A glue-applying robot

Abstract

This application provides a glue-applying robot, comprising: a vehicle body; a glue-applying mechanism connected to the vehicle body; and multiple wheels connected to the underside of the vehicle body. Each wheel is equipped with an individual lifting mechanism, which is vertically connected to the vehicle body to drive the wheel to move up and down relative to the vehicle body. In this application, the glue-applying robot can perform glue-applying operations at different heights, greatly expanding its applicable scenarios. Furthermore, the robot enables rapid movement across corrugated ribs, significantly reducing the workload of the operator and improving the glue-applying efficiency.

Description

Technical Field

[0001] This application belongs to the field of building-integrated photovoltaics (BIPV) technology, and in particular relates to a glue-applying robot. Background Technology

[0002] Solar energy boasts advantages such as being pollution-free, having no geographical limitations, and being inexhaustible, making solar photovoltaic (PV) power generation technology a major direction for developing and utilizing new energy sources. Among these, Building Integrated Photovoltaics (BIPV) is a novel application of photovoltaics that combines photovoltaic modules with buildings, possessing broad market prospects. Specifically, a glue-applying robot can be used to bond structural adhesive to the building, and then the photovoltaic modules can be bonded to the building using structural adhesive, thus completing the integration of the photovoltaic modules and the building.

[0003] However, due to the differences in the models of building roof metal panels, the height of the surfaces requiring adhesive application also varies. Existing adhesive application robots are difficult to use for applying adhesive to surfaces at different heights, limiting their applicability. Moreover, during the process of transferring the adhesive application from one metal rib to another (i.e., across ribs), the heavy weight of the adhesive application robot makes the transfer difficult, significantly increasing the workload of the operator and reducing the adhesive application efficiency of the robot. Utility Model Content

[0004] This application aims to provide a glue-applying robot to solve the problem of low glue-applying efficiency of existing glue-applying robots.

[0005] To solve the above-mentioned technical problems, this application is implemented as follows:

[0006] This application discloses a glue-applying robot, which includes: a vehicle body; a glue-applying mechanism connected to the vehicle body; and multiple wheels connected to the underside of the vehicle body. Each wheel is equipped with a separate lifting mechanism, which is vertically connected to the vehicle body to drive the wheel connected to it to rise and fall relative to the vehicle body.

[0007] In this embodiment, by equipping each of the glue-applying robot's wheels with a separate lifting mechanism, each wheel can be raised or lowered relative to the vehicle body. In practical applications, the raising and lowering of the wheels adjusts the distance between the vehicle body and the surface to be glued, allowing the glue-applying robot to perform glue-applying operations at different heights, greatly expanding its applicable scenarios. Furthermore, when the glue-applying robot needs to be moved across corrugated ribs, by sequentially controlling the raising and lowering of individual wheels in conjunction with the rotation of other wheels, the robot can achieve rapid movement across corrugated ribs, significantly reducing the operator's workload and improving the glue-applying efficiency.

[0008] Optionally, the lifting mechanism includes a mounting frame and a lifting drive component. The traveling wheels are mounted on the mounting frame, one end of the lifting drive component is connected to the mounting frame, and the other end is connected to the vehicle body. The lifting drive component is used to drive the mounting frame and the traveling wheels to rise and fall together relative to the vehicle body. The mounting frame avoids directly connecting the traveling wheels to the lifting drive component, improving the ease of installation of the traveling wheels.

[0009] Optionally, the number of lifting drive components is at least two, and at least two lifting drive components are connected to at least two sides of the mounting frame. This allows the mounting frame to be driven from both sides to raise and lower the traveling wheels, improving the lifting stability of the mounting frame and the traveling wheels.

[0010] Optionally, along the travel direction of the glue-applying robot, the robot has a front end and a rear end that are positioned opposite each other; the glue-applying robot also includes a cleaning mechanism, which is disposed on the side of the glue-applying robot near the front end, and is used to clean the area to be glued. This improves the cleanliness of the area to be glued, enhances the adhesion reliability of the adhesive in the area to be cleaned, and thus improves the adhesion reliability of the photovoltaic modules on the metal roof.

