A liquid application system, method, terminal and medium for automotive glass

Abstract

The application belongs to the technical field of automobile manufacturing, and specifically discloses a liquid application system, method, terminal and medium for automobile glass, which comprises a robot, a rotary cylinder connected to the tail end of the robot, and an execution member driven by the rotary cylinder and loaded with a first liquid storage bottle and a second liquid storage bottle at a fixed included angle. The system controls the action of the rotary cylinder by an electric proportional valve to realize in-situ switching of an application station, and independently supplies air to the liquid storage bottles by the electric proportional valve to control the extrusion of the liquid. The application realizes seamless connection of double-liquid continuous application at the tail end of the same robot, and avoids the problems of beat loss and defective products caused by frequent tool replacement by manual operation.

Description

Technical Field

[0001] This invention belongs to the field of automotive manufacturing technology, specifically relating to a liquid coating system, method, terminal, and medium for automotive glass. Background Technology

[0002] With the rapid development of the automotive manufacturing industry, the level of precision and automation in automotive assembly processes is constantly improving. In the automotive glass assembly process, especially during the installation of the rear quarter window glass, it is usually necessary to apply a specific type of primer or adhesive to the glass edge to ensure the bonding strength and waterproof sealing performance between the glass and the vehicle body sealing strip. To meet specific bonding process requirements, some quarter window glass requires multiple coating processes before installation, that is, applying two different liquid solvents or adhesives sequentially to the same glass edge.

[0003] Currently, when processing automotive triangular window glass that requires the application of two-component or multiple different liquids, manual operation is commonly used on production lines. Specifically, the operator first holds a spray bottle containing the first liquid and uses the spray sponge on the bottle head to apply the first coat along the edge of the glass. After completing the first step, the operator puts down the first spray bottle and picks up a spray bottle containing the second liquid to apply the second coat. Alternatively, in some auxiliary production lines, the triangular window glass is fixed on a dedicated rotating clamping fixture, and then different liquids are applied alternately by manual labor or a separate single-liquid application device.

[0004] However, the aforementioned existing technologies have the following main problems in practical applications: First, relying on manual alternation of different application bottles for sequential application results in poor process continuity, and the application quality is overly dependent on the operator's experience. Because it is difficult for manual operators to maintain a uniform downward pressure and constant moving speed during continuous operation, the liquid extrusion volume cannot accurately match the actual application trajectory, leading to a relatively high defect rate. Second, when performing two different liquid application processes, frequent tool changes or workstation transfers disrupt the normal process rhythm, increasing ineffective waiting and changeover time, resulting in low overall production efficiency. Summary of the Invention

[0005] This invention addresses the problems in existing technologies by providing a liquid coating system, method, terminal, and medium for automotive glass. It solves the problems of the prior art, which relies on manual alternation of different coating bottles for sequential coating, resulting in poor process continuity and excessive dependence on operator experience for coating quality. Furthermore, it addresses the issue that maintaining uniform downward pressure and constant movement speed during continuous operation leads to a mismatch between the liquid extrusion volume and the actual coating trajectory, resulting in a relatively high defect rate. The invention also resolves the problem that frequent tool changes or workstation transfers during two different liquid coating processes disrupt the normal process rhythm, increasing unnecessary waiting and changeover time and leading to low overall production efficiency.

[0006] The technical solution adopted in this invention is as follows: In a first aspect, this application provides a liquid coating system for automotive glass, comprising: robot; Mounting bracket, connected to the end of the robot; A rotary cylinder is mounted on the mounting bracket; An actuator is connected to the output end of the rotary cylinder and driven by the rotary cylinder. The actuator is equipped with a first liquid storage bottle and a second liquid storage bottle. The first liquid storage bottle and the second liquid storage bottle are arranged at a fixed angle, and the ends of the first liquid storage bottle and the second liquid storage bottle are each provided with an applicator head with an applicator sponge. An electric proportional valve is used to control the movement of the rotary cylinder and the flow rate of the liquid in the storage bottle, so as to realize the switching of the coating station between the first and second storage bottles and the control of the amount of adhesive applied.

