A double-arm cooperative gluing robot

Abstract

The application belongs to the technical field of mold manufacturing, and particularly relates to a double-arm cooperation glue coating robot, which comprises a base, a control box, a mechanical arm and a control system arranged on the base, two mechanical arms are extended to the top end outside the control box, two glue outlets are arranged at the execution end of each mechanical arm, a solution tank is arranged in the control box, a liquid pump is arranged in the solution tank, the output end of the liquid pump is connected with the glue outlets through a pipeline, an electromagnetic flow valve is arranged on the pipeline, a radar and an industrial camera matched with the glue outlets are further arranged at the execution end of the mechanical arm, the radar and the industrial camera are both signal-connected with the input end of the control system, and the output end of the control system is signal-connected with the mechanical arm, the liquid pump and the electromagnetic flow valve; the problem that the existing glue coating robot cannot be position-adjusted and judged according to the environment and coating control is solved.

Description

Technical Field

[0001] This application belongs to the field of mold manufacturing technology, specifically a dual-arm collaborative glue-applying robot. Background Technology

[0002] Typical glue-applying robots have only one robotic arm during spraying, resulting in low efficiency. Furthermore, they require manual remote control or operation to follow a pre-programmed sequence. The robot is not fully intelligent and cannot adjust its position or control the amount of glue applied based on the environment. Summary of the Invention

[0003] The purpose of this application is to address the shortcomings of existing technologies by designing a dual-arm collaborative adhesive application robot using radar, industrial cameras, and a control system in conjunction with a robotic arm. This robot can adjust the spraying distance and spraying flow rate according to environmental conditions, thus solving the problem that existing adhesive application robots cannot adjust their position or control the spraying material based on the environment.

[0004] To achieve the above objectives, the following technical solution is adopted:

[0005] A dual-arm collaborative adhesive application robot includes a base, a control box, robotic arms, and a control system mounted on the base. Two robotic arms extend beyond the top of the control box. Each robotic arm has two adhesive outlets at its actuator end. The control box contains a solution tank and a liquid pump. The output of the liquid pump is connected to the adhesive outlets via a pipe. An electromagnetic flow valve is mounted on the pipe. The actuator end of each robotic arm is also equipped with a radar and an industrial camera that cooperate with the adhesive outlets. Both the radar and the industrial camera are signal-connected to the input of the control system. The output of the control system is signal-connected to the robotic arms, the liquid pump, and the electromagnetic flow valve.

[0006] Preferably, the base is provided with rollers, the rollers are driven by a servo motor, and the control system signal is connected to the servo motor.

[0007] Preferably, the robotic arm is equipped with a ring light, and the glue outlet is located at the center of the ring light.

[0008] Preferably, the inner wall of the dispensing port has a cavity, and the side wall of the dispensing port has a through hole that connects the cavity to the environment outside the dispensing port. A pressure sensor that cooperates with the through hole is provided in the cavity, and the pressure sensor signal is connected to the control system.

[0009] Preferably, the pressure sensor is fixed inside the cavity by a connecting rod, a preset gap is formed between the pressure sensor and the through hole, and the sensing surface of the pressure sensor faces the through hole.

[0010] Preferably, the actuator of the robotic arm is provided with a glue nozzle, and the glue outlet is located on the glue nozzle.

[0011] Preferably, the control system is a PLC chip.

[0012] Preferably, an emergency stop button is provided on the outer wall of the control box, and the emergency stop button signal is connected to the control system.

[0013] Preferably, the control box is equipped with an energy storage device, which supplies power to the entire dual-arm collaborative glue-applying robot.

