue bucket push rod and a scraping three-dimensional force control sensor set at the end of the scraping push rod, the device controls the rotation speed of the glue application servo motor and the forward and reverse rotation of the scraping servo motor to achieve a force balance function. It also has force balance control and force state maintenance functions, as well as a rapid force balance function, so as to achieve fast and high-quality automatic glue application and automatic scraping.

[0004] The technical solution adopted in this invention is as follows:

[0005] An end effector for an automatic glue application and scraping device with force control includes an automatic glue application device and an automatic glue scraping device fixedly installed at the end of an actuator. The actuator drives both devices to complete glue application and scraping operations along a planned path. Both devices are equipped 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 applied to the glue application and scraping, the control system issues commands, and the signal feedback actuator controls the servo motor to adjust its speed or direction according to the commands of the control system, thereby automatically adjusting the amount of glue applied and the thickness of the glue scraping, meeting the production process requirements of automatic glue application followed by automatic glue scraping.

[0006] The automatic glue application device and the automatic glue scraping device are fixed to the end of the actuator via a boom. They are respectively fixed on both sides of the boom. A flange is provided at the rear end of the boom and is fixedly connected to the end of the actuator via the flange. The actuator drives the boom to rotate, changing the relative positions of the automatic glue application device and the automatic glue scraping device, thereby realizing the switching between glue application and glue scraping operations.

[0007] The automatic glue application device includes a glue application device housing, a glue application servo motor, a glue application reducer, a glue application ball screw, a glue application piston rod, a glue application force control sensor, a glue application push rod, a glue dispensing mechanism, a glue application signal feedback execution mechanism, and a glue application control system. The glue application servo motor, glue application reducer, glue application ball screw, glue application piston rod, glue application force control sensor, glue application push rod, and glue application signal feedback execution mechanism are housed inside the glue application device housing. The glue dispensing mechanism is detachably mounted at the front end of the glue application device housing. The glue application control system is integrated with the control system of the execution mechanism.

[0008] The output end of the glue-applying servo motor is connected to the glue-applying reducer, and the output end of the glue-applying reducer is connected to the glue-applying ball screw. The front end of the glue-applying ball screw is connected to the glue-applying piston rod. A glue-applying force control sensor is fixed to the front end of the glue-applying force control sensor, and a glue-applying push rod is fixed to the front end of the glue-applying force control sensor. The glue-applying push rod passes through the glue-applying device housing and acts on the glue dispensing mechanism. The glue-applying ball screw converts the rotational motion of the glue-applying servo motor into the linear motion of the glue-applying piston rod, driving the glue-applying push rod to push the glue dispensing mechanism to achieve glue dispensing. The glue-applying control system is used to set glue-applying control parameters and send control commands. The glue-applying force control sensor detects the glue-pushing force in real time. The glue-applying signal feedback actuator sends the force signal feedback from the glue-applying force control sensor to the glue-applying control system. After calculation, the glue-applying control system sends control commands, and the glue-applying signal feedback actuator adjusts the rotational speed of the glue-applying servo motor to achieve real-time adjustment of the glue dispensing speed and glue dispensing amount.

[0009] The adhesive application signal feedback actuator includes an adhesive application servo motor driver and an adhesive application force control sensor pressure transmitter. The adhesive application force control sensor pressure transmitter sends the force signal from the adhesive application force control sensor to the adhesive application control system. The adhesive application servo motor driver executes the control commands sent by the adhesive application control system to adjust the rotation speed of the adhesive application servo motor.

[0010] The adhesive applicator housing includes an adhesive applicator motor protective cover, an adhesive applicator rear flange, an adhesive applicator actuator housing, and an adhesive applicator front flange. The adhesive applicator motor protective cover is fixed to one side of the boom. The adhesive applicator rear flange is fixed to the front of the adhesive applicator motor protective cover. The adhesive applicator actuator housing is fixed to the front side of the adhesive applicator rear flange. The adhesive applicator front flange is fixed to the front of the adhesive applicator actuator housing. The adhesive applicator servo motor, adhesive applicator reducer, and adhesive applicator signal feedback actuator are fixed inside the adhesive applicator motor protective cover. The front end of the adhesive applicator ball screw passes through the adhesive applicator rear flange and extends into the adhesive applicator actuator housing. The adhesive applicator piston rod, adhesive applicator force control sensor, and adhesive applicator push rod are located inside the adhesive applicator actuator housing. The adhesive applicator push rod extends out from the adhesive applicator front flange. The adhesive dispensing mechanism is detachably mounted on the adhesive applicator front flange.

[0011] The glue-applying reducer is fixed inside the glue-applying motor protective cover by a glue-applying reducer mounting base.

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

[0013] A glue-coating bearing housing is fixed at the center of the glue-coating rear flange, where the glue-coating ball screw passes through. The glue-coating ball screw passes through the glue-coating bearing housing to support the glue-coating ball screw.

[0014] A guide sleeve is installed at the center of the front flange of the adhesive application section, where the adhesive application push rod protrudes. The adhesive application push rod slides with the guide sleeve to provide support.

