A glue nozzle structure, a glue coating device and a glue output control method
By designing the nozzle structure and coating equipment, and employing a laser rangefinder and a controllable rotation structure, the problems of low coating accuracy and difficulty in trajectory planning in the coating equipment were solved, achieving efficient and precise coating results.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2026-04-21
- Publication Date
- 2026-07-14
Smart Images
Figure CN122377684A_ABST
Abstract
Description
Technical Field
[0001] This application relates to the field of adhesive application equipment technology, and in particular to a nozzle structure, adhesive application equipment and adhesive dispensing control method. Background Technology
[0002] In high-precision adhesive application scenarios such as aircraft wing ribs, the adhesive layer is required to completely cover the rib surface with accurate and uniform thickness and no excess material. At the same time, it is necessary to achieve integrated adhesive application and scraping, and the adhesive width during the application process can be precisely adjusted according to the irregular width of the rib.
[0003] However, most automatic glue dispensing equipment currently uses a fixed dispensing structure and employs pump-type or push-cylinder-type glue supply, resulting in low glue coating accuracy and difficulty in planning the glue dispensing trajectory. This makes it difficult to compensate for the overlap error between the trajectory and the ribs, leading to problems such as glue breakage at the intersection of the ribs, which seriously affects the glue dispensing quality and efficiency. Summary of the Invention
[0004] The main purpose of this application is to provide a nozzle structure, a glue application device, and a glue dispensing control method, which aims to solve the problems existing in the prior art, such as low glue coating accuracy, difficulty in planning the glue application trajectory, difficulty in compensating for the overlap error between the trajectory and the ribs, and easy glue breakage at the intersection of the ribs.
[0005] To achieve the above objectives, this application provides a nozzle structure, including a nozzle body unit and an opening actuation unit; The nozzle main body unit includes a snap-fit front nozzle cover and a rear nozzle cover. A cavity and an adhesive flow channel are provided between the front nozzle cover and the rear nozzle cover. The cavity is connected to the adhesive flow channel and is used to store adhesive. The nozzle main body unit is also equipped with a detection component and an elastic reset component. The detection component is used to detect the opening degree of the opening actuator, and the elastic reset component is used to realize the translational return of the opening actuator. The opening execution unit is movably connected to the nozzle main body unit and includes a guide opening component, a slider component, a guide limiting component, and a rotation reset component. The guide opening component is used to contact the rib to be coated and drive the slider component to move to adjust the size of the glue dispensing opening. The guide limiting component is used to limit the movement direction and movement state of the opening execution unit. The rotation reset component is used to realize the rotation return of the opening execution unit. The slider component cooperates with the front nozzle cover and the rear nozzle cover of the nozzle main body unit to form the glue dispensing port.
[0006] Optionally, the detection component includes a laser rangefinder sensor, which is fixed to the front and / or rear nozzle cover of the nozzle body unit and is used to detect the distance between itself and the guide component to obtain the opening degree data of the opening execution unit; the elastic reset component includes a tension spring, which connects the guide component to the front and rear nozzle covers of the nozzle body unit.
[0007] Optionally, the guide opening component includes an elastic guide opening side ear, the guide opening piece of the elastic guide opening side ear has a parabolic structure, and a protective sleeve is fitted on the elastic guide opening side ear; the slider component includes an open slider, and a sealing ring is provided between the open slider and the front and rear nozzle caps of the nozzle body unit.
[0008] Optionally, the guide limiting component includes a fixed-angle unidirectional translational bushing, a non-standard linear guide shaft, and a stepped bolt. The non-standard linear guide shaft is fixed to the outer end faces of the front and rear nozzle covers of the nozzle body unit. The fixed-angle unidirectional translational bushing and the non-standard linear guide shaft cooperate to form a fixed-angle unidirectional translational linear guide pair. The fixed-angle unidirectional translational bushing is sleeved on the non-standard linear guide shaft. A ball bearing is provided between the fixed-angle unidirectional translational bushing and the non-standard linear guide shaft. The fixed-angle unidirectional translational bushing is connected to the guide opening component. The stepped bolt connects the guide opening component and the slider component. The guide opening component is provided with a clearance groove for avoiding the stepped bolt.
[0009] Optionally, the fixed-angle unidirectional translational bushing includes an end cap and a sleeve body. The sleeve body is provided with an inclined surface and a pusher. The irregular linear guide shaft is provided with a circular groove. The circular groove is adapted to the ball bearing. When the pusher and the circular groove are aligned, the opening execution unit can translate along the irregular linear guide shaft. When the pusher and the circular groove are not aligned, the ball bearing is stuck between the inclined surface and the circular groove, restricting the opening execution unit from translating towards the nozzle body unit.
[0010] Optionally, the rotary reset component is a torsion spring, one end of which is connected to the guide limiting component and the other end is connected to the irregular linear guide shaft of the nozzle body unit. The torsion spring is used to provide rotary return torque for the opening execution unit.
[0011] In addition, to achieve the above objectives, this application also provides a glue application device, including an industrial robot, which is equipped with the above-mentioned glue nozzle structure, controllable rotation structure, glue cylinder, glue application end effector body, glue application end effector opening interface and servo electric push cylinder. The main body of the glue-applying end effector provides mounting support for each component, and the servo electric push cylinder is connected to the glue cylinder for squeezing the glue liquid in the glue cylinder; The controllable rotation structure includes a drive assembly, a straight rotary joint, a connecting piece, a driven gear, and a rotary bearing. The drive assembly is fixed to the body of the glue-applying end actuator. The rotary bearing connects the body of the glue-applying end actuator to the driven gear. The upper end of the straight rotary joint is connected to the glue cylinder, the housing is connected to the driven gear through the connecting piece, and the lower end is connected to the glue flow channel of the glue nozzle structure. The drive assembly meshes with the driven gear. The nozzle structure is connected to the glue cartridge via a controllable rotation structure, and the opening interface of the glue application end effector is located on the body of the glue application end effector for replacing the glue cartridge.
[0012] Optionally, the drive assembly includes a servo motor and a drive gear, and the rotary bearing is a crossed roller rotary bearing; when the servo motor is enabled, the drive gear, driven gear, and connecting plate drive the straight rotary joint and the nozzle structure to rotate around the axis of the glue cylinder, thereby achieving precise control of the nozzle structure angle; when the servo motor is disabled, the nozzle structure can rotate freely around the axis of the glue cylinder.
