A robotic arm for assembling windows and applying adhesive to seal edges.

Abstract

This invention provides a robotic arm for gluing and sealing edges of assembled windows, relating to the field of mechanical assembly technology. It includes a six-axis robot with a robotic arm back fixedly mounted at the end of its arm. Two sets of U-shaped frames are fixedly mounted on both sides of the bottom of the robotic arm back. Two sets of guide rods are fixedly mounted between the two sets of U-shaped frames, and two sets of clamping finger plates are slidably mounted outside the two sets of guide rods. A T-shaped shaft tube is fixedly mounted in the middle of the bottom of the robotic arm back, and a sub-arm rotating seat is rotatably mounted outside the T-shaped shaft tube with a tapered ball bearing. The six-axis robot's main arm and the rotatable sub-arm rotating seat work together, relying on the circumferential rotation of the sub-arm driven by a drive motor and the lead screw translation mechanism controlled by a micro-motor. Without the need for additional dedicated gluing equipment, the window transfer and edge sealing gluing processes can be completed simultaneously, effectively solving the problems of redundant processes and high space occupancy in traditional processes.

Description

Technical Field

[0001] This invention relates to the field of mechanical assembly robot technology, and in particular to a glue-applying and edge-sealing robot for assembling windows. Background Technology

[0002] The assembled window consists of four frames and a central glass panel. After it is fixed, the gaps between the glass and the frames need to be sealed with silicone sealant to ensure the window's airtightness. During the integrated manufacturing process, a robotic arm is used to move the window to a special adhesive application equipment. After the adhesive is applied, it is then transferred to the next process.

[0003] The current processing steps are redundant, requiring separate glue-applying equipment, which is costly. Robots are not convenient to apply glue directly during the conveying process and lack fast and stable glue-applying capabilities. Summary of the Invention

[0004] In view of the above-mentioned shortcomings of the prior art, the present invention provides a robotic arm for assembling window frames and applying adhesive for edge sealing.

[0005] This invention provides a robotic arm for gluing and sealing edges of assembled windows, specifically comprising: a six-axis robot, wherein a robotic arm back is fixedly mounted at the end of the robot's arm, and two sets of U-shaped frames are fixedly mounted on both sides of the bottom of the robotic arm back; two sets of guide rods are fixedly mounted between the two sets of U-shaped frames, and two sets of clamping finger plates are slidably mounted on the two sets of guide rods; a T-shaped shaft tube is fixedly mounted in the middle of the bottom of the robotic arm back, and a sub-arm rotating seat is rotatably mounted on the outside of the T-shaped shaft tube in conjunction with a tapered ball bearing; two sets of sub-robotic arms are fixedly mounted on both sides of the sub-arm rotating seat, and the sub-robotic arms fit against one side of the sub-arm rotating seat. A through slot is opened through the middle of the end, both sides and the bottom; a motor base is fixedly installed inside the sub-manipulator near the sub-arm rotating seat, and a transmission screw is rotatably installed between the motor base and the sub-manipulator. A micro motor for driving the transmission screw is fixedly installed outside the motor base; a movable finger seat is slidably installed inside the sub-manipulator, and the movable finger seat is threadedly connected to the transmission screw; the bottom of the movable finger seat is hollow in the middle, and a micro electric cylinder is fixedly installed on the inner side of the bottom of the movable finger seat. A base is fixedly installed on the telescopic end of the micro electric cylinder, and a rubber tube is fixedly installed above the base beyond the movable finger seat.

[0006] Optionally, two sets of glue injection holes are provided on the upper part of the back of the robotic arm; a wide-angle camera is fixedly installed in the middle of the T-shaped shaft tube; a drive motor is fixedly installed at the bottom of the back of the robotic arm; the top of the sub-arm rotating base is an internal gear ring structure; and a cylindrical gear is provided at the rotor end of the drive motor to mesh with the internal gear ring structure of the sub-arm rotating base.

[0007] Optionally, two sets of infrared ranging sensors are fixedly installed in the middle of the U-shaped outer frame. The infrared ranging sensors can monitor the position of the clamping finger plate.