[0015] The glue dispensing mechanism includes a glue applicator nozzle, a glue bucket fixing sleeve, a glue bucket, and a glue pusher cap. The glue bucket fixing sleeve is detachably installed at the front end of the glue applicator housing. The glue bucket is placed inside the glue bucket fixing sleeve. The glue applicator nozzle is fixed at the front end of the glue bucket fixing sleeve and communicates with the glue bucket. The glue pusher cap is placed inside the glue bucket and fixed at the front end of the glue applicator pusher.

[0016] The glue bucket fixing sleeve is equipped with a quick handle at the rear end, which allows for quick loading and unloading between the quick handle and the front end of the glue applicator housing.

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

[0018] The aforementioned scraping servo motor, scraping reducer, scraping ball screw, scraping push rod, and scraping signal feedback actuator are housed inside the scraping device housing. The output end of the scraping servo motor is connected to the scraping reducer, the output end of the scraping reducer is connected to the scraping ball screw, the front end of the scraping ball screw is connected to the scraping push rod, and the front end of the scraping push rod extends out of the scraping device housing and is fixedly connected to the scraping three-dimensional force control sensor. The scraping mechanism is installed in front of the scraping three-dimensional force control sensor. The scraping control system is integrated with the control system of the actuator, used to set scraping control parameters and send control commands. The scraping ball screw converts the rotational motion of the scraping servo motor into the linear motion of the scraping push rod. The scraping three-dimensional force control sensor detects the scraping force in real time. The scraping signal feedback actuator sends the force signal feedback from the scraping three-dimensional force control sensor to the scraping control system. The scraping control system calculates and sends control commands, and the scraping signal feedback actuator adjusts the rotation direction of the scraping servo motor. The scraping thickness is adjusted by adjusting the forward and reverse rotation of the scraping servo motor in real time.

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

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

[0021] The scraper reducer is installed inside the scraper motor protective cover via a scraper reducer mounting bracket.

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

[0023] The center of the flange after the glue scraping is where the glue scraping ball screw passes through, and a glue scraping bearing housing is installed. The glue scraping ball screw passes through the glue scraping bearing housing to support the glue scraping ball screw.

[0024] The adhesive scraping mechanism includes an adhesive scraper and a three-finger gripper. The three-finger gripper is fixed on the adhesive scraping three-dimensional force control sensor, and the adhesive scraper is held in the three-finger gripper.

[0025] Furthermore, all control cables for the automatic glue application device and the automatic glue scraping device are routed from inside the corresponding device, reducing the risk of external impact and scratches.

[0026] A method for coordinating the operation of an end effector of a force-controlled automatic adhesive applicator includes the following steps:

[0027] Step 1. Input the process path planning for forming the required adhesive layer into the controller of the actuator. The actuator operates the automatic scraper to rise to the upper limit position and switches to the adhesive application mode, so that the scraper is higher than the application nozzle to ensure that the scraper does not collide during the adhesive application.

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

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

[0030] Step 3. After the automated glue application operation is completed, the actuator operates the automatic glue scraper to lower the glue scraper to a position lower than the glue nozzle, thus achieving a rapid switch of the glue scraping operation mode.

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

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

[0033] Step a. Based on actual glue application requirements and field experience, obtain the correlation between glue dispensing volume and the pushing force output by the automatic glue applicator through experimental methods; calculate the target pushing force value required for the target glue dispensing volume based on the correlation, and use the pushing force as the control input for the automatic glue applicator control algorithm, inputting the target pushing force value into the glue applicator control system. and push force control cycle Then, the glue application process begins.

[0034] Step b. Read the current actual adhesive application force using the adhesive application force control sensor. .

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

[0036] Step d. Based on the current cycle's adhesive force error Combined with an empirically set timely response coefficient The immediate response item is calculated. .

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

[0038] Step f. Based on the previous cycle's adhesive force error Error of pushing force in the current cycle and the change suppression coefficient set based on experience. The change suppression term was calculated. .

[0039] Step g. Calculate and output the speed increment of the glue-applying servo motor within the current control cycle. .

[0040] Step h. Calculate the results Current actual speed of the glue-applying servo motor Add them together to get the current target speed of the motor. , As the output of the automatic glue application control algorithm, it is passed to the glue application servo motor driver for motor speed control in the current cycle.

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

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

[0043] Step 1: Based on the actual requirements of adhesive application and field experience, obtain the correlation between adhesive layer thickness and the adhesive application force output by the automatic adhesive application device through experimental methods; calculate the target adhesive application force value required for the target adhesive layer thickness based on the correlation, and use the adhesive application force as the control input for the automatic adhesive application control algorithm, inputting the target adhesive application force value into the adhesive application control system. and the cycle of scraping force control Then, the adhesive application process begins.

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

[0045] Step 3: Adjust the position based on the previous cycle. Position correction amount of the previous cycle ,according to The position correction amount of the scraping servo motor in the current cycle is calculated. ,in, There are three control parameters, which are given based on experience. For the first cycle, the position correction of the previous cycle and the cycle before that is 0. For the second cycle, the position correction of the cycle before that is 0.

[0046] Step four: Based on the model and transmission ratio of the scraper servo motor, the conversion ratio between the motor encoding value and the scraper displacement can be determined. Therefore, it is from The required increment of the encoding value for the scraping servo motor in the current cycle is calculated. Since the motor code value should be an integer, therefore... Perform the rounding operation.

