Gluing line based on multi-balancer glue supply hose balancing holding system

Abstract

The application discloses a glue supply hose balance maintaining system based on multiple balancers for a gluing production line, and relates to the technical field of hose tension control. In view of the problems that the existing multiple balancers are out of sync when working independently, the glue supply hose is prone to load imbalance and bending, and the tension is difficult to adjust with the robot motion state, the technical scheme of the application realizes load bearing tension feedback and spring pre-tightening force adjustment by using at least two spring balancers to jointly bear the motion section of the glue supply hose, using a mechanical synchronous linkage mechanism to constrain the difference in extension and retraction stroke, and combining a tension detection assembly, a central control module and a tension adjusting assembly. In turn, it is conducive to reducing local stress concentration, abnormal bending, excessive stretching and relaxation of the hose, improving gluing stability and prolonging the service life of the hose.

Description

Technical Field

[0001] This application relates to the field of hose tension control technology, specifically to a glue supply hose balance maintenance system based on multiple balancers in a glue coating production line. Background Technology

[0002] A typical adhesive application line includes an adhesive pump, a metering adhesive dispenser, an adhesive hose, an adhesive application robot, and an adhesive application gun. The adhesive hose delivers the adhesive from the metering adhesive dispenser to the adhesive application gun, which is then driven by the adhesive application robot to complete the application along a preset trajectory. In high-pressure heated adhesive application scenarios, the adhesive hose not only needs to withstand the internal adhesive pressure and weight but also needs to perform complex spatial movements such as lifting, swinging, changing direction, and rotating with the adhesive application robot.

[0003] To reduce the impact of the weight of the glue supply hose and the glue inside on the end of the glue-applying robot and the hose itself, balancers are typically used in engineering to suspend and support the hose. For glue-applying production lines with a large range of motion, heavy hoses, or significant changes in hose posture, multiple balancers are used to support the same hose, keeping it in a suspended state during movement.

[0004] However, in existing multi-balancer parallel suspension systems, each balancer typically operates independently, lacking stable synchronous constraints between them. When the glue-applying robot changes direction at high speed, rotates at large angles, or executes complex trajectories, inconsistent extension and retraction strokes can easily occur between different balancers, leading to localized stress concentration, tilting, or abnormal bending of the glue supply hose. For example, when the moving section of the glue supply hose swings rapidly towards the glue-applying robot, the balancer on the side closer to the robot may extend quickly, while the balancer on the other side farther from the robot may fail to extend synchronously due to spring response lag or localized friction of the hose, causing a tilting load to occur on the glue supply hose at the central lifting ring position. After long-term repetitive motion, fatigue damage can easily occur near the transition joint or close to the glue gun on the glue supply hose.

[0005] Meanwhile, conventional spring balancers rely heavily on pre-set spring tension, making it difficult to adjust the tension in a timely manner according to the motion state of the dispensing robot and the actual load-bearing state of the dispensing hose. When the dispensing robot moves at high speed or stops abruptly, insufficient spring balancer tension can cause the dispensing hose to swing, sag, or collide due to inertia. Conversely, when the dispensing robot moves at low speed or remains stationary, maintaining high spring balancer tension can easily lead to the dispensing hose being under excessive tension for extended periods. Therefore, a dispensing hose balancing system that can simultaneously constrain multiple balancers, detect actual tension, and actively adjust tension is needed. Summary of the Invention

[0006] The purpose of this application is to provide a glue supply hose balancing system based on multiple balancers for glue coating production lines, in order to solve the problems of uneven local stress and abnormal bending of glue supply hoses caused by the independent extension and contraction of each balancer when multiple balancers are suspended in parallel, and the difficulty of conventional spring balancers in adjusting tension according to the motion state of the glue coating robot and the actual load state of the glue supply hose.

[0007] To achieve the above objectives, this application provides the following technical solution: A multi-balancer-based glue supply hose balancing system is disclosed for glue coating production lines equipped with glue coating robots and glue supply hoses. The system includes a suspension bracket, at least two spring balancers, a mechanical synchronization mechanism, a tension detection component, a central control module, and a tension adjustment component. At least two spring balancers are suspended by the suspension bracket and jointly support the moving section of the glue supply hose. The mechanical synchronization mechanism is connected to the at least two spring balancers to constrain the difference in extension / retraction stroke between them. The tension detection component is positioned between the at least two spring balancers and the load-bearing path of the glue supply hose to acquire the load-bearing tension corresponding to each spring balancer. The central control module acquires the load-bearing tension and the motion state information of the glue coating robot, and determines a tension adjustment command based on the load-bearing tension and motion state information. The tension adjustment component adjusts the spring preload of the corresponding spring balancer according to the tension adjustment command.

[0008] In one optional embodiment, the mechanical synchronous linkage mechanism includes a gear-type synchronous linkage mechanism, which includes a gearbox, a plurality of synchronous gears disposed in the gearbox, and output connecting rods respectively connected to the plurality of synchronous gears; the plurality of synchronous gears are driven and engaged, and the output connecting rods are connected to the retraction and extension linkage parts of the corresponding spring balancers, so that when the retraction and extension linkage parts of any spring balancer are displaced, the retraction and extension linkage parts of the other spring balancers are displaced accordingly with the transmission of the plurality of synchronous gears.

[0009] In one alternative embodiment, the plurality of synchronizing gears include at least one set of meshing spur gears; the take-up and release linkage includes at least one of the following: a wire rope take-up and release shaft connector, a drum shaft connector, a wire rope guide slider, or a lower end suspension point linkage for the corresponding spring balancer; the output link is connected to the take-up and release linkage via a spherical bearing; and at least one set of meshing spur gears is used to keep the extension and retraction strokes of adjacent spring balancers consistent.

[0010] In one alternative embodiment, the tension detection assembly includes a tension sensor corresponding to at least two spring balancers respectively; one end of the tension sensor is connected to the lower hook of the corresponding spring balancer, and the other end of the tension sensor is connected to a transverse load-bearing member, which is used to bear the suspended load of the moving section of the glue supply hose.

[0011] In one optional implementation, the central control module is used to filter the load-bearing tension and determine the tension difference based on the load-bearing tension corresponding to different spring balancers; the central control module is also used to generate off-center load processing information when the tension difference meets the off-center load judgment condition, and after correcting the target tension corresponding to different spring balancers based on the off-center load processing information, determine the tension adjustment command by combining the load-bearing tension and motion state information.

[0012] In one optional implementation, the motion state information includes at least one of the position, velocity, and acceleration of the glue-applying robot; the central control module is used to determine a tension adjustment command to increase the tension of the spring balancer when the motion state information indicates that the glue-applying robot is in a high-speed motion or directional motion state; the central control module is also used to determine a tension adjustment command to decrease the tension of the spring balancer when the motion state information indicates that the glue-applying robot is in a low-speed motion or stationary state.

[0013] In one optional embodiment, the tension adjustment assembly includes a servo tension adjustment unit corresponding to at least two spring balancers; the servo tension adjustment unit includes a servo motor, a reduction mechanism, and a transmission connector, the servo motor being connected to the spring adjusting nut of the corresponding spring balancer via the reduction mechanism and the transmission connector, and is used to drive the spring adjusting nut to rotate to change the spring preload of the corresponding spring balancer.

[0014] In one alternative embodiment, the glue supply hose includes a fixed section and a moving section, which are connected by a transition joint; the moving section is suspended from a transverse load-bearing member by multiple lifting rings, and the transverse load-bearing member is connected to a tension detection component, so that the load of the moving section is transmitted to at least two spring balancers through the transverse load-bearing member.

