Automatic glue scraping equipment for rotary screen head

Abstract

The utility model discloses a kind of round net muff automatic glue scraping equipment, it is related to textile printing and dyeing machinery technical field, including rotatable connection in mechanical arm on snatch swing table, snatch swing table is equipped with first jaw and second jaw, first jaw is used to snatch first muff, second jaw is used to clamp second muff;Spraying device, including the rotation of pneumatic rotating shaft around its own axis, a plurality of pneumatic support is connected in pneumatic rotating shaft one end, pneumatic support can be perpendicular to the telescopic direction of pneumatic rotating shaft axis, to resist the inner wall of muff, the top of pneumatic support is equipped with glue nozzle, glue nozzle is used to spray glue for muff;Depth camera, depth camera is connected with control device signal, depth camera is used to detect the position of each muff, control device receives position information, and is used to control mechanical arm and snatch swing table directional snatch muff, the automation level and production efficiency of promotion muff gluing have been realized, reduce artificial cost, ensure the technical effect of product quality.

Description

Technical Field

[0001] This utility model relates to the field of textile printing and dyeing technology, and in particular to an automatic glue scraping device for a rotary screen. Background Technology

[0002] In the textile industry, printing and dyeing processes add differentiated aesthetic features and functional characteristics to textiles, determining the fabric's color expression, pattern precision, and texture. Against this backdrop, rotary screen printing technology, due to its high efficiency, high precision, and adaptability to complex patterns, has become the mainstream technology for achieving large-scale, high-precision processing in modern printing and dyeing processes. During the operation of rotary screen printing equipment, the printing screen, as the carrier for pattern transfer, needs to be sealed and fixed at both ends by end caps. These end caps maintain the structural stability of the screen, ensuring that the printing paste is evenly distributed and accurately penetrates the fabric surface. The quality control of the end cap squeegee process is directly related to the clarity of the printed pattern's boundaries, color fastness, and the registration accuracy of multi-color printing. However, the current implementation of the end cap squeegee process is still generally dominated by manual labor. High-intensity repetitive labor limits production efficiency, and individual differences exist in the force angle, speed, and path control of each operator, making it difficult to standardize the thickness and uniformity of the squeegee layer, affecting the consistency of multiple batches of products.

[0003] In summary, developing an automated adhesive scraping device that can adapt to various sizes and automatically complete identification, gripping, scraping, and stacking is a problem that urgently needs to be solved by those skilled in the art. Utility Model Content

[0004] The purpose of this invention is to provide an automatic glue scraping device for the closed end of a rotary screen, which solves the technical problem that the existing closed end glue scraping operation is mainly carried out manually, resulting in increased production costs and inconsistent product quality in multiple batches.

[0005] To achieve the above objectives, this utility model provides an automatic glue-applying device for the end cap of a rotary screen, comprising:

[0006] A gripping platform is rotatably connected to a robotic arm. The gripping platform has a first gripper and a second gripper on adjacent side walls. The first gripper is used to grip the first end cap, and the second gripper is used to grip the second end cap.

[0007] The spraying device includes a pneumatic shaft that can rotate around its own axis. One end of the pneumatic shaft is connected to several pneumatic supports. The pneumatic supports can extend and retract perpendicular to the axis of the pneumatic shaft to support the inner wall of the end cap. A spray nozzle is provided above the pneumatic supports for spraying adhesive onto the end cap.

[0008] The depth camera is connected to the control device. The depth camera is used to detect the position of each end. The control device receives the position information and uses it to control the robotic arm and the gripping platform to orient and grip the end.

[0009] Preferably, the gripping platform is a triangular prism with the side walls of the first gripper and the second gripper perpendicular to each other. The side wall between the first gripper and the second gripper is connected to the robotic arm through a steering knuckle. The positions of the first gripper and the second gripper can be changed by rotating the steering knuckle.

[0010] Preferably, both the first gripper and the second gripper include telescopic cylinders. Each telescopic cylinder is connected to a number of gripping rods at its output end away from the gripping platform. Each gripping rod moves along its own length. A stop block is provided on the side of the gripping rod away from the telescopic cylinder. The gripping rod drives the stop block to abut against the side wall of the end cap.