[0013] In addition, to achieve the above objectives, this application also provides a method for controlling the amount of adhesive dispensed, applied to the above-mentioned adhesive coating equipment, comprising the following steps: S1. Install the glue cartridge onto the main body of the glue-applying end actuator and fix it in place. Mark the positions of the glue-applying equipment and the rib strip to be glued. S2. Control the controllable rotating structure to adjust the nozzle structure to the initial angle, release the rotation lock of the nozzle structure, let the nozzle structure fall and contact the rib to be coated, and the opening execution unit adapts to the width of the rib to be coated to adjust the glue dispensing opening size. S3. The opening data of the nozzle structure is detected by the detection component and uploaded to the central control system. The central control system matches and calculates the glue application speed of the industrial robot with the glue extrusion speed of the servo electric push cylinder based on the opening data, the inner radius of the glue tube and the fixed width of the glue outlet. S4. Control the servo electric push cylinder to extrude glue and the industrial robot moves according to the planned trajectory. The glue nozzle structure adaptively compensates for trajectory deviation and avoids the intersection structure of the glue-to-be-applied ribs during the glue application process. S5. After the glue application is completed, stop the glue extrusion and robot movement. The glue nozzle structure rises and returns to its original position under the action of the elastic reset component, closing the glue outlet.
[0014] Optionally, in step S3, based on the incompressibility of the adhesive, the extrusion flow rate of the adhesive in the glue tube is consistent with the adhesive flow rate at the nozzle, and the matching relationship satisfies the following formula: V1xπR 2 =V2x WxH Where V1 is the extrusion speed of the servo electric push cylinder, R is the inner radius of the glue cylinder, V2 is the glue application speed of the industrial robot, W is the opening of the glue nozzle structure, and H is the fixed width of the glue outlet.
[0015] The beneficial effects that this application can achieve are as follows: 1. The nozzle structure proposed in this application consists of a front nozzle cover and a rear nozzle cover as the main unit. The cavity formed inside can store the adhesive, effectively avoiding adhesive breakage and cavitation. At the same time, the two-shell structure facilitates maintenance and cleaning. The opening execution unit cooperates with the main unit and can adaptively adjust the adhesive opening size according to the width of the rib to be coated, so as to extrude a sheet-shaped adhesive strip that matches the width of the rib and has a fixed thickness, realizing integrated adhesive coating and scraping. This avoids the process of manually smoothing the circular adhesive strip after the traditional nozzle extrudes it, thus improving the adhesive coating efficiency. The opening execution unit can compensate for the overlap error between the adhesive coating trajectory and the rib within a certain range, ensuring that the adhesive dispensing position and opening are not affected by the deviation, thus improving the adhesive coating accuracy. 2. This application uses a fixed-angle unidirectional linear guide rail pair and a torsion spring to make the nozzle structure able to smoothly avoid the cross / T-shaped intersection structure of the ribs, and the size of the dispensing opening remains unchanged during the avoidance process, avoiding phenomena such as glue breakage and cavitation, and ensuring the glue extrusion effect. 3. The parabolic guide plate of the elastic guide side ear in the nozzle structure proposed in this application embodiment can reduce the opening speed when the nozzle falls and contacts the rib, avoid damage to the surface of the rib and the internal structure of the nozzle, and the protective sleeve reduces the friction between the guide component and the rib, further ensuring the quality of glue application. 4. The controllable rotating structure in the glue coating equipment proposed in this application embodiment can realize the active angle control and free rotation of the glue nozzle structure. When applying glue, the industrial robot only needs to plan the point trajectory and does not need to consider the real-time posture angle of the glue nozzle. The glue nozzle structure can adaptively adjust its posture according to the rib trajectory, which reduces the difficulty of robot offline programming and the spatial accessibility requirements. 5. The glue dispensing control method proposed in the embodiments of this application derives the matching relationship between the glue application speed, the extrusion speed and the nozzle opening based on the incompressibility of the glue. The extrusion speed can be adjusted in real time according to the width of the rib to ensure that the extruded shape of the glue always meets the process requirements. It is suitable for glue application operations of ribs with irregular widths. Attached Figure Description
[0016] Figure 1 This is a schematic diagram of the overall structure of the nozzle structure in the first embodiment of this application; Figure 2 for Figure 1 Exploded view of the middle nozzle structure; Figure 3 This is a schematic diagram of the composition structure of the nozzle main body unit in the first embodiment of this application; Figure 4 This is a schematic diagram of the composition structure of the opening execution unit in the first embodiment of this application; Figure 5This is a schematic diagram of the irregular linear guide shaft and circular groove in the first embodiment of this application; Figure 6 This is a schematic diagram of the composition of the guide and limiting component in the first embodiment of this application; Figure 7 This is a schematic diagram of the structure of the fixed-angle unidirectional translational bushing in the first embodiment of this application, where a is a schematic diagram of the end side of the fixed-angle unidirectional translational bushing, b is a cross-sectional view along the AA direction in a, and c is a cross-sectional view along the BB direction in a. Figure 8 The first embodiment of this application is a schematic diagram of the pusher and inclined surface of the fixed-angle unidirectional translational bushing, where a is a schematic diagram of the end side of the fixed-angle unidirectional translational bushing and b is a schematic diagram of the left side structure of the fixed-angle unidirectional translational bushing. Figure 9 This is a schematic diagram of the torsion spring structure in the first embodiment of this application; Figure 10 This is a schematic diagram of the translational and rotational movements of the opening execution unit in the first embodiment of this application; Figure 11 This is a schematic diagram illustrating the process by which the nozzle structure adapts to the opening of the aircraft wing surface ribs in the first embodiment of this application; Figure 12 This is a schematic diagram showing the opening slider of the nozzle structure in the first embodiment of this application forming an opening with a width of △c; Figure 13 This is a schematic diagram of the compensation for the overlap error between the glue application trajectory and the rib contour by the nozzle structure in the first embodiment of this application, where a is a schematic diagram when there is an offset of △d, and b is a schematic diagram when aligned. Figure 14 This is a schematic diagram of the action of the nozzle structure crossing the "crossroads" rib in the first embodiment of this application. a is a schematic diagram before crossing, and b is a schematic diagram during crossing. Figure 15 This is a schematic diagram of a portion of the adhesive applicator using a nozzle structure in the second embodiment of this application; Figure 16 This is a flowchart of the glue dispensing control method in the third embodiment of this application; Figure 17 This is a schematic diagram showing the opening and width of the nozzle structure in the third embodiment of this application.
[0017] The component names corresponding to the numbers in the attached diagram are as follows: 1- Nozzle structure, 101- Laser rangefinder sensor, 102- Tension spring, 103- Elastic guide side ear, 104- Opening slider, 105- Protective sleeve, 106- Rear nozzle cover, 107- Front nozzle cover, 108- Sealing ring, 109- Stepped bolt, 1010- Fixed-angle unidirectional translational bushing, 1010a- Sleeve body, 1010b- End cover, 1010c- Push table, 1010d- Inclined surface, 1010e- Locking pin 1011-Irregular linear guide shaft, 1011a-Circular groove, 1012-Torsion spring, 1013-Ball bearing, 2-Controllable rotation structure, 201-Drive assembly, 202-Straight rotary joint, 203-Connecting piece, 204-Passive gear, 205-Cross roller rotary bearing, 3-Glue cylinder, 4-Glue application end effector body, 5-Glue application end effector opening interface, 6-Servo electric push cylinder, 7-Glue-to-be-applied rib. Detailed Implementation
[0018] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of the present invention.