[0047] Step 5, Current encoding value of the glue scraping servo motor Add them together to get the motor position control quantity for the current cycle. , The output of the automatic glue scraping control algorithm is passed to the glue scraping servo motor driver for glue scraping servo motor control.

[0048] Step six, jump to step two, and repeat the calculation for the next cycle to steadily and continuously achieve the set scraping force.

[0049] The beneficial effects of this invention are as follows: The device of this invention is equipped with a glue application force control sensor at the front end of the glue application piston rod, which controls the rotation speed of the glue application servo motor according to the force value, so as to achieve controllable glue dispensing amount; a glue scraping three-dimensional force control sensor is equipped 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, so as to achieve controllable glue scraping thickness; the device of this invention has a force state holding function, a lightweight structure, and is easy to install. Attached Figure Description

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

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

[0052] Figure 3 This is a schematic diagram of an automatic glue application device.

[0053] In the diagram: 1-Automatic glue applicator; 1.1-Glue applicator nozzle; 1.2-Glue bucket fixing sleeve; 1.3-Glue bucket; 1.4-Glue push cap; 1.5-Glue applicator push rod; 1.6-Quick handle; 1.7-Glue applicator actuator housing; 1.8-Glue applicator force control sensor; 1.9-Glue applicator piston rod; 1.10-Glue applicator ball screw; 1.11-Glue applicator bearing housing; 1.12-Glue applicator coupling; 1.13-Glue applicator reducer mounting base; 1.14-Glue applicator reducer; 1.15-Glue applicator motor protective cover; 1.16-Glue applicator servo motor; 1.17-Glue applicator rear flange; 1.18-Guide sleeve; 1.19-Glue applicator front flange; 1.20-Glue applicator servo motor 1.21-Glue application force control sensor pressure transmitter; 2-Automatic glue scraping device; 2.1-Glue scraper; 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 housing; 2.10-Glue scraping reducer mounting base; 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-Hook. Detailed Implementation

[0054] 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 denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention, and should not be construed as limiting the present invention.

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

[0056] The rear end of the boom 3 is provided with a flange, which is fixedly connected to the end of the actuator. The actuator drives the boom 3 to rotate, thereby changing the relative positions of the automatic glue applicator 1 and the automatic glue scraper 2, and realizing the switching between the glue applicator mode and the glue scraper mode.

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

[0058] The automatic glue-applying device 1 is fixed to one side of the boom 3 via a glue-applying motor protective cover 1.15. The front end of the glue-applying motor protective cover 1.15 is fixed to the glue-applying rear flange 1.17. A glue-applying bearing housing 1.11 is fixed at the center of the glue-applying rear flange 1.17. The front side of the glue-applying rear flange 1.17 is fixed to the glue-applying actuator housing 1.7. The glue-applying reducer mounting base 1.13 and the glue-applying servo motor 1.16 are fixed on the glue-applying motor protective cover 1.15. The glue-applying reducer mounting base 1.13 is located behind the glue-applying rear flange 1.17. The machine 1.14 is mounted on the glue-applying reducer mounting base 1.13. The input end of the glue-applying reducer 1.14 is connected to the output end of the glue-applying servo motor 1.16. The rear end of the glue-applying ball screw 1.10 passes through the glue-applying bearing housing 1.11 and is connected to the output end of the glue-applying reducer 1.14 through the glue-applying coupling 1.12. The front end of the glue-applying ball screw 1.10 extends into the glue-applying actuator housing 1.7 and is equipped with a glue-applying piston rod 1.9. The glue-applying ball screw 1.10 converts the rotational motion of the glue-applying servo motor 1.16 into the linear motion of the glue-applying piston rod 1.9. Considering the mechanical efficiency losses from screw rotation and gear transmission, motor power losses, safety factor, and drive margin, and taking into account the motor output specifications, size, and weight, combined with the actual product model, this embodiment selects a glue-applying servo motor 1.16 with an output torque of 8.19 mNm, a glue-applying reducer 1.14 with a reduction ratio of 1:84, and a precision ball screw 1.10 with a diameter of 14 mm, a lead of 2 mm, and a stroke of 200 mm, which can generate a thrust of 1000 N and a glue-applying stroke of 200 mm.

[0059] The front end of the glue applicator housing 1.7 is fixedly connected to the glue applicator front flange 1.19. A guide sleeve 1.18 is fixed at the center of the glue applicator front flange 1.19. The glue bucket fixing sleeve 1.2 is detachably connected to the front side of the glue applicator front flange 1.19 via a quick handle 1.6 fixed at its rear end. The glue applicator force control sensor 1.8 is installed at the front end of the glue applicator piston rod 1.9. The glue applicator push rod 1.5 is fixed at the front end of the glue applicator force control sensor 1.8, and the front end of the glue applicator push rod 1.5 passes through the guide sleeve 1.18. The glue bucket 1.3 is placed inside the glue bucket fixing sleeve 1.2. The glue bucket fixing sleeve 1.2 is fixed with a glue applicator nozzle 1.1 communicating with the glue bucket 1.3. The glue push cap 1.4 is set inside the glue bucket 1.3 and fixed to the front end of the glue applicator push rod 1.5. The glue bucket fixing sleeve 1.2 and the glue bucket 1.3 inside it can be quickly installed and removed from the glue applicator front flange 1.19 via the quick handle 1.6, thereby realizing the quick replacement of the glue bucket 1.3. Considering actual operating conditions, the glue application force control sensor 1.8 is selected with a rated tensile and compressive force measurement range of 1000N, and the glue bucket 1.3 is selected as a standard 8-ounce glue bucket.