[0011] Preferably, the spraying device further includes a support platform, which is connected to a rotating cylinder via a first positioning guide rail. The rotating cylinder provides power to the pneumatic shaft, and the sliding direction of the first positioning guide rail is parallel to the pneumatic shaft.

[0012] Preferably, mounting brackets are provided on both sides of the support platform, and the upper beam of the mounting bracket is connected to the spray nozzle through a second cutting guide rail, which is perpendicular to the first cutting guide rail.

[0013] Preferably, each gripping rod is provided with a plurality of positioning holes, which are arranged sequentially along the length of each gripping rod. An abutment block is detachably installed in the positioning hole, and the distance between each positioning hole and the axis of the telescopic cylinder is less than the radius of the end cap.

[0014] Preferably, it also includes a computer terminal with a human-machine interface, a pressure regulating device on the vertical beam of the mounting frame, the pressure regulating device being signal-connected to the spray nozzle, the human-machine interface being signal-connected to the pressure regulating device, the rotary cylinder, and the telescopic cylinder, the human-machine interface being used to adjust the operating parameters of each component and monitor its operating status, and the human-machine interface also having an alarm for indicating the status of blind processing.

[0015] Preferably, it further includes:

[0016] A camera mount with a depth camera mounted on top, positioning the depth camera above the stacked mortise;

[0017] The loading platform is located below the gripping platform and is used to place and transport the finished products.

[0018] Support frame, used to support the spraying equipment;

[0019] Mounting bracket for securing the robotic arm.

[0020] Preferably, the control device further includes a visual positioning module and a deep learning module. The visual positioning module is connected to the depth camera signal and is used to generate three-dimensional point cloud data of the head, so that the robotic arm can identify the head position. The deep learning module is used to record heads of different sizes, so that the gripping platform can grasp heads of different sizes.

[0021] Preferably, a pressure sensor is provided between the pneumatic support and the pneumatic shaft to detect the pressure of the pneumatic support on the end cap.

[0022] Compared to the aforementioned background technology, the automatic coating device for rotary screen nozzles provided by this utility model includes a gripping platform. The side walls of the gripping platform are respectively provided with first grippers for gripping the nozzle to be coated and second grippers for gripping the coated nozzle. The gripping platform is rotatably connected to a robotic arm. The robotic arm places the nozzle to be coated at the coating device. The coating device includes a pneumatic shaft that rotates along its own axis. Several pneumatic supports are vertically connected to the end of the pneumatic shaft near the robotic arm. Each pneumatic support can extend and retract along its own length. A coating nozzle is provided above the pneumatic support. During the coating process of the nozzle using this application, the control device scans and stores the data using a depth camera. The system uses a grommet to identify the position of each grommet. The control device controls the movement of the robotic arm and the gripping platform. The first gripper picks up the grommet and places it on the outer circumference of the pneumatic support. Each pneumatic support extends to fix the grommet to the outer circumference of the pneumatic rotating shaft. The pneumatic rotating shaft rotates, and the glue nozzle applies glue to the grommet. During the glue application process, the robotic arm and the gripping platform pick up the grommet again through the first gripper. The robotic arm connects the second gripper with the finished grommet. After removing the grommet, the gripping platform rotates, swapping the positions of the first and second grippers. The first gripper engages the newly picked-up grommet with the pneumatic support, and the spraying operation continues. The robotic arm transfers and stacks the finished grommet, and repeats the above process.

[0023] This application provides an automatic glue-applying device for rotary screen end caps. The device uses a depth camera to scan and position each end cap, and a robotic arm and gripping table to pick up the end caps. The control device controls the glue nozzle to spray glue evenly onto the end caps. This reduces labor costs while ensuring uniform glue application on each end cap, thus ensuring stable product quality in subsequent production. Attached Figure Description

[0024] To more clearly illustrate the technical solutions in the embodiments of this utility model or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on the provided drawings without creative effort.