[0015] In one optional embodiment, multiple lifting rings are arranged at intervals along the moving section of the glue supply hose, and a buffer pad is provided at the position where the lifting ring contacts the glue supply hose, and an anti-disengagement buckle is provided at the opening position of the lifting ring; at least one of the positions of the glue supply hose near the transition joint and near the glue gun is provided with a spring sheath tube, which is used to limit the bending deformation of the glue supply hose at the corresponding position.

[0016] In one optional embodiment, the system further includes a guide protection component, an abnormality alarm component, and a stroke detection component; the guide protection component is disposed on the side of the movement path of the glue supply hose and is used to guide the glue supply hose to move along a preset movement range; the stroke detection component is used to obtain the extension stroke corresponding to at least two spring balancers; the abnormality alarm component is connected to the central control module, and the central control module is used to control the abnormality alarm component to output an alarm signal when abnormal tension, abnormal synchronization, or abnormal tension adjustment is detected; wherein, abnormal tension includes the load tension exceeding the preset tension range or the tension difference meeting the off-center load judgment condition, abnormal synchronization includes the difference in extension stroke between at least two spring balancers determined according to the extension stroke exceeding the allowed synchronization range, and abnormal tension adjustment includes the corresponding load tension not entering the target tension range within a preset response time after the tension adjustment command is output.

[0017] The technical effects and advantages provided by this application in the above technical solution are as follows: Compared to existing methods where multiple balancers independently suspend the glue supply hose, this application combines mechanical synchronization, tension detection, and active tension adjustment to ensure that multiple balancers no longer passively support the glue supply hose individually. The glue supply hose balancing system in this application first uses two spring balancers to jointly support the moving section of the glue supply hose. Then, a gear-type synchronous linkage mechanism keeps the extension and retraction strokes of the two spring balancers synchronized. Next, two tension detection units collect the corresponding load-bearing tension, and the central control module combines the load-bearing tension and the motion state information of the glue coating robot to determine the tension adjustment command. Finally, the tension adjustment unit adjusts the spring preload of the corresponding spring balancer. Because the extension and retraction strokes of the two spring balancers can be synchronously constrained, and the spring preload can be adjusted according to the actual load state of the hose and the robot's motion state, the glue supply hose is more likely to maintain uniform stress and stable posture during complex motion strokes. This reduces local stress concentration, abnormal bending, excessive stretching, and slack sagging of the glue supply hose, which is beneficial for improving the stability of the glue coating process and extending the service life of the glue supply hose. Attached Figure Description

[0018] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments recorded in this application. For those skilled in the art, other drawings can be obtained based on these drawings.

[0019] Figure 1 This is a schematic diagram of the overall structure of the glue supply hose balance maintenance system based on multiple balancers in the glue coating production line of this application. Figure 2 This is a schematic diagram showing the connection between the mechanical synchronous linkage mechanism and the spring balancer in this application; Figure 3 This is a schematic diagram showing the connection between the tension detection component and the transverse load-bearing component in this application; Figure 4 This is a schematic diagram illustrating the control relationship between the central control module and the tension adjustment component in this application; Figure 5 This is a schematic diagram of the segmented suspension and partial protection structure of the adhesive supply hose in this application; Figure 6 This is a schematic diagram of the structure of the guide protection component, the travel detection component, and the abnormal alarm component of this application; Explanation of reference numerals in the attached drawings: 100, suspension bracket; 110, spring balancer; 111, retraction and extension linkage; 112, lower end hook; 120, mechanical synchronous linkage mechanism; 121, gearbox; 122, synchronous gear; 123, output link; 124, spherical bearing; 130, tension detection component; 131, tension sensor; 140, central control module; 150, tension adjustment component; 151, servo-type tension adjustment unit; 152, servo motor; 153. 154. Reduction mechanism; 155. Transmission connector; 160. Spring adjusting nut; 161. Glue supply hose; 162. Fixed section; 163. Moving section; 164. Transition joint; 165. Lifting ring; 166. Buffer pad; 167. Anti-detachment buckle; 170. Spring sheath; 180. Lateral load-bearing component; 181. Guide protection assembly; 190. Guide wheel; 200. Abnormal alarm assembly; 210. Stroke detection assembly; 220. Glue application robot; 220. Glue application gun. Detailed Implementation

[0020] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0021] In the description of this application, the term "at least two" means two or more, and the term "multiple" means two or more. The terms "first," "second," etc., are used for descriptive purposes only and should not be construed as indicating or implying relative importance, nor as limiting the number of indicated technical features. Therefore, a feature specified with "first," "second," etc., may explicitly or implicitly include one or more of that feature.

[0022] In the description of this application, the load-bearing path refers to the force transmission path through which the load of the moving section 162 of the glue supply hose 160 is transferred to the spring balancer 110. Load-bearing tension refers to the tensile force detected by the tension detection component 130 in this load-bearing path, which is related to the load-bearing state of the corresponding spring balancer 110. Tension difference refers to the degree of inconsistency between the load-bearing tensions corresponding to different spring balancers 110. The off-center load determination condition can be that the tension difference exceeds a preset difference, the tension difference exceeds a preset proportion, or the tension difference continues to exceed the allowable range for a preset time. The target tension range refers to the tension range of the spring balancer 110 that matches the current motion state of the glue supply hose 160.

[0023] In the description of this application, the take-up and release linkage 111 refers to a component disposed in the spring balancer 110 that can move, rotate, or swing in accordance with the change in the extension and retraction stroke of the wire rope of the spring balancer 110, or a component that can transmit external mechanical linkage actions to the take-up and release mechanism of the spring balancer 110. The take-up and release linkage 111 may include a wire rope take-up and release shaft connector, a drum shaft connector, a wire rope guide slider, a lifting point linkage component that moves synchronously with the wire rope take-up and release stroke, or a transition connector connected to the above components. Ordinary fixed lifting lugs, fixed housings, or fixed connection points used only for installation, which cannot move synchronously with the wire rope take-up and release stroke or cannot transmit external mechanical linkage actions to the take-up and release mechanism, are not considered part of the take-up and release linkage 111 described in this application.

[0024] In the description of this application, the mechanical synchronization linkage mechanism 120 refers to a mechanism that transmits telescopic action or stroke constraint between at least two spring balancers 110 through a mechanical transmission component. The mechanical synchronization linkage mechanism 120 can be a gear-type synchronization linkage mechanism, or a synchronous shaft-type, sprocket-type, toothed belt-type, or linkage-type synchronization linkage mechanism. All of the above-mentioned different forms of mechanical synchronization linkage mechanisms 120 are connected to the retraction linkage part 111 of the spring balancer 110 and can transmit the telescopic stroke constraint generated by the hose 160 driving the spring balancer 110. Structures that are only connected to the fixed housing, fixed lifting point, or static mounting base of the spring balancer 110 and cannot transmit the wire rope retraction stroke are not considered mechanical synchronization linkage mechanisms 120 used to constrain differences in telescopic stroke as described in this application. The following embodiments use a gear-type synchronization linkage mechanism as a preferred embodiment, but should not be construed as the only limitation on the specific form of the mechanical synchronization linkage mechanism 120.

[0025] The preset difference, preset ratio, preset time, preset speed threshold, preset acceleration threshold, preset angle threshold, preset displacement threshold, target tension range, allowable synchronization range, and preset response time involved in this application can be pre-calibrated based on the weight of the glue supply hose 160, the glue pressure, the rated load of the spring balancer 110, the movement speed range of the glue coating robot 210, the allowable bending radius of the glue supply hose 160, and on-site debugging data. These preset parameters can be stored in the central control module 140 or sent from the glue coating production line control system to the central control module 140.