[0007] Furthermore, the fixed angle formed between the axis of the first liquid storage bottle and the axis of the second liquid storage bottle is 90 degrees; The output end of the electro-proportional valve is connected to the air inlet end of the rotary cylinder; the output end of the electro-proportional valve is also connected to the first liquid storage bottle and the second liquid storage bottle respectively, and the electro-proportional valve independently controls the amount of liquid squeezed out of the first liquid storage bottle and the second liquid storage bottle and the rotation speed of the rotary cylinder.

[0008] Furthermore, a buffer mechanism is provided between the first liquid storage bottle and the second liquid storage bottle and the actuator; or, a buffer mechanism is provided at the connection between the applicator head and the corresponding liquid storage bottle. The cushioning mechanism is used to provide flexible cushioning force when the applied sponge comes into contact with the surface of the automotive glass.

[0009] Furthermore, the buffer mechanism includes any one of an elastic pad, a spring assembly, or a pneumatic floating joint.

[0010] Secondly, this application provides a liquid coating method for automotive glass, using the liquid coating system for automotive glass as described in the first aspect, the method comprising the following steps: Step S1: Control the robot to move the actuator to the starting application point on the car glass; Step S2: Control the electric proportional valve to output the first air pressure to the first liquid storage bottle, press out the first liquid and wet the corresponding application sponge, and at the same time control the robot to move according to the preset first application path to apply the first liquid; Step S3: After the first liquid is applied, control the electric proportional valve to drive the rotary cylinder to move the first liquid storage bottle out of the work station and switch the second liquid storage bottle to the work station. Step S4: Control the electric proportional valve to output the second air pressure to the second liquid storage bottle, press out the second liquid and wet the corresponding application sponge, and at the same time control the robot to move according to the preset second application path to apply the second liquid.

[0011] Furthermore, in steps S2 and S4, the control system has a preset extrusion quantity control model. This model dynamically compensates for the robot's real-time movement speed and multiple historical scores of finished products to adjust the output air pressure of the electro-proportional valve, targeting the desired air pressure. The calculation formula is:

[0012] in, The system's baseline pressure. This refers to the real-time moving speed of the robot's end effector. For velocity feedforward gain coefficient, This is the extrusion amount feedback compensation item extracted based on multiple finished product scores.

[0013] Furthermore, in steps S2 and S4, the control system also presets a buffer control model. This buffer control model performs dynamic feedback compensation of the normal position based on the surface physical characteristics of the coating trajectory and the multiple historical scores of the finished products. The normal position compensation amount... The calculation formula is:

[0014] in, The initial preload of the buffer mechanism is set. Let be the surface curvature of the automotive glass at the current point on the applied trajectory. For curvature adaptive coefficients, This is a buffer feedback compensation term extracted based on multiple finished product scores.

[0015] Furthermore, the extrusion quantity control model and the buffer control model are cross-coupled and adjusted through a unified finished product scoring fusion hub; The control system obtains continuous The scoring set of the finished products was used to calculate the scoring deviation. and the rate of change in ratings ; The extrusion amount feedback compensation item With the aforementioned buffer feedback compensation term Based on the synchronous calculation of the aforementioned finished product scoring fusion hub, its coupling fusion formula is as follows:

[0016] in, The pre-set scoring-action coupling adjustment matrix for the system; The finished product scoring fusion hub binds extrusion quantity control and buffer control into a closed-loop linkage system, when the scoring deviation... When the adjustment threshold is triggered, the control system synchronously outputs mutually constrained parameters based on the scoring-action coupling adjustment matrix. and .

[0017] Thirdly, this application provides a terminal, including: A memory for storing liquid application programs for automotive glass; A processor is configured to perform the steps of the liquid coating method for automotive glass as described in the second aspect when executing the liquid coating procedure for automotive glass.

[0018] Fourthly, this application provides a computer-readable storage medium that stores computer instructions. When a computer reads the computer instructions in the storage medium, the computer executes the liquid coating method for automotive glass as described in the second aspect.

[0019] As can be seen from the above technical solutions, the advantages of the present invention are: By setting an actuator at the end of the robot, which is equipped with a first liquid storage bottle and a second liquid storage bottle at a fixed angle, and using an electro-proportional valve to control the movement of the rotary cylinder and to supply air for wetting, the automated switching and continuous operation of two liquid coating stations at the same end of the robot can be realized. This can effectively reduce the ineffective cycle time loss caused by manual tool replacement or station turnover.