[0025] Figure 1 This is a structural diagram of the automatic glue scraping device for the closed end of a circular screen provided in an embodiment of the present utility model;

[0026] Figure 2 This is a structural diagram of the spraying device provided in an embodiment of the present utility model;

[0027] Figure 3 This is a structural diagram of the grasping platform provided in an embodiment of the present utility model.

[0028] Among them, 1-robotic arm; 2-grabbing platform; 21-first gripper; 22-second gripper; 23-telescopic cylinder; 24-gripping rod; 25-abutment block; 26-positioning hole; 27-steering knuckle; 3-spraying device; 31-rotating cylinder; 32-pneumatic shaft; 33-pneumatic bracket; 34-carrying platform; 35-spray nozzle; 36-first cutting guide rail; 37-mounting bracket; 38-second cutting guide rail; 39-pressure regulating device; 4-depth camera; 5-camera bracket; 6-stage; 7-support frame; 8-mounting base; 9-end. Detailed Implementation

[0029] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0030] To enable those skilled in the art to better understand the present invention, the present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0031] This utility model provides an automatic glue-applying device for the closed end of a rotary screen. Please refer to the attached instruction manual. Figure 1 To be continued Figure 3This application includes a robotic arm 1, with a gripping platform 2 rotatably connected to its end. A first gripper 21 and a second gripper 22 are respectively provided on two adjacent side walls of the gripping platform 2. The first gripper 21 is used to grip the end cap 9 to be sprayed, while the second gripper 22 is used to grip the end cap 9 after spraying. When the gripping platform 2 rotates a certain angle, the positions of the first gripper 21 and the second gripper 22 can be interchanged. A spraying device 3 is provided on one side of the robotic arm 1. The spraying device 3 includes a pneumatic rotating shaft 32, which can rotate around its own axis. Several pneumatic... Each pneumatic support 33 is perpendicular to the axis of the pneumatic rotating shaft 32. Each pneumatic support 33 can extend and retract along its own axis. The length of the pneumatic support 33 when not in use is less than the radius of each end cap 9. Furthermore, a glue spray nozzle 35 is provided above the pneumatic support 33 to spray glue onto the end cap 9. In addition, a depth camera 4 is provided above the area where each end cap 9 is stacked. The depth camera 4 can scan each stacked end cap 9. The depth camera 4 is connected to a control device. The control device receives the position information of each end cap 9 detected by the depth camera 4 and controls the robotic arm 1 and the gripping platform 2 to grip the end cap 9 in an oriented manner.

[0032] When performing a coating operation on the cylindrical nozzles using this invention, a depth camera 4 positioned above each nozzle 9 scans the position of each nozzle 9, generating three-dimensional point cloud data of the position and dimensions of each nozzle 9. The control device receives this data and controls the robotic arm 1 and the gripping platform 2 to grip the topmost nozzle 9. The robotic arm 1 moves and rotates the gripping platform 2. It should be noted that, to ensure the stability of the stacked cylindrical nozzles 9, the axis of the nozzle 9 is perpendicular to the ground, and the nozzle 9 gripped by the first gripper 21 is perpendicular to the pneumatic rotating shaft 32. After flipping, the positions of the first gripper 21 and the second gripper 22 are swapped. At this time, the nozzle... The axis 9 is parallel to the pneumatic rotating shaft 32. The robotic arm 1 can put the end cap 9 on the outside of each pneumatic bracket 33. The pneumatic bracket 33 extends so that its end abuts against the inner wall of the end cap 9, locking the position of the end cap 9. Then the pneumatic rotating shaft 32 rotates, and the glue spray nozzle 35 above it operates synchronously. The glue spray nozzle 35 sprays glue onto the outer wall of the uniformly rotating end cap 9. Because the amount of glue sprayed by the glue spray nozzle 35 per unit time is the same, and the end cap 9 rotates at a uniform speed, the thickness of the glue sprayed on the outer periphery of the end cap 9 is uniform. Then the robotic arm 1 docks the second gripper 22 with the end cap 9 that has been sprayed, and picks up and stores the processed end cap 9.

