CN106404781A - Gluing detection method and device - Google Patents
Gluing detection method and device Download PDFInfo
- Publication number
- CN106404781A CN106404781A CN201610801242.XA CN201610801242A CN106404781A CN 106404781 A CN106404781 A CN 106404781A CN 201610801242 A CN201610801242 A CN 201610801242A CN 106404781 A CN106404781 A CN 106404781A
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- Prior art keywords
- gluing
- image
- glue rifle
- hole
- mechanical arm
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Classifications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
- G01N21/84—Systems specially adapted for particular applications
- G01N21/8422—Investigating thin films, e.g. matrix isolation method
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
- G01N21/84—Systems specially adapted for particular applications
- G01N2021/8411—Application to online plant, process monitoring
- G01N2021/8416—Application to online plant, process monitoring and process controlling, not otherwise provided for
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
- G01N21/84—Systems specially adapted for particular applications
- G01N21/8422—Investigating thin films, e.g. matrix isolation method
- G01N2021/8427—Coatings
- G01N2021/8433—Comparing coated/uncoated parts
Abstract
The embodiment of the invention provides a gluing detection method and device. The method comprises: before gluing by utilizing a glue gun, starting up a light source and image acquisition equipment; controlling a mechanical arm to move according to a path to be glued corresponding to a device to be glued; in a movement process, controlling the mechanical arm to control the glue gun to glue the device to be glued; in a gluing process of the glue gun, controlling the image acquisition equipment to acquire images, and acquiring a target image acquired by the image acquisition equipment; detecting a glue line in the target image to obtain a detection result. By adopting the gluing detection method and device provided by the embodiment of the invention, the gluing detection precision is improved; the device can be used for detecting while being used for gluing, so that steps are reduced and the efficiency is improved.
Description
Technical field
The present invention relates to gluing technical field, more particularly to a kind of gluing detection method and device.
Background technology
At present, in machinery manufacturing industry, generally need to carry out gluing operation to equipment.For example, in auto manufacturing, sealing
Glue has become the important auxiliary material of a class necessary to automobile production, and applies more and more extensive.In particular it is required that sending out to automobile
Motivation gray iron and change speed gear box carry out gluing operation, engine cylinder-body, cylinder cap and change speed gear box are sealed, is easy to follow-up
Leak test operates.But, in gluing operation, gluing is excessive (tree lace is excessively thick), can cause the waste of fluid sealant；Gluing deficiency (glue
Line is meticulous), device sealing can be caused bad, leak.Therefore gluing process, not only includes gluing and also needs to detect gluing
Whether qualified.
Existing coating system, including：Gluing performs device, mechanical arm and control device, this gluing performs device includes：
Glue rifle, light source and image capture device.Wherein, glue rifle is connected with mechanical arm, light source, image capture device and mechanical arm all with control
Control equipment is connected；And, multiple light sources are distributed on the above and around treating gluing device (such as engine cylinder-body), with energy
Enough illuminate the part treating the wanted gluing of gluing device；Image capture device is arranged on the top treating gluing device, gathering
Treat the global picture of the wanted glue application portions of gluing device.
Based on existing coating system, existing gluing detection process is：Before not having gluing, collection treats gluing device (such as
Engine cylinder-body) global image, and gather the global image that this treats gluing device after the completion of gluing again, then again to this two
Open image to be detected, realize the thickness of fluid sealant or holiday are detected.
But, it is the overall situation with regard to treating gluing member due to gathered by image capture device in above-mentioned gluing detection process
Image, so can lead to：In the case of tree lace is oversize or gluing circuit is irregular, gluing accuracy of detection is relatively low.
Content of the invention
The purpose of the embodiment of the present invention is to provide a kind of gluing detection method and device, to improve gluing accuracy of detection.