[0060] The glue application control system is integrated with the actuator control system and is equipped with an automatic glue application control algorithm for setting glue application control parameters and sending control commands. The glue application servo motor driver 1.20 and the glue application force control sensor pressure transmitter 1.21 are fixed inside the glue application motor protective cover 1.15. The glue application force control sensor 1.8 detects the glue pushing force in real time. The glue application force control sensor pressure transmitter 1.21 sends feedback based on the force signal from the glue application force control sensor 1.8 to the glue application control system. After calculation, the glue application control system sends control commands, which are then adjusted by the glue application servo motor driver 1.20 to adjust the rotation speed of the glue application servo motor 1.16. This ultimately achieves real-time adjustment of the glue dispensing speed and amount, enabling the automatic glue application device 1 to achieve fast and uniform glue application. In this embodiment, the glue application force control sensor pressure transmitter 1.21 has an selectable operating voltage of 12-24V and an output signal of 0-10V analog signal.

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

[0062] The automatic glue-scraping device 2 is fixed to the other side of the boom 3 via a glue-scraping motor protective cover 2.13. The front end of the glue-scraping motor protective cover 2.13 is fixedly connected to the glue-scraping rear flange 2.8. A glue-scraping bearing housing 2.9 is installed at the center of the glue-scraping rear flange 2.8. The front side of the glue-scraping rear flange 2.8 is fixedly connected to the glue-scraping actuator housing 2.5. The glue-scraping reducer mounting base 2.10 and the glue-scraping servo motor 2.14 are fixed inside the glue-scraping motor protective cover 2.13. The glue-scraping reducer mounting base 2.10 is located behind the glue-scraping rear flange 2.8. The glue-scraping reducer 2.12 is fixed on the glue-scraping reducer mounting base 2.10. The output end of the glue-scraping servo motor 2.14 is connected to the input end of the glue-scraping reducer 2.12. The rear end of the glue-scraping ball screw 2.7 passes through the glue-scraping bearing housing 2.9 and is connected to the glue-scraping reducer 2.12 via a glue-scraping coupling 2.11. The output end is connected, and the front end of the scraping ball screw 2.7 extends into the scraping actuator housing 2.5 and is fixedly connected to the scraping push rod 2.6. The scraping push rod 2.6 slides with the inner wall of the scraping actuator housing 2.5. The scraping front flange 2.4 is fixedly connected to the front end of the scraping actuator housing 2.5. The front end of the scraping push rod 2.6 extends out of the scraping front flange 2.4 and is fixedly connected to the scraping three-dimensional force control sensor 2.3. The front end of the scraping three-dimensional force control sensor 2.3 is fixedly connected to the three-finger gripper 2.2, and the three fingers of the three-finger gripper 2.2 correspond to the three force sensing directions of the scraping three-dimensional force control sensor. The scraping plate 2.1 is clamped on the three-finger gripper 2.2. 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, thereby adjusting the forward or backward movement of the scraping plate 2.1. Considering the mechanical efficiency losses from screw rotation and gear transmission, motor power losses, scraping force, safety factor, and drive margin, and taking into account the motor output specifications, size, and weight, combined with the actual product model, this embodiment selects a scraping servo motor 2.14 with an output torque of 8.19 mNm, a scraping reducer 2.12 with a reduction ratio of 1:84, and a precision ball screw 2.7 with a diameter of 14 mm, a lead of 2 mm, and a stroke of 40 mm, which can generate a scraping force of 1000 N and a scraping stroke of 40 mm.

[0063] The aforementioned scraping control system is integrated with the actuator's control system and is equipped with an automatic scraping control algorithm for setting scraping control parameters and sending control commands. The scraping servo motor driver 2.15 and the scraping three-dimensional force control sensor transmitter 2.16 are fixed inside the scraping motor protective cover 2.13. The scraping three-dimensional force control sensor 2.3 detects the spatial force state in real time. The scraping three-dimensional force control sensor transmitter 2.16 sends the force signal feedback from the scraping three-dimensional force control sensor 2.3 to the scraping control system. After calculation, the scraping control system sends control commands, which drive the scraping servo motor 2.14 to adjust the rotation direction of the scraping servo motor 2.14. By adjusting the forward and reverse rotation of the scraping servo motor 2.14 in real time, the scraping thickness is adjusted. At the same time, the actuator adjusts the scraping direction by controlling its spatial posture, thereby achieving fast and uniform scraping. Based on the actual product model, the three-dimensional force control sensor 2.3 selected in this embodiment outputs an analog signal. Its tensile and compressive force measurement range in three directions is 100N, and its torque measurement range in three directions is 3.5NM. The selected three-dimensional force control sensor transmitter 2.16 has a selectable operating voltage of 0-5V and outputs a 0-5V analog signal. Specifically: When the force on the scraper 2.1 in one direction exceeds the set value, and the scraping thickness is also greater than the set value, the scraping servo motor 2.14 will reverse, and the return distance of the scraping push rod 2.6 will be dynamically adjusted to reduce the scraping thickness until the pressure value of the three-dimensional force control sensor 2.3 reaches the set value. Conversely, if the force value fed back to the three-dimensional force control sensor 2.3 is less than the set force value, and the scraping thickness is less than the set value, the scraping servo motor 2.14 will rotate forward, and the return distance of the scraping push rod 2.6 will be 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 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 to adjust the automatic scraping device 2 to an appropriate spatial posture until the torque value fed back to the three-dimensional force control sensor 2.3 is equal to the set value.