[0026] This embodiment provides a glue coating production line based on a multi-balancer glue supply hose balance maintenance system. Please refer to [link to relevant documentation]. Figure 1 As shown, this system is applied to a glue-applying production line equipped with a glue-applying robot 210 and a glue-supply hose 160. The glue-applying robot 210 drives the glue-applying gun 220 to execute the glue-applying trajectory, and the glue-supply hose 160 is used to transport the glue output from the metering glue supply equipment to the glue-applying gun 220. Since the glue-supply hose 160 needs to complete spatial movements such as lifting, swinging, changing direction, and rotating with the glue-applying robot 210 when transporting the glue, this embodiment uses multiple balancers to jointly bear the load, mechanical synchronous constraints, tension detection feedback, and active tension adjustment to maintain the balance of the moving section 162 of the glue-supply hose 160.

[0027] In this embodiment, the system includes a suspension bracket 100, at least two spring balancers 110, a mechanical synchronization linkage mechanism 120, a tension detection component 130, a central control module 140, and a tension adjustment component 150. The suspension bracket 100 is installed on the top of the coating tower or on the upper support structure of the coating production line, and the at least two spring balancers 110 are suspended by the suspension bracket 100. The glue supply hose 160 includes a fixed section 161 and a moving section 162, wherein the fixed section 161 can be connected between the quantitative glue supply device and the top of the coating tower, and the moving section 162 can be connected between the top of the coating tower and the glue gun 220. The at least two spring balancers 110 jointly support the moving section 162 of the glue supply hose 160, so that the moving section 162 remains suspended when moving with the glue coating robot 210.

[0028] In this embodiment, the mechanical synchronization linkage mechanism 120 is connected to at least two spring balancers 110 to constrain the difference in extension and retraction strokes between the at least two spring balancers 110. Specifically, when the moving section 162 of the glue supply hose 160 is pulled by the glue application robot 210, causing one of the spring balancers 110 to extend or retract, the mechanical synchronization linkage mechanism 120 can transmit this extension and retraction action to the other spring balancers 110, keeping the extension and retraction strokes of each spring balancer 110 correlated. This avoids the situation where one side overextends and the other side retracts lagging behind when multiple spring balancers 110 extend or retract independently, thereby reducing the risk of the glue supply hose 160 tilting, locally bending, or experiencing localized stress concentration.

[0029] In this embodiment, the tension detection component 130 is disposed between the bearing paths of at least two spring balancers 110 and the glue supply hose 160. For example, the moving section 162 of the glue supply hose 160 can be suspended from the transverse load-bearing member 170 by a lifting ring 164, and the transverse load-bearing member 170 is then connected to the corresponding spring balancer 110 through the tension detection component 130. The tension detection component 130 can acquire the bearing tension corresponding to at least two spring balancers 110 respectively, and send the bearing tension to the central control module 140.

[0030] In this embodiment, the central control module 140 can be installed in the electrical control cabinet on the side of the coating tower, or it can be integrated into the control system of the coating production line. The central control module 140 acquires the bearing tension sent by the tension detection component 130 and acquires the motion status information of the coating robot 210. The motion status information can come from the coating robot controller, and specifically can include at least one of the position, speed, and acceleration of the coating robot 210. The central control module 140 determines the tension adjustment command based on the bearing tension and motion status information, and sends the tension adjustment command to the tension adjustment component 150.

[0031] In this embodiment, the tension adjustment component 150 is correspondingly configured with the spring balancer 110. The tension adjustment component 150 adjusts the spring preload of the corresponding spring balancer 110 according to the tension adjustment command output by the central control module 140, so that the output tension of the spring balancer 110 is adapted to the current motion state of the glue supply hose 160. For example, when the glue application robot 210 is moving at high speed or changing direction, the central control module 140 can output a tension adjustment command to increase the tension of the spring balancer 110, thereby reducing the sagging and swaying of the glue supply hose 160 caused by inertial oscillation; when the glue application robot 210 is moving at low speed or stationary, the central control module 140 can output a tension adjustment command to reduce the tension of the spring balancer 110, thereby reducing fatigue damage caused by excessive tension on the glue supply hose 160 over a long period.

[0032] Based on Embodiment 1, this embodiment further illustrates the specific structure of the mechanical synchronous linkage mechanism 120. Please refer to [link / reference]. Figure 2 As shown. The mechanical synchronization linkage mechanism 120 may include a gear-type synchronization linkage mechanism. The gear-type synchronization linkage mechanism includes a gearbox 121, a plurality of synchronization gears 122 disposed within the gearbox 121, and output connecting rods 123 respectively connected to the plurality of synchronization gears 122. The gearbox 121 may be fixed at the center position of the suspension bracket 100, so that the gear-type synchronization linkage mechanism is located between at least two spring balancers 110, which facilitates the transmission of synchronous action to each spring balancer 110.

[0033] In this embodiment, multiple synchronous gears 122 are engaged in a transmission mechanism. This mechanism can be a gear meshing engagement or an indirect transmission engagement via an intermediate gear. The output link 123 is connected to the retraction / expansion linkage 111 of the corresponding spring balancer 110. The retraction / expansion linkage 111 is configured to move, rotate, or oscillate along the retraction / expansion stroke of the wire rope of the corresponding spring balancer 110. When one of the spring balancers 110 experiences displacement, rotation, or oscillation of its retraction / expansion linkage 111 due to the movement of the moving section 162 of the glue supply hose 160, the output link 123 connected to that spring balancer 110 drives the corresponding synchronous gear 122. This synchronous gear 122, through gear transmission, drives the other synchronous gears 122, which in turn, through the corresponding output link 123, drive the retraction / expansion linkages 111 of the other spring balancers 110 to produce corresponding displacement, rotation, or oscillation. This ensures that the extension / retraction strokes of different spring balancers 110 are kept synchronously constrained.

[0034] In this embodiment, the multiple synchronizing gears 122 may include at least one set of meshing spur gears. Using spur gears allows for a more direct synchronous transmission relationship, facilitating the formation of stable stroke synchronization constraints. In embodiments where there are at least two spring balancers 110, two meshing spur gears can be installed within the gearbox 121. These two spur gears are respectively connected to two output connecting rods 123, and the two output connecting rods 123 are respectively connected to the retraction and extension linkage parts 111 of the two spring balancers 110. The two spur gears can have the same number of teeth, ensuring a consistent extension and retraction stroke transmission relationship between the two spring balancers 110.

[0035] In embodiments where there are at least two spring balancers 110 or three or more spring balancers 110, a central synchronizing gear and multiple driven synchronizing gears may be provided inside the gearbox 121. The driven synchronizing gears are respectively engaged with the central synchronizing gear. The driven synchronizing gears are respectively connected to the retraction / extension linkage 111 of the corresponding spring balancer 110 via output connecting rods 123. Through the engagement of the central synchronizing gear and the multiple driven synchronizing gears, a synchronous constraint can be formed between the three or more spring balancers 110. Alternatively, a multi-stage gear set may also be provided inside the gearbox 121, allowing adjacent spring balancers 110 to transmit synchronous actions step by step.

[0036] In this embodiment, the output link 123 can be connected to the retraction linkage 111 of the corresponding spring balancer 110 via a spherical bearing 124. The spherical bearing 124 allows the output link 123 to swing within a certain angle range to absorb minor sway caused by the installation position of the spring balancer 110, assembly errors of the suspension bracket 100, or movement of the glue supply hose 160, thereby reducing the possibility of rigid interference between the output link 123 and the spring balancer 110.