[0020] By fixing the included angle of the axes of the first and second liquid storage bottles to 90 degrees, and connecting the output of the electro-proportional valve to the rotary cylinder and the corresponding liquid storage bottle for independent control, the optimization of the spatial avoidance layout and the physical decoupling of the control level are achieved. This can effectively avoid pipeline interference when controlling multiple liquid channels, and improve the response sensitivity of the system's liquid output control while reducing the weight of the terminal equipment.

[0021] By configuring a buffer mechanism that can provide flexible buffering force between the first and second liquid storage bottles and the actuator, or at the connection between the coating head and the corresponding liquid storage bottle, flexible contact coating between the rigid robot motion trajectory and the glass surface is achieved. This can absorb dimensional fluctuations caused by manufacturing tolerances and prevent excessive mechanical contact pressure from damaging the coating sponge or scratching the automotive glass surface.

[0022] By specifically defining the buffer mechanism as an elastic pad, spring assembly, or pneumatic floating joint to provide elastic relief travel along its own axis, the specific mechanical selection and optimization of the relief structure is realized. This enables the applicator head to have directional adaptive capability in a highly reliable and low-mechanical-cost manner, further enhancing the surface contact tightness during continuous applicator application.

[0023] By sequentially executing robot-driven component positioning, first liquid-air pressure extrusion and path coating, cylinder rotation station switching, and second liquid-air pressure extrusion and path coating in the method steps, standardized and automated operation of multi-stage liquid alternating coating process is achieved, which can completely eliminate the dependence on manual continuous coating experience and ensure the quality stability of the entire process.

[0024] By introducing an extrusion volume control model that combines the robot's real-time moving speed and feedback from multiple historical finished product scores, the target air pressure is dynamically corrected. This achieves closed-loop adaptive adjustment of the feed and liquid output as the motion state and historical quality change, effectively avoiding uneven flow rate or local liquid accumulation in the robot during speed changes or corner areas.

[0025] By introducing a buffer control model that combines the curvature of the coating trajectory surface with feedback from multiple finished product historical scores, the normal position compensation amount is precisely adjusted. This achieves dynamic contact state control that combines geometric feature feedforward with long-cycle score feedback. It can intelligently adapt to the multidimensional curvature changes of the automotive glass surface and maintain a constant contact force of the sponge during continuous movement.

[0026] By utilizing a unified finished product scoring fusion hub and a multivariate adjustment matrix to cross-couple and adjust the extrusion quantity control model and the buffer control model, a multi-dimensional closed-loop linkage between liquid extrusion pressure and normal buffer force is achieved. This avoids dynamic imbalance of the system state caused by isolated adjustment of single variables and ensures the overall optimal system coordination between fluid extrusion behavior and physical contact damping in the feedback process. Attached Figure Description

[0027] To more clearly illustrate the technical solution of the present invention, the accompanying drawings used in the description will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0028] Figure 1 This is a schematic diagram of the structure of a liquid coating system for automotive glass according to an embodiment of the present invention; Figure 2 This is a schematic diagram of the structure of a spring assembly for a liquid coating system for automotive glass according to an embodiment of the present invention; Figure 3 This is a flowchart of a liquid coating method for automotive glass according to an embodiment of the present invention.

[0029] In the diagram: 1. Robot; 2. Mounting bracket; 3. Rotary cylinder; 4. Actuator; 5. First liquid reservoir; 6. Second liquid reservoir; 7. Application head; 8. Spring assembly. Detailed Implementation

[0030] 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 some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0031] Please see Figure 1 and Figure 2 As shown, this application provides a liquid coating system for automotive glass, comprising: Robot 1; Mounting bracket 2 is connected to the end of the robot 1; Rotary cylinder 3 is mounted on the mounting bracket 2; The actuator 4 is connected to the output end of the rotary cylinder 3 and driven by the rotary cylinder 3. The actuator 4 is equipped with a first liquid storage bottle 5 and a second liquid storage bottle 6. The first liquid storage bottle 5 and the second liquid storage bottle 6 are arranged at a fixed angle, and the ends of the first liquid storage bottle 5 and the second liquid storage bottle 6 are each provided with an application head 7 with an application sponge. An electric proportional valve is used to control the movement of the rotary cylinder 3 and the liquid flow rate of the storage bottle, so as to realize the switching of the coating station between the first storage bottle 5 and the second storage bottle 6 and the control of the amount of adhesive applied.