In a first aspect, embodiments providing a kind of gluing detection method, the control being applied in coating system sets
Standby 103, described coating system also includes：Mechanical arm 102 and gluing performs device 101, described gluing performs device 101 includes：
Glue rifle 1, light source 2, image capture device 3, described control device 103 respectively with described light source 2, described image collecting device 3 and
Described mechanical arm 102 electrically connects, and described mechanical arm 102 is connected with described glue rifle 1, and described gluing performs device 101 also includes：Peace
Dress seat 4, wherein, described mounting seat 4 is provided with first kind through hole 41 and Equations of The Second Kind through hole 42, and described glue rifle 1 embeds described the
One class through hole 41 and glue spraying end is stretched out, described image collecting device 3 embeds described Equations of The Second Kind through hole 42 and pickup area is located at institute
State glue spraying end place side；
Methods described can include：
Before using described glue rifle 1 gluing, open described light source 2 and described image collecting device 3；
Control described mechanical arm 102 to treat that gluing path is moved according to corresponding with treating gluing device 105, and be moved through
Cheng Zhong, carries out gluing by controlling described mechanical arm 102 to control described glue rifle 1 to treat gluing device 105；
During described glue rifle 1 gluing, control described image collecting device 3 collection image, and obtain described image and adopt
The target image that collection equipment 3 is collected；
Tree lace in described target image is detected, obtains testing result.
Alternatively, described control described image collecting device 3 collection image, can include：
Described image collecting device 3 is controlled to gather image according to predetermined frequency acquisition.
Alternatively, methods described can also include：
Export the testing result that the tree lace in described target image is detected.
Second aspect, embodiments provides a kind of gluing detection means, and the control being applied in coating system sets
Standby 103, described coating system also includes：Mechanical arm 102 and gluing performs device 101, described gluing performs device 101 includes：
Glue rifle 1, light source 2, image capture device 3, described control device 103 respectively with described light source 2, described image collecting device 3 and
Described mechanical arm 102 electrically connects, and described mechanical arm 102 is connected with described glue rifle 1, and described gluing performs device 101 also includes：Peace
Dress seat 4, wherein, described mounting seat 4 is provided with first kind through hole 41 and Equations of The Second Kind through hole 42, and described glue rifle 1 embeds described the
One class through hole 41 and glue spraying end is stretched out, described image collecting device 3 embeds described Equations of The Second Kind through hole 42 and pickup area is located at institute
State glue spraying end place side；
Described device can include：
Open unit, for, before using described glue rifle 1 gluing, opening described light source 2 and described image collecting device 3；
Control unit, for controlling described mechanical arm 102 to treat that gluing path is moved according to corresponding with treating gluing device 105
Dynamic, and in moving process, applied by controlling described mechanical arm 102 to control described glue rifle 1 to treat gluing device 105
Glue；
Acquiring unit, for during described glue rifle 1 gluing, controlling described image collecting device 3 collection image, and obtains
Take the target image that described image collecting device 3 is collected；
Detector unit, for detecting to the tree lace in described target image, obtains testing result.
Alternatively, described acquiring unit, for controlling described image collecting device 3 according to predetermined frequency acquisition collection figure
Picture.
Alternatively, described device can also include：
Output unit, for exporting the testing result that the tree lace in described target image is detected.
Glue detection method provided in an embodiment of the present invention and device, control device 103, before controlling glue rifle 1 gluing, is first opened
Open light source 2 and image capture device 3, so that image capture device 3 refers to receiving the image acquisition that this control device 103 sends
When making, can quickly gather image.Control device 103 controls glue rifle 1 gluing, is according to be coated by control machinery arm 102
The corresponding gluing path of glue device 105 is moved, thus controlling glue rifle 1 to move according to gluing path.Controlling glue rifle 1 gluing
When, image capture device 3 can also be controlled to gather the target image of now corresponding one section gluing.And then obtain this target figure
Picture, and one section of gluing in this target image is detected, realize the function with Tu Suijian, applied while gluing
Glue detects, shortens gluing detection beat, improves gluing detection efficiency.And, it is oversize or gluing circuit is not advised in tree lace
In the case of then, remain able to obtain higher gluing accuracy of detection, improve the precision of gluing detection.
Brief description
In order to be illustrated more clearly that the embodiment of the present invention or technical scheme of the prior art, below will be to embodiment or existing
Have technology description in required use accompanying drawing be briefly described it should be apparent that, drawings in the following description be only this
Some embodiments of invention, for those of ordinary skill in the art, on the premise of not paying creative work, acceptable
Other accompanying drawings are obtained according to these accompanying drawings.