[0037] In other embodiments, when the mechanical synchronous linkage mechanism 120 is a synchronous shaft type synchronous linkage mechanism, the different output ends of the synchronous shaft are respectively connected to the take-up and release linkage parts 111 of the corresponding spring balancer 110 through swing arms, couplings, or drum connectors, so that when the synchronous shaft rotates, it drives the take-up and release linkage parts 111 of each spring balancer 110 to produce corresponding stroke changes. When the mechanical synchronous linkage mechanism 120 is a sprocket type or toothed belt type synchronous linkage mechanism, each spring balancer 110's corresponding take-up and release linkage part 111 is equipped with a transmission wheel, and multiple transmission wheels are connected by a chain or toothed belt, so that each take-up and release linkage part 111 moves synchronously according to a preset transmission ratio. When the mechanical synchronous linkage mechanism 120 is a linkage type synchronous linkage mechanism, each spring balancer 110's corresponding take-up and release linkage part 111 is connected by a synchronous linkage group, so that when one take-up and release linkage part 111 moves, it drives the other take-up and release linkage parts 111 to produce corresponding displacements.

[0038] Based on the above embodiments, this embodiment further illustrates the cooperation between the tension detection component 130 and the central control module 140. Please refer to [link / reference]. Figure 3As shown. The tension detection assembly 130 may include tension sensors 131 corresponding to at least two spring balancers 110. One end of each tension sensor 131 is connected to the lower hook 112 of the corresponding spring balancer 110, and the other end is connected to the transverse load-bearing member 170. The moving section 162 of the glue supply hose 160 is suspended on the transverse load-bearing member 170 by multiple lifting rings 164. The weight of the moving section 162 and the additional load generated during the movement are transmitted through the transverse load-bearing member 170 to each tension sensor 131, and then from each tension sensor 131 to the corresponding spring balancer 110.

[0039] In this embodiment, the tension sensor 131 can be an S-type tension sensor or other type of tension detection element capable of detecting tensile loads. The tension sensor 131 is used to detect the load-bearing tension borne by the corresponding spring balancer 110 and sends the load-bearing tension to the central control module 140 in the form of an electrical signal. In order to reduce the influence of electromagnetic interference on the tension signal in the glue coating production line, the tension sensor 131 and the central control module 140 can be connected by a shielded cable, and the shielding layer of the shielded cable can be grounded at one end.

[0040] In this embodiment, when there are three or more spring balancers 110, the transverse load-bearing member 170 can be provided with three or more load-bearing connection points, each load-bearing connection point being connected to the corresponding spring balancer 110 through a corresponding tension sensor 131. The central control module 140 acquires the load-bearing tension of the multiple tension sensors 131, and determines the tension difference based on the maximum difference, average value, adjacent difference, or deviation ratio relative to the average load-bearing tension among the multiple load-bearing tensions. Through this method, even when at least two spring balancers 110 are expanded to three or more spring balancers 110, load-bearing tension detection and off-center load judgment can still be achieved.

[0041] In this embodiment, after receiving the bearing tension sent by each tension sensor 131, the central control module 140 performs filtering processing on the bearing tension. Filtering processing may include removing abnormal abrupt changes, using moving averages, or smoothing continuous sampled values ​​to reduce the impact of instantaneous impacts on the glue-applying robot 210, localized shaking of the glue supply hose 160, or sensor noise on the tension judgment results. The filtered bearing tension is used for subsequent tension difference judgment and tension adjustment command generation.

[0042] In this embodiment, the central control module 140 determines the tension difference based on the load-bearing tension corresponding to different spring balancers 110. The tension difference can be understood as the degree of inconsistency in the actual load-bearing state between different spring balancers 110. For example, when the load-bearing tension corresponding to one spring balancer 110 is significantly greater than that corresponding to another spring balancer 110, it indicates that the moving section 162 of the glue supply hose 160 may have issues such as uneven load distribution, jamming, uneven distribution of the lifting rings 164, or local bending. The central control module 140 generates uneven load processing information when the tension difference meets the uneven load determination condition. The uneven load determination condition can be that the tension difference exceeds a preset difference value, or that the tension difference continues to exceed the preset difference value for a preset time, or that the ratio of the tension difference to the average load-bearing tension exceeds a preset ratio.

[0043] In this embodiment, the off-center load processing information is used to characterize an imbalance in the load-bearing tension between at least two spring balancers 110. The central control module 140 can correct the target tension corresponding to different spring balancers 110 based on the off-center load processing information, and determine the tension adjustment command by combining the load-bearing tension and motion state information. When the off-center load processing information indicates that the load-bearing tension of one side of the spring balancer 110 is too high, the central control module 140 can reduce the target tension corresponding to that side of the spring balancer 110, increase the target tension corresponding to the other side of the spring balancer 110, or redistribute the target tension corresponding to each spring balancer 110 according to a preset compensation strategy to reduce the tension difference between different spring balancers 110. If necessary, the central control module 140 can also send the off-center load processing information to the abnormal alarm component 190 to prompt on-site maintenance personnel to check the connection status of the glue supply hose 160, lifting ring 164, transverse load-bearing component 170, or spring balancer 110.

[0044] Based on the above embodiments, this embodiment further illustrates the method by which the central control module 140 determines the tension adjustment command based on the motion state information of the glue-applying robot 210. Please refer to [link to relevant documentation]. Figure 4 As shown. The central control module 140 can acquire the motion status information of the glue-applying robot 210 through a communication bus, a robot controller interface, or a glue-applying production line control system. The motion status information may include at least one of the following: the current position, current speed, and current acceleration of the glue-applying robot 210; wherein, the current position is used to characterize the spatial position of the moving segment 162 of the glue supply hose 160, the current speed is used to characterize the speed at which the moving segment 162 of the glue supply hose 160 moves with the glue-applying robot 210, and the current acceleration is used to characterize whether the glue-applying robot 210 is accelerating, decelerating, or changing direction.

[0045] In this embodiment, the high-speed motion state can be a state where the end effector speed of the adhesive application robot 210 reaches or exceeds a preset speed threshold. The directional change motion state can be a state where the end effector acceleration of the adhesive application robot 210 reaches or exceeds a preset acceleration threshold, or a state where the change in the direction of motion of the end effector of the adhesive application robot 210 within a preset time reaches a preset angle threshold. The low-speed motion state can be a state where the end effector speed of the adhesive application robot 210 is lower than a preset speed threshold. The stationary state can be a state where the change in the position of the end effector of the adhesive application robot 210 within a preset time is less than a preset displacement threshold.

[0046] In this embodiment, when the motion state information indicates that the glue-applying robot 210 is in a high-speed motion or a change-of-direction motion state, the central control module 140 determines a tension adjustment command to increase the tension of the spring balancer 110. In the above state, the moving section 162 of the glue supply hose 160 is prone to swinging, drooping, or colliding due to inertia. Therefore, increasing the tension of the spring balancer 110 is beneficial to strengthening the suspension constraint on the glue supply hose 160.

[0047] In this embodiment, when the motion state information indicates that the glue-applying robot 210 is in a low-speed motion or stationary state, the central control module 140 determines a tension adjustment command to reduce the tension of the spring balancer 110. In this state, the inertial disturbance of the glue supply hose 160 is small. If the spring balancer 110 continues to maintain a high tension, the glue supply hose 160 may be in an overstretched state for a long time. Therefore, appropriately reducing the tension of the spring balancer 110 is beneficial to reducing fatigue of the glue supply hose 160.