[0032] In specific implementation, the robot 1 can be a multi-axis industrial robot 1 or a collaborative robot 1, which has high motion flexibility and trajectory accuracy, and is suitable for painting operations on complex edges. The mounting bracket 2 is locked to the end joint of the robot 1 through a flange structure, providing rigid support for subsequent execution components. The first liquid storage bottle 5 and the second liquid storage bottle 6 can be pre-filled with undercoating agents and adhesives with different physical properties, respectively.

[0033] In this embodiment, when applying a two-stage coating to the rear quarter window of a car, the system first controls the electro-proportional valve to inflate the first reservoir 5, allowing the primer to evenly penetrate the sponge in the applicator head 7. The robot 1 then moves along a set trajectory to complete the primer application. Subsequently, the system sends a control signal to the electro-proportional valve, driving the rotary cylinder 3 to rotate the actuator 4, bringing the second reservoir 6 to its working position. The electro-proportional valve then switches to supplying air to the second reservoir 6, dispensing adhesive to saturate the corresponding sponge. The robot 1 continues to apply the adhesive along the set path. This process requires no replacement of external tools, achieving continuous automated operation of the two stages.

[0034] In some embodiments, the fixed angle formed between the axis of the first liquid storage bottle 5 and the axis of the second liquid storage bottle 6 is 90 degrees. The output end of the electro-proportional valve is connected to the air inlet end of the rotary cylinder 3; the output end of the electro-proportional valve is connected to the first liquid storage bottle 5 and the second liquid storage bottle 6 respectively through a four-way air pipe connector; the electro-proportional valve independently controls the amount of liquid squeezed out of the first liquid storage bottle 5 and the second liquid storage bottle 6 via a solenoid valve.

[0035] In practice, setting the fixed angle to 90 degrees ensures that the liquid storage bottle at the current working position can be vertically or at a reasonable angle to the car glass surface, while keeping the liquid storage bottles at non-working positions horizontal or sideways to avoid interference with the vehicle body or tooling during the coating process. Furthermore, compared to a 180-degree back-to-back arrangement, the 90-degree layout shortens the end effector's center of gravity lever arm, reducing the rotational inertia of robot 1 during operation. The independently controlled air path design allows for matching appropriate working air pressures to fluids of different viscosities.

[0036] In this embodiment, the first storage bottle 5 contains a low-viscosity cleaning primer, and the electro-proportional valve applies a low driving air pressure to it to prevent liquid overflow; the second storage bottle 6 contains a high-viscosity sealant, and the electro-proportional valve applies a high driving air pressure to it to ensure that the sealant can be smoothly extruded and fully wet the coating sponge. The two controls do not interfere with each other, ensuring the coating quality of different media.

[0037] In some embodiments, a buffer mechanism is provided between the first liquid storage bottle 5 and the second liquid storage bottle 6 and the actuator 4; or, a buffer mechanism is provided at the connection between the applicator head 7 and the corresponding liquid storage bottle. The cushioning mechanism is used to provide flexible cushioning force when the applied sponge comes into contact with the surface of the automotive glass.

[0038] In practical implementation, the introduction of a buffer mechanism aims to transform the rigid position control of robot 1 into contact control with a certain degree of compliance. Since the surface of automotive glass usually has complex three-dimensional curved features and there are certain dimensional tolerances in manufacturing and tooling positioning, if rigid contact is used, it is easy to cause the coating sponge to be excessively squeezed and damaged or to leave indentations on the glass surface.

[0039] In this embodiment, when the end effector of robot 1 drives the applicator head 7 to contact the edge of the car glass, the buffer mechanism undergoes moderate compression, providing a range of elastic displacement. Even if there is a normal deviation of several millimeters between the preset running trajectory of robot 1 and the actual glass surface, the buffer mechanism can absorb the deviation through its own compression deformation, maintaining a relatively stable contact pressure between the applicator sponge and the glass surface, thereby ensuring that the liquid application thickness remains uniform.