[0011] Optionally, the cleaning mechanism includes a cleaning roller and a cleaning fan. The cleaning roller is positioned close to the glue application mechanism, and the cleaning fan is positioned on the side of the cleaning roller near its front end. The cleaning fan is used to clean impurities from the area to be glued, and the cleaning roller is used to clean the area to be glued after the impurities have been removed. Because the area to be glued has undergone preliminary cleaning, the cleaning effect is better when using the cleaning roller to clean the area to be glued.

[0012] Optionally, the glue dispensing robot further includes at least two glue storage tanks and a dispensing pipe. The glue storage tanks are used to store glue material. Each glue storage tank has an outlet connected to a dispensing pipe for exporting the glue material from the storage tank. One end of the dispensing pipe is connected to the dispensing pipe, and the other end is connected to the glue dispensing mechanism. The dispensing pipe is used to guide the glue material from the dispensing pipe into the glue dispensing mechanism. By setting multiple glue storage tanks, the glue storage capacity of the glue dispensing robot can be increased, the number of times the storage tanks need to be replaced can be reduced, thereby effectively improving glue dispensing efficiency.

[0013] Optionally, the glue dispensing mechanism includes multiple nozzles connected to the other end of the glue dispensing tube. These nozzles are used to apply the glue from the glue dispensing tube to the area to be glued. By moving the glue dispensing robot along the walking direction, multiple rows of glue can be applied simultaneously, further improving glue dispensing efficiency.

[0014] Optionally, the glue dispensing mechanism further includes a glue dispensing valve for controlling the glue dispensing amount; the glue dispensing robot further includes a distance sensor connected to the vehicle body for acquiring the walking distance of the glue dispensing robot. The distance sensor is connected to the glue dispensing valve to control the opening and closing of the glue dispensing valve based on the walking distance, so as to achieve precise segmented glue dispensing.

[0015] Optionally, the glue-applying mechanism further includes a telescopic mechanism connected to the vehicle body. The distance sensor is connected to the telescopic mechanism, which drives the distance sensor to retract relative to the vehicle body. When the distance sensor retracts onto the vehicle body, it can prevent the distance sensor from being damaged by impact, thereby improving the service life of the distance sensor.

[0016] Additional aspects and advantages of this invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. Attached Figure Description

[0017] The above and / or additional aspects and advantages of this utility model will become apparent and readily understood from the description of the embodiments taken in conjunction with the following drawings, in which:

[0018] Figure 1 This is one of the structural schematic diagrams of the glue-applying robot described in the embodiments of this application;

[0019] Figure 2 This is a second schematic diagram of the structure of the glue-applying robot described in the embodiments of this application;

[0020] Figure 3This is the third structural schematic diagram of the glue-applying robot described in the embodiments of this application;

[0021] Figure 4 This is the fourth structural schematic diagram of the glue-applying robot described in the embodiments of this application;

[0022] Figure 5 This is the fifth structural schematic diagram of the glue-applying robot described in the embodiments of this application;

[0023] Figure 6 This is the sixth structural schematic diagram of the glue-applying robot described in the embodiments of this application;

[0024] Figure 7 This is the seventh structural schematic diagram of the glue-applying robot described in the embodiments of this application;

[0025] Figure 8 This is the eighth structural schematic diagram of the glue-applying robot described in the embodiments of this application;

[0026] Figure 9 This is the ninth structural schematic diagram of the glue-applying robot described in the embodiments of this application;

[0027] Figure 10 This is the tenth structural schematic diagram of the glue-applying robot described in the embodiments of this application.