[0064] A method for coordinating the operation of an end effector of a force-controlled automatic adhesive applicator includes the following steps:

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

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

[0067] The movement of the actuator and the start of the extrusion of the automatic glue applicator 1 are triggered by the IO signal; the automatic glue applicator 1 is controlled by the automatic glue applicator control algorithm to achieve uniform glue extrusion; when there is a turn in the process path, the arc transition method is used to ensure that the movement speed of the actuator remains constant; uniform glue application is achieved by controlling the uniform glue extrusion amount and the uniform movement of the actuator.

[0068] An example of the automatic glue application control algorithm is as follows:

[0069] Step a. Based on the actual requirements of glue application and field experience, the correspondence between the glue dispensing volume and the pushing force output by the automatic glue application device 1 is obtained through experimentation. Assuming the target glue dispensing volume is 0.5 ml / s, the required pushing force target value is calculated to be 450 N based on the correspondence. This pushing force is used as the control input for the automatic glue application control algorithm. The target pushing force value is then input into the glue application control system. Pushing force control cycle Then, the glue application process begins.

[0070] Step b. Read the current actual dispensing force using the dispensing force control sensor 1.8. .

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

[0072] Step d. Based on the current cycle's adhesive force error Combined with an empirically set timely response coefficient The immediate response item is calculated. .

[0073] Step e. Assuming the error has been roughly the same over the past ten periods (assuming it is 10N each time), and combining this with a cumulative compensation coefficient set based on experience. The cumulative compensation can be obtained. .

[0074] Step f. Based on the previous cycle's adhesive force error Error of pushing force in the current cycle and the change suppression coefficient set based on experience. The change suppression term was calculated. .

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

[0076] Step h. Calculate the results The actual speed of the glue-applying servo motor is 1.16. Add them together to get the current target speed of the motor. , As the output of the automatic glue application control algorithm, it is passed to the glue application servo motor driver 1.20 for motor speed control in the current cycle.

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

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

[0079] Step 4. After completing the switching of the glue scraping operation mode, the actuator drives the automatic glue scraping device 2 to move at a constant speed along the planned process path to carry out the automated glue scraping operation. During the operation, the glue scraping force of the automatic glue scraping device 2 is controlled by the automatic glue scraping control algorithm. In order to ensure the accuracy of glue scraping force control, the glue scraping speed should be kept in a slow and uniform state.

[0080] An example of the automatic glue scraping control algorithm is as follows:

[0081] Step 1: Based on the actual requirements of glue application and field experience, the relationship between the glue layer thickness and the glue application force output by the automatic glue application device 2 is obtained experimentally. Assuming the target glue layer thickness is 2mm, the target glue application force is calculated to be 5N based on the relationship. This glue application force is then used as the control input for the automatic glue application control algorithm. The target glue application force value is input into the glue application control system. and the cycle of scraping force control Then, the adhesive application process begins.

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

[0083] Step 3, by It is known that we need to know the scraping force error of the current cycle and the position correction amount of the previous cycle. Position correction amount of the previous cycle Only then can the position correction amount of the scraper motor in the current cycle be obtained. Therefore, the position correction amount for the first cycle is calculated. When calculating the second cycle, set the position correction to 0 for the first two cycles (only the position correction of the cycle before that needs to be set to 0; this step is unnecessary for other cycles). This involves three control parameters. Based on experience, given as Then the position correction amount for the first cycle can be obtained. .

[0084] Step four: Based on the model and transmission ratio of the scraper servo motor 2.14, it can be seen that for every 860160cnt increase in the motor encoding value, the scraper 2.1 will move downwards by 1mm. Therefore, the position correction amount in the first cycle... The increment of the encoding value required by the motor in the first cycle is equal to... Since the motor code value should be an integer, the motor code value is rounded down to obtain the actual increment of the code value sent to the driver. .

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

[0086] Step six, jump to step two, and repeat the calculation for the next cycle until the set scraping force is consistently reached.

[0087] The above description is only a partial embodiment of the present invention and does not limit the implementation and protection scope of the present invention. Any 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 protection scope of the present invention.