[0040] In some embodiments, the cushioning mechanism includes any one of an elastic pad, a spring assembly 8, or a pneumatic floating joint.

[0041] In practical implementation, different structural forms of buffer mechanisms are suitable for different process precision and space requirements. The elastic pad has a compact structure and is suitable for working environments with limited space and small surface tolerance variations; the spring assembly 8 can adjust the preload buffer force by configuring springs of different stiffnesses and has a long linear relief stroke; the pneumatic floating joint can be combined with an air source pressure regulating system to achieve smooth and settable dynamic compliance control.

[0042] In this embodiment, a spring assembly 8 with a linear guide rod is used as a buffer mechanism, which is installed between the base of the applicator head 7 and the actuator 4. When the robot 1 runs in the corner area where the curvature of the glass changes significantly, the guide rod guides the spring to compress or rebound smoothly along the axial direction, limiting the tendency of the applicator head 7 to deflect laterally. This ensures that the applicator sponge always adheres to the glass in a stable, frontal posture, guaranteeing the neatness and continuity of the tape edges.

[0043] Please see Figure 3 As shown, this application provides a liquid coating method for automotive glass. Using the aforementioned liquid coating system for automotive glass, the method includes the following steps: Step S1: Control the robot to move the actuator to the starting application point on the car glass; Step S2: Control the electric proportional valve to output the first air pressure to the first liquid storage bottle, press out the first liquid and wet the corresponding application sponge, and at the same time control the robot to move according to the preset first application path to apply the first liquid; Step S3: After the first liquid is applied, control the electric proportional valve to drive the rotary cylinder to move the first liquid storage bottle out of the work station and switch the second liquid storage bottle to the work station. Step S4: Control the electric proportional valve to output the second air pressure to the second liquid storage bottle, press out the second liquid and wet the corresponding application sponge, and at the same time control the robot to move according to the preset second application path to apply the second liquid.

[0044] In practice, the liquid application method uses the robot's main control unit to uniformly issue path instructions and timing control signals.

[0045] In step S1, the robot locates the physical boundary of the car glass using a visual recognition system or a preset mechanical reference point, and precisely moves the actuator above the coating start point to prepare for the operation.

[0046] In step S2, the action of the electric proportional valve to output the first air pressure is synchronized with the robot's movement or started with a specific advance, so that the liquid reaches the set wetting state when the sponge contacts the edge of the glass, avoiding the phenomenon of insufficient glue or delayed liquid supply at the starting position.

[0047] The switching action in step S3 is performed in place or after raising the safe distance. The rotary cylinder responds quickly, maintaining the overall process cycle.

[0048] Similarly, in step S4, the second air pressure is output and the second coating is applied.

[0049] In this embodiment, for a certain model of automotive triangular window glass, the main control unit controls the robot to move to the starting point of the glass edge; then, the first air pressure of 0.2MPa is turned on to extrude the primer cleaning liquid, and the first primer coating operation is completed along the glass edge at a speed of 100mm / s; after completion, the robot's Z-axis is raised by 5mm along the normal direction, and the electro-proportional valve controls the rotary cylinder to rotate the actuator by 90 degrees; then, the second air pressure of 0.5MPa is switched to extrude high-viscosity polyurethane sealant, and the sealant is applied according to a second path offset at a specific distance from the first coating path.

[0050] In some embodiments, in steps S2 and S4, the control system has a preset extrusion quantity control model. This model dynamically compensates for the robot's real-time movement speed and multiple historical scores of finished products to adjust the output air pressure of the electro-proportional valve, targeting a specific air pressure. The calculation formula is:

[0051] in, The system's baseline pressure. This refers to the real-time moving speed of the robot's end effector. For velocity feedforward gain coefficient, This is the extrusion amount feedback compensation item extracted based on multiple finished product scores.

[0052] In practical implementation, the extrusion volume control model is introduced to address the issue of uneven adhesive strip thickness caused by speed fluctuations during robot acceleration / deceleration phases or transitions between straight lines and circular arcs. The feedforward part in the formula... This is a linearized expression of the flow resistance equation in fluid mechanics for a specific pipeline.