[0028] Reference numerals: 10 - vehicle body, 11 - glue dispensing mechanism, 110 - glue dispensing hose, 111 - glue nozzle, 112 - glue dispensing valve, 12 - traveling wheel, 13 - lifting mechanism, 131 - mounting bracket, 132 - lifting drive component, 14 - glue storage tank, 141 - glue outlet hose, 15 - glue extrusion mechanism, 16 - cleaning mechanism, 161 - cleaning roller, 162 - cleaning fan, 163 - cleaning liquid tank, 164 - cleaning pipe, 165 - stirring motor, 17 - distance sensor, 171 - telescopic mechanism, 2 - metal roof, 21 - ribs. Detailed Implementation

[0029] The embodiments of this utility model will now be described in detail. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain this utility model, and should not be construed as limiting this utility model. All other embodiments obtained by those skilled in the art based on the embodiments in this application without inventive effort are within the scope of protection of this application.

[0030] The terms "first" and "second" in the specification and claims of this application may explicitly or implicitly include one or more of the features. In the description of this utility model, unless otherwise stated, "a plurality of" means two or more. Furthermore, in the specification and claims, "and / or" indicates at least one of the connected objects, and the character " / " generally indicates that the preceding and following objects are in an "or" relationship.

[0031] In the description of this utility model, it should be understood that the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc., indicating the orientation or positional relationship are based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this utility model and simplifying the description, and are not intended to indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this utility model.

[0032] In the description of this utility model, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "joining" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this utility model based on the specific circumstances.

[0033] Reference Figures 1 to 10 The diagram shows a schematic representation of the glue-applying robot according to an embodiment of this application. Figures 1 to 3 As shown, the glue-applying robot may specifically include: a vehicle body 10; a glue-applying mechanism 11 connected to the vehicle body 10; and multiple walking wheels 12 connected to the bottom of the vehicle body 10. Each walking wheel 12 is provided with an individual lifting mechanism 13, which is vertically connected to the vehicle body 10 to drive the walking wheel 12 connected to it to rise and fall relative to the vehicle body 10.

[0034] In this embodiment, by equipping each of the adhesive applicator's wheels 12 with a separate lifting mechanism 13, each wheel 12 can be raised or lowered relative to the vehicle body 10. In specific applications, the raising and lowering of the wheels 12 adjusts the distance between the vehicle body 10 and the surface to be adhesiveped, allowing the adhesive applicator to perform adhesive applicating operations at different heights, greatly expanding its applicable scenarios. Furthermore, when the adhesive applicator needs to be moved across the ribs 21, by sequentially controlling the raising and lowering of individual wheels 12 in conjunction with the rotation of other wheels 12, the adhesive applicator can quickly move across the ribs 21, significantly reducing the operator's workload and improving the adhesive applicator's efficiency.

[0035] Specifically, the vehicle body 10 serves as the main structural component of the glue-applying robot, supporting various functional parts such as the wheels 12, glue-applying mechanism 11, cleaning mechanism 16, glue storage tank 14, and glue extrusion mechanism 15. The vehicle body 10 may include a frame (also called a chassis) and a housing (not shown in the figure). The housing can be fixed to the top of the frame using fasteners. The wheels 12, glue extrusion mechanism 15, and glue-applying mechanism 11 can all be fixed to the frame and located within the housing.

[0036] In specific applications, such as Figure 5 As shown, the glue dispensing robot may further include a glue storage tank 14 and a glue extrusion mechanism 15. The glue storage tank 14 can be used to store the glue to be dispensed. The glue extrusion mechanism 15 may specifically include a power unit, a transmission unit, and a limiting device. The power unit may include a motor, electric motor, etc. The transmission unit may include a screw and slider connected in a mating manner. The limiting device may include a screw limiting mechanism, etc. At least a portion of the glue extrusion mechanism 15 can extend from the rear end of the glue storage tank 14 into the glue storage tank 14 and squeeze the glue inside the glue storage tank 14 to extrude the glue inside the glue storage tank 14 from the front end of the glue storage tank 14.