Fig. 1 is the structural representation of one of embodiment of the present invention coating system；
Fig. 2 is the axonometric chart of one of embodiment of the present invention gluing performs device；
Fig. 3 is the axonometric chart at another visual angle of gluing performs device shown in Fig. 2；
Fig. 4 is the axonometric chart of another kind of gluing performs device in the embodiment of the present invention；
Fig. 5 is the axonometric chart at another visual angle of gluing performs device shown in Fig. 4；
Fig. 6 is a kind of gluing detection method flow chart provided in an embodiment of the present invention；
Fig. 7 is a kind of coating system schematic diagram provided in an embodiment of the present invention.
Specific embodiment
Below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is carried out clear, complete
Site preparation description is it is clear that described embodiment is only a part of embodiment of the present invention, rather than whole embodiments.It is based on
Embodiment in the present invention, it is every other that those of ordinary skill in the art are obtained under the premise of not making creative work
Embodiment, broadly falls into the scope of protection of the invention.
In order to solve prior art problem, embodiments provide a kind of gluing detection method and device.
It should be noted that the gluing detection method that the embodiment of the present invention is provided, it is applied to the control in coating system
Equipment.
Wherein, clear in order to describe, combine accompanying drawing 1-5 first below to the gluing detection method institute in the embodiment of the present invention
The coating system being applied to is introduced.
As shown in figure 1, this coating system can include：Gluing performs device 101, mechanical arm 102 and control device 103 and
Display device 104.
As shown in Figures 2 and 3, this gluing performs device 101 can include：Glue rifle 1, light source 2 and image capture device 3,
This control device 103 is electrically connected with this light source 2, this image capture device 3 and this mechanical arm 102 respectively, this mechanical arm 102 with should
Glue rifle 1 connects, and this gluing performs device 101 also includes：Mounting seat 4；
First kind through hole 41 and Equations of The Second Kind through hole 42 are provided with this mounting seat 4；
Wherein, this glue rifle 1 embeds this first kind through hole 41 and glue spraying end is stretched out, this image capture device 3 embed this second
Class through hole 42 and pickup area are located at this glue spraying end place side.
It is emphasized that in order to ensure glue rifle 1 can normal gluing, the glue spraying end of this glue rifle 1 should lead to from this first kind
Hole 41 is stretched out, and glue spraying end protruding side with treat gluing device 105 be located at mounting seat 4 the same side.In addition, in order to collect
Gluing image, the pickup area of image capture device 3 should be located at glue spraying end place side.
In addition, the shape of first kind through hole 41 and Equations of The Second Kind through hole 42 include but is not limited to as shown in Figure 1 square
Through hole, and the setting of shape of through holes can be set according to the concrete shape of glue rifle in practical application 1 and image capture device 3
Fixed, here is not detailed.The structure of mounting seat 4 includes but is not limited to cylindrical structure as shown in Figure 1.
The work process of this system is：Control device 103, before controlling glue rifle 1 gluing, first opens light source 2 and image acquisition
Equipment 3, so that image capture device 3, when receiving the image capture instruction that this control device 103 sends, can quickly be adopted
Collection image.Control device 103 is controlling glue rifle 1 gluing, is the gluing corresponding according to treating gluing device by control machinery arm
Path is moved, thus controlling glue rifle 1 to move according to gluing path.When controlling glue rifle 1 gluing, image acquisition can also be controlled to set
The target image of one section of now corresponding gluing of standby 3 collections.And then obtain this target image, and in this target image
Section gluing is detected.So that in the case of tree lace is oversize or gluing circuit is irregular, remaining able to obtain higher painting
Glue accuracy of detection.Wherein, the specific implementation one section of gluing in target image being detected can adopt prior art
Realize, here does not limit.
It is understood that control device 103 control machinery arm 102 drives glue rifle 1 mobile, and can in the scheduled time or
Glue rifle 1 is being detected positioned at during whne the precalculated position of gluing device 105, sending open command to light source 2, and set to image acquisition
Standby 3 send image capture instruction；And obtain the target image that image capture device 3 is collected, and then in target image
Tree lace is detected, obtains testing result.And this testing result is shown in display device 104.It is emphasized that
In practical application, control device 103 and display device 104 can be two independent equipment, and certainly, control device 103 also may be used
To have display function, now, display device that need not be extra can achieve the display to testing result.