[0008] Optionally, two sets of transmission frames are fixedly installed on both sides of the back of the robotic arm. The transmission frames are C-shaped, and slide bars are fixedly installed on the upper and lower sides of the transmission frames. An intermediate gear is rotatably installed in the middle of each transmission frame.

[0009] Optionally, control racks are fixedly installed on both sides of the clamping finger plate, and the control racks outside the two sets of clamping finger plates are staggered vertically. Each control rack is slidably connected to a set of slide bars, and the control racks mesh with the intermediate gear. An electric cylinder is fixedly installed between a set of U-shaped outer frames and the adjacent clamping finger plates. Two sets of main hydraulic cylinders are fixedly installed on the non-adjacent sides of the two sets of clamping finger plates, and the extension and retraction ends of the main hydraulic cylinders are fixedly equipped with main side clamping bars. Both sides of the clamping finger plate are corner structures, and auxiliary hydraulic cylinders are fixedly installed at the corners. The extension and retraction ends of the auxiliary hydraulic cylinders are fixedly equipped with corner clamping blocks. Springs are sleeved on the extension and retraction ends of the main hydraulic cylinders, and the main hydraulic cylinders are connected to the adjacent auxiliary hydraulic cylinders through oil pipes.

[0010] Optionally, a glue applicator tube is fixedly provided at the bottom of the glue tube, the bottom of the glue applicator tube passes through the base, the bottom of the glue applicator tube has a conical opening, and a silicone valve is fixedly provided in the middle of the bottom of the glue applicator tube, the silicone valve is normally closed.

[0011] Optionally, a plastic lead screw is rotatably mounted inside the glue cylinder, and a glue-applying motor is fixedly mounted on the top of the glue cylinder. The shaft end of the glue-applying motor is fixedly connected to the top of the plastic lead screw via a coupling. Two flanges are integrally mounted on both sides inside the glue cylinder, and a glue-pushing piston plate is slidably mounted inside the glue cylinder. The glue-pushing piston plate is threadedly connected to the plastic lead screw. An upwardly inclined channel is integrally mounted on the outside of the glue cylinder, and a glue injection port is fixedly mounted above the channel. A threaded sealing plug is mounted on the top of the glue injection port, and the glue injection port can be moved below the glue injection hole.

[0012] Optionally, the wide-angle camera is equipped with a machine vision recognition module, which has a built-in image acquisition and processing chip and an edge computing unit. The machine vision recognition module establishes a bidirectional signal connection with the wide-angle camera; the six-axis robot has a built-in main control unit.

[0013] Optionally, the micro motor is a servo motor, and a sub-arm control module is fixedly installed inside the sub-arm near the moving finger seat. The machine vision recognition module integrates the YOLOv8 target detection algorithm to process the window image captured by the wide-angle camera in real time, identify the sealing position, outline, and surface impurities and defects of the window frame and glass, fuse the data fed back by the infrared ranging sensor, calculate the relative distance between the U-shaped frame and the clamping finger plate, determine that the clamping finger plate holds the window, generate glue application path data, and transmit it to the sub-arm control module and the main control unit of the six-axis robot. The sub-arm control module establishes communication with the micro motor, the micro electric cylinder, and the machine vision recognition module respectively. After receiving the glue application path data, it adjusts the speed and direction of the micro motor, drives the transmission screw to move the moving finger seat, and simultaneously controls the extension and retraction of the micro electric cylinder to make the glue application tube fit the sealing surface.

[0014] The beneficial effects are as follows:

[0015] The six-axis robot main arm and the rotatable sub-arm work together, relying on the circumferential rotation of the sub-arm driven by the drive motor and the lead screw translation mechanism controlled by the micro motor. Without the need for additional special glue application equipment, the window transfer and edge sealing glue application processes can be completed simultaneously. This effectively solves the problems of redundant processes and high space occupation in traditional processes, and can be precisely adapted to the continuous production scenario of window assembly lines.