[0014] Compared with the prior art, the beneficial effects of the technical solution of this application are:

[0015] This application designs a dual-arm collaborative glue-applying robot by using radar, industrial cameras, and a control system in conjunction with a robotic arm. The robot can adjust the spraying distance and spraying flow rate according to environmental conditions, solving the problem that existing glue-applying robots cannot adjust their position or control the spraying material based on the environment. Attached Figure Description

[0016] Figure 1 This is a schematic diagram of the structure of this application;

[0017] Figure 2 This is an enlarged view of point A in diagram 1;

[0018] Figure 3 for Figure 2 Enlarged view of point B in the middle;

[0019] Figure 4 This is a cross-sectional schematic diagram of the spray nozzle in this application;

[0020] Figure 5 This is a schematic diagram of the interior of the control box in this application.

[0021] The components include: 1. Base; 2. Control box; 3. Robotic arm; 4. Liquid outlet; 5. Solution tank; 6. Liquid pump; 7. Electromagnetic flow valve; 8. Roller; 9. Ring light; 10. Cavity; 11. Through hole; 12. Pressure sensor; 13. Spray nozzle; 14. Emergency stop button; and 15. Industrial camera. Detailed Implementation

[0022] Reference Figure 1 - Figure 5A dual-arm collaborative adhesive application robot includes a base 1, a control box 2, robotic arms 3, and a control system mounted on the base 1. Two robotic arms 3 extend beyond the top of the control box 2. Each robotic arm 3 has two adhesive outlets 4 at its actuating end. The control box 2 contains a solution tank 5, and the solution tank 5 contains a liquid pump 6. The output end of the liquid pump 6 is connected to the adhesive outlets 4 via a pipe. An electromagnetic flow valve 7 is mounted on the pipe. The actuating end of each robotic arm 3 is also equipped with a radar and an industrial camera 15 that cooperate with the adhesive outlets 4. Both the radar and the industrial camera 15 are signal-connected to the input end of the control system. The output end of the control system is signal-connected to the robotic arms 3, the liquid pump 6, and the electromagnetic flow valve 7.

[0023] In this embodiment, when in use, the robotic arm 3 moves under the command of the control system. The movement direction of the robotic arm 3 is adjusted by the information fed back by the radar and industrial camera 15, and the amount of glue sprayed is controlled by the electromagnetic flow valve 7 and the liquid pump 6, thereby realizing position adjustment and paint spraying control judgment according to the environment.

[0024] As a preferred embodiment, the base 1 is equipped with rollers 8, which are driven by a servo motor. The control system is connected to the servo motor via a signal. With this configuration, the control system controls the servo motor based on information from radar feedback, thereby causing the servo motor to move the rollers 8 and adjusting the position of the entire dual-arm collaborative adhesive applicator robot.

[0025] As a preferred embodiment, the robotic arm 3 is equipped with a ring light 9, and the glue outlet 4 is located at the center of the ring light 9. This configuration allows the industrial camera 15 to accurately capture the spraying location and the post-spraying condition, thereby feeding the captured information back to the control system. The control system then adjusts the position of the entire dual-arm collaborative glue-applying robot and the orientation of the robotic arm 3.

[0026] As a preferred embodiment, the inner wall of the glue outlet 9 has a cavity 10, and the side wall of the glue outlet 8 has a through hole 11. The through hole 11 connects the cavity 10 to the environment outside the glue outlet 9. A pressure sensor 12, which mates with the through hole 11, is installed inside the cavity 10, and the pressure sensor 12 is connected to the control system. With this configuration, the glue flowing from the glue outlet 9, due to its velocity, reduces the pressure inside the cavity 10. Air enters the cavity 10 through the through hole 11. The pressure sensor 12 collects the pressure of the air entering the cavity 10 and transmits this signal to the control system. The control system converts this pressure into the speed at which the glue is sprayed from the glue outlet 9, thereby adjusting the flow rate of the electromagnetic flow valve 7. Generally, if the spraying speed is high, the pressure detected by the pressure sensor 12 will be high; this pressure is directly proportional to the spraying speed.