[0053] Among them, the velocity feedforward gain coefficient It is based on the dynamic viscosity of the applied liquid. Dynamic calculations based on the geometric characteristics of the fluid supply pipeline can further characterize it as follows: ,in It is a resistance constant related to pipe diameter, pipe length, and sponge porosity.

[0054] Through deep mapping of this physical model, the system can address fluid viscosity variations across different batches and ambient temperatures. Calculate the accurate feedforward reference pressure.

[0055] In this embodiment, a baseline air pressure is set when applying the high-viscosity sealant. The value is 0.4 MPa, calculated based on the fluid viscosity at the current temperature. The pressure is 0.001 MPa / (mm / s). When the robot's straight-line running speed is 200 mm / s, the control system calculates that the feedforward air pressure is increased to 0.6 MPa to ensure sufficient glue supply; when approaching the corner and decelerating to 50 mm / s, the target air pressure is automatically reduced to 0.45 MPa to prevent glue accumulation.

[0056] If visual inspection of multiple finished products in recent times shows that the width of the adhesive strip is slightly narrow, the system calculates and adds an extrusion amount feedback compensation item. This ensures that the target air pressure adapts to complex dynamic operating conditions in real time.

[0057] In some embodiments, in steps S2 and S4, the control system further includes a preset buffer control model. This buffer control model performs dynamic feedback compensation of the normal position based on the surface physical characteristics of the coating trajectory and the multiple historical scores of the finished products. The normal position compensation amount... The calculation formula is:

[0058] in, The initial preload of the buffer mechanism is set. Let be the surface curvature of the automotive glass at the current point on the applied trajectory. For curvature adaptive coefficients, This is a buffer feedback compensation term extracted based on multiple finished product scores.

[0059] In practical implementation, the edges of automotive glass are often complex three-dimensional curved surfaces. The theoretical basis of this buffer control model lies in actively eliminating the normal force fluctuations caused by spatial interference at abrupt curvature changes. In areas with large curvature, the robot will experience geometric deviations when moving along the tangent, requiring active adjustment of the normal position. The curvature adaptive coefficient in the formula... The geometrical following compensation rate of the corresponding actuator along the surface normal direction can be obtained through the system interpolation period. A deep solution definition is performed on the stiffness of the buffer spring to describe the nonlinear effect of curvature on the amount of compression.

[0060] In this embodiment, an initial preload is set. The requirement is 3mm, meaning that on a flat surface, the applicator head must maintain a 3mm compression deformation to maintain stable positive pressure. This applies when the robot is on the straight edge of the glass (curvature). When the operation approaches 0, the normal position compensation amount The curvature remains at approximately 3mm; however, when the glass moves to a sharp, acute corner, the curvature increases, and the control system subtracts this curvature through real-time calculations. This reduces the normal position compensation to 1.5mm, allowing the robot to lift appropriately along the Z-axis normal, preventing the sponge from being excessively squeezed and damaged at corners due to path tangency. If multiple finished products receive low scores for "insufficient corner adhesive strip thickness" during production, the system will adjust accordingly. The compensation amount actively increases the preloading depth.

[0061] In some embodiments, the extrusion quantity control model and the buffer control model are cross-coupled and adjusted through a unified finished product scoring fusion hub; The control system acquires N consecutive sets of finished product scores and calculates the score deviation. and the rate of change in ratings ; The extrusion amount feedback compensation item With the aforementioned buffer feedback compensation term Based on the synchronous calculation of the aforementioned finished product scoring fusion hub, its coupling fusion formula is as follows:

[0062] in, The pre-set scoring-action coupling adjustment matrix for the system; In some embodiments, the rating-action coupling adjustment matrix It is derived based on the fluid-structure interaction characteristics of the applied sponge, and its specific matrix element relationships satisfy:

[0063] in, The gain is a proportional compensation for scoring bias. The differential compensation gain for the rating trend. The fluid-structure interaction compliance coefficient; the fluid-structure interaction compliance coefficient The calculation formula is: ,in The initial stiffness of the coating sponge in its dry state. This is the stiffness gain coefficient for fluid-structure interaction. This is the current normal preload. This represents the current extrusion pressure.