Claims

1. An end effector for an automatic glue-applying device with force control, characterized in that, It includes an automatic glue application device (1) and an automatic glue scraping device (2) fixedly installed at the end of the actuator. The actuator drives the two to complete the glue application and scraping operations along the planned path. Both are equipped 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 on the glue pushing and scraping. The signal feedback actuator controls the servo motor to adjust the speed or direction according to the instructions of the control system, so as to realize the automatic adjustment of the glue application amount and the scraping thickness. The automatic glue application device (1) includes a glue application device housing, a glue application push rod (1.5), a glue application force control sensor (1.8), a glue application piston rod (1.9), a glue application ball screw (1.10), a glue application reducer (1.14), a glue application servo motor (1.16), a glue dispensing mechanism, a glue application signal feedback execution mechanism, and a glue application control system. The glue-applying push rod (1.5), glue-applying force control sensor (1.8), glue-applying piston rod (1.9), glue-applying ball screw (1.10), glue-applying reducer (1.14), glue-applying servo motor (1.16), and glue-applying signal feedback actuator are located inside the glue-applying device housing. The glue dispensing mechanism is detachably installed at the front end of the glue-applying device housing. The glue-applying control system is integrated with the control system of the actuator. The output end of the glue-applying servo motor (1.16) is connected to the glue-applying reducer (1.14), and the output end of the glue-applying reducer (1.14) is connected to the glue-applying ball screw (1.10). The front end of the glue-applying ball screw (1.10) is connected to the glue-applying piston rod (1.9). The front end of the glue-applying piston rod (1.9) is fixed with a glue-applying force control sensor (1.8), and the front end of the glue-applying force control sensor (1.8) is fixed with a glue-applying push rod (1.5). The glue-applying push rod (1.5) passes through the glue-applying device housing and acts on the glue dispensing mechanism. The glue-applying ball screw (1.10) drives the glue-applying servo motor (1.16). The rotational motion is converted into the linear motion of the glue-applying piston rod (1.9), which drives the glue-applying push rod (1.5) to push the glue dispensing mechanism to achieve glue dispensing; the glue-applying control system is used to set glue-applying control parameters and send control commands. The glue-applying force control sensor (1.8) detects the glue-applying force in real time. The glue-applying signal feedback actuator sends the force signal feedback from the glue-applying force control sensor (1.8) to the glue-applying control system. After calculation, the glue-applying control system sends control commands, and the glue-applying signal feedback actuator adjusts the rotational speed of the glue-applying servo motor (1.16) to achieve real-time adjustment of glue dispensing speed and glue dispensing amount.

2. The end effector of the automatic glue-applying device with force control according to claim 1, characterized in that, The automatic glue applicator (1) and the automatic glue scraper (2) are fixed to the end of the actuator by the boom (3). They are respectively fixed on both sides of the boom (3). The actuator drives the boom (3) to rotate, changing the relative position of the automatic glue applicator (1) and the automatic glue scraper (2) to realize the switching between glue applicator operation and glue scraper operation.

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

4. The end effector of the automatic glue-applying device with force control according to claim 1, characterized in that, The glue application signal feedback actuator includes a glue application servo motor driver (1.20) and a glue application force control sensor pressure transmitter (1.21). The glue application force control sensor pressure transmitter (1.21) sends the force signal of the glue application force control sensor (1.8) to the glue application control system. The glue application servo motor driver (1.20) executes the control command sent by the glue application control system to adjust the rotation speed of the glue application servo motor (1.16).

5. The end effector of the automatic glue-applying device with force control according to claim 1, characterized in that, The outer shell of the glue applicator includes a glue applicator motor protective cover (1.15), a glue applicator rear flange (1.17), a glue applicator actuator housing (1.7), and a glue applicator front flange (1.19) that are fixedly connected from back to front. The glue applicator motor protective cover (1.15) is fixedly connected to the end of the actuator. The glue applicator servo motor (1.16), the glue applicator reducer (1.14), and the glue applicator signal feedback actuator are fixed inside the glue applicator motor protective cover (1.15). The front end of the glue applicator ball screw (1.10) passes through the glue applicator rear flange (1.17) and extends into the glue applicator actuator housing (1.7). The glue applicator piston rod (1.9), the glue applicator force control sensor (1.8), and the glue applicator push rod (1.5) are located inside the glue applicator actuator housing (1.7). The glue applicator push rod (1.5) extends out from the glue applicator front flange (1.19). The glue dispensing mechanism is detachably installed on the glue applicator front flange (1.19).

6. The end effector of the automatic glue-applying device with force control according to claim 5, characterized in that, The glue-applying reducer (1.14) is fixed inside the glue-applying motor protective cover (1.15) by the glue-applying reducer fixing seat (1.13).

7. The end effector of an automatic glue-applying device with force control according to claim 5, 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).

8. The end effector of an automatic glue-applying device with force control according to claim 5, characterized in that, The adhesive-coated rear flange (1.17) is fixed with an adhesive-coated bearing housing (1.11) at its center, and the adhesive-coated ball screw (1.10) passes through the adhesive-coated bearing housing (1.11) to provide support.

9. The end effector of an automatic glue-applying device with force control according to claim 5, characterized in that, A guide sleeve (1.18) is fixed at the center of the adhesive-applying front flange (1.19), and the adhesive-applying push rod (1.5) passes through the guide sleeve (1.18) and slides to achieve support.