[0016] By leveraging data collected from a wide-angle camera and a fusion infrared ranging sensor for collaborative analysis, the system achieves accurate identification of the sealing contour, spatial position, and surface defects, as well as autonomous planning of the adhesive application path. Through a screw-piston type adhesive supply structure driven by an adhesive application motor, coupled with a silicone valve start-stop adhesive control device, the system enables precise control of the adhesive application amount and rhythm, eliminating the need for a separate adhesive application device.

[0017] By combining the height adjustment function of the miniature electric cylinder and the trajectory control characteristics of the servo mechanism with the stable clamping system composed of the clamping finger plate and the hydraulic linkage cylinder, the glue application process is guaranteed by multiple dimensions. The height adjustment can ensure that the glue application tube fits tightly with the edge, and the stable clamping can prevent the window from shifting. At the same time, there is no need to set up a dedicated glue application station. The full-circumference edge sealing operation can be completed during the transfer process, which greatly reduces the equipment investment cost and production energy consumption. It is suitable for the batch assembly glue application needs of windows of different specifications. Attached Figure Description

[0018] Figure 1 A schematic diagram of the overall structure of an embodiment of the present invention is shown;

[0019] Figure 2 A three-dimensional structural schematic diagram of an embodiment of the present invention is shown;

[0020] Figure 3 A schematic diagram of the assembly structure of the U-shaped frame in an embodiment of the present invention is shown;

[0021] Figure 4 An embodiment of the present invention is shown. Figure 3 A schematic diagram of the structure viewed from the side;

[0022] Figure 5 An embodiment of the present invention is shown. Figure 3 A top-view structural diagram;

[0023] Figure 6 An embodiment of the present invention is shown. Figure 3 A schematic diagram of the structure viewed from below;

[0024] Figure 7This diagram shows a three-dimensional cross-sectional view of the sub-arm rotating base in an embodiment of the present invention;

[0025] Figure 8 A three-dimensional structural schematic diagram of the sub-robotic arm in an embodiment of the present invention is shown;

[0026] Figure 9 An embodiment of the present invention is shown. Figure 8 A side-view diagram of the structure.

[0027] List of reference numerals in the attached diagram:

[0028] 1. Six-axis robot; 2. Back of robotic arm; 201. Injection hole; 202. T-shaped shaft tube; 203. Drive motor; 3. U-shaped outer frame; 301. Guide rod; 302. Infrared ranging sensor; 4. Transmission frame; 401. Sliding bar; 402. Intermediate gear; 5. Clamping finger plate; 501. Control rack; 502. Main hydraulic cylinder; 5021. Main side clamping bar; 503. Auxiliary hydraulic cylinder; 5031. Corner clamp 6. Block; 7. Electric cylinder; 8. Sub-arm rotating base; 9. Sub-mechanical arm; 10. Motor base; 11. Transmission screw; 12. Micro motor; 13. Moving finger base; 14. Micro electric cylinder; 15. Base; 16. Glue tube; 17. Glue application tube; 18. Silicone valve; 19. Plastic screw; 20. Glue application motor; 21. Glue pushing piston plate; 22. Glue injection port; 33. Wide-angle camera. Detailed Implementation

[0029] To make the objectives, solutions, and advantages of the technical solutions of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings of specific embodiments of the present invention.

[0030] Example 1: Please refer to the accompanying drawings in the instruction manual, such as... Figures 1 to 9 As shown:

[0031] This invention proposes a robotic arm for gluing and sealing edges of assembled windows, comprising: a six-axis robot 1, with a robotic arm back 2 fixedly mounted at the end of the arm of the six-axis robot 1; two sets of U-shaped outer frames 3 fixedly mounted on both sides of the bottom of the robotic arm back 2; two sets of guide rods 301 fixedly mounted between the two sets of U-shaped outer frames 3; two sets of clamping finger plates 5 slidably mounted outside the two sets of guide rods 301; a T-shaped shaft tube 202 fixedly mounted in the middle of the bottom of the robotic arm back 2; a sub-arm pivot 7 rotatably mounted on the outside of the T-shaped shaft tube 202 in conjunction with a tapered ball bearing; two sets of sub-robotic arms 8 fixedly mounted on both sides of the sub-arm pivot 7; and through slots extending through the middle of one end of the sub-robotic arm 8 to the sides and bottom of the sub-arm pivot 7; and the interior of the sub-robotic arm 8... A motor base 801 is fixedly installed near the sub-arm rotating base 7. A transmission screw 802 is rotatably installed between the motor base 801 and the sub-arm 8. A micro motor 803 for driving the transmission screw 802 is fixedly installed outside the motor base 801. A movable finger seat 804 is slidably installed inside the sub-arm 8. The movable finger seat 804 is threadedly connected to the transmission screw 802. The bottom center of the movable finger seat 804 is hollow. A micro electric cylinder 805 is fixedly installed on the inner side of the bottom of the movable finger seat 804. A base 806 is fixedly installed on the telescopic end of the micro electric cylinder 805. A rubber cylinder 9 is fixedly installed above the base 806, extending beyond the movable finger seat 804. The six-axis robot 1 has a built-in main control unit.

[0032] Among them, two sets of glue injection holes 201 are opened on the top of the back of the robotic arm 2; a wide-angle camera 10 is fixedly installed in the middle of the T-shaped shaft tube 202; a drive motor 203 is fixedly installed at the bottom of the back of the robotic arm 2; the top of the sub-arm rotating seat 7 is an internal gear ring structure; the rotor end of the drive motor 203 is provided with a cylindrical gear that meshes with the internal gear ring structure of the sub-arm rotating seat 7.

[0033] Two sets of infrared ranging sensors 302 are fixedly installed in the middle of the U-shaped outer frame 3. The infrared ranging sensors 302 can monitor the position of the clamping finger plate 5.

[0034] Two sets of transmission frames 4 are fixedly installed on both sides of the back of the robotic arm 2. The transmission frame 4 has a C-shaped structure. Slide bars 401 are fixedly installed on the upper and lower sides of the transmission frame 4. An intermediate gear 402 is rotatably installed in the middle of the transmission frame 4.

[0035] Among them, control racks 501 are fixedly installed on both sides of the clamping finger plate 5. The control racks 501 outside the two sets of clamping finger plates 5 are staggered. The control racks 501 are slidably connected to a set of slide bars 401 and mesh with the intermediate gear 402. An electric cylinder 6 is fixedly installed between a set of U-shaped outer frames 3 and the adjacent clamping finger plate 5. Two sets of main hydraulic cylinders 502 are fixedly installed on the non-adjacent sides of the two sets of clamping finger plates 5. The telescopic ends of the main hydraulic cylinders 502 are fixedly installed with main side clamping bars 5021. Both sides of the clamping finger plate 5 are corner structures. Auxiliary hydraulic cylinders 503 are fixedly installed at the corners. The telescopic ends of the auxiliary hydraulic cylinders 503 are fixedly installed with corner clamping blocks 5031. Springs are sleeved on the telescopic ends of the main hydraulic cylinders 502. The main hydraulic cylinders 502 and the adjacent auxiliary hydraulic cylinders 503 are connected through oil pipes.

[0036] The glue tube 901 is fixedly installed at the bottom of the glue tube 9. The bottom of the glue tube 901 passes through the base 806. The bottom of the glue tube 901 is a conical opening. A silicone valve 9011 is fixedly installed in the middle of the bottom of the glue tube 901. The silicone valve 9011 is normally closed.

[0037] The glue cylinder 9 has a plastic lead screw 902 rotating inside, and a glue-applying motor 903 fixedly mounted on the top of the glue cylinder 9. The shaft end of the glue-applying motor 903 is connected to the top of the plastic lead screw 902 via a coupling. Two flanges are integrally provided on both sides of the inside of the glue cylinder 9. A glue-pushing piston plate 904 is slidably provided inside the glue cylinder 9 and is threadedly connected to the plastic lead screw 902. An upwardly inclined channel is integrally provided on the outside of the glue cylinder 9. A glue-injection port 905 is fixedly provided above the channel. A threaded sealing plug is provided on the top of the glue-injection port 905. The glue-injection port 905 can move below the glue-injection hole 201.