[0019] It should be noted that all directional indications (such as up, down, left, right, front, back, etc.) in the embodiments of the present invention are only used to explain the relative positional relationship and movement of each component in a certain specific posture (as shown in the figure). If the specific posture changes, the directional indication will also change accordingly.
[0020] In this invention, unless otherwise explicitly specified and limited, the terms "connection," "fixed," etc., should be interpreted broadly. For example, "fixed" can mean a fixed connection, a detachable connection, or an integral part; it can mean a mechanical connection or an electrical connection; it can mean a direct connection or an indirect connection through an intermediate medium; it can mean the internal communication of two components or the interaction between two components, unless otherwise explicitly limited. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.
[0021] Furthermore, if the embodiments of this invention involve descriptions such as "first" or "second," these descriptions are for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined with "first" or "second" may explicitly or implicitly include at least one of those features. Additionally, the meaning of "and / or" throughout the text includes three parallel solutions; for example, "A and / or B" includes solution A, solution B, or a solution where both A and B are satisfied simultaneously. Furthermore, the technical solutions of the various embodiments can be combined with each other, but this must be based on the ability of those skilled in the art to implement them. When the combination of technical solutions is contradictory or impossible to implement, it should be considered that such a combination of technical solutions does not exist and is not within the scope of protection claimed by this invention.
[0022] Reference Figures 1-4 As shown, the first embodiment of this application provides a nozzle structure 1, including a nozzle body unit and an opening execution unit.
[0023] The nozzle main unit includes a snap-fit front nozzle cover 107 and a rear nozzle cover 106. A cavity and an adhesive flow channel are provided between the front nozzle cover 107 and the rear nozzle cover 106. The cavity is connected to the adhesive flow channel and is used to store adhesive. The nozzle main unit is also equipped with a detection component and an elastic reset component. The detection component is used to detect the opening degree of the opening actuator, and the elastic reset component is used to realize the translational return of the opening actuator.
[0024] The opening actuator is movably connected to the nozzle main unit and includes a guide component, a slider component, a guide limiting component, and a rotation reset component. The guide component contacts the adhesive-to-be-applied rib 7 and drives the slider component to move to adjust the adhesive outlet size. The guide limiting component restricts the movement direction and state of the opening actuator. The rotation reset component realizes the rotation return of the opening actuator. The slider component cooperates with the front nozzle cover 107 and the rear nozzle cover 106 of the nozzle main unit to form the adhesive outlet. In this embodiment, the adhesive-to-be-applied rib 7 is described in detail using an aircraft wing surface rib as an example.
[0025] like Figure 3As shown, the front nozzle cover 107 and the rear nozzle cover 106 are semi-shell structures. The purpose of this two-part structure is to facilitate disassembly, maintenance, and cleaning after the glue application process. In other embodiments, the nozzle main body unit can also be a one-piece molded structure. The detection component is fixed to the front nozzle cover 107 and the rear nozzle cover 106. It can detect the distance between itself and the opening actuator unit. This distance value will be used for glue dispensing control. The elastic reset component connects the opening actuator unit to the front nozzle cover 107 and the rear nozzle cover 106. It primarily realizes the translational return action of the opening actuator unit and secondarily realizes the rotational return action of the opening actuator unit.
[0026] This application designs the nozzle main unit with a snap-fit structure between the front nozzle cover 107 and the rear nozzle cover 106, allowing for quick disassembly and assembly. This facilitates cleaning and maintenance of the internal adhesive flow channel and cavity after application, preventing adhesive residue from solidifying and affecting subsequent use. The cavity can store sufficient adhesive, allowing for rapid replenishment when the adhesive outlet width changes or when application is interrupted, preventing adhesive breaks, air bubbles, and ensuring uniform adhesive coating shape. Through the separate design of the nozzle main unit and the opening execution unit, each unit functions independently yet works in concert, enabling the adhesive outlet to adaptively adjust to the width of the rib 7 to be coated. It also features translational and rotational dual reset and motion limit functions, allowing the nozzle structure 1 to adapt to the coating needs of irregular ribs. The overall structure is compact and the movement is precise, providing a foundation for high-precision adhesive coating.
[0027] The detection component includes a laser rangefinder 101, which is fixed to the front nozzle cover 107 and / or the rear nozzle cover 106 of the nozzle body unit. The laser rangefinder 101 is used to detect the distance between itself and the opening component to obtain the opening degree data of the opening actuator. The elastic reset component includes a tension spring 102, which connects the opening component to the front nozzle cover 107 and the rear nozzle cover 106 of the nozzle body unit. In this embodiment, the laser rangefinder 101 is symmetrically fixed to the outside of the front nozzle cover 107 and the rear nozzle cover 106.
[0028] The detection component uses a laser rangefinder 101 to detect the opening degree, which has the advantages of high detection accuracy and fast response speed. It can acquire the opening degree data of the opening execution unit in real time and upload it to the central control system, providing data support for the precise control of the glue dispensing volume. The laser rangefinder 101 is fixed to the front glue nozzle cover 107 and / or the rear glue nozzle cover 106, and the installation position is stable and not easily affected by glue liquid and mechanical movement. The tension spring 102 is selected as the elastic reset component. It has a simple structure and stable elastic return effect. It can realize the translational return of the opening component, and at the same time assist in realizing the rotational return. The two ends of the tension spring 102 are connected to the opening component and the front glue nozzle cover 107 and the rear glue nozzle cover 106 respectively. The force is uniform, which can ensure the coaxiality of the opening component when it returns and avoid jamming.
[0029] The guiding component includes an elastic guiding side ear 103, the guiding piece of which has a parabolic structure, and a protective sleeve 105 is fitted onto the elastic guiding side ear 103. The slider component includes an open slider 104, and a sealing ring 108 is provided between the open slider 104 and the front nozzle cover 107 and the rear nozzle cover 106 of the nozzle body unit. The sealing ring 108 is fixed on the front nozzle cover 107 and the rear nozzle cover 106, and it can provide a sealing function when the open slider 104 slides within the front nozzle cover 107 and the rear nozzle cover 106.
[0030] It should be noted that the purpose of making the guide plate of the elastic guide side ear 103 into a "parabolic" shape in this application is as follows: when the nozzle structure 1 falls at a constant speed, the opening speed of the elastic guide side ear 103 is relatively small when it first contacts the aircraft wing surface rib. As the fall increases, the opening speed of the elastic guide side ear 103 increases. The parabolic surface can reduce the opening speed of the elastic guide side ear 103 when the nozzle structure 1 contacts the aircraft wing surface rib during its fall, thus avoiding damage to the surface of the aircraft wing surface rib and the parts and mechanisms inside the nozzle structure 1.