[0064] In specific implementation, the disclosed structure of the scoring-action coupling adjustment matrix is ​​intended to address the nonlinear interference between fluid control and mechanical damping. Due to the unique physical properties of the sponge material, increasing the extrusion pressure increases the colloid filling within the sponge pores, leading to an increase in the overall elastic modulus of the sponge. Without coordinated intervention, the hardened sponge will exert excessive contact stress on the automotive glass at the original compression height.

[0065] This embodiment derives the fluid-structure interaction compliance coefficient through physical modeling. In the second row of the matrix ( and Introduced in ) The negative coupling term.

[0066] In this embodiment, when the visual feedback system indicates that the adhesive strip is too thin (resulting in a lower finished product score), the fusion hub calculates that increased air pressure compensation is needed. (because , (For positive gain, air pressure increases); at the same time, affected by The forced physical constraints of the matrix terms will cause the system to synchronously and proportionally calculate a negative normal position compensation. The robot is instructed to lift the corresponding height along the Z-axis.

[0067] The finished product scoring fusion hub binds extrusion quantity control and buffer control into a closed-loop linkage system, when the scoring deviation... When the adjustment threshold is triggered, the control system synchronously outputs mutually constrained parameters based on the scoring-action coupling adjustment matrix. and .

[0068] In actual coating systems, there is a physical coupling between extrusion air pressure and buffer compression: simply increasing the air pressure will lead to an increase in the fluid saturation inside the coating sponge, which in turn increases the elastic modulus of the sponge. If the mechanical compression is not reduced accordingly, the contact stress will increase, causing the adhesive to overflow to both sides; and vice versa.

[0069] The rating-motor coupling adjustment matrix uses off-diagonal elements. and This physical intersection is digitized. In this embodiment, a visual scoring system is installed at the back end of the production line, with a target score of 100 points and a sampling window. .

[0070] When the control system detects that the average score of the last 5 finished products has dropped to 88 points (indicating a scoring deviation) ), and trend rate The display score continues to decrease, reaching the internal trigger threshold. At this point, the fusion hub performs matrix operations. Unlike conventional single-loop individual adjustments, the system provides a coordinated action all at once through matrix coupling: for example, if it calculates that the output volume needs to be moderately increased, it outputs... The pressure is +0.04 MPa, but in order to balance the stiffness change of the sponge caused by adhesive absorption, the system also outputs... The adjustment is set to -0.4mm, allowing the robot to actively reduce the normal preload while increasing the air pressure. This multi-variable synchronous constraint adjustment effectively prevents over-adjustment of a single parameter, quickly bringing the finished product score back to the stable range and ensuring the overall robustness of the control system.

[0071] In some embodiments, this application provides a terminal, including: A memory for storing liquid application programs for automotive glass; A processor for executing the steps of the liquid coating method for automotive glass when performing the liquid coating system for automotive glass.

[0072] In some embodiments, this application provides a computer-readable storage medium that stores computer instructions. When a computer reads the computer instructions in the storage medium, the computer executes the liquid coating method for automotive glass.

[0073] The above description is merely a preferred embodiment of one or more embodiments of this specification and is not intended to limit the scope of one or more embodiments of this specification. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of one or more embodiments of this specification should be included within the scope of protection of one or more embodiments of this specification.

Claims

1. A liquid coating system for automotive glass, characterized in that, include: robot; Mounting bracket, connected to the end of the robot; A rotary cylinder is mounted on the mounting bracket; An actuator is connected to the output end of the rotary cylinder and driven by the rotary cylinder. The actuator is equipped with a first liquid storage bottle and a second liquid storage bottle. The first liquid storage bottle and the second liquid storage bottle are arranged at a fixed angle, and the ends of the first liquid storage bottle and the second liquid storage bottle are each provided with an applicator head with an applicator sponge. An electric proportional valve is used to control the movement of the rotary cylinder and the flow rate of the liquid in the storage bottle, so as to realize the switching of the coating station between the first and second storage bottles and the control of the amount of adhesive applied.