[0038] The wide-angle camera 10 is equipped with a machine vision recognition module. The machine vision recognition module has a built-in image acquisition and processing chip and an edge computing unit. The machine vision recognition module establishes a two-way signal connection with the wide-angle camera 10. The machine vision recognition module integrates the YOLOv8 target detection algorithm to process the window image acquired by the wide-angle camera 10 in real time, identify the sealing position, outline and surface impurities and defects of the window frame and glass, and fuse the data fed back by the infrared ranging sensor 302 to calculate the relative distance between the U-shaped outer frame 3 and the clamping finger plate 5. After determining that the clamping finger plate 5 holds the window, the glue application path data is generated and transmitted to the sub-arm control module and the main control unit of the six-axis robot 1.

[0039] Among them, the micro motor 803 is a servo motor, and the sub-arm control module is fixedly installed inside the sub-arm 8 near the moving finger seat 804. The sub-arm control module establishes communication with the micro motor 803, the micro electric cylinder 805 and the machine vision recognition module respectively. After receiving the glue application path data, it adjusts the speed and direction of the micro motor 803, drives the transmission screw 802 to move the moving finger seat 804, and at the same time controls the extension and retraction of the micro electric cylinder 805 so that the glue application tube 901 fits the sealing surface.

[0040] Example 2: Based on Example 1, the size of the glue cylinder 9 can be customized as needed, and it can be replenished after each workpiece is coated with glue; a weighing sensor can be installed under the glue cylinder 9 for monitoring, and a reminder will be given when the glass glue is insufficient;

[0041] If silicone sealant is used, the material of the silicone valve 9011 should be replaced with rubber to avoid the situation of similar substances dissolving in each other.

[0042] Example 3: Based on Example 1, the window is moved directly from the conveyor belt to the next process by a six-axis robot 1 and a robotic arm 2. During the transfer, the robotic arm 2 is kept horizontal, so the window can be sealed during the transfer process, but only one side of the window is sealed. The window can be manually flipped over in the next process and sealed again, or a rotating frame can be set up during the transfer to facilitate flipping the window and applying glue again after flipping it over.

[0043] The specific usage and function of this embodiment: In this invention, a six-axis robot 1 is used as an arm to perform mimicry handling.

[0044] The window is transported to the robot's gripping station by a conveyor belt with a lifting structure. Then, the back of the robotic arm 2 is moved to the upper position of the window. The image is captured by a wide-angle camera 10, and after being recognized by the machine vision recognition module, it is fed back to the main control unit of the six-axis robot 1, which moves the back of the robotic arm 2 out of the window.

[0045] The electric cylinder 6 is activated to push one set of clamping finger plates 5 towards the window. The other set of clamping finger plates 5 moves synchronously. The two sets of clamping finger plates 5 form a synchronous transmission structure through the control rack 501 and the intermediate gear 402, and move synchronously. By bringing the two sets of clamping finger plates 5 together, the main side clamping bar 5021 is pressed against both sides of the window. When the main side clamping bar 5021 can no longer move, the main hydraulic cylinder 502 retracts, and the hydraulic oil in the main hydraulic cylinder 502 is input into the auxiliary hydraulic cylinder 503. The auxiliary hydraulic cylinder 503 expands and uses the corner clamping blocks 5031 to clamp the other two sides of the window, thus stabilizing and fixing the window. The electric cylinder 6 provides power to position the window around its perimeter. A spring is installed on the outside of the extension end of the main hydraulic cylinder 502, so that each component can automatically reset when the electric cylinder 6 retracts.

[0046] The glue cartridge 9 is pre-filled with semi-liquid glass glue. When the glue injection port 905 is aligned with the glue injection hole 201, the glass glue is injected into the glue cartridge 9 using an injection tool.