[0031] The guide limiting component includes a fixed-angle unidirectional translational bushing 1010, a non-standard linear guide shaft 1011, and a stepped bolt 109. The non-standard linear guide shaft 1011 is fixed to the outer end faces of the front nozzle cover 107 and the rear nozzle cover 106 of the nozzle main unit. The fixed-angle unidirectional translational bushing 1010 and the non-standard linear guide shaft 1011 cooperate to form a fixed-angle unidirectional translational linear guide pair. The fixed-angle unidirectional translational bushing is sleeved on the non-standard linear guide shaft 1011. A ball bearing 1013 is provided between the fixed-angle unidirectional translational bushing 1010 and the non-standard linear guide shaft 1011. The fixed-angle unidirectional translational bushing 1010 is connected to the guide opening component. The stepped bolt 109 connects the guide opening component and the slider component. The guide opening component is provided with a clearance groove for avoiding the stepped bolt 109.
[0032] like Figure 10 As shown, the fixed-angle unidirectional translational bushing 1010 is installed and fixed in the through hole of the elastic guide side ear 103 by interference fit. The stepped bolt 109 is fixed to the opening slider 104. When the opening execution unit rotates around the irregular linear guide shaft 1011, the clearance slot of the elastic guide side ear 103 can avoid the stepped bolt 109.
[0033] In this application, the irregular linear guide shaft 1011 is fixed between the front nozzle cover 107 and the rear nozzle cover 106, and is firmly installed, providing a stable guiding foundation for the translation and rotation of the opening actuator. The fixed-angle unidirectional translational bushing 1010 and the irregular linear guide shaft 1011 form a special linear guide pair, which can realize the fixed-angle unidirectional translation of the opening actuator, accurately restrict its movement direction and movement state, and avoid irregular movement affecting the dispensing accuracy. The stepped bolt 109 realizes the rigid connection between the guide component and the slider component, ensuring that the movement of the guide component can be synchronously transmitted to the slider component, realizing precise synchronous adjustment of the opening degree. The clearance groove on the guide component can effectively avoid the stepped bolt 109 when the opening actuator rotates, avoiding movement interference between the stepped bolt 109 and the guide component, and ensuring the smoothness of the rotation action.
[0034] like Figure 11 As shown, during the descent of the nozzle structure 1, the parabolic-shaped guide tab of the elastic guide lug 103 contacts the aircraft wing surface rib. As the nozzle structure 1 descends, the elastic guide lug 103 is opened. Under the action of the stepped bolt 109, the elastic guide lug 103 drives the opening slider 104 to move, thereby realizing the opening action of the opening actuator. When the narrowest point of the elastic guide lugs 103 on both sides is clamped on both sides of the aircraft wing surface rib, the opening sliders 104 on both sides finally form an opening with a width of Δc (e.g., ...). Figure 12 As shown), the adhesive will flow out from this opening, and the width of the flowing adhesive will be adapted to the width of the aircraft wing surface ribs.
[0035] In this application, the guide plate of the elastic guide ear 103 is designed in a parabolic shape, so that when the nozzle structure 1 falls and contacts the rib, the opening speed of the elastic guide ear 103 gradually changes from slow to fast, effectively reducing the impact force at the moment of contact, avoiding damage to the surface of the rib and the internal parts of the nozzle, while ensuring that the elastic guide ear 103 is smoothly opened by the rib, realizing adaptive opening adjustment; the protective sleeve 105 can significantly reduce the friction between the elastic guide ear 103 and the rib, reduce wear on both, and prevent the elastic guide ear from opening. The direct contact between the side ear 103 and the rib causes scratches on the rib surface, ensuring the surface quality of the glued workpiece. The sealing ring 108 between the opening slider 104 and the front and rear nozzle caps 107 and 106 effectively seals the mating gap between the opening slider 104 and the front and rear nozzle caps 107 and 106, preventing glue leakage from the gap and ensuring that all glue is squeezed out from the outlet, avoiding glue waste and excess material, while also preventing impurities from entering the mating gap and affecting the sliding accuracy of the slider.
[0036] like Figure 13As shown, when the glue application trajectory of the nozzle structure 1 deviates from the overlap of the aircraft wing surface rib, it can also be understood as the glue cylinder axis not coinciding with the centerline of the aircraft wing surface rib. The adaptive variable opening nozzle structure 1 can adjust the opening distance of the opening actuator unit through the tension spring 102 to compensate for this deviation value △d. The principle is that when the opening actuator unit of the nozzle structure 1 is composed of left and right symmetrical parts that move independently of each other, the elastic guide ear 103 can always be in close contact with both sides of the aircraft wing surface rib, thereby ensuring that the glue dispensing position and opening distance of the opening slider 104 are not affected by the overlap deviation.
[0037] The opening slider 104, the front nozzle cover 107, and the rear nozzle cover 106 of the nozzle structure 1 combine to form a cavity area. Its function is: after the glue enters from the glue flow channel of the nozzle structure 1, it will first fill this cavity area. When the width of the glue outlet opening of the opening execution unit in the nozzle structure 1 changes or the glue application is interrupted and then resumed, there is enough reserve glue in the cavity to quickly coat the glue, which can ensure the uniformity of the glue shape and avoid phenomena such as glue breakage and cavitation.
[0038] like Figure 14 As shown, when the aircraft wing surface ribs are "cross-shaped," "T-shaped," or intersecting, the elastic guide ear 103 will be lifted by the transverse ribs of the aircraft wing surface ribs. At this time, the elastic guide ear 103 will rotate around the irregular linear guide axis 1011, realizing the automatic avoidance action of the opening actuator in the nozzle structure 1 of the transverse ribs of the aircraft wing surface ribs. However, a problem will arise at this time: when the elastic guide ear 103 is lifted, it will not be limited by the width of the longitudinal ribs of the aircraft wing surface ribs. When the tension spring 102 drives the elastic guide ear 103 and the opening slider 104 to retract back to their original positions, the nozzle opening will close, and the glue will no longer flow out, thus forming a flow interruption phenomenon. To avoid the above problem, this application specifically designs a fixed-angle unidirectional translational linear guide pair.
[0039] The fixed-angle unidirectional translational bushing 1010 includes an end cap 1010b and a sleeve body 1010a. The sleeve body 1010a has an inclined surface 1010d and a pusher 1010c. The irregular linear guide shaft 1011 has a circular groove 1011a, which is adapted to the ball bearing 1013. When the pusher 1010c is aligned with the circular groove 1011a, the opening actuator can translate along the irregular linear guide shaft 1011. When the pusher 1010c is not aligned with the circular groove 1011a, the ball bearing 1013 is stuck between the inclined surface 1010d and the circular groove 1011a to restrict the opening actuator from translating towards the nozzle body unit. The sleeve body 1010a also has a slot 1010e for locking the torsion spring 1012.