[0033] Please refer to the instruction manual appendix. Figure 3The gripping platform 2 is specifically a triangular prism. Further, a first gripper 21 and a second gripper 22 are respectively provided on two adjacent side walls of the gripping platform 2, and the side walls of the first gripper 21 and the second gripper 22 are perpendicular to each other. A steering knuckle 27 is mounted on the side wall between the first gripper 21 and the second gripper 22. The rotation axis of the steering knuckle 27 is perpendicular to the side wall on which it is located. Preferably, the side wall on which the first gripper 21 is mounted is referred to as the first side wall, the side wall on which the second gripper 22 is mounted is referred to as the second side wall, and the side wall on which the steering knuckle 27 is mounted is referred to as the second side wall. The side wall is designated as the third side wall. Furthermore, the angle between the third side wall and the first and second side walls is 45°. After the gripping platform 2 with this structure rotates 180° around the steering knuckle 27, the positions of the first gripper 21 and the second gripper 22 overlap after being swapped. If the angle between the third side wall and the first and second side walls is not set to 45°, the rotated first gripper 21 and second gripper 22 will move a distance horizontally or vertically, causing them to collide with other components. The built-in drive of the steering knuckle 27 is connected to the control device. When the robotic arm 1 transfers the gripping platform 2 to the spraying device 3, the control device controls the rotation of the steering knuckle 27, causing the first gripper 21 to engage with the pneumatic support 33. After the second gripper 22 has completed processing and is stored in its end cap 9, the control device controls the rotation of the steering knuckle 27 to reset the gripping platform 2.

[0034] Preferably, both the first gripper 21 and the second gripper 22 are equipped with telescopic cylinders 23. The output end of each telescopic cylinder 23 is located away from the gripping platform 2, and the feed direction of each output end is perpendicular to the axis of the telescopic cylinder 23. The output ends of each telescopic cylinder 23 are evenly distributed around their own axis, and each output end is connected to a gripping rod 24. The extension direction of each gripping rod 24 coincides with the telescopic direction of each output end. An abutment block 25 is provided on the side of the gripping rod 24 away from the telescopic cylinder 23. When the robotic arm 1 drives the gripping platform 2 to move, each gripping rod 24 abuts against the port of the end cap 9, so that each abutment block 25 extends into the inner cavity of the end cap 9. Then the telescopic cylinder 23 is activated, and each output end drives each gripping rod 24 to move outward, so that the abutment block 25 fits tightly against the inner wall of the end cap 9, and the first gripper 21 can pick up the end cap 9.

[0035] Furthermore, each gripping rod 24 is provided with a plurality of positioning holes 26, specifically four positioning holes 26 arranged sequentially along the length of the gripping rod 24. Each positioning hole 26 is used to install the abutment block 25. Preferably, the distance from each positioning hole 26 to the axis of the telescopic cylinder 23 is less than the radius of the end cap 9, ensuring that after the gripping rod 24 is aligned with the end cap 9, the abutment block 25 can always extend into the inner cavity of the end cap 9. By fixing the end cap 9 by abutting against the inner wall of the end cap 9, the abutment block 25 can be prevented from contacting the outer wall of the end cap 9 after spraying, thus avoiding damage to the adhesive layer. In addition, the abutment block 25 can be installed on the positioning holes 26 with different pitch circles, so that the first gripper 21 and the second gripper 22 can adapt to end caps 9 of various sizes.