[0047] The wide-angle camera 10 identifies and plans the adhesive application outline, and then the drive motor 203 is started to drive the sub-arm turntable 7 to rotate, thereby driving the two sets of sub-robotic arms 8 to rotate.

[0048] During the rotation of the sub-manipulator 8, the micro motor 803 works, driving the transmission screw 802 to rotate, causing the moving finger seat 804 to move, ensuring that the moving finger seat 804 can move along the window edge seam during the rotation of the sub-arm rotating seat 7. The extension micro electric cylinder 805 drives the base 806 to descend, bringing the glue application tube 901 closer to the window edge seam. The glue application motor 903 is started, driving the plastic screw 902 to rotate. The plastic screw 902 drives the glue pushing piston plate 904 to descend, squeezing and conveying the glass glue in the glue tube 9 downward. The glass glue expands and passes through the silicone valve 9011, moving and applying to the window edge seam.

[0049] The window is moved directly from the conveyor belt to the next process by a six-axis robot 1 and a robotic arm 2. The robotic arm 2 is kept horizontal during the transfer, and the window can be sealed during the transfer process.

Claims

1. A robotic arm for applying adhesive and sealing edges when assembling windows, comprising: A six-axis robot (1) is provided with a robotic arm back (2) fixedly mounted on the end of its arm. Two sets of U-shaped frames (3) are fixedly mounted on both sides of the bottom of the robotic arm back (2). The robot is characterized in that two sets of guide rods (301) are fixedly mounted between the two sets of U-shaped frames (3), and two sets of clamping finger plates (5) are slidably mounted on the outside of the two sets of guide rods (301). A T-shaped shaft tube (202) is fixedly mounted in the middle of the bottom of the robotic arm back (2). A sub-arm rotating seat (7) is rotatably mounted on the outside of the T-shaped shaft tube (202) in conjunction with a tapered ball bearing. Two sets of sub-robotic arms (8) are fixedly mounted on both sides of the sub-arm rotating seat (7). A through groove is opened in the middle of one end of the sub-arm rotating seat (7) that fits into the sub-arm rotating seat (7). A motor base (801) is fixedly installed inside the sub-arm rotating seat (7). A transmission screw (802) is rotatably installed between the motor base (801) and the sub-arm (8). A micro motor (803) for driving the transmission screw (802) is fixedly installed outside the motor base (801). A movable finger seat (804) is slidably installed inside the sub-arm (8). The movable finger seat (804) is threadedly connected to the transmission screw (802). The bottom of the movable finger seat (804) is hollow in the middle. A micro electric cylinder (805) is fixedly installed on the inner side of the bottom of the movable finger seat (804). A base (806) is fixedly installed on the telescopic end of the micro electric cylinder (805). The base (806) extends beyond the movable finger seat (804). A glue cylinder (9) is fixedly installed at the position; two sets of glue injection holes (201) are opened on the top of the back of the robot (2); a wide-angle camera (10) is fixedly installed in the middle of the T-shaped shaft tube (202); a drive motor (203) is fixedly installed at the bottom of the back of the robot (2), the top of the sub-arm rotating seat (7) is an internal gear ring structure, and the rotor end of the drive motor (203) is provided with a cylindrical gear that meshes with the internal gear ring structure of the sub-arm rotating seat (7); two sets of transmission frames (4) are fixedly installed on both sides inside the back of the robot (2), the transmission frames (4) are C-shaped structures, and slide bars (401) are fixedly installed on both the upper and lower sides inside the transmission frames (4), and intermediate gears (402) are rotatably installed in the middle of the transmission frames (4); both sides of the clamping finger plate (5) are fixed A control rack (501) is provided, and the two sets of control racks (501) outside the clamping finger plates (5) are staggered. The control racks (501) are all slidably connected to a set of slide bars (401), and the control racks (501) mesh with the intermediate gear (402). An electric cylinder (6) is fixedly provided between a set of U-shaped outer frames (3) and the adjacent clamping finger plates (5). Two sets of main oil cylinders (502) are fixedly provided on the non-adjacent sides of the two sets of clamping finger plates (5). The telescopic ends of the main oil cylinders (502) are all fixedly provided with main side clamping bars (5021). Both sides of the clamping finger plates (5) are corner structures. Auxiliary oil cylinders (503) are fixedly provided at the corners. The telescopic ends of the auxiliary oil cylinders (503) are all fixedly provided with corner clamping blocks (5031).Springs are fitted around the telescopic ends of the main hydraulic cylinder (502). The main hydraulic cylinder (502) and the adjacent auxiliary hydraulic cylinder (503) are connected by oil pipes. The main arm of the six-axis robot (1) works in concert with the rotatable sub-arm turntable (7) and the sub-mechanical arm (8). Relying on the circumferential rotation of the sub-arm driven by the drive motor and the lead screw translation mechanism controlled by the micro motor (803), the window transfer and edge sealing glue application processes are completed simultaneously.