[0037] Specifically, the glue applicator 11 can be set at the front end of the glue storage tank 14 to apply the glue squeezed out from the glue storage tank 14 to the surface of the building, such as the metal roof 2. The glue can be used to bond photovoltaic modules, thereby achieving the combination of photovoltaic modules and the building.

[0038] In this embodiment of the application, the walking wheel 12 may include a power system and a wheel. The power system may be installed above the frame, and the wheel may be installed below the frame. The power system may be used to drive the wheel to walk on the surface of the building, so that the glue-applying robot can apply glue while walking, thereby improving the glue-applying efficiency of the glue-applying robot.

[0039] For example, the glue storage tank 14, the glue extrusion mechanism 15, and the glue application mechanism 11 can be connected to the vehicle body 10 by fasteners or snap-fit ​​connections. This application embodiment does not specifically limit the connection method of the glue storage tank 14, the glue extrusion mechanism 15, and the glue application mechanism 11 on the vehicle body 10.

[0040] It should be noted that, in this embodiment of the application, the glue storage tank 14 may specifically include a glue tank body and a glue tank cover connected to the outside of the glue tank body. The glue tank body can be used to contain glue, and the glue tank cover can be used to protect the glue tank body. A handle may be provided on the outside of the glue tank cover, which can be held by the operator to facilitate the installation, disassembly, and transportation of the glue storage tank 14.

[0041] In this embodiment, the walking wheels 12 can be raised and lowered relative to the vehicle body 10 via the lifting mechanism 13. Since the walking wheels 12 are attached to the metal roof 2, the height of the vehicle body 10 relative to the metal roof 2 can be adjusted accordingly during the raising and lowering of all the walking wheels 12 relative to the vehicle body 10.

[0042] like Figure 6 As shown, when all the lifting mechanisms 13 connected to the walking wheels 12 are folded and not unfolded, the distance between the walking wheels 12 and the vehicle body 10 is relatively close. In this case, it is suitable for applying sealant to the lower-height surfaces of the metal roof 2. For example... Figure 7 As shown, when applying adhesive to a high surface on the metal roof 2, the lifting mechanisms 13 of all the wheels 12 can be switched to the extended state. In this state, with all lifting mechanisms 13 raised, the vehicle body 10 can be lifted, meaning the distance between the vehicle body 10 and the adhesive application mechanism 11 on it and the metal roof 2 is greater, making it suitable for applying adhesive to high surfaces. Thus, by raising and lowering the lifting mechanisms 13 on the wheels 12, the adhesive application robot can be adapted to apply adhesive to metal roof 2 surfaces of different heights, greatly expanding its applicability.

[0043] In this embodiment of the application, when the glue-applying robot needs to move across the ribs 21 on the metal roof 2, the lifting mechanisms 13 on the walking wheels 12 can be switched to... Figure 7 In the unfolded state shown, a certain gap is allowed between the vehicle body 10 and the top surface of the rib 21. Then, as... Figure 8As shown, by driving the lifting mechanism 13 on one of the walking wheels 12 to fold, the walking wheel 12 is lifted, and the other three walking wheels 12 are controlled to rotate, causing the vehicle body 10 to rotate in preparation for crossing the rib 21. Next, as shown in Figure 9, the lifted walking wheel 12 is lowered, and the remaining three walking wheels 12 are lifted and lowered sequentially in the same manner until all walking wheels 12 have crossed the rib 21. In this embodiment, because the walking wheels 12 can be independently lifted and lowered through the lifting structure, the glue-applying robot can quickly move across the rib 21, greatly reducing the workload of the operator and improving the glue-applying efficiency of the robot.

[0044] In some optional embodiments of this application, the lifting mechanism 13 may specifically include: a mounting frame 131 and a lifting drive 132. The walking wheel 12 is mounted on the mounting frame 131. One end of the lifting drive 132 is connected to the mounting frame 131 and the other end is connected to the vehicle body 10. The lifting drive 132 can be used to drive the mounting frame 131 and the walking wheel 12 to lift together relative to the vehicle body 10.