[0040] This application achieves unidirectional translational limiting of the opening actuator unit through the cooperation of the inclined surface 1010d of the sleeve 1010a, the push table 1010c, the circular groove 1011a of the irregular linear guide shaft 1011, and the ball bearing 1013. The structure is ingeniously designed, the mechanical limiting is highly reliable, and precise motion state switching can be achieved without electrical control. When the nozzle crosses the cross structure of the ribs, the push table 1010c and the circular groove 1011a are not aligned. The wedge-shaped clamping action of the ball bearing 1013 can effectively prevent the guide component from translating back to its original position under the action of the elastic reset component, ensuring that the glue dispensing opening size remains unchanged and avoiding glue breakage. When the nozzle returns to the straight section of the rib, the push table 1010c and the circular groove 1011a are aligned, the ball bearing 1013 can roll freely, the opening actuator unit resumes its translational function, and can continue to adaptively adjust the opening degree according to the rib width. The whole process does not require manual intervention and realizes automated motion limiting and recovery.
[0041] The rotary reset component is a torsion spring 1012. One end of the torsion spring 1012 is connected to the guide limiting component, and the other end is connected to the irregular linear guide shaft 1011 of the nozzle main unit. The torsion spring 1012 is used to provide rotary return torque for the opening execution unit.
[0042] This application selects torsion spring 1012 as the rotary reset component, which can provide stable and sufficient rotary return torque. Even if the opening actuator only rotates a small angle, torsion spring 1012 can generate a significant return force due to its own elasticity, solving the problem of insufficient return torque under small tension of tension spring 102. The two ends of torsion spring 1012 are respectively connected to the guide limit component and the irregular linear guide shaft 1011. The connection method is firm, and the torque transmission during rotary return is direct, which can quickly reset the rotating opening actuator to the initial state, ensuring that the opening component is always in close contact with the surface of the rib for adhesive application. At the same time, the pre-tightening torque of torsion spring 1012 can prevent the opening component from being lifted when it comes into contact with the rib, ensuring the fit between the nozzle and the rib during adhesive application and further improving the adhesive application accuracy.
[0043] like Figure 5 , Figure 6As shown, a special linear guide pair is formed by a fixed-angle unidirectional translational bushing 1010, a non-standard linear guide shaft 1011, and a torsion spring 1012. The function of this linear guide pair is as follows: two balls 1013 are installed between the fixed-angle unidirectional translational bushing 1010 and the non-standard linear guide shaft 1011. When the elastically open side lug 103 is in a vertically downward position, the balls 1013 will fall into the two ball grooves (i.e., circular grooves 1011a) on the non-standard linear guide shaft 1011, thus realizing the movement of the fixed-angle unidirectional translational bushing 1010 on the non-standard linear guide shaft 1011. However, when the elastically open side lug 103 rotates a certain angle, such as when encountering an aircraft... When the crossroads of the wing surface ribs are lifted by the transverse ribs, the ball 1013 is not in the ball groove of the irregular linear guide shaft 1011. This will create a force that jams the fixed-angle unidirectional translational bushing 1010, preventing it from moving on the irregular linear guide shaft 1011. This ensures that when the opening actuator of the nozzle structure 1 encounters the crossroads of the aircraft wing surface ribs during glue application, the elastically openable side ear 103 is lifted by the transverse ribs and will not retract back into position under the action of the tension spring 102.
[0044] like Figure 6 As shown, the irregularly shaped linear guide shaft 1011 has a circular groove 1011a. The fixed-angle unidirectional translational bushing 1010 consists of an end cap 1010b and a sleeve body 1010a (as shown). Figure 7 As shown), the end cap 1010b and the sleeve 1010a are connected by an interference fit. The ball bearing 1013 and the sleeve 1010a are independent of each other. The ball bearing 1013 of the fixed-angle unidirectional translational bushing 1010 can roll on the circular groove 1011a of the irregular linear guide shaft 1011. Figure 8 As shown, the sleeve body 1010a of the fixed-angle unidirectional translational bushing 1010 has two structural features: an inclined surface 1010d and a pusher table 1010c. The function of the fixed-angle unidirectional translational linear guide pair is realized by the combination of the inclined surface 1010d, the pusher table 1010c, the circular groove 1011a, and the ball bearing 1013.
[0045] When the pusher 1010c of the sleeve 1010a of the fixed-angle unidirectional translational bushing 1010 is aligned with the circular groove 1011a of the irregular linear guide shaft 1011, that is, when the opening actuator of the nozzle structure 1 does not rotate around the irregular linear guide shaft 1011 and is in a vertical state, such as Figure 7 a in and Figure 7 As shown in the AA cross-sectional view of b, the pusher 1010c and end cover 1010b can push the ball 1013 to slide left and right in the circular groove 1011a of the irregular linear guide shaft 1011. At this time, the nozzle structure 1 opening execution unit can move left and right.
[0046] When the pusher 1010c of the sleeve 1010a of the fixed-angle unidirectional translational bushing 1010 is not aligned with the circular groove 1011a of the irregular linear guide shaft 1011, that is, when the opening actuator of the nozzle structure 1 rotates around the irregular linear guide shaft 1011, as Figure 7 As shown in the BB sectional view in c, the end cap 1010b can push the ball 1013 to move to the right. However, when the sleeve 1010a of the fixed angle unidirectional translational bushing 1010 wants to move to the left, due to the wedge effect, the ball 1013 will get stuck between the inclined surface 1010d of the sleeve 1010a and the circular groove 1011a of the irregular linear guide shaft 1011, and thus cannot move to the left. At this time, the opening execution unit of the nozzle structure 1 cannot move toward the nozzle body unit.
[0047] like Figure 9 As shown, the torsion spring 1012 has a straight section "characteristic one" and an arc-shaped structure "characteristic two". "Characteristic two" is engaged with the sleeve 1010a of the fixed-angle unidirectional translational bushing 1010. The "characteristic two" of the torsion spring 1012 is engaged in the circular groove 1011a of the irregular linear guide shaft 1011. Since the irregular linear guide shaft 1011 is fixed on the front nozzle cover 107 / rear nozzle cover 106, when the opening actuator rotates around the irregular linear guide shaft 1011, the torsion spring 1012 will cause the opening actuator to rotate back to its original position under the action of its elastic torque.
[0048] Although the tension spring 102 can also achieve the rotational return action of the opening actuator around the irregular linear guide shaft 1011, the tension of the tension spring 102 is very small when the opening actuator rotates around the irregular linear guide shaft 1011 by a small angle, making it difficult to generate sufficient rotational return torque for the opening actuator. Therefore, this application uses a torsion spring 1012 to ensure that sufficient rotational return torque can be generated when the opening actuator rotates around the irregular linear guide shaft 1011 by a small angle. Furthermore, it can prevent the elastic guide side ear 103 from being lifted by friction when it comes into contact with the longitudinal ribs of the cross-shaped aircraft wing surface ribs, allowing it to firmly adhere to the aircraft wing surface ribs during the adhesive application process, further ensuring the adhesive application quality. Figure 14 As shown. Furthermore, the material of the protective sleeve 105 in this application is polytetrafluoroethylene, which has a very low surface friction coefficient, and can reduce the friction between the elastic guide side ear 103 and the longitudinal ribs of the aircraft wing surface.