2. The adhesive-applying and edge-sealing robot for assembling windows as described in claim 1, characterized in that, Two sets of infrared ranging sensors (302) are fixedly installed in the middle of the U-shaped outer frame (3). The infrared ranging sensors (302) can monitor the position of the clamping finger plate (5).

3. The adhesive-applying and edge-sealing robot for assembling windows as described in claim 1, characterized in that, The bottom of the glue tube (9) is fixedly provided with a glue applicator tube (901), the bottom of the glue applicator tube (901) passes through the base (806), the bottom of the glue applicator tube (901) is a conical opening, and a silicone valve (9011) is fixedly provided in the middle of the bottom of the glue applicator tube (901), which is normally closed.

4. The adhesive-applying and edge-sealing robot for assembling windows as described in claim 1, characterized in that, The glue cylinder (9) is equipped with a plastic lead screw (902) rotating inside. A glue-applying motor (903) is fixedly installed on the top of the glue cylinder (9). The shaft end of the glue-applying motor (903) is connected to the top of the plastic lead screw (902) through a coupling. Two flanges are integrally provided on both sides inside the glue cylinder (9). A glue-pushing piston plate (904) is slidably provided inside the glue cylinder (9). The glue-pushing piston plate (904) is threadedly connected to the plastic lead screw (902). An upwardly inclined channel is integrally provided outside the glue cylinder (9). A glue-injection port (905) is fixedly provided above the channel. A threaded sealing plug is provided on the top of the glue-injection port (905). The glue-injection port (905) can be moved below the glue-injection hole (201).

5. The adhesive-applying and edge-sealing robot for assembling windows as described in claim 2, characterized in that, The wide-angle camera (10) is equipped with a machine vision recognition module. The machine vision recognition module has a built-in image acquisition and processing chip and an edge computing unit. The machine vision recognition module establishes a two-way signal connection with the wide-angle camera (10). The six-axis robot (1) has a built-in main control unit.

6. The adhesive-applying and edge-sealing robot for assembling windows as described in claim 5, characterized in that, The micro motor (803) is a servo motor. The sub-arm control module is fixedly installed inside the sub-arm (8) near the moving finger seat (804). The machine vision recognition module integrates the YOLOv8 target detection algorithm to process the window image collected by the wide-angle camera (10) in real time, identify the edge position, outline and surface impurities and defects of the window frame and glass, and fuse the data fed back by the infrared ranging sensor (302) to calculate the relative distance between the U-shaped outer frame (3) and the clamping finger plate (5) to determine the clamping finger plate. (5) After clamping the window, the glue application path data is generated and transmitted to the sub-arm control module and the main control unit of the six-axis robot (1); the sub-arm control module establishes communication with the micro motor (803), the micro electric cylinder (805) and the machine vision recognition module respectively. After receiving the glue application path data, it adjusts the speed and direction of the micro motor (803), drives the transmission screw (802) to move the moving finger seat (804), and adjusts the extension and retraction of the micro electric cylinder (805) so that the glue application tube (901) fits the sealing surface.

Images