[0045] In practical applications, each wheel 12 is connected to a mounting bracket 131, which supports the wheel 12. The wheel 12 is vertically connected to the vehicle body 10 via a lifting drive component 132. The lifting drive component 132 may include a linear motor, a push rod, or other drive components capable of linear motion. During the process of the lifting drive component 132 driving the mounting bracket 131 to rise or fall, the wheel 12 connected to the mounting bracket 131 can be correspondingly raised or lowered. The mounting bracket 131 avoids the need to directly connect the wheel 12 to the lifting drive component 132, improving the ease of installation of the wheel 12.

[0046] Optionally, the number of lifting drive components 132 is at least two, and at least two lifting drive components 132 are connected to at least two sides of the mounting frame 131 to drive the mounting frame 131 and the traveling wheels 12 to lift from both sides of the mounting frame 131, thereby improving the lifting stability of the mounting frame 131 and the traveling wheels 12.

[0047] It should be noted that the accompanying drawings of this application embodiment only show the case where there are two lifting drive components 132, and the two lifting drive components 132 are located on both sides of the mounting bracket 131. In practical applications, the number of lifting drive components 132 can be set according to actual requirements. For example, the number of lifting drive components 132 can also be 3, 4, or 6, etc. This application embodiment does not specifically limit the number of lifting drive components 132.

[0048] Optionally, the lifting mechanism 13 has a lifting range of 10 mm to 200 mm, enabling the glue-applying robot to perform glue-applying operations on more than 95% of metal roofs 2 and to move across the roof ribs 21, greatly expanding the applicable scenarios of the glue-applying robot and improving its glue-applying efficiency. In practical applications, by lifting to different heights, glue-applying can be performed on different types of metal roofs 2.

[0049] In some alternative embodiments of this application, along the travel direction of the glue-applying robot, the glue-applying robot has a front end and a rear end that are set opposite to each other; the glue-applying robot may also include a cleaning mechanism 16, which is disposed on the side of the glue-applying mechanism 11 near the front end. The cleaning mechanism 16 can be used to clean the area to be glued, so as to improve the cleanliness of the area to be glued and improve the adhesion reliability of the glue in the area to be cleaned, thereby improving the adhesion reliability of the photovoltaic module on the metal roof 2.

[0050] like Figure 2 and Figure 3 As shown, the cleaning mechanism 16 may include a cleaning roller 161 and a cleaning fan 162. The cleaning roller 161 is disposed near the glue application mechanism 11, and the cleaning fan 162 is disposed on the side of the cleaning roller 161 near the front end. The cleaning fan 162 can be used to clean impurities, such as floating dust, from the area to be glued, thereby achieving preliminary cleaning of the area. The cleaning roller 161 can be used to clean the area to be glued after removing impurities. Because the area to be glued has undergone preliminary cleaning, the cleaning effect is better when using the cleaning roller 161 to clean the area.

[0051] Specifically, the cleaning fan 162 can be rotatably connected to the vehicle body 10 to adjust its tilt angle, thereby adjusting the airflow angle. The cleaning roller 161 can be controlled by a servo motor and is vertically connected to the vehicle body 10. When adhesive needs to be applied, the servo motor can control the cleaning roller 161 to descend to the adhesive application surface for cleaning. After adhesive application is completed, the servo motor can control the cleaning roller 161 to rise for storage, thus extending its service life.

[0052] In practical applications, to prevent the area to be glued after cleaning by the cleaning roller 161 from being contaminated again before glue application, it is necessary to strictly control the distance between the cleaning roller 161 and the glue application mechanism 11. In this embodiment, the distance between the cleaning roller 161 and the glue application mechanism 11 can be controlled within 1 meter to achieve a process of cleaning and applying glue simultaneously, making the adhesion between the glue and the surface to be glued more reliable.