[0049] As an optional implementation method, refer to Figure 15The second embodiment of this application provides a glue-applying device, which includes at least an industrial robot. In this embodiment, the industrial robot is a gantry-type six-axis industrial robot. This gantry-type six-axis industrial robot is equipped with the aforementioned glue nozzle structure 1, and also includes a controllable rotation structure 2, a glue cylinder 3, a glue-applying end effector body 4, a glue-applying end effector opening interface 5, and a servo-electric push cylinder 6. When applying glue to the wing ribs of an aircraft, the gantry robot performs precise trajectory movement on the horizontal wing processing surface. The servo-electric push cylinder 6 can extrude the glue from the glue cylinder 3 through the glue nozzle structure 1, thereby realizing the glue coating work on the aircraft wing surface. The glue-applying end effector body 4 is detachable, facilitating the replacement of old and new glue cylinders 3.
[0050] The drive assembly 201 includes a servo motor and a drive gear, and the rotary bearing is a crossed roller rotary bearing 205. When the servo motor is enabled, the drive gear, the driven gear 204, and the connecting piece 203 drive the straight rotary joint 202 and the nozzle structure 1 to rotate around the axis of the glue cylinder 3, thereby achieving precise control of the angle of the nozzle structure 1. When the servo motor is disabled, the nozzle structure 1 can rotate freely around the axis of the glue cylinder 3. The servo motor and gear set work together to achieve precise active control of the nozzle structure angle 1, with high adjustment accuracy and fast response speed. It can accurately adjust the nozzle to the initial angle perpendicular to the rib, ensuring the alignment accuracy during the glue preparation stage. The cross roller rotary bearing 205 has strong load-bearing capacity, high rotational accuracy, and low frictional resistance, which can ensure the smooth rotation and coaxiality between the passive gear 204 and the glue application end effector body 4, reduce mechanical wear during rotation, and extend the service life of the equipment. The servo motor's enable / unenable switching design realizes the dual mode of "active angle control" and "free rotation" of the nozzle structure. Active alignment is achieved during the glue preparation stage, and free rotation is achieved during the glue application process. This allows the nozzle to automatically adjust its posture according to the trajectory direction of the rib, eliminating the need for the robot to plan complex posture angle trajectories, and significantly reducing the difficulty of offline programming and spatial accessibility requirements of the robot.
[0051] The glue-applying end effector body 4 provides mounting support for each component, and the servo electric push cylinder 6 is connected to the glue cylinder 3 and is used to squeeze the glue liquid in the glue cylinder 3.
[0052] The controllable rotation structure 2 includes a drive assembly 201, a straight rotary joint 202, a connecting piece 203, a driven gear 204, and a rotary bearing. The drive assembly 201 is fixed to the body 4 of the glue application end actuator. The rotary bearing connects the body 4 of the glue application end actuator and the driven gear 204. The upper end of the straight rotary joint 202 is connected to the glue cylinder 3. The housing is connected to the driven gear 204 through the connecting piece 203. The lower end is connected to the glue flow channel of the nozzle structure 1. The drive assembly 201 meshes with the driven gear 204.
[0053] The nozzle structure 1 is connected to the glue cartridge 3 through the controllable rotation structure 2, and the glue application end effector opening interface 5 is located on the glue application end effector body 4 to realize the replacement of the glue cartridge 3.
[0054] The drive assembly 201 includes a servo motor and a drive gear, and the rotary bearing is a crossed roller rotary bearing 205. When the servo motor is enabled, the drive gear, the driven gear 204, and the connecting piece 203 drive the straight rotary joint 202 and the nozzle structure 1 to rotate around the axis of the glue cylinder 3, thereby achieving precise control of the angle of the nozzle structure 1. When the servo motor is disabled, the nozzle structure 1 can rotate freely around the axis of the glue cylinder 3.
[0055] The straight-through rotary joint 202 is connected to the glue cylinder 3 through the upper pipe threaded joint. In the working state, the glue cylinder 3 and the glue application end actuator body 4 are relatively fixed and locked. The housing of the straight-through rotary joint 202 is connected to the driven gear 204 through the connecting piece 203. The straight-through rotary joint 202 is connected to the glue nozzle structure 1 through the lower pipe threaded joint.
[0056] The function of the through-type rotary joint 202 is as follows: When the servo motor is enabled, it can rotate freely. At this time, the driven gear 204, which meshes with the driving gear, can also rotate freely. Therefore, the nozzle structure 1 connected to the threaded connector below the through-type rotary joint 202 can also rotate freely around the axis of the rubber sleeve 3. When the servo motor is enabled, it can precisely control the rotation angle of the nozzle structure 1 around the axis of the rubber sleeve 3 through the driven gear 204, the connecting piece 203, and the through-type rotary joint 202.
[0057] The adhesive coating equipment provided in this application combines the aforementioned high-precision adaptive nozzle structure with a six-axis industrial robot, fully leveraging the robot's trajectory motion precision advantages. Coupled with a dedicated adhesive coating end effector component, it forms an integrated high-precision adhesive coating equipment suitable for the automated adhesive coating needs of large workpieces such as aircraft wings. The controllable rotation structure enables rotational communication between the nozzle structure 1 and the glue cylinder 3, ensuring continuous glue flow while also driving the nozzle structure 1 to rotate and adjust the nozzle angle. The servo electric pusher cylinder 6 provides stable and controllable extrusion force for glue extrusion, precisely adjusting the extrusion speed and ensuring stable glue output. The design of the adhesive coating end effector opening interface 5 allows for quick disassembly and replacement of the glue cylinder 3, significantly reducing downtime during replacement and improving the efficiency of the adhesive coating operation. All components are mounted on the adhesive coating end effector body 4, resulting in a compact layout and robust connections, ensuring the stability and reliability of the equipment during operation and reducing the impact of mechanical vibration on adhesive coating accuracy.
[0058] As an optional implementation method, such as Figure 16 As shown, this application also provides a method for controlling the amount of adhesive dispensed, applicable to the above-mentioned adhesive coating equipment, comprising the following steps: S1. Install the glue cartridge 3 onto the body 4 of the glue application end actuator and fix it in place. Mark the positions of the glue application equipment and the rib 7 to be glued. S2. Control the controllable rotating structure 2 to adjust the nozzle structure 1 to the initial angle, release the rotation lock of the nozzle structure 1, so that the nozzle structure 1 falls and contacts the adhesive strip 7 to be coated, and the opening execution unit adapts to the width of the adhesive strip 7 to adjust the size of the dispensing opening. S3. The opening data of the nozzle structure 1 is detected by the detection component and uploaded to the main control system. The main control system calculates the glue application speed of the industrial robot and the glue extrusion speed of the servo electric push cylinder 6 based on the opening data, the inner radius of the glue cylinder 3 and the fixed width of the glue outlet. S4, control the servo electric push cylinder 6 to extrude glue, the industrial robot moves according to the planned trajectory, the glue nozzle structure 1 adaptively compensates for trajectory deviation and avoids the cross structure of the glue-to-be-applied ribs 7 during the glue application process; S5. After the glue application is completed, stop the glue extrusion and robot movement. The glue nozzle structure 1 rises and returns to its original position under the action of the elastic reset component, closing the glue outlet.