[0036] Please refer to the instruction manual appendix. Figure 2 The spraying device 3 also includes a support platform 34. A first cutting guide rail 36 is provided on the upper surface of the support platform 34. The sliding direction of the first cutting guide rail 36 is parallel to the pneumatic rotating shaft 32. A drive cylinder is installed at the end of the first cutting guide rail 36 away from the pneumatic rotating shaft 32. The drive cylinder provides sliding power for the first cutting guide rail 36. A rotating cylinder 31 is connected to the first cutting guide rail 36. The output shaft of the rotating cylinder 31 is connected to the pneumatic rotating shaft 32. The rotating cylinder 31 provides power to the pneumatic rotating shaft 32, driving the pneumatic support 33 and the end cap 9 to rotate. Furthermore, mounting brackets 37 are provided on both sides of the support platform 34. The spray nozzle 35 is mounted on the crossbeam of the mounting bracket 37. A second cutting guide rail 38 is provided between the crossbeam and the spray nozzle 35. The first cutting guide rail 36 and the second cutting guide rail 38 are perpendicular to each other. In one embodiment of this application, when the size of the end cap 9 to be sprayed changes, the control device controls the spray nozzle 35 and the rotating pneumatic 31 to move, so that the spray nozzle 35 is directly above the end cap 9. Then, the control device determines the dispensing pressure of the spray nozzle 35 and sprays the end cap 9 below. For some sizes of end caps 9 that are long, the spraying range of the spray nozzle 35 cannot completely cover the surface of the end cap 9 in one go. In this case, the control device controls the drive cylinder to move, causing the rotating cylinder 31, along with the pneumatic rotating shaft 32 and the end cap 9, to move axially, aligning the unsprayed area of ​​the end cap 9 with the nozzle opening of the spray nozzle 35. The spray nozzle 35 is then activated to perform a second spraying of the end cap 9 until the adhesive is completely coated on the outer wall of the end cap 9.

[0037] Preferably, a computer terminal is installed on the outside of the automatic coating equipment for rotary screen nozzles. The operator controls the operation of the automatic coating equipment for rotary screen nozzles through the human-machine interface set on the computer terminal. The computer terminal is connected to the depth camera 4, receives the image information transmitted by the depth camera 4, and analyzes the spatial position information of each nozzle 9. The human-machine interface has software for controlling the shooting of the depth camera 4 and software for sending execution commands to the robotic arm 1. The camera shooting software and the robotic arm control software share data. The robotic arm control software uses the position information of the nozzle 9 obtained by the camera shooting software to control the robotic arm 1 to accurately grasp the nozzle 9 located at the top. In addition, the computer terminal is also used to monitor the other components of the spraying device 3. The human-machine interface has monitoring software to display the operating parameters of each component. When the spraying pressure of the nozzle 35 is inconsistent with the preset value, or the output speed of the rotary cylinder 31 is outside the preset range, the alarm set on the human-machine interface will be activated to prompt the staff to check and maintain the equipment.

[0038] Please continue to refer to the instruction manual appendix. Figure 2 A pressure regulating device 39 is installed on one side of the vertical beam of the mounting bracket 37. The pressure regulating device 39 is connected to the nozzle and has a spray pressure knob. The operator can adjust the spray pressure of the nozzle 35 by turning the knob. The pressure regulating device 39 also has an indicator to display the current spray pressure of the nozzle 35, allowing the operator to observe whether the actual spray pressure matches the target spray pressure. In addition, the pressure regulating device 39 is also connected to a computer terminal, enabling the human-machine interface to monitor the spray pressure in real time. The computer terminal is also connected to a rotary cylinder 31, controlling the rotation speed of the nozzle through the rotary cylinder 31. In one embodiment of this application, a nozzle 35 located above the end cap sprays adhesive onto the uniformly rotating end cap 9. With the spraying pressure of the nozzle 35 remaining constant, reducing the rotational speed of the end cap 9 causes the sidewall of the end cap 9 to remain within the spraying area of ​​the nozzle 35 for a longer period, resulting in a greater thickness of the adhesive applied to the outer wall of the end cap 9. Conversely, with the rotational speed of the end cap 9 increasing while the spraying pressure remains constant, the end cap 9 remains within the spraying area of ​​the nozzle 35 for a shorter period, resulting in a thinner adhesive thickness. In other words, the computer terminal can calculate the appropriate rotational speed of the rotating cylinder 31 and the spraying pressure of the nozzle 35 based on the size of the end cap 9 to be sprayed and the target adhesive thickness, ensuring that the adhesive thickness on the outer periphery of end caps 9 of different sizes reaches the preset value after spraying.

[0039] Preferably, the control device further includes a visual positioning module and a deep learning module. The visual positioning module is connected to the depth camera 4. The visual positioning module receives the images scanned by the depth camera 4 and generates three-dimensional point cloud data, which facilitates the robotic arm 1 to identify the position of the target end cap 9. The deep learning module is used to record end caps 9 of different sizes, so that the robotic arm 1 can stably grasp and transport the end cap 9. The extension length of the gripping rod 24 and the feed amount of the drive cylinder are adjusted according to the end cap 9 of different sizes to ensure that the glue spray nozzle 35 can spray glue onto the end cap 9 fully and evenly.

