Adaptive Depth Measurement System of Bi-component Insulating Glass Sealing Robot

Sealing robot is the essential equipment to automatic manufacture of insulating glass. In process of automatic sealing, the sealant volume is computed and extruded by the sealing system according to the real-time depth of sealing groove measured online. This paper presents an adaptive sealing depth measurement system for bi-component automatic sealing robot of insulating glass. To adapt to the variation of the sealing depth and to meet the request of sealing motion, a rotary measurement mechanism was developed. The measurement system consists of a rotary encoder, an adaptive measuring head and an optical pulse counting system. In this measurement system, the survey of linear depth is realized by gauging the rotating angle of the measuring head. A contact depth feeler is design, which has the characteristic that the rotation angle and the groove depth are the linear relationships. The profile of depth feeler is section of an in volute of a certain base circle and the proof is presented in the paper. The experimental results indicate that the proposed system realizes the real-time measurement of the sealing parameter, and has high measurement accuracy and adaptability, and could meet the measuring request of the bi-component automatic sealing robot.