[0048] In this embodiment, when determining the tension adjustment command, the central control module 140 can also combine the load-bearing tension obtained by the tension detection component 130. That is, the central control module 140 does not make unidirectional adjustments based solely on the motion state of the glue-applying robot 210, but rather makes a comprehensive judgment based on the motion state information and the actual load-bearing tension. For example, when the glue-applying robot 210 is in a high-speed motion state and the load-bearing tension is lower than the target tension range, the central control module 140 outputs a tension adjustment command to increase the tension of the spring balancer 110; when the glue-applying robot 210 is in a low-speed motion state and the load-bearing tension is higher than the target tension range, the central control module 140 outputs a tension adjustment command to decrease the tension of the spring balancer 110; when the load-bearing tension is within the target tension range, the central control module 140 can maintain the current spring preload to avoid frequent adjustments.

[0049] In this embodiment, the central control module 140 can determine the tension adjustment command based on a preset tension level. The preset tension levels can be categorized according to low speed, normal speed, high speed, and directional change conditions, or according to different working areas of the adhesive applicator 210. The central control module 140 determines the basic tension level based on the current motion state information, and then corrects the basic tension level based on the load tension and tension difference, thereby obtaining the tension adjustment command. This process does not require the inclusion of mathematical formulas in the claims and enables those skilled in the art to understand and implement the tension adjustment logic.

[0050] Based on the above embodiments, this embodiment further describes the specific structure of the tension adjustment component 150. Please refer to [link / reference]. Figure 4 As shown, the tension adjustment assembly 150 includes servo-type tension adjustment units 151 corresponding to at least two spring balancers 110. Each servo-type tension adjustment unit 151 can correspond to one spring balancer 110 or a group of spring balancers 110. In a preferred embodiment, at least two spring balancers 110 are respectively configured with corresponding servo-type tension adjustment units 151, so that the central control module 140 can adjust the spring preload of different spring balancers 110 respectively.

[0051] In this embodiment, the servo-type tension adjustment unit 151 includes a servo motor 152, a reduction mechanism 153, and a transmission connector 154. The servo motor 152 receives tension adjustment commands from the central control module 140 and outputs rotational motion. The reduction mechanism 153 is connected between the servo motor 152 and the spring adjusting nut 155 of the spring balancer 110, and is used to reduce the output speed of the servo motor 152 and increase the output torque, so that the spring adjusting nut 155 can rotate stably. The transmission connector 154 can be a spline connector, a coupling, a gear connector, or other mechanical connectors capable of transmitting rotational motion.

[0052] In this embodiment, the servo motor 152 is connected to the spring adjusting nut 155 of the corresponding spring balancer 110 via a reduction mechanism 153 and a transmission connector 154, and drives the spring adjusting nut 155 to rotate. When the spring adjusting nut 155 rotates in the direction of increasing preload, the spring preload of the corresponding spring balancer 110 increases, and the tension provided by the spring balancer 110 to the moving section 162 of the glue supply hose 160 increases; when the spring adjusting nut 155 rotates in the direction of decreasing preload, the spring preload of the corresponding spring balancer 110 decreases, and the tension provided by the spring balancer 110 to the moving section 162 of the glue supply hose 160 decreases. Thus, the tension adjustment assembly 150 can convert the tension adjustment command output by the central control module 140 into the actual change in spring preload.

[0053] In this embodiment, the servo-type tension adjustment unit 151 can also be equipped with a manual adjustment structure. The manual adjustment structure can be located at the end of the servo-type tension adjustment unit 151, allowing an operator to manually adjust the spring preload of the spring balancer 110 during power outages, debugging, or maintenance. By providing a manual adjustment structure, the maintainability of the system during maintenance can be improved.

[0054] Based on the above embodiments, this embodiment further illustrates the segmented suspension and protective structure of the glue supply hose 160. Please refer to [link / reference]. Figure 5 As shown, the glue supply hose 160 includes a fixed section 161 and a moving section 162. The fixed section 161 and the moving section 162 are connected by a transition joint 163. The fixed section 161 can extend from the metering glue supply equipment to a fixed position above the glue coating tower or glue coating production line, and the moving section 162 can extend from the transition joint 163 to the glue coating gun 220 at the end of the glue coating robot 210. By dividing the glue supply hose 160 into a fixed section 161 and a moving section 162, the swaying and dragging caused by the entire glue supply hose 160 participating in a large range of movement can be reduced.

[0055] In this embodiment, the moving section 162 is suspended from the transverse load-bearing member 170 by multiple lifting rings 164. The multiple lifting rings 164 are arranged at intervals along the moving section 162 of the glue supply hose 160, allowing the weight of the moving section 162 to be distributed and transferred to the transverse load-bearing member 170, avoiding localized pressure or bending of the glue supply hose 160 due to a single lifting point bearing the load. The transverse load-bearing member 170 is connected to the tension detection component 130, allowing the load of the moving section 162 to be transferred from the transverse load-bearing member 170 to the tension detection component 130, and then from the tension detection component 130 to at least two spring balancers 110.

[0056] In this embodiment, a buffer pad 165 is provided at the contact point between the lifting ring 164 and the glue supply hose 160. The buffer pad 165 can be made of rubber, silicone rubber, polyurethane, or other flexible cushioning materials to reduce the local compression of the glue supply hose 160 by the lifting ring 164 and prevent the glue supply hose 160 from being deformed by the lifting ring 164. An anti-detachment buckle 166 is provided at the opening of the lifting ring 164 to prevent the glue supply hose 160 from detaching from the opening of the lifting ring 164 during the movement of the glue application robot 210.

[0057] In this embodiment, a spring sheath 167 is provided at least one location on the glue supply hose 160, either near the transition joint 163 or near the glue application gun 220. The location near the transition joint 163 is the transition point between the fixed section 161 and the moving section 162, while the location near the glue application gun 220 is the location where the glue supply hose 160 moves most significantly with the end of the glue application robot 210; both locations are prone to bending deformation. The spring sheath 167 is sleeved on the outside of the corresponding location on the glue supply hose 160 to limit the bending radius of the glue supply hose 160 at that location and reduce fatigue damage caused by excessive bending. The spring sheath 167 can be fixed to the glue supply hose 160 with a clamp, and both ends of the spring sheath 167 can be flexibly connected to the rotary joint at the transition joint 163 or the end of the glue application gun 220 to allow the glue supply hose 160 to swing within a certain angle range.

[0058] Based on the above embodiments, this embodiment further describes the guide protection component 180, the travel detection component 200, and the abnormal alarm component 190. Please refer to [link to relevant documentation]. Figure 6 As shown. A guide protection component 180 is disposed on the side of the movement path of the glue supply hose 160, used to guide the glue supply hose 160 to move along a preset movement range. The guide protection component 180 may include at least one of a guide wheel 181, a guide bracket, a buffer wheel, or a guide groove. The guide wheel 181 may be disposed inside the glue coating tower or at a location where the glue supply hose 160 can easily access the steel structure, used to restrict and guide the movement direction of the glue supply hose 160, preventing the glue supply hose 160 from colliding with the glue coating tower steel structure, equipment support, or other fixed components during the movement of the glue coating robot 210.

[0059] In this embodiment, the stroke detection component 200 is used to acquire the extension strokes corresponding to at least two spring balancers 110. The stroke detection component 200 may include a rope displacement sensor disposed at the wire rope outlet of the spring balancer 110, an angle encoder disposed on the shaft of the synchronization gear 122, a swing angle sensor disposed on the output connecting rod 123, or a position sensor disposed on the wire rope guide slider. The central control module 140 determines the difference in extension strokes between at least two spring balancers 110 based on the extension strokes acquired by the stroke detection component 200, and determines a synchronization abnormality when the difference in extension strokes exceeds the synchronization allowable range.