[0053] Specifically, the cleaning roller 161 can be made of soft cloth strips, which improves the cleaning effect on the surface to be coated with adhesive. Furthermore, since soft cloth strips are not easily damaged even during prolonged cleaning operations, choosing a cleaning roller 161 with soft cloth strips extends its service life and reduces the likelihood of damage to the surface to be coated with adhesive. For example, the Shore hardness of the cleaning roller 161 can be in the range of Shore A20-50 to balance good cleaning performance with a long service life.

[0054] Optionally, such as Figure 3 As shown, the cleaning mechanism 16 may further include a cleaning liquid tank 163, a cleaning liquid pump, and a cleaning pipe 164 connected in sequence. The cleaning pipe 164 can be connected to the cleaning roller 161. The cleaning liquid tank 163 can be used to store cleaning liquid, and the cleaning liquid pump can be used to pump the cleaning liquid in the cleaning liquid tank 163 to the cleaning pipe 164. The cleaning pipe 164 can then deliver the cleaning liquid to the cleaning roller 161, so that the cleaning roller 161 can use the cleaning liquid to clean the area to be coated.

[0055] Specifically, the cleaning pipe 164 can deliver cleaning fluid to the front end of the cleaning roller 161, wetting the area to be coated. The cleaning roller 161 can rotate in reverse, pushing the cleaning fluid and dust towards the uncleaned areas, ensuring that the cleaned area is clean and dry, thus achieving moist cleaning. Figure 3 As shown, a stirring motor 165 is installed in the cleaning liquid tank 163 to prevent the cleaning liquid from settling and resulting in poor cleaning effect. The motor speed needs to be controlled above 50 r / min to ensure that the cleaning material in the cleaning liquid tank 163 does not settle.

[0056] In some alternative embodiments of this application, such as Figure 5 As shown, the glue dispensing robot may further include at least two glue storage tanks 14 and a glue dispensing tube 110. The glue storage tanks 14 can be used to store glue. The outlet of the glue storage tank 14 is connected to a glue dispensing tube 141, which can be used to discharge the glue in the glue storage tank 14. One end of the glue dispensing tube 110 is connected to the glue dispensing tube 141, and the other end of the glue dispensing tube 110 is connected to the glue dispensing mechanism 11. The glue dispensing tube 110 can be used to introduce the glue in the glue dispensing tube 141 into the glue dispensing mechanism 11.

[0057] In practical applications, at least two glue storage tanks 14 are set up, and the glue discharged from the glue outlet pipes 141 of at least two glue storage tanks 14 is all collected into the glue dispensing pipe 110, so as to deliver the glue to the glue dispensing mechanism 11 through the glue dispensing pipe 110. By setting up multiple glue storage tanks 14, the glue storage capacity of the glue dispensing robot can be improved, the number of times the glue storage tanks 14 need to be replaced can be reduced, thereby effectively improving the glue dispensing efficiency.

[0058] It should be noted that, Figure 5 The illustration only shows the case where the glue dispensing robot includes two glue storage tanks 14. In practical applications, the number of glue storage tanks 14 in the glue dispensing robot can also be other values, such as 3, 4, 6 or 8, etc. This application embodiment does not specifically limit the number of glue storage tanks 14.

[0059] In some alternative embodiments of this application, such as Figure 2 As shown, the glue dispensing mechanism 11 may include multiple nozzles 111, which are connected to the other end of the glue dispensing tube 110. The nozzles 111 are used to apply the adhesive from the glue dispensing tube 110 to the area to be glued. In practical applications, the distribution direction of the multiple nozzles 111 may intersect with the walking direction of the glue dispensing robot. Thus, by moving the glue dispensing robot along the walking direction, multiple rows of adhesive can be applied simultaneously, further improving glue dispensing efficiency.

[0060] It should be noted that, Figure 2 The illustration only shows the case where the glue dispensing mechanism 11 includes two glue nozzles 111. In practical applications, the number of glue nozzles 111 in the glue dispensing mechanism 11 can also be 1, 3, 4 or 6, etc. The embodiments of this application do not specifically limit the number of glue nozzles 111 in the glue dispensing mechanism 11.