Preferably as a kind of embodiment, this light source 2 is arranged on the first surface 43 of this mounting seat 4, this first surface 43
Stretch out the one side at glue spraying end for this mounting seat 4.
It is understood that light source 2 can be arranged on the first surface 43 of this mounting seat 4, wherein, this first surface 43
Stretch out the one side at glue spraying end for this mounting seat 4, light source 2 is located at the same of mounting seat 4 with the pickup area of image capture device 3
Side.So, light source 2 can provide lighting condition for image capture device 3, and, light source 2 is arranged on the first of this mounting seat 4
Surface 43, with respect to being distributed in the above and around treating gluing device, more save space by multiple light sources in prior art.Separately
Outward, due to light source 2 being arranged on the first surface 43 of this mounting seat 4, one section of every gluing just can be adopted using image capture device 3
Collection with regard to the image of this section of tree lace, that is, only needs to illuminate one section of gluing treating on gluing device, therefore required quantity of light source
Less, decrease the usage quantity of light source, that is, reduce the cost of gluing testing agency.
Preferably, can be using light source of the prior art as mounting seat 4, wherein, in this light source at least
Including light source 2, and the structure of fixed light source 2, this light source middle setting has first kind through hole 41, and is provided with installation diagram
Equations of The Second Kind through hole 42 as collecting device 3.This light source can be machine vision light source.
Preferably due to Equations of The Second Kind through hole is used for still image collecting device 3, the quantity of Equations of The Second Kind through hole 42 is therefore set
Not less than the quantity of this image capture device 3, so that image capture device 3 all can be well fixed.
Preferably, in order to collect more wide-field gluing image, by this image capture device 3 and Equations of The Second Kind through hole
42 number is disposed as three.
Preferably, in order to collect the gluing image in 360 degree of visuals field, three image capture devices 3 are uniformly distributed,
Pass through to arrange the distance between each Equations of The Second Kind through hole 42 and first kind through hole 41 equal, and any two Equations of The Second Kind through hole 42
Between the isometric mode of connecting line realize.
Preferably, the part controlling glue rifle 1 switch is stretched out or is not extended out mounting seat 4.Wherein, this switch refers to allow glue rifle 1
The switch of glue spraying.
Further, as shown in Figure 4 and Figure 5, on the basis of the gluing performs device shown in Fig. 2 and Fig. 3, this enforcement
Another kind of gluing performs device in example can also include：Lampshade 5；
This lampshade 5 is installed on this first surface 43, and this lampshade 5 has the 3rd connecting with this first kind through hole 41
Class through hole and the 4th class through hole connecting with Equations of The Second Kind through hole 42, the 3rd class through hole is stretched out at the glue spraying end of this glue rifle 1.
It is understood that this lampshade 5 is arranged on this first surface 43, so that protection is increased to light source 2.Wherein, lampshade 5
The mounting means being arranged on this first surface 43 is including but not limited to screwed up by screw thread.
In addition, in order to allow glue rifle 1 smoothly to stretch out, image capture device 3 can collect high-quality light source, this lampshade 5 should
There is the 3rd class through hole connecting with this first kind through hole 41 and the 4th class through hole connecting with Equations of The Second Kind through hole 42.
It is emphasized that in order to obtain preferable illumination, this lampshade should be Transparent lamp shade.Certainly, in order that lighting more
Uniformly, this lampshade can also be the nontransparent lampshade with opaque diffusing panel.
Based on above-mentioned coating system, embodiments provide a kind of gluing detection method, as shown in fig. 6, permissible
Comprise the steps：
S101：Before using this glue rifle 1 gluing, open this light source 2 and this image capture device 3；
Wherein, the control device 103 in coating system, can be pre- before needing to control glue rifle 1 to treat gluing device 105 gluing
First light source 2 and this image capture device 3 are opened, so that image capture device 3 is when receiving image capture instruction, can be fast
The collection image of speed.
S102：Control this mechanical arm 102 to treat that gluing path is moved according to corresponding with treating gluing device 105, and moving
During dynamic, carry out gluing by controlling this mechanical arm 102 to control this glue rifle 1 to treat gluing device 105；
Wherein, control device 103 can adopt prior art control mode, control machinery arm 102 according to treat gluing
Gluing path moves treating corresponding to device 105.And control glue rifle 1 to treat gluing device 105 gluing while mobile.