[0040] This application also includes a camera bracket 5, the top of which is used to mount a depth camera 4, so that the depth camera 4 is located above the stacked end caps 9, enabling the depth camera 4 to fully scan the end caps 9; a platform 6, which is located below the gripping table 2, and is used to place and transport the processed end caps 9; a support frame 7, which is used to support the spraying device 3, so that the spraying device 3 is at a similar height to the gripped end caps 9, reducing the movement distance of the robotic arm 1 and improving the processing speed of this application; and a mounting base 8, which is used to fix the robotic arm 1.

[0041] In one embodiment of this application, during the application of adhesive application to the nozzles, a depth camera 4 mounted on the top of the camera bracket 5 scans the position of each nozzle 9. The visual positioning module generates three-dimensional point cloud data of the position and size of each nozzle 9. The deep learning module sends corresponding preset instructions to the control device according to the size of the target nozzle 9 (denoted as the first nozzle), controlling the robotic arm 1 and the gripping platform 2 to grip the first nozzle. The robotic arm 1 moves and rotates the gripping platform 2. After flipping, the positions of the first gripper 21 and the second gripper 22 are swapped. The robotic arm 1 places the first nozzle on the outside of each pneumatic bracket 33. The pneumatic bracket 33 extends so that its end abuts against the inner wall of the first nozzle, locking the position of the first nozzle. The adhesive nozzle 35 slides towards the side closer to the first nozzle, while the drive cylinder pulls the rotating cylinder 31 away from the robotic arm 1. The first nozzle is moved so that it is directly below the spray nozzle 35. Then the pneumatic rotating shaft 32 rotates, and the spray nozzle 35 above it moves synchronously. The spray nozzle 35 sprays glue onto the outer wall of the uniformly rotating first nozzle. Because the amount of glue sprayed by the spray nozzle 35 per unit time is the same, and the first nozzle rotates at a uniform speed, the thickness of the glue sprayed on the outer circumference of the first nozzle is uniform. During the spraying process, the depth camera 4 scans the stacked nozzles 9 again and controls the robotic arm 1 to pick up the topmost nozzle 9 (referred to as the second nozzle). When the second gripper 22 of the gripping platform 2 engages with the first nozzle, the steering knuckle 27 swaps the positions of the first nozzle and the second nozzle. The unsprayed second nozzle engages with the starting bracket. The first nozzle that has been sprayed is separated from the spraying device 3. During the spraying of the second nozzle, the robotic arm 1 stores the first nozzle and picks up a new nozzle 9 again, repeating the above process.

[0042] It should be noted that in this specification, relational terms such as first and second are used only to distinguish one entity from several other entities, and do not necessarily require or imply any such actual relationship or order between these entities.

[0043] This article uses specific examples to illustrate the principles and implementation methods of this utility model. The descriptions of the above embodiments are only for the purpose of helping to understand the method and core ideas of this utility model. It should be noted that for those skilled in the art, several improvements and modifications can be made to this utility model without departing from the principles of this utility model, and these improvements and modifications also fall within the protection scope of this utility model.

Claims

1. An automatic glue-applying device for a closed-end rotary screen, characterized in that, include: A gripping platform (2) is rotatably connected to a robotic arm (1). The gripping platform (2) has a first gripper (21) and a second gripper (22) on adjacent side walls. The first gripper (21) is used to grip the end cap (9) to be sprayed, and the second gripper (22) is used to grip the end cap (9) after spraying. The spraying device (3) includes a pneumatic rotating shaft (32) that can rotate around its own axis. One end of the pneumatic rotating shaft (32) is connected to a plurality of pneumatic supports (33). The pneumatic supports (33) can extend and retract perpendicular to the axis of the pneumatic rotating shaft (32) to support the inner wall of the end cap (9). A glue nozzle (35) is provided above the pneumatic support (33). The glue nozzle (35) is used to spray glue onto the end cap (9). A depth camera (4) is connected to a control device. The depth camera (4) is used to detect the position of each of the plugs (9). The control device receives the position information and is used to control the robotic arm (1) and the gripping platform (2) to grip the plugs (9) in an oriented manner.