2. The liquid coating system for automotive glass according to claim 1, characterized in that, The fixed angle formed between the axis of the first liquid storage bottle and the axis of the second liquid storage bottle is 90 degrees. The output end of the electro-proportional valve is connected to the air inlet end of the rotary cylinder; the output end of the electro-proportional valve is also connected to the first liquid storage bottle and the second liquid storage bottle respectively, and the electro-proportional valve independently controls the amount of liquid squeezed out of the first liquid storage bottle and the second liquid storage bottle and the rotation speed of the rotary cylinder.

3. The liquid coating system for automotive glass according to claim 1, characterized in that, A buffer mechanism is provided between the first liquid storage bottle and the second liquid storage bottle and the actuator; or, a buffer mechanism is provided at the connection between the applicator head and the corresponding liquid storage bottle. The cushioning mechanism is used to provide flexible cushioning force when the applied sponge comes into contact with the surface of the automotive glass.

4. The liquid coating system for automotive glass according to claim 3, characterized in that, The buffer mechanism includes any one of an elastic pad, a spring assembly (8), or a pneumatic floating joint.

5. A liquid coating method for automotive glass, using the liquid coating system for automotive glass as described in claim 3 or 4, characterized in that, Includes the following steps: Step S1: Control the robot to move the actuator to the starting application point on the car glass; Step S2: Control the electric proportional valve to output the first air pressure to the first liquid storage bottle, press out the first liquid and wet the corresponding application sponge, and at the same time control the robot to move according to the preset first application path to apply the first liquid; Step S3: After the first liquid is applied, control the electric proportional valve to drive the rotary cylinder to move the first liquid storage bottle out of the work station and switch the second liquid storage bottle to the work station. Step S4: Control the electric proportional valve to output the second air pressure to the second liquid storage bottle, press out the second liquid and wet the corresponding application sponge, and at the same time control the robot to move according to the preset second application path to apply the second liquid.

6. The liquid coating method for automotive glass according to claim 5, characterized in that, In steps S2 and S4, the control system has a preset extrusion quantity control model. This model uses dynamic feedback compensation based on the robot's real-time moving speed and multiple historical scores of finished products to adjust the output air pressure of the electro-proportional valve, targeting the desired air pressure. The calculation formula is: in, The system's baseline pressure. This refers to the real-time moving speed of the robot's end effector. For velocity feedforward gain coefficient, This is the extrusion amount feedback compensation item extracted based on multiple finished product scores.

7. The liquid coating method for automotive glass according to claim 6, characterized in that, In steps S2 and S4, the control system further includes a preset buffer control model. This buffer control model performs dynamic feedback compensation of the normal position based on the surface physical characteristics of the coating trajectory and the multiple historical scores of the finished products. The normal position compensation amount... The calculation formula is: in, The initial preload of the buffer mechanism is set. Let be the surface curvature of the automotive glass at the current point on the applied trajectory. For curvature adaptive coefficients, This is a buffer feedback compensation term extracted based on multiple finished product scores.

8. The liquid coating method for automotive glass according to claim 7, characterized in that, The extrusion quantity control model and the buffer control model are cross-coupled and adjusted through a unified finished product scoring fusion hub; The control system obtains continuous The scoring set of finished products was used to calculate the scoring deviation. and the rate of change in ratings ; The extrusion amount feedback compensation item With the aforementioned buffer feedback compensation term Based on the synchronous calculation of the aforementioned finished product scoring fusion hub, its coupling fusion formula is as follows: in, The pre-set scoring-action coupling adjustment matrix for the system; The finished product scoring fusion hub binds extrusion quantity control and buffer control into a closed-loop linkage system, when the scoring deviation... When the adjustment threshold is triggered, the control system synchronously outputs mutually constrained parameters based on the scoring-action coupling adjustment matrix. and .

9. A terminal, characterized in that, include: A memory for storing liquid coating programs for automotive glass; A processor, configured to perform the steps of the liquid coating method for automotive glass as described in any one of claims 5-8 when executing the liquid coating apparatus for automotive glass.

10. A computer-readable storage medium, characterized in that, The storage medium stores computer instructions. When the computer reads the computer instructions in the storage medium, the computer executes the liquid coating method for automotive glass as described in any one of claims 5-8.

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