S103：During this glue rifle 1 gluing, control this image capture device 3 collection image, and obtain this image acquisition
The target image that equipment 3 is collected；
Wherein, control device 103 can control this image capture device 3 collection image, that is, during glue rifle 1 gluing
Can be implemented in and while gluing, carry out image acquisition, that is, every one section of gluing just can using image capture device 3 gather with regard to
The image of this section of tree lace, and then only this section of tree lace in this image is detected.Avoid tree lace in prior art oversize or
In the case of gluing circuit is irregular, the relatively low problem of gluing accuracy of detection.
S104：Tree lace in this target image is detected, obtains testing result.
It is understood that after can obtaining all target images corresponding to after gluing device 105, execution is to target figure
The step that tree lace in picture is detected.It is of course also possible to after one target image of every acquisition,
Tree lace in this target image is detected, obtains testing result it is achieved that the detection of side glue-application-edge, shorten work
Industry beat, improves detection efficiency.
Wherein, the process tree lace in this target image being detected can be realized using prior art, and here is not done
Limit.
In embodiments of the present invention, control device 103, before controlling glue rifle 1 gluing, is first opened light source 2 and image acquisition is set
Standby 3, so that image capture device 3, when receiving the image capture instruction that this control device 103 sends, can quickly gather
Image.Control device 103 is controlling glue rifle 1 gluing, is according to treating that gluing device 105 is corresponding by control machinery arm 102
Gluing path is moved, thus controlling glue rifle 1 to move according to gluing path.When controlling glue rifle 1 gluing, can be adopted with control figure picture
Collection equipment 3 gathers the target image of now corresponding one section gluing.And then obtain this target image, and in this target image
One section of gluing detected.So that in the case of tree lace is oversize or gluing circuit is irregular, remaining able to acquisition higher
Gluing accuracy of detection.
Preferably, this image capture device 3 of this control collection image, including：
This image capture device 3 is controlled to gather image according to predetermined frequency acquisition.
It is understood that the frequency of collection image in this kind of implementation, can be preset, then in gluing process
In, image can be gathered according to this predetermined frequency acquisition.Wherein this predetermined frequency acquisition can be by those skilled in the art according to tool
Body situation is set, and here does not limit.
Preferably, gluing detection method provided in an embodiment of the present invention also includes：
Export the testing result that the tree lace in this target image is detected.
It is understood that in this kind of implementation, after obtaining the testing result to the tree lace in target image, can
This result is exported to display device 104, so that technical staff can know result to be detected.
Corresponding to said method embodiment, present invention also offers a kind of gluing detection means, it is applied in coating system
Control device 103, this coating system also includes：Mechanical arm 102 and gluing performs device 101, this gluing performs device 101 is wrapped
Include：Glue rifle 1, light source 2, image capture device 3, this control device 103 respectively with this light source 2, this image capture device 3 and this machine
Tool arm 102 electrically connects, and this mechanical arm 102 is connected with this glue rifle 1, and this gluing performs device 101 also includes：Mounting seat 4, wherein,
First kind through hole 41 and Equations of The Second Kind through hole 42 are provided with this mounting seat 4, this glue rifle 1 embeds this first kind through hole 41 and glue spraying end
Stretch out, this image capture device 3 embeds this Equations of The Second Kind through hole 42 and pickup area is located at this glue spraying end place side；
This gluing detection means can include：
Open unit 701, for before using this glue rifle 1 gluing, opening this light source 2 and this image capture device 3；
Control unit 702, for controlling this mechanical arm 102 to treat gluing path according to corresponding with treating gluing device 105
Mobile, and in moving process, carry out gluing by controlling this mechanical arm 102 to control this glue rifle 1 to treat gluing device 105；
Acquiring unit 703, for during this glue rifle 1 gluing, controlling this image capture device 3 collection image, and obtains
Take the target image that this image capture device 3 is collected；
Detector unit 704, for detecting to the tree lace in this target image, obtains testing result.