[0061] For example, the dispensing diameter of nozzle 111 is controlled between 5mm and 20mm so that the glue dispensed by nozzle 111 can be adapted to more than 97% of application scenarios.

[0062] like Figure 2 As shown, the glue dispensing mechanism 11 also includes a glue dispensing valve 112, which can be connected to the glue nozzle 111 in the glue dispensing mechanism 11. The glue dispensing valve 112 can be used to control the glue dispensing amount from the glue nozzle 111 of the glue dispensing mechanism 11. The glue dispensing robot may also include a distance sensor 17, which is connected to the vehicle body 10. The distance sensor 17 can be used to obtain the walking distance of the glue dispensing robot. The distance sensor 17 is connected to the glue dispensing valve 112 to control the opening and closing of the glue dispensing valve 112 based on the walking distance, so as to achieve precise segmented glue dispensing.

[0063] In specific applications, the ranging sensor 17 can be located at any of the front, side, or rear of the glue-applying robot. This embodiment does not specifically limit the location of the ranging sensor 17. The ranging sensor 17 can be any type of laser ranging sensor or photoelectric ranging sensor. This embodiment does not specifically limit the type of ranging sensor 17.

[0064] like Figure 6As shown, the glue application mechanism 11 may also include a telescopic mechanism 171, which is connected to the vehicle body 10. The distance sensor 17 is connected to the telescopic mechanism 171, and the telescopic mechanism 171 can be used to drive the distance sensor 17 to extend or retract relative to the vehicle body 10. In practical applications, when the distance sensor 17 extends relative to the vehicle body 10 (e.g., ...), ... Figure 7 As shown, the ranging sensor 17 can be used to measure the walking distance of the glue-applying robot. When the ranging sensor 17 is retracted onto the vehicle body 10, it can prevent the ranging sensor 17 from being damaged by impact, thereby improving the service life of the ranging sensor 17.

[0065] In this embodiment, an audible and visual alarm can be installed on top of the glue-applying robot to alert the operator when there is no glue, an obstacle is present, or the robot malfunctions. An emergency stop switch can also be installed on top of the robot to stop operation in an emergency, improving glue-applying safety. Furthermore, cameras can be installed at the front and rear of the robot to capture front and rear images, which can be remotely transmitted to the operator for remote monitoring. The robot is also equipped with a battery to power it. A charging port can also be installed on top of the robot for onboard charging.

[0066] Optionally, the glue-applying robot can also be equipped with ultrasonic obstacle avoidance sensors at both the front and rear ends. These sensors detect obstacles in front of and behind the robot in real time, and can stop the robot when an obstacle is detected, thus improving its operational safety. Side laser rangefinders can be installed on both sides of the glue-applying robot to detect the distance between the robot and the side ribs 21, ensuring the robot travels in a straight line during the glue-applying process. A photoelectric positioning sensor can also be installed on the bottom of the robot to measure the distance between the robot and the glue-applying surface. If the distance deviates, the glue-applying process stops. If the detected distance is too large, indicating that the robot has reached a suspended position, it stops moving.

[0067] In summary, the glue-applying robot described in the embodiments of this application may include at least the following advantages:

[0068] In this embodiment, by equipping each of the glue-applying robot's wheels with a separate lifting mechanism, each wheel can be raised or lowered relative to the vehicle body. In practical applications, the raising and lowering of the wheels adjusts the distance between the vehicle body and the surface to be glued, allowing the glue-applying robot to perform glue-applying operations at different heights, greatly expanding its applicable scenarios. Furthermore, when the glue-applying robot needs to be moved across corrugated ribs, by sequentially controlling the raising and lowering of individual wheels in conjunction with the rotation of other wheels, the robot can achieve rapid movement across corrugated ribs, significantly reducing the operator's workload and improving the glue-applying efficiency.

[0069] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "illustrative embodiment," "example," "specific example," or "some examples," 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 the present invention. 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.