[0060] In this embodiment, the abnormal alarm component 190 is connected to the central control module 140. The abnormal alarm component 190 can be an audible and visual alarm, a display alarm module, a control cabinet alarm output module, or an alarm interface connected to the glue coating production line control system. When the central control module 140 detects abnormal tension, abnormal synchronization, or abnormal tension adjustment, it controls the abnormal alarm component 190 to output an alarm signal.

[0061] In this embodiment, abnormal tension includes the load-bearing tension exceeding the preset tension range or the tension difference meeting the off-center load determination condition. A load-bearing tension exceeding the preset tension range can be understood as the load-bearing tension corresponding to the spring balancer 110 being too high or too low; a tension difference meeting the off-center load determination condition can be understood as the difference in load-bearing tension between different spring balancers 110 exceeding the allowable range. Both of these situations may indicate that the glue supply hose 160 is excessively stretched, sagging, off-center loaded, or partially jammed.

[0062] In this embodiment, synchronization anomalies include the difference in the extension / retraction stroke between at least two spring balancers 110, determined based on the extension / retraction stroke, exceeding the allowable synchronization range. The allowable synchronization range can be determined based on the stroke of the spring balancer 110, the length of the moving section 162 of the glue supply hose 160, and installation errors. When the difference in extension / retraction stroke exceeds the allowable synchronization range, it indicates that the mechanical synchronization linkage mechanism 120 may have issues such as abnormal gear meshing, abnormal connection of the output link 123, abnormal synchronous shaft transmission, loose chain or toothed belt, loose link connection, or obstructed extension / retraction of the spring balancer 110.

[0063] In this embodiment, tension adjustment anomaly includes the situation where, within a preset response time after the tension adjustment command is output, the load-bearing tension of the spring balancer 110 corresponding to the tension adjustment command fails to enter the target tension range. That is, after the central control module 140 outputs a tension adjustment command to increase or decrease the tension of the spring balancer 110, it can continue to read the load-bearing tension fed back by the tension detection component 130. If, after the preset response time, the load-bearing tension of the spring balancer 110 corresponding to the tension adjustment command still fails to enter the target tension range, the central control module 140 determines that a tension adjustment anomaly exists. The tension adjustment anomaly may be caused by a malfunction of the servo motor 152, jamming of the reduction mechanism 153, loosening of the transmission connector 154, or the inability of the spring adjusting nut 155 to rotate.

[0064] This embodiment provides a more specific installation example to further illustrate the implementation of this application. A suspension bracket 100 is installed at the top of the coating tower. The suspension bracket 100 can be an I-beam welded bracket or other metal brackets with sufficient load-bearing capacity. The suspension bracket 100 is fixed to the main steel structure of the coating tower by high-strength bolts. At least two spring balancers 110 are suspended below the suspension bracket 100 and located above the moving section 162 of the glue supply hose 160.

[0065] In one specific embodiment, the spring balancer 110 consists of two symmetrically arranged heavy-duty self-locking spring balancers, with a gear-type synchronous linkage mechanism fixed between the two spring balancers 110. Two meshing spur gears are installed inside the gearbox 121, each connected to one of two output connecting rods 123. These two output connecting rods 123 are respectively connected to the retraction / extension linkage parts 111 of the two spring balancers 110. When the retraction / extension linkage part 111 of one spring balancer 110 experiences displacement, rotation, or oscillation, the retraction / extension linkage part 111 of the other spring balancer 110, under the action of the synchronous gear 122 and the output connecting rod 123, experiences corresponding displacement, rotation, or oscillation.

[0066] In this specific embodiment, a tension sensor 131 is connected to the lower end hook 112 of each spring balancer 110, and the lower ends of the two tension sensors 131 are respectively connected to the two ends of the transverse load-bearing member 170. The moving section 162 of the glue supply hose 160 is suspended from the transverse load-bearing member 170 by multiple lifting rings 164. The multiple lifting rings 164 can be arranged at equal intervals, or the spacing can be adjusted according to the weight distribution at different positions of the glue supply hose 160, so that the load of the moving section 162 is transmitted more evenly to both ends of the transverse load-bearing member 170.

[0067] In another specific embodiment, the spring balancer 110 consists of three spring balancers. The transverse load-bearing component 170 has three load-bearing connection points, each connected to one of the three spring balancers 110 via a tension sensor 131. The mechanical synchronization linkage mechanism 120 includes a central synchronization gear and three driven synchronization gears. These three driven synchronization gears are connected to the retraction and extension linkage parts 111 of the three spring balancers 110 via output connecting rods 123. The central control module 140 acquires the load-bearing tension of the three tension sensors 131 and determines the tension difference based on the maximum difference, average value, or adjacent differences among the three load-bearing tensions. The tension adjustment assembly 150 includes three servo-type tension adjustment units 151, each connected to the spring adjustment nuts 155 of the three spring balancers 110. In this way, even when the three spring balancers 110 jointly bear the moving section 162 of the glue supply hose 160, synchronous constraint, tension detection, and tension adjustment can still be achieved.

[0068] In another specific embodiment, the spring balancer 110 consists of four spring balancers, which are located above the two ends and two intermediate bearing positions of the transverse load-bearing member 170, respectively. The mechanical synchronous linkage mechanism 120 includes two sets of gear-type synchronous linkage mechanisms connected by a synchronous shaft; each set of gear-type synchronous linkage mechanisms corresponds to two spring balancers 110 and is connected to the retraction and extension linkage part 111 of the corresponding spring balancer 110 through the output connecting rod 123. The central control module 140 acquires the bearing tension corresponding to the four spring balancers 110 and determines whether there is an off-center load based on the maximum, minimum, and average values ​​of the four bearing tensions. This structure is suitable for glue application production lines where the glue supply hose 160 is long, the moving section 162 is heavy, or the transverse load-bearing member 170 has a large span.

[0069] In this specific embodiment, the fixed section 161 of the glue supply hose 160 extends from the metering glue supply device to the transition joint 163 at the top of the glue application tower, and the moving section 162 extends from the transition joint 163 to the glue application gun 220. The transition joint 163 can be a right-angle transition joint or a metal joint with heating function and pressure resistance. A spring sheath tube 167 can be provided on the glue supply hose 160 near the transition joint 163 and the glue application gun 220 to reduce local bending of the glue supply hose 160 under high-frequency oscillation and rotation conditions.

[0070] In this specific embodiment, the central control module 140 is communicatively connected to the glue-applying robot controller to acquire the position, speed, and acceleration of the glue-applying robot 210. The central control module 140 is also connected to each tension sensor 131, each servo-type tension adjustment unit 151, and the stroke detection component 200. Based on the load-bearing tension collected by the tension sensors 131 and the motion state information of the glue-applying robot 210, the central control module 140 outputs a tension adjustment command, controlling the servo motor 152 to drive the spring adjusting nut 155 to rotate, thereby changing the spring preload of the spring balancer 110. Simultaneously, the central control module 140 determines whether there is a synchronization abnormality based on the extension / retraction stroke acquired by the stroke detection component 200.

[0071] This embodiment provides an example of tension off-center loading processing for a two-spring balancer. The two spring balancers 110 are designated as the left spring balancer and the right spring balancer, respectively. The tension sensor 131 corresponding to the left spring balancer collects the load tension on the left side, and the tension sensor 131 corresponding to the right spring balancer collects the load tension on the right side. The central control module 140 filters the load tensions on the left and right sides and then compares their differences.