[0059] In step S3, based on the incompressibility of the adhesive, the extrusion flow rate of the adhesive in the glue cartridge 3 is consistent with the flow rate of the adhesive at the nozzle, and the matching relationship satisfies the following relationship (1): V1xπR 2 =V2x WxH(1) In formula (1), V1 is the extrusion speed of the servo electric push cylinder 6, R is the inner radius of the glue cylinder 3, V2 is the glue application speed of the industrial robot, W is the opening of the glue nozzle structure 1, and H is the fixed width of the glue outlet.
[0060] like Figure 17 As shown, the nozzle width H of the adaptive variable opening nozzle structure 1 is designed according to the coating thickness process requirements and is a fixed value, meaning the nozzle width H is equal to the thickness of the extruded adhesive. W is obtained by the laser rangefinder sensor 101. The extrusion power of the adhesive comes from the servo electric pusher cylinder 6. Considering the incompressibility of the adhesive, the flow rate of the adhesive is consistent throughout the glue cylinder 3 and the nozzle. Therefore, the flow rate generated by the servo electric pusher cylinder 6 squeezing the adhesive in the glue cylinder 3 should be equal to the flow rate of the adhesive at the nozzle.
[0061] According to formula (1), the overall control system can automatically calculate and adjust the extrusion speed or coating speed based on the real-time opening data detected by the laser rangefinder sensor, so as to ensure that the flow rate of the glue in the glue tube is always consistent with the flow rate of the glue outlet at the nozzle, and avoid problems such as excessively thick or thin glue layers or glue breakage caused by flow mismatch, and ensure the consistency of the glue extrusion shape and the uniformity of the glue layer thickness. The parameters in the formula are all inherent parameters of the equipment or real-time detection parameters, which are easy to obtain and simple to calculate. They can realize real-time dynamic adjustment and adapt to the coating scenario where the width of the ribs changes continuously.
[0062] The following steps involve applying adhesive to an aircraft wing surface rib using the aforementioned equipment and methods. The process will involve navigating a wing surface rib that forms a "crossroads" shape. Step 1: First, install the glue tube 3 filled with glue onto the end effector body 4 and lock it in place.
[0063] Step 2: The industrial robot uses the vision camera on the main body 4 of the adhesive-applying end effector to calibrate the position of the wing surface ribs.
[0064] Step 3: Begin the glue application process.
[0065] Step 4: The industrial robot drives the glue application end effector body 4 into the initial position for glue application preparation.
[0066] Step 5: Enable the servo motor and the active gear, and drive the passive gear 204 through gear fitting. The passive gear 204 drives the nozzle structure 1 to rotate to the initial angle through the connecting piece 203 (the initial angle is obtained by offline trajectory simulation). At this time, the nozzle structure 1 is perpendicular to the wing surface ribs of the aircraft.
[0067] Step 6: Enable the servo motor and drive gear. At this time, the nozzle structure 1 can rotate freely around the axis of the glue cylinder 3.
[0068] Step 7: The nozzle structure 1 falls from above the wing surface ribs of the aircraft. The elastically guided side ear 103 first contacts the wing surface ribs of the aircraft, and then the elastically guided side ear 103 is opened by the wing surface ribs of the aircraft.
[0069] Step 8: During the process of the elastic guide side ear 103 being stretched open, it will drive the opening slider 104, and then the nozzle structure 1 will open an opening of a corresponding width according to the width of the aircraft wing surface rib.
[0070] Step 9: The laser rangefinder 101 measures the width of the opening and then uploads this data to the central control system.
[0071] Step 10: The central control system sets the glue application speed and glue extrusion speed according to the formula algorithm.
[0072] Step 11: Servo electric push cylinder 6 starts extruding glue, and the industrial robot begins the glue application trajectory movement.
[0073] Step 12: During the glue application process, the nozzle structure 1 will adjust its attitude angle according to the trajectory direction of the wing ribs of the aircraft.
[0074] Step 13: During the glue application process, the elastic guide side ear 103, opening slider 104, stepped bolt 109, fixed angle unidirectional translational bushing 1010, and torsion spring 1012 of the glue nozzle structure 1 will compensate for the overlap error between the robot's glue application trajectory and the trajectory of the aircraft wing surface ribs.
[0075] Step 14: When encountering an intersection of aircraft wing surface ribs or a cross-shaped aircraft wing surface rib, the elastic guide side ear 103 will be lifted by the transverse rib of the intersection and rotate around the irregular linear guide axis 1011.
[0076] Step 15: Under the action of the fixed-angle unidirectional translational bushing 1010, the irregular linear guide shaft 1011 and the torsion spring 1012, the elastically open side ear 103 will not translate back to its original position along the irregular linear guide shaft 1011.
[0077] Step 16: When the nozzle structure 1 crosses the intersection, its opening size remains unchanged, and the glue continues to flow out normally.
[0078] Step 17: After crossing the intersection, under the action of torsion spring 1012 and tension spring 102, the elastic guide side ear 103 will rotate back to its original shape and continue to hold the aircraft wing surface ribs.
[0079] Step 18: After the glue application trajectory is completed, the servo electric push cylinder 6 stops extruding glue, and the industrial robot stops moving. The industrial robot then drives the glue nozzle structure 1 to rise.
[0080] Step 19: The elastic guide ear 103 will be translated back to its original position along the irregular linear guide shaft 1011 under the action of the tension spring 102, and drive the opening slider 104 back to its original position, and finally the opening of the nozzle structure 1 will be closed.
[0081] Step 20: End.
[0082] In this embodiment, the nozzle structure 1 successfully completed the glue application operation for the irregular width wing surface ribs. The glue layer thickness was uniform with no excess material, and there was no glue breakage at the cross structure. The glue application trajectory planning only required point locations, which greatly reduced the programming difficulty. The glue application efficiency was significantly improved compared with traditional glue application equipment, and the glue application accuracy met the requirements of the aircraft wing surface glue application process.
[0083] The above are merely preferred embodiments of this application and do not limit the patent scope of this application. Any equivalent structural or procedural transformations made using the content of this application's specification and drawings, or direct or indirect applications in other related technical fields, are similarly included within the patent protection scope of this application.
Claims
1. A nozzle structure, characterized in that, Includes the nozzle body unit and the opening execution unit; The nozzle main body unit includes a snap-fit front nozzle cover (107) and a rear nozzle cover (106). A cavity and an adhesive flow channel are provided between the front nozzle cover (107) and the rear nozzle cover (106). The cavity is connected to the adhesive flow channel and is used to store adhesive. The nozzle main body unit is also equipped with a detection component and an elastic reset component. The detection component is used to detect the opening degree of the opening execution unit, and the elastic reset component is used to realize the translational return of the opening execution unit. The opening execution unit is movably connected to the nozzle main body unit and includes a guide opening component, a slider component, a guide limiting component and a rotation reset component. The guide opening component is used to contact the adhesive strip (7) to be coated and drive the slider component to move to adjust the size of the dispensing opening. The guide limiting component is used to limit the movement direction and movement state of the opening execution unit. The rotation reset component is used to realize the rotation return of the opening execution unit. The slider component cooperates with the front nozzle cover (107) and the rear nozzle cover (106) of the nozzle main body unit to form the dispensing port.