2. The automatic glue-applying equipment for the closed end of a circular screen according to claim 1, characterized in that, The gripping platform (2) is specifically a triangular prism with the side walls of the first gripper (21) and the second gripper (22) perpendicular to each other. The side walls between the first gripper (21) and the second gripper (22) are connected to the robotic arm (1) through a steering knuckle (27). The positions of the first gripper (21) and the second gripper (22) can be changed by rotating the steering knuckle (27).

3. The automatic glue-applying equipment for the closed end of a circular screen according to claim 2, characterized in that, Both the first gripper (21) and the second gripper (22) include telescopic cylinders (23). Each telescopic cylinder (23) has a plurality of gripping rods (24) connected to its output end away from the gripping platform (2). Each gripping rod (24) moves along its own length direction. A stop block (25) is provided on the side of the gripping rod (24) away from the telescopic cylinder (23). The gripping rod (24) drives the stop block (25) to abut against the side wall of the end cap (9).

4. The automatic glue-scraping equipment for the closed end of a circular screen according to claim 3, characterized in that, The spraying device (3) also includes a support platform (34), which is connected to a rotating cylinder (31) via a first cutting guide rail (36). The rotating cylinder (31) provides power to the pneumatic rotating shaft (32), and the sliding direction of the first cutting guide rail (36) is parallel to the pneumatic rotating shaft (32).

5. The automatic glue-scraping equipment for the closed end of a circular screen according to claim 4, characterized in that, The support platform (34) is provided with mounting brackets (37) on both sides. The upper beam of the mounting bracket (37) is connected to the spray nozzle (35) through the second cutting guide rail (38). The second cutting guide rail (38) is perpendicular to the first cutting guide rail (36).

6. The automatic glue-scraping equipment for the closed end of a circular screen according to claim 5, characterized in that, Each of the clamping rods (24) is provided with a plurality of positioning holes (26), and each of the positioning holes (26) is arranged sequentially along the length direction of each of the clamping rods (24). The abutment block (25) is detachably installed in the positioning hole (26), and the distance between each positioning hole (26) and the axis of the telescopic cylinder (23) is less than the radius of the end cap (9).

7. The automatic glue-applying equipment for the closed end of a circular screen according to claim 6, characterized in that, It also includes a computer terminal with a human-machine interface. The vertical beam of the mounting frame (37) is equipped with a pressure regulating device (39). The pressure regulating device (39) is connected to the glue spray nozzle (35) by signal. The human-machine interface is connected to the pressure regulating device (39), the rotating cylinder (31), and the telescopic cylinder (23) by signal. The human-machine interface is used to adjust the operating parameters of each component and monitor its operation. The human-machine interface is also equipped with an alarm to indicate the processing status of the nozzle (9).

8. The automatic glue-applying equipment for the closed end of a circular screen according to claim 1, characterized in that, Also includes: A camera bracket (5) is provided on top of the depth camera (4), such that the depth camera (4) is located above the stacked stubs (9); A platform (6) is located below the gripping platform (2) and is used to place and transport the finished product (9). Support frame (7) is used to support the spraying device (3); Mounting base (8) for fixing the robotic arm (1).

9. The automatic glue-applying device for the closed end of a circular screen according to claim 1, characterized in that, The control device also includes a visual positioning module and a deep learning module. The visual positioning module is connected to the depth camera (4) and is used to generate three-dimensional point cloud data of the head (9) so that the robotic arm (1) can identify the position of the head (9). The deep learning module is used to record the head (9) of different sizes so that the gripping platform (2) can grip the head (9) of different sizes.

10. The automatic glue-applying device for the closed end of a circular screen according to claim 1, characterized in that, A pressure sensor is provided between the pneumatic support (33) and the pneumatic rotating shaft (32), and the pressure sensor is used to detect the pressure of the pneumatic support (33) on the end cap (9).

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