10. The end effector of an automatic glue-applying device with force control according to claim 1, characterized in that, The dispensing mechanism includes a dispensing nozzle (1.1), a glue bucket fixing sleeve (1.2), a glue bucket (1.3), and a glue pusher cap (1.4). The glue bucket fixing sleeve (1.2) is detachably installed at the front end of the glue dispensing device housing. The glue bucket (1.3) is placed inside the glue bucket fixing sleeve (1.2). The dispensing nozzle (1.1) is fixed at the front end of the glue bucket fixing sleeve (1.2) and communicates with the glue bucket (1.3). The glue pusher cap (1.4) is set inside the glue bucket (1.3) and fixed at the front end of the glue dispensing pusher (1.5).

11. The end effector of an automatic glue-applying device with force control according to claim 10, characterized in that, The glue bucket fixing sleeve (1.2) is provided with a quick handle (1.6) at the rear end, which enables quick loading and unloading between the quick handle (1.6) and the front end of the glue applicator housing.

12. The end effector of an automatic glue-applying device with force control according to claim 1, characterized in that, All control cables on the automatic glue applicator (1) are routed from inside the device to reduce the risk of external impact and scratches.

13. The end effector of the automatic glue-applying device with force control according to claim 1, characterized in that, The automatic glue scraping device (2) includes a glue scraping device housing, a glue scraping three-dimensional force control sensor (2.3), a glue scraping push rod (2.6), a glue scraping ball screw (2.7), a glue scraping reducer (2.12), a glue scraping servo motor (2.14), a glue scraping mechanism, a glue scraping signal feedback execution mechanism, and a glue scraping control system; The scraping push rod (2.6), scraping ball screw (2.7), scraping reducer (2.12), scraping servo motor (2.14), and scraping signal feedback actuator are located inside the scraping device housing. The output end of the scraping servo motor (2.14) is connected to the scraping reducer (2.12), and the output end of the scraping reducer (2.12) is connected to the scraping ball screw (2.7). The front end of the scraping ball screw (2.7) is fixedly connected to the scraping push rod (2.6). The front end of the scraping push rod (2.6) extends out of the scraping device housing and is fixedly connected to the scraping three-dimensional force control sensor (2.3). The scraping mechanism is installed at the front end of the scraping three-dimensional force control sensor (2.3) for scraping control. The system is integrated with the control system of the actuator to set the scraping control parameters and send control commands. 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. The scraping signal feedback actuator sends the scraping control system based on the force signal feedback from the scraping three-dimensional force control sensor (2.3). After calculation, the scraping control system sends control commands. 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.

14. The end effector of an automatic glue-applying device with force control according to claim 13, characterized in that, The scraping signal feedback actuator includes a scraping servo motor driver (2.15) and a scraping three-dimensional force control sensor transmitter (2.16). The scraping three-dimensional force control sensor transmitter (2.16) sends the force signal from the scraping three-dimensional force control sensor (2.3) to the scraping control system. The scraping servo motor driver (2.15) executes the control command sent by the scraping control system to adjust the rotation direction of the scraping servo motor (2.14).

15. The end effector of an automatic glue-applying device with force control according to claim 13, characterized in that, The scraping device housing includes, from back to front, a scraping motor protective cover (2.13), a scraping rear flange (2.8), a scraping actuator housing (2.5), and a scraping front flange (2.4); the scraping motor protective cover (2.13) is fixed at the end of the actuator, the scraping reducer (2.12), the scraping servo motor (2.14), and the scraping signal feedback actuator are fixed inside the scraping motor protective cover (2.13), the front end of the scraping ball screw (2.7) passes through the scraping rear flange (2.8) and extends into the scraping actuator housing (2.5); the scraping push rod (2.6) is located inside the scraping actuator housing (2.5), and the two slide together, with the front end of the scraping push rod (2.6) extending out of the scraping actuator housing (2.5).

16. The end effector of an automatic glue-applying device with force control according to claim 15, characterized in that, The scraper reducer (2.12) is installed inside the scraper motor protective cover (2.13) via the scraper reducer mounting base (2.10).

17. The end effector of an automatic glue-applying device with force control according to claim 15, 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 a scraper coupling (2.11).

18. The end effector of an automatic glue-applying device with force control according to claim 15, characterized in that, The scraper bearing housing (2.9) is installed at the center of the scraper flange (2.8), and the scraper ball screw (2.7) passes through the scraper bearing housing (2.9) to achieve support.

19. The end effector of an automatic glue-applying device with force control according to claim 13, characterized in that, The scraping mechanism includes a scraper (2.1) and a three-finger gripper (2.2). The three-finger gripper (2.2) is fixed on the scraping three-dimensional force control sensor (2.3), and the scraper (2.1) is held in the three-finger gripper (2.2).

20. The end effector of an automatic glue-applying device with force control according to claim 13, characterized in that, All control cables on the automatic glue scraping device (2) are routed from inside the device to reduce the risk of external impact and scratches.