In embodiments of the present invention, control device 103, before controlling glue rifle 1 gluing, is first opened light source 2 and image acquisition is set
Standby 3, so that image capture device 3, when receiving the image capture instruction that this control device 103 sends, can quickly gather
Image.Control device 103 is controlling glue rifle 1 gluing, is according to treating that gluing device 105 is corresponding by control machinery arm 102
Gluing path is moved, thus controlling glue rifle 1 to move according to gluing path.When controlling glue rifle 1 gluing, can be adopted with control figure picture
Collection equipment 3 gathers the target image of now corresponding one section gluing.And then obtain this target image, and in this target image
One section of gluing detected, realize with Tu Suijian function, while gluing, carry out gluing detection, shorten gluing inspection
Survey beat, improve gluing detection efficiency.And so that in the case of tree lace is oversize or gluing circuit is irregular, still
It is obtained in that higher gluing accuracy of detection.
Preferably, this acquiring unit 703, for controlling this image capture device 3 to gather image according to predetermined frequency acquisition.
Preferably, gluing detection means can also include：
Output unit, for exporting the testing result that the tree lace in this target image is detected.
It should be noted that herein, such as first and second or the like relational terms are used merely to a reality
Body or operation are made a distinction with another entity or operation, and not necessarily require or imply these entities or deposit between operating
In any this actual relation or order.And, term " inclusion ", "comprising" or its any other variant are intended to
Comprising of nonexcludability, wants so that including a series of process of key elements, method, article or equipment and not only including those
Element, but also include other key elements being not expressly set out, or also include for this process, method, article or equipment
Intrinsic key element.In the absence of more restrictions, the key element that limited by sentence "including a ..." it is not excluded that
Also there is other identical element including in the process of described key element, method, article or equipment.
Each embodiment in this specification is all described by the way of related, identical similar portion between each embodiment
Divide mutually referring to what each embodiment stressed is the difference with other embodiment.Real especially for system
For applying example, because it is substantially similar to embodiment of the method, so description is fairly simple, referring to embodiment of the method in place of correlation
Part illustrate.
The foregoing is only presently preferred embodiments of the present invention, be not intended to limit protection scope of the present invention.All
Any modification, equivalent substitution and improvement made within the spirit and principles in the present invention etc., are all contained in protection scope of the present invention
Interior.
Claims (6)
1. a kind of gluing detection method, is applied to the control device (103) in coating system, and described coating system also includes：Machine
Tool arm (102) and gluing performs device (101), described gluing performs device (101) includes：Glue rifle (1), light source (2), image are adopted
Collection equipment (3), described control device (103) respectively with described light source (2), described image collecting device (3) and described mechanical arm
(102) electrically connect, described mechanical arm (102) is connected with described glue rifle (1) it is characterised in that described gluing performs device (101)
Also include：Mounting seat (4), wherein, described mounting seat (4) is provided with first kind through hole (41) and Equations of The Second Kind through hole (42), institute
State the embedded described first kind through hole (41) of glue rifle (1) and glue spraying end is stretched out, described image collecting device (3) embeds described Equations of The Second Kind
Through hole (42) and pickup area are located at described glue spraying end place side；
Methods described includes：
Before using described glue rifle (1) gluing, open described light source (2) and described image collecting device (3)；
Control described mechanical arm (102) to treat that gluing path is moved according to corresponding with treating gluing device (105), and be moved through
Cheng Zhong, carries out gluing by controlling described mechanical arm (102) to control described glue rifle (1) to treat gluing device (105)；
During described glue rifle (1) gluing, control described image collecting device (3) collection image, and obtain described image and adopt
The target image that collection equipment (3) is collected；
Tree lace in described target image is detected, obtains testing result.
2. method according to claim 1 it is characterised in that described control described image collecting device (3) collection image,
Including：
Described image collecting device (3) is controlled to gather image according to predetermined frequency acquisition.
3. method according to claim 1 is it is characterised in that also include：
Export the testing result that the tree lace in described target image is detected.