[0027] In a preferred embodiment, the pressure sensor 12 is fixed inside the cavity 10 by a connecting rod, with a preset gap between the pressure sensor 12 and the through hole 11, and the sensing surface of the pressure sensor 12 facing the through hole 11. This arrangement of the connecting rod ensures that the sensing surface of the pressure sensor 12 faces the through hole 11, allowing the pressure of the air entering the through hole 11 to directly act on the sensing surface of the pressure sensor 12, resulting in more sensitive detection.

[0028] As a preferred embodiment, the actuator of the robotic arm 3 is provided with a glue nozzle 13, and the glue outlet 4 is located on the glue nozzle 13. By providing the glue nozzle 13, it is convenient to install the pressure sensor 12 and to manufacture the cavity 10 and the through hole 11.

[0029] As a preferred approach, the control system is a PLC chip.

[0030] As a preferred embodiment, an emergency stop button 14 is provided on the outer wall of the control box 2, and the emergency stop button 14 is signal-connected to the control system. The emergency stop button 14 allows the entire dual-arm collaborative adhesive applicator robot to stop working directly in an emergency.

[0031] As a preferred embodiment, the control box 21 is equipped with a power storage device that supplies power to the entire dual-arm collaborative adhesive application robot. This eliminates the need for a continuous power supply via a wired connection, making the process more convenient.

Claims

1. A dual-arm collaborative adhesive application robot, characterized in that, The system includes a base (1), a control box (2), a robotic arm (3), and a control system mounted on the base (1). Two robotic arms (3) extend beyond the top of the control box (2). Each robotic arm (3) has two glue outlets (4) at its execution end. The control box (2) contains a solution tank (5), and the solution tank (5) contains a liquid pump (6). The output end of the liquid pump (6) is connected to the glue outlets (4) via a pipe. An electromagnetic flow valve (7) is mounted on the pipe. The execution end of the robotic arm (3) is also equipped with a radar and an industrial camera (15) that cooperate with the glue outlets (4). The radar and the industrial camera (15) are both signal-connected to the input end of the control system. The output end of the control system is signal-connected to the robotic arm (3), the liquid pump (6), and the electromagnetic flow valve (7).

2. The dual-arm collaborative glue-applying robot according to claim 1, characterized in that: The base (1) is provided with rollers (8), which are driven by a servo motor, and the control system signal is connected to the servo motor.

3. The dual-arm collaborative glue-applying robot according to claim 1, characterized in that: The robotic arm (3) is equipped with a ring light (9), and the glue outlet (4) is located at the center of the ring light (9).

4. The dual-arm collaborative adhesive application robot according to claim 2, characterized in that: The inner wall of the dispensing port (9) has a cavity (10), and the side wall of the dispensing port (8) has a through hole (11). The through hole (11) connects the cavity (10) with the environment outside the dispensing port (9). The cavity (10) is equipped with a pressure sensor (12) that cooperates with the through hole (11). The pressure sensor (12) is connected to the control system.

5. A dual-arm collaborative adhesive application robot according to claim 4, characterized in that: The pressure sensor (12) is fixed in the cavity (10) by a connecting rod. There is a preset gap between the pressure sensor (12) and the through hole (11). The sensing surface of the pressure sensor (12) faces the through hole (11).

6. A dual-arm collaborative adhesive application robot according to claim 5, characterized in that: The robotic arm (3) has a glue nozzle (13) at its execution end, and the glue outlet (4) is located on the glue nozzle (13).

7. The dual-arm collaborative glue-applying robot according to claim 1, characterized in that: The control system is a PLC chip.

8. The dual-arm collaborative glue-applying robot according to claim 1, characterized in that: An emergency stop button (14) is provided on the outer wall of the control box (2), and the emergency stop button (14) is connected to the control system.

9. A dual-arm collaborative adhesive application robot according to claim 1, characterized in that: The control box (21) is equipped with an energy storage device, which supplies power to the entire dual-arm collaborative glue-applying robot.

Images