[0072] When the load-bearing tension on the left side is significantly greater than that on the right side, and this difference continues to exceed the allowable range, the central control module 140 generates off-center load processing information characterizing the off-center load on the left side. At this time, the central control module 140 can reduce the target tension corresponding to the left spring balancer and increase the target tension corresponding to the right spring balancer, so that the force on both ends of the transverse load-bearing component 170 tends to be balanced. If, after a preset number of adjustments, the load-bearing tension on the left side is still significantly greater than that on the right side, the central control module 140 can control the abnormal alarm component 190 to output an alarm signal to indicate that there may be problems such as jamming of the left lifting ring 164, partial collision of the glue supply hose 160, or misalignment of the transverse load-bearing component 170.

[0073] When the load-bearing tension on the right side is significantly greater than that on the left side, the central control module 140 can perform compensation adjustment in the opposite direction. This example illustrates that the off-center load handling information is not merely for indication, but can participate in the correction of the target tension corresponding to different spring balancers 110, thereby supporting the central control module 140 in determining the tension adjustment command based on the off-center load handling information, load-bearing tension, and motion state information.

[0074] This embodiment provides an example of tension distribution using a three-spring balancer. Three spring balancers 110 correspond to the left, middle, and right ends of the transverse load-bearing component 170, respectively. Three tension sensors 131 collect the load-bearing tension at the left end, the middle end, and the right end, respectively. The central control module 140 can first calculate the maximum difference between the three load-bearing tensions, or it can compare the adjacent differences between the load-bearing tension at the left end and the load-bearing tension at the middle end, and between the load-bearing tension at the middle end and the load-bearing tension at the right end.

[0075] When the load-bearing tension in the middle is significantly higher than that in the left and right ends, it indicates that the moving section 162 of the glue supply hose 160 may be sagging or stuck near the middle lifting ring 164. The central control module 140 can increase the target tension corresponding to the left and right end spring balancers 110, or decrease the target tension corresponding to the middle spring balancer 110, to redistribute the load of the moving section 162 to both sides. When the load-bearing tension in the left and right ends is significantly higher than that in the middle, it indicates that the middle lifting ring 164 may not be fully loaded. The central control module 140 can increase the target tension corresponding to the middle spring balancer 110 to improve the problem of sagging or insufficient suspension in the middle of the moving section 162.

[0076] This example illustrates that when there are three or more spring balancers 110, the central control module 140 can still determine the tension difference based on the maximum difference between multiple load-bearing tensions, adjacent differences, or the deviation ratio relative to the average load-bearing tension, and correct the target tension corresponding to different spring balancers 110 accordingly.

[0077] This embodiment provides an example of the correspondence between the motion state of the glue-applying robot 210 and the tension adjustment command. When the glue-applying robot 210 executes a long straight glue-applying trajectory, the end speed of the glue-applying robot 210 is stable and the acceleration is small. The central control module 140 can determine the current working condition as a constant speed motion condition and control each spring balancer 110 to maintain the basic target tension, so that the moving section 162 of the glue supply hose 160 remains stably suspended.

[0078] When the glue-applying robot 210 enters a corner trajectory from a long straight trajectory, the end effector's direction of motion changes significantly within a short period of time. The central control module 140 can determine the current working condition as a change-of-direction motion condition. At this time, the central control module 140 increases the target tension corresponding to each spring balancer 110, or increases the target tension of the spring balancer 110 on the side closer to the swing direction of the glue supply hose 160, in order to suppress the lateral swing of the glue supply hose 160 due to inertia.

[0079] When the glue-applying robot 210 completes the glue application and is in the waiting position, the end position of the glue-applying robot 210 changes little within a preset time, and the central control module 140 can determine the current working condition as a stationary state. At this time, the central control module 140 reduces the target tension corresponding to the spring balancer 110, so that the glue supply hose 160 is no longer subjected to high tension for a long time, thereby reducing fatigue damage to the internal heating layer, glue channel and outer sheath of the glue supply hose 160.

[0080] This example illustrates that the central control module 140 can determine the motion condition based on at least one of the position, speed, and acceleration of the glue-applying robot 210, and output tension adjustment commands in different directions according to different motion conditions.

[0081] This embodiment provides an example of synchronization anomaly detection. The stroke detection component 200 includes rope displacement sensors respectively installed at the wire rope outlets of the two spring balancers 110. The two rope displacement sensors respectively acquire the extension and retraction strokes of the two spring balancers 110. The central control module 140 compares the difference between the two extension and retraction strokes. When the difference in extension and retraction strokes is within the synchronization allowable range, the central control module 140 determines that the mechanical synchronization linkage mechanism 120 is in a normal synchronization state.

[0082] When the difference in extension / retraction stroke between the two spring balancers 110 exceeds the allowable range for synchronization, and this state persists for a preset time, the central control module 140 determines that a synchronization abnormality exists. The synchronization abnormality may be caused by poor meshing of the synchronization gear 122, loose output connecting rod 123, jamming of the spherical bearing 124, excessive torsional clearance of the synchronization shaft, or internal obstruction during the extension / retraction of the spring balancers 110. In this case, the central control module 140 can control the abnormality alarm component 190 to output an alarm signal, or it can send a pause / check signal to the glue coating production line control system.

[0083] In another embodiment, the stroke detection component 200 includes an angle encoder mounted on the shaft of the synchronizing gear 122. The central control module 140 can calculate the extension and retraction stroke of the corresponding spring balancer 110 based on the angle changes of the synchronizing gear 122. When the angle changes corresponding to multiple synchronizing gears 122 do not meet the preset transmission relationship, the central control module 140 determines that there is a synchronization abnormality in the mechanical synchronization linkage mechanism 120.

[0084] In another embodiment, the stroke detection component 200 includes a swing angle sensor disposed on the output link 123. The central control module 140 determines the extension stroke change of the corresponding spring balancer 110 based on the swing angle change of the output link 123. When the difference in swing angle changes between different output links 123 exceeds the synchronization allowable range, the central control module 140 determines that there is a synchronization anomaly between at least two spring balancers 110.

[0085] This embodiment provides an example of tension adjustment anomaly detection. After the central control module 140 outputs a tension adjustment command to the servo-type tension adjustment unit 151 corresponding to a certain spring balancer 110 to increase the tension, the servo motor 152 drives the spring adjusting nut 155 to rotate in the direction of increasing preload through the reduction mechanism 153 and the transmission connector 154. The central control module 140 continuously reads the bearing tension corresponding to the spring balancer 110 within a preset response time.

[0086] If the load-bearing tension corresponding to the spring balancer 110 enters the target tension range within the preset response time, the central control module 140 determines that the tension adjustment is normal. If the load-bearing tension corresponding to the spring balancer 110 does not enter the target tension range within the preset response time, the central control module 140 determines that there is a tension adjustment abnormality. The tension adjustment abnormality may be caused by the servo motor 152 not moving, the reduction mechanism 153 being stuck, the transmission connector 154 being loose, the spring adjusting nut 155 not being able to rotate, spring fatigue inside the spring balancer 110, or a malfunction in the tension sensor 131.

[0087] When an abnormal tension adjustment is detected, the central control module 140 can control the abnormal alarm component 190 to output an alarm signal and record the tension adjustment command, load tension, motion status information and extension stroke information at the time of the abnormality, so as to facilitate maintenance personnel to troubleshoot the fault.

[0088] This embodiment provides an example of segmented suspension and guiding protection for a hose. The fixed section 161 of the glue supply hose 160 extends from the outlet of the metering glue supply device to the transition joint 163 at the top of the glue coating tower. The fixed section 161 can be fixed to the glue coating tower or equipment support using a fixing clamp. The moving section 162 extends from the transition joint 163 to the glue application gun 220 and is suspended from the transverse load-bearing member 170 by multiple lifting rings 164.