4. a kind of gluing detection means, is applied to the control device (103) in coating system, and described coating system also includes：Machine
Tool arm (102) and gluing performs device (101), described gluing performs device (101) includes：Glue rifle (1), light source (2), image are adopted
Collection equipment (3), described control device (103) respectively with described light source (2), described image collecting device (3) and described mechanical arm
(102) electrically connect, described mechanical arm (102) is connected with described glue rifle (1) it is characterised in that described gluing performs device (101)
Also include：Mounting seat (4), wherein, described mounting seat (4) is provided with first kind through hole (41) and Equations of The Second Kind through hole (42), institute
State the embedded described first kind through hole (41) of glue rifle (1) and glue spraying end is stretched out, described image collecting device (3) embeds described Equations of The Second Kind
Through hole (42) and pickup area are located at described glue spraying end place side；
Described device includes：
Open unit, for, before using described glue rifle (1) gluing, opening described light source (2) and described image collecting device
(3)；
Control unit, for controlling described mechanical arm (102) to treat that gluing path is moved according to corresponding with treating gluing device (105)
Dynamic, and in moving process, entered by controlling described mechanical arm (102) to control described glue rifle (1) to treat gluing device (105)
Row gluing；
Acquiring unit, for during described glue rifle (1) gluing, controlling described image collecting device (3) collection image, and obtains
Take the target image that described image collecting device (3) is collected；
Detector unit, for detecting to the tree lace in described target image, obtains testing result.
5. device according to claim 4, it is characterised in that described acquiring unit, sets for controlling described image to gather
Standby (3) gather image according to predetermined frequency acquisition.
6. device according to claim 4 is it is characterised in that also include：
Output unit, for exporting the testing result that the tree lace in described target image is detected.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610801242.XA CN106404781A (en) | 2016-09-05 | 2016-09-05 | Gluing detection method and device |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610801242.XA CN106404781A (en) | 2016-09-05 | 2016-09-05 | Gluing detection method and device |
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| CN106404781A true CN106404781A (en) | 2017-02-15 |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106862009A (en) * | 2017-03-09 | 2017-06-20 | 广州协鸿工业机器人技术有限公司 | Integrated glue spreader and its operating method |
| CN106949925A (en) * | 2017-05-02 | 2017-07-14 | 上海贝特威自动化科技有限公司 | It is a kind of to be used for engine, the online visible detection method of gearbox surface coating |
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| CN111097664A (en) * | 2019-12-20 | 2020-05-05 | 广西柳州联耕科技有限公司 | Real-time deviation rectifying method based on robot gluing |
| CN114308541A (en) * | 2021-12-31 | 2022-04-12 | 广州丰桥智能装备有限公司 | Gluing system for new energy automobile parts |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN106862009A (en) * | 2017-03-09 | 2017-06-20 | 广州协鸿工业机器人技术有限公司 | Integrated glue spreader and its operating method |
| CN106949925A (en) * | 2017-05-02 | 2017-07-14 | 上海贝特威自动化科技有限公司 | It is a kind of to be used for engine, the online visible detection method of gearbox surface coating |
| CN107271446A (en) * | 2017-07-26 | 2017-10-20 | 江南大学 | A kind of visible detection method of engine timing gear room tree lace |
| CN107271446B (en) * | 2017-07-26 | 2020-01-10 | 江南大学 | Visual detection method for rubber wire of timing gear chamber of engine |
| CN107657611A (en) * | 2017-10-18 | 2018-02-02 | 京东方科技集团股份有限公司 | A kind of gluing bad detection device, gluing failure detection method and computing device |
| CN107657611B (en) * | 2017-10-18 | 2020-04-28 | 京东方科技集团股份有限公司 | Poor gluing detection equipment, poor gluing detection method and calculation equipment |
| CN109085168A (en) * | 2018-09-06 | 2018-12-25 | 易思维（杭州）科技有限公司 | The method for parameter configuration of adhesive tape detection sensor applied to gluing on-line checking |
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| CN111097664A (en) * | 2019-12-20 | 2020-05-05 | 广西柳州联耕科技有限公司 | Real-time deviation rectifying method based on robot gluing |
| CN111097664B (en) * | 2019-12-20 | 2021-05-25 | 广西柳州联耕科技有限公司 | Real-time deviation rectifying method based on robot gluing |
| CN114308541A (en) * | 2021-12-31 | 2022-04-12 | 广州丰桥智能装备有限公司 | Gluing system for new energy automobile parts |
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Application publication date: 20170215 |