21. A method for coordinating the operation of the end effector of the force-controlled automatic glue-applying device according to any one of claims 1-20, characterized in that, Includes the following steps: Step 1. The actuator switches the end effector to the glue application mode; Step 2. The actuator drives the automatic glue applicator (1) to move at a constant speed along the planned process path to perform automated glue applicator operation; the automatic glue applicator control algorithm is used to control the glue pushing force of the automatic glue applicator (1) to achieve uniform glue extrusion; uniform glue applicator is achieved by controlling the uniform glue extrusion amount and the uniform movement of the actuator. Step 3. After completing the automated glue application operation, switch the end effector to the glue scraping operation mode; Step 4. After completing the glue scraping operation mode switch, the actuator drives the automatic glue scraping device (2) to move at a constant speed along the planned process path to carry out the automated glue scraping operation. During the operation, the automatic glue scraping control algorithm is used to control the scraping force of the automatic glue scraping device (2) to control the glue scraping thickness to be uniform.

22. The method for coordinated operation of the end effector of an automatic glue-applying device with force control according to claim 21, characterized in that, In step 1, the actuator operates the automatic glue scraping device (2) to rise to the upper limit position, so that the position of the automatic glue scraping device (2) is higher than that of the automatic glue application device (1), thus completing the glue application mode switch.

23. The method for coordinated operation of the end effector of an automatic glue-applying device with force control according to claim 21, characterized in that, In step 2, when a turn occurs in the process path, a circular arc transition method is used to ensure that the moving speed of the actuator remains constant.

24. The method for coordinated operation of the end effector of an automatic glue-applying device with force control according to claim 21, characterized in that, In step 2, the automatic glue application control algorithm includes the following steps: Step a. Determine the correspondence between the glue dispensing amount and the pushing force output by the automatic glue applicator (1); calculate the target pushing force value required for the target glue dispensing amount based on the correspondence, and use the pushing force as the control input of the automatic glue applicator control algorithm. Input the target pushing force value F into the glue applicator control system. target With the adhesive application force controlled for cycle ΔT, begin the adhesive application process; Step b. Read the current actual dispensing force F from the dispensing force control sensor (1.8). actual ; Step c. Calculate the current cycle pushing force error eF(t)=F target -F actual ; Step d. Based on the current cycle pushing force error e F (t), combined with the timely response coefficient K set based on experience. p The immediate response term P = K is calculated. p ·e F (t); Step e. Based on the pushing force error over the past n cycles, combined with the cumulative compensation coefficient K set based on experience. i The cumulative compensation can be obtained. Step f. Based on the previous cycle's adhesive force error e F (t-1) and the current cycle pushing force error e F (t) and the change suppression coefficient K set based on experience. d The change suppression term was calculated. Step g. Calculate and output the speed increment Δv of the glue-applying servo motor in the current control cycle: Δv = P + I + D; Step h. Compare the calculated Δv with the current actual speed v of the glue-applying servo motor. real Add them together to get the current target speed v of the motor. control =v real +Δv,v control As the output of the automatic glue application control algorithm, it is passed to the glue application servo motor driver (1.20) for motor speed control in the current cycle; Step i. Jump to step b and repeat the calculation for the next cycle.

25. The method for coordinated operation of the end effector of an automatic glue-applying device with force control according to claim 24, characterized in that, In step a, the relationship between the amount of adhesive dispensed and the pushing force was obtained experimentally.

26. The method for coordinated operation of the end effector of an automatic glue-applying device with force control according to claim 21, 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 application device (1) is higher than that of the automatic glue scraping device (2), thus completing the glue scraping operation mode switch.

27. The method for coordinated operation of the end effector of an automatic glue-applying device with force control according to claim 21, characterized in that, In step 4, the automatic glue scraping control algorithm includes the following steps: Step 1: Determine the correspondence between the adhesive layer thickness and the scraping force output by the automatic scraping device (2); calculate the target scraping force value required for the target adhesive layer thickness based on the correspondence, and use the scraping force as the control input of the automatic scraping control algorithm. Input the target scraping force value F into the scraping control system. d With the adhesive scraping force control cycle Δt, begin the adhesive scraping operation; Step 2: The actual scraping force F is read by the three-dimensional force control sensor (2.3). e For each cycle, calculate the scraping force error Δf(k) = F for the current cycle. d -F e ; Step 3: Based on the position correction amount Δx(k-1) from the previous cycle and the position correction amount Δx(k-2) from the cycle before that, according to... The position correction Δx(k) of the scraping servo motor (2.14) in the current cycle is calculated, where m, b, and k are three control parameters given based on experience; Step 4: Based on the model and transmission ratio of the scraper servo motor (2.14), the conversion ratio trans between the motor encoding value and the displacement of the automatic scraper device (2) can be obtained. Then, the required encoding value increment Δs(k) of the scraper servo motor (2.14) in the current cycle can be calculated from Δx(k). Step 5, compare Δs(k) with the current encoded value s of the scraper servo motor. real Add them together to obtain the motor position control quantity S for the current cycle. control =s real +△s(k), s control As the output of the automatic glue scraping control algorithm, it is passed to the glue scraping servo motor driver (2.15) to control the glue scraping servo motor (2.14); Step six, jump to step two, and repeat the calculation for the next cycle.

28. A method for coordinated operation of the end effector of an automatic glue-applying device with force control according to claim 27, characterized in that, In step one, the relationship between the adhesive layer thickness and the scraping force was obtained experimentally.

29. A method for coordinating the operation of the end effector of an automatic glue-applying device with force control according to claim 27, characterized in that, In step four, since the motor code value is an integer, Δs(k) needs to be rounded.

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