[0089] Multiple lifting rings 164 can be arranged at equal intervals along the moving section 162, or, considering the greater force experienced by the glue supply hose 160 near the transition joint 163 and the glue gun 220, smaller spacing can be provided at these locations. A buffer pad 165 is provided at the contact point between the lifting ring 164 and the glue supply hose 160 to distribute the contact pressure of the lifting ring 164 on the outer wall of the glue supply hose 160. An anti-detachment buckle 166 is provided at the opening of the lifting ring 164 to prevent the glue supply hose 160 from detaching from the lifting ring 164 when the glue dispensing robot 210 changes direction at high speed.

[0090] The guide protection component 180 can be installed on the side of the movement path of the glue supply hose 160. For example, when the glue supply hose 160 is likely to approach the glue coating tower column when the glue coating robot 210 turns, a guide wheel 181 can be installed on the inside of the glue coating tower column, so that the glue supply hose 160 slides in a preset direction after contacting the guide wheel 181, instead of directly colliding with the glue coating tower column. The guide wheel 181 can be a rubber wheel, a polyurethane wheel, or a roller with a flexible coating layer on its surface to reduce wear on the outer surface of the glue supply hose 160.

[0091] This example illustrates that the balance of the glue supply hose 160 can be maintained not only by the tension adjustment of the spring balancer 110, but also by the segmented suspension, the lifting ring 164, the buffer pad 165, the anti-detachment buckle 166, the spring sheath tube 167 and the guide protection assembly 180, thereby reducing the risk of local bending and collision of the glue supply hose 160 in complex movements.

[0092] In the description of this specification, the references to terms such as "an embodiment," "example," "specific example," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of this application. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0093] The preferred embodiments disclosed above are merely illustrative of this application. These preferred embodiments do not exhaustively describe all details, nor do they limit the invention to any specific implementation. Clearly, many modifications and variations can be made based on the content of this specification. The selection and detailed description of these embodiments in this specification are intended to better explain the principles and practical applications of this application, thereby enabling those skilled in the art to better understand and utilize this application. This application is limited only by the claims and their full scope and equivalents.

Claims

1. A glue coating production line based on a multi-balancer glue supply hose balancing system, characterized in that, The system is applied to a glue application production line equipped with a glue application robot and a glue supply hose. The system includes a suspension bracket, at least two spring balancers, a mechanical synchronization linkage mechanism, a tension detection component, a central control module, and a tension adjustment component. The at least two spring balancers are suspended by the suspension bracket and are used to jointly support the moving section of the glue supply hose; The mechanical synchronization linkage mechanism is connected to at least two of the spring balancers respectively, and is used to constrain the difference in extension stroke between the at least two spring balancers; The tension detection components are respectively disposed between at least two of the spring balancers and the bearing path of the glue supply hose, and are used to collect the bearing tension corresponding to at least two of the spring balancers; The central control module is used to acquire the bearing tension and the motion state information of the glue-applying robot, and to determine the tension adjustment command based on the bearing tension and the motion state information; The tension adjustment component is used to adjust the spring preload of the corresponding spring balancer according to the tension adjustment command.

2. The system as described in claim 1, characterized in that, The mechanical synchronization linkage mechanism includes a gear-type synchronization linkage mechanism, which includes a gearbox, a plurality of synchronous gears disposed in the gearbox, and output connecting rods respectively connected to the plurality of synchronous gears; The multiple synchronous gears are driven and coordinated, and the output connecting rod is connected to the retraction and extension linkage of the corresponding spring balancer, so that when the retraction and extension linkage of any spring balancer is displaced, the retraction and extension linkage of the other spring balancers will be displaced accordingly with the transmission of the multiple synchronous gears.

3. The system as described in claim 2, characterized in that, The plurality of synchronizing gears includes at least one set of meshing spur gears; The take-up and release linkage includes at least one of the following: a wire rope take-up and release shaft connector, a drum shaft connector, a wire rope guide slider, or a lower end suspension point linkage for the corresponding spring balancer. The output link is connected to the take-up and release linkage through a spherical bearing. The at least one set of meshing spur gears is used to keep the extension and retraction strokes of adjacent spring balancers consistent.

4. The system as described in claim 3, characterized in that, The tension detection assembly includes a tension sensor corresponding to each of the at least two spring balancers; One end of the tension sensor is connected to the lower hook of the corresponding spring balancer, and the other end of the tension sensor is connected to the transverse load-bearing component, which is used to bear the suspension load of the moving section of the glue supply hose.

5. The system as described in claim 4, characterized in that, The central control module is used to filter the load-bearing tension and determine the tension difference based on the load-bearing tension corresponding to different spring balancers. The central control module is also used to generate off-center load processing information when the tension difference meets the off-center load determination condition, and after correcting the target tension corresponding to different spring balancers according to the off-center load processing information, determine the tension adjustment command by combining the bearing tension and the motion state information.

6. The system according to any one of claims 1 to 5, characterized in that, The motion state information includes at least one of the position, velocity, and acceleration of the adhesive-applying robot; The central control module is used to determine a tension adjustment command to increase the tension of the spring balancer when the motion state information indicates that the glue-applying robot is in a high-speed motion or a change-of-direction motion state. The central control module is also used to determine a tension adjustment command to reduce the tension of the spring balancer when the motion state information indicates that the glue-applying robot is in a low-speed motion or stationary state.

7. The system as described in claim 6, characterized in that, The tension adjustment assembly includes a servo-type tension adjustment unit corresponding to the spring balancer; The servo-type tension adjustment unit includes a servo motor, a reduction mechanism, and a transmission connector. The servo motor is connected to the spring adjusting nut of the corresponding spring balancer through the reduction mechanism and is used to drive the spring adjusting nut to rotate in order to change the spring preload of the corresponding spring balancer.

8. The system as described in claim 1, characterized in that, The glue supply hose includes a fixed section and a moving section, and the fixed section and the moving section are connected by a transition joint. The moving section is suspended from a transverse load-bearing member by multiple lifting rings. The transverse load-bearing member is connected to the tension detection component, so that the load of the moving section is transmitted to the at least two spring balancers through the transverse load-bearing member.

9. The system as described in claim 8, characterized in that, The plurality of lifting rings are arranged at intervals along the moving section of the glue supply hose, and a buffer pad is provided at the position where the lifting ring contacts the glue supply hose, and an anti-detachment buckle is provided at the opening position of the lifting ring; At least one of the locations of the glue supply hose near the transition joint and near the glue gun is provided with a spring sheath tube, which is used to limit the bending deformation of the glue supply hose at the corresponding location.

10. The system as described in claim 5, characterized in that, The system also includes a guide protection component, an anomaly alarm component, and a travel detection component; The guide protection component is disposed on the side of the movement path of the glue supply hose and is used to guide the glue supply hose to move along a preset movement range; The stroke detection component is used to obtain the extension stroke corresponding to the at least two spring balancers; The abnormal alarm component is connected to the central control module, and the central control module is used to control the abnormal alarm component to output an alarm signal when abnormal tension, abnormal synchronization, or abnormal tension adjustment is detected. The tension anomaly includes the load-bearing tension exceeding the preset tension range or the tension difference meeting the off-center load determination condition; the synchronization anomaly includes the difference in the extension stroke between the at least two spring balancers determined according to the extension stroke exceeding the synchronization allowable range; and the tension adjustment anomaly includes the corresponding load-bearing tension failing to enter the target tension range within a preset response time after the tension adjustment command is output.

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