2. The nozzle structure according to claim 1, characterized in that, The detection component includes a laser rangefinder (101), which is fixed to the front nozzle cover (107) and / or the rear nozzle cover (106) of the nozzle body unit and is used to detect the distance between itself and the guide component to obtain the opening degree data of the opening execution unit; the elastic reset component includes a tension spring (102), which connects the guide component to the front nozzle cover (107) and the rear nozzle cover (106) of the nozzle body unit.
3. The nozzle structure according to claim 1, characterized in that, The guide opening component includes an elastic guide opening side ear (103), the guide opening piece of the elastic guide opening side ear (103) is a parabolic structure, and a protective sleeve (105) is fitted on the elastic guide opening side ear (103); the slider component includes an open slider (104), and a sealing ring (108) is provided between the open slider (104) and the front nozzle cover (107) and the rear nozzle cover (106) of the nozzle main body unit.
4. The nozzle structure according to any one of claims 1-3, characterized in that, The guide limiting component includes a fixed-angle unidirectional translational bushing (1010), a non-standard linear guide shaft (1011), and a stepped bolt (109). The non-standard linear guide shaft (1011) is fixed to the outer end faces of the front nozzle cover (107) and the rear nozzle cover (106) of the nozzle main body unit. The fixed-angle unidirectional translational bushing (1010) and the non-standard linear guide shaft (1011) cooperate to form a fixed-angle unidirectional translational linear guide pair. A translational bushing (1010) is fitted onto the irregular linear guide shaft (1011). A ball bearing (1013) is provided between the fixed-angle unidirectional translational bushing (1010) and the irregular linear guide shaft (1011). The fixed-angle unidirectional translational bushing (1010) is connected to the guide component. The stepped bolt (109) connects the guide component and the slider component. The guide component is provided with a clearance groove for avoiding the stepped bolt (109).
5. The nozzle structure according to claim 4, characterized in that, The fixed-angle unidirectional translational bushing (1010) includes an end cap (1010b) and a sleeve body (1010a). The sleeve body (1010a) is provided with an inclined surface (1010d) and a pusher (1010c). The irregular linear guide shaft (1011) is provided with a circular groove (1011a). The circular groove (1011a) is adapted to the ball (1013). When the pusher (1010c) and the circular groove (1011a) are aligned, the opening execution unit can translate along the irregular linear guide shaft (1011). When the pusher (1010c) and the circular groove (1011a) are not aligned, the ball (1013) is stuck between the inclined surface (1010d) and the circular groove (1011a) to restrict the opening execution unit from translating towards the nozzle body unit.
6. The nozzle structure according to claim 5, characterized in that, The rotary reset component is a torsion spring (1012). One end of the torsion spring (1012) is connected to the guide limiting component, and the other end is connected to the irregular linear guide shaft (1011) of the nozzle main body unit. The torsion spring (1012) is used to provide rotational return torque for the opening execution unit.
7. A glue-applying device, characterized in that, The industrial robot is equipped with a nozzle structure as described in any one of claims 1-6, a controllable rotation structure (2), a glue cylinder (3), a glue application end effector body (4), a glue application end effector opening interface (5), and a servo electric push cylinder (6). The glue-applying end effector body (4) provides installation support for each component, and the servo electric push cylinder (6) is connected to the glue cylinder (3) to squeeze the glue liquid in the glue cylinder (3); The controllable rotation structure (2) includes a drive assembly (201), a straight rotary joint (202), a connecting piece (203), a passive gear (204), and a rotary bearing. The drive assembly (201) is fixed to the body of the glue-applying end actuator (4). The rotary bearing connects the body of the glue-applying end actuator (4) and the passive gear (204). The upper end of the straight rotary joint (202) is connected to the glue cylinder (3). The housing is connected to the passive gear (204) through the connecting piece (203). The lower end is connected to the glue flow channel of the glue nozzle structure (1). The drive assembly (201) meshes with the passive gear (204). The nozzle structure (1) is connected to the glue cartridge (3) through a controllable rotation structure (2), and the glue application end actuator opening interface (5) is located on the glue application end actuator body (4) to realize the replacement of the glue cartridge (3).
8. The adhesive coating equipment according to claim 7, characterized in that, The drive assembly (201) includes a servo motor and a drive gear, and the rotary bearing is a crossed roller rotary bearing (205). When the servo motor is enabled, the drive gear, the driven gear (204), and the connecting piece (203) drive the straight rotary joint (202) and the nozzle structure (1) to rotate around the axis of the rubber cylinder (3), thereby achieving precise control of the angle of the nozzle structure (1). When the servo motor is disabled, the nozzle structure (1) can rotate freely around the axis of the rubber cylinder (3).
9. A method for controlling the amount of adhesive dispensed, applied to the adhesive coating equipment as described in claim 7 or 8, characterized in that, Includes the following steps: S1. Install the glue tube (3) onto the body (4) of the glue application end actuator and fix it. Mark the position of the glue application equipment and the rib (7) to be glued. S2. Control the controllable rotating structure (2) to adjust the nozzle structure (1) to the initial angle, release the rotation lock of the nozzle structure (1), so that the nozzle structure (1) falls and contacts the glue strip (7) to be coated, and the opening execution unit adapts to the width of the glue strip (7) to adjust the glue outlet size. S3. The opening data of the nozzle structure (1) is detected by the detection component and uploaded to the main control system. The main control system calculates the glue application speed of the industrial robot and the glue extrusion speed of the servo electric push cylinder (6) based on the opening data, the inner radius of the glue cylinder (3) and the fixed width of the glue outlet. S4, control the servo electric push cylinder (6) to extrude glue, the industrial robot moves according to the planned trajectory, the glue nozzle structure (1) adaptively compensates for trajectory deviation and avoids the cross structure of the glue-to-be-applied ribs (7) during the glue application process; S5. After the glue is applied, stop the glue extrusion and robot movement. The glue nozzle structure (1) rises and returns to its original position under the action of the elastic reset component, closing the glue outlet.
10. The method for controlling the amount of adhesive dispensed according to claim 9, characterized in that, In step S3, based on the incompressibility of the adhesive, the extrusion flow rate of the adhesive in the glue cylinder (3) is consistent with the flow rate of the adhesive at the nozzle, and the matching relationship satisfies the following equation: V1xπR 2 =V2x WxH Where V1 is the extrusion speed of the servo electric push cylinder, R is the inner radius of the glue cylinder, V2 is the glue application speed of the industrial robot, W is the opening of the glue nozzle structure, and H is the fixed width of the glue outlet.