[0070] Although embodiments of the present invention have been shown and described, those skilled in the art will understand that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the present invention, the scope of which is defined by the claims and their equivalents.

Claims

1. A gluing robot, characterized in that, The glue-applying robot includes: Vehicle body (10); A glue-applying mechanism (11) is connected to the vehicle body (10); Multiple wheels (12) are connected to the underside of the vehicle body (10). Each wheel (12) is provided with a separate lifting mechanism (13). The lifting mechanism (13) is connected to the vehicle body (10) in a lifting manner to drive the wheel (12) connected to it to rise and fall relative to the vehicle body (10).

2. The glue-applying robot according to claim 1, characterized in that, The lifting mechanism (13) includes a mounting frame (131) and a lifting drive (132). The walking wheel (12) is mounted on the mounting frame (131). One end of the lifting drive (132) is connected to the mounting frame (131), and the other end is connected to the vehicle body (10). The lifting drive (132) is used to drive the mounting frame (131) and the walking wheel (12) to lift together relative to the vehicle body (10).

3. The glue-applying robot according to claim 2, characterized in that, The number of the lifting drive components (132) is at least two, and at least two of the lifting drive components (132) are connected to at least two sides of the mounting bracket (131).

4. The glue-applying robot according to claim 1, characterized in that, The lifting range of the lifting mechanism (13) is 10 mm to 200 mm.

5. The glue-applying robot according to any one of claims 1 to 4, characterized in that, Along the direction of travel of the glue-applying robot, the glue-applying robot has a front end and a rear end that are set opposite to each other; The glue-applying robot also includes a cleaning mechanism (16), which is located on the side of the glue-applying mechanism (11) near the front end. The cleaning mechanism (16) is used to clean the area to be glued.

6. The glue-applying robot according to claim 5, characterized in that, The cleaning mechanism (16) includes a cleaning roller (161) and a cleaning fan (162), wherein, The cleaning roller (161) is located near the glue applicator (11), and the cleaning fan (162) is located on the side of the cleaning roller (161) near the front end. The cleaning fan (162) is used to clean impurities in the glue-applying area, and the cleaning roller (161) is used to clean the glue-applying area after removing impurities.

7. The glue-applying robot according to any one of claims 1 to 4, characterized in that, The glue-applying robot also includes at least two glue storage tanks (14) and a glue-applying pipe (110), wherein the glue storage tanks (14) are used to store glue; wherein, The outlet of the glue storage tank (14) is connected to a glue outlet pipe (141), which is used to discharge the glue material in the glue storage tank (14). One end of the glue applicator pipe (110) is connected to the glue outlet pipe (141), and the other end of the glue applicator pipe (110) is connected to the glue applicator mechanism (11). The glue applicator pipe (110) is used to guide the glue material in the glue outlet pipe (141) into the glue applicator mechanism (11).

8. The glue-applying robot according to claim 7, characterized in that, The glue applicator (11) includes a plurality of glue nozzles (111), which are connected to the other end of the glue applicator tube (110). The glue nozzles (111) are used to apply the glue material in the glue applicator tube (110) to the area to be glued.

9. The glue-applying robot according to any one of claims 1 to 4, characterized in that, The glue dispensing mechanism (11) further includes a glue dispensing valve (112), which is used to control the amount of glue dispensed by the glue dispensing mechanism (11); The glue-applying robot also includes a distance sensor (17), which is connected to the vehicle body (10). The distance sensor (17) is used to obtain the walking distance of the glue-applying robot. The distance sensor (17) is connected to the glue-applying valve (112) to control the opening and closing of the glue-applying valve (112) based on the walking distance.

10. The glue-applying robot according to claim 9, characterized in that, The glue-applying mechanism (11) also includes a telescopic mechanism (171), which is connected to the vehicle body (10). The distance sensor (17) is connected to the telescopic mechanism (171), and the telescopic mechanism (171) is used to drive the distance sensor (17) to retract relative to the vehicle body (10).

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