CN106881242A - Vision follows detection coating system - Google Patents
Vision follows detection coating system Download PDFInfo
- Publication number
- CN106881242A CN106881242A CN201710236218.0A CN201710236218A CN106881242A CN 106881242 A CN106881242 A CN 106881242A CN 201710236218 A CN201710236218 A CN 201710236218A CN 106881242 A CN106881242 A CN 106881242A
- Authority
- CN
- China
- Prior art keywords
- glue
- vision
- sebific duct
- glue rifle
- robot
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000001514 detection method Methods 0.000 title claims abstract description 19
- 239000011248 coating agent Substances 0.000 title claims abstract description 12
- 238000000576 coating method Methods 0.000 title claims abstract description 12
- 239000003292 glue Substances 0.000 claims abstract description 94
- 238000003892 spreading Methods 0.000 claims abstract description 25
- 230000007480 spreading Effects 0.000 claims abstract description 25
- 230000000007 visual effect Effects 0.000 claims abstract description 8
- 230000003287 optical effect Effects 0.000 claims description 3
- 238000004026 adhesive bonding Methods 0.000 abstract description 14
- 238000004519 manufacturing process Methods 0.000 abstract description 14
- 230000003139 buffering effect Effects 0.000 abstract description 3
- 230000035515 penetration Effects 0.000 abstract description 2
- 239000000853 adhesive Substances 0.000 description 6
- 230000001070 adhesive effect Effects 0.000 description 6
- 239000000565 sealant Substances 0.000 description 6
- 238000005516 engineering process Methods 0.000 description 4
- 239000012530 fluid Substances 0.000 description 4
- 230000000694 effects Effects 0.000 description 3
- 238000000034 method Methods 0.000 description 3
- 238000013016 damping Methods 0.000 description 2
- 238000007689 inspection Methods 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- 230000001105 regulatory effect Effects 0.000 description 2
- 238000003466 welding Methods 0.000 description 2
- 238000004220 aggregation Methods 0.000 description 1
- 230000002776 aggregation Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 239000007767 bonding agent Substances 0.000 description 1
- 125000000484 butyl group Chemical group [H]C([*])([H])C([H])([H])C([H])([H])C([H])([H])[H] 0.000 description 1
- 239000000084 colloidal system Substances 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000001627 detrimental effect Effects 0.000 description 1
- 238000009826 distribution Methods 0.000 description 1
- 230000002708 enhancing effect Effects 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 230000002452 interceptive effect Effects 0.000 description 1
- 239000003973 paint Substances 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 238000007789 sealing Methods 0.000 description 1
- 239000004590 silicone sealant Substances 0.000 description 1
- 238000003860 storage Methods 0.000 description 1
- 230000009466 transformation Effects 0.000 description 1
- 238000004804 winding Methods 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05C—APPARATUS FOR APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05C5/00—Apparatus in which liquid or other fluent material is projected, poured or allowed to flow on to the surface of the work
- B05C5/02—Apparatus in which liquid or other fluent material is projected, poured or allowed to flow on to the surface of the work the liquid or other fluent material being discharged through an outlet orifice by pressure, e.g. from an outlet device in contact or almost in contact, with the work
- B05C5/0208—Apparatus in which liquid or other fluent material is projected, poured or allowed to flow on to the surface of the work the liquid or other fluent material being discharged through an outlet orifice by pressure, e.g. from an outlet device in contact or almost in contact, with the work for applying liquid or other fluent material to separate articles
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05C—APPARATUS FOR APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05C11/00—Component parts, details or accessories not specifically provided for in groups B05C1/00 - B05C9/00
- B05C11/10—Storage, supply or control of liquid or other fluent material; Recovery of excess liquid or other fluent material
- B05C11/1002—Means for controlling supply, i.e. flow or pressure, of liquid or other fluent material to the applying apparatus, e.g. valves
- B05C11/1005—Means for controlling supply, i.e. flow or pressure, of liquid or other fluent material to the applying apparatus, e.g. valves responsive to condition of liquid or other fluent material already applied to the surface, e.g. coating thickness, weight or pattern
Abstract
Detection coating system is followed the invention discloses a kind of vision, including Glue Spreading Robot, Glue Spreading Robot is arranged on robot stand, Glue Spreading Robot is by cable connection to robot control cabinet, Glue Spreading Robot end is provided with vision glue rifle, vision glue rifle follows detecting system including vision, glue rifle, the vision follows detecting system to pass through cable connection to visual spatial attention cabinet, the glue rifle is connected to glue pump by sebific duct, the sebific duct is through for supporting sebific duct, balance the sebific duct balance bracket for swinging, the glue rifle, workpiece camera is arranged on Glue Spreading Robot end by glue rifle support respectively.The present invention realizes the online of automobile production gluing operation and follows detection, and pipette tips, the rational deployment of industrial camera, glue rifle flexibility are high, it is adaptable to the penetration type gluing at unconventional position；Sebific duct balance bracket effectively violent swing of buffering sebific duct in Glue Spreading Robot is continuously quickly moved, it is to avoid the tangled up and knotted of sebific duct, or the influence to surrounding devices.
Description
Technical field
Detection coating system is followed the present invention relates to automobile manufacturing field, more particularly to a kind of vision.
Background technology
With the performance requirement of development and its continuous improvement of auto manufacturing technology, adhesive fluid sealant is used as automobile production
The necessary important auxiliary material of a class, using more and more extensive.Application of the adhesive technology in automobile making, can not only rise
To the effect of enhancing vehicle structure, fastening antirust, heat-insulated vibration damping and internal and external ornament, additionally it is possible to instead of the welding of some parts, riveting
The traditional handicraft such as connect, realize the connection between identical or different material, simplify production process, optimize product structure.Automobile to
On the road that lightweight, high-speed and energy-saving, extension life-span and raising performance direction are developed, adhesive fluid sealant is played and increasingly weighed
The effect wanted.
Adhesive, the fluid sealant applied on vehicle body mainly have folding adhesive bonding agent, sealant for spot welding, damping rubber, weld joint close
Sealing, stone-impact-proof paint, finger pressure glue, interior trim glue, windshield glue, butyl sealant, anaerobic adhesive, silicone sealant etc., it is different
The coating technique of application is also had nothing in common with each other, such as point-like, strip, vaporific.
Automobile production is bulk, continuous-flow type production, has its particularity in process of production, additionally, as communications and transportation
The automobile of instrument in different kinds of roads, weather downward driving, therefore, automobile adhesive, fluid sealant on the one hand must fully meet and
The production technology in automobile factory is adapted to, on the other hand the requirement of high-volume, production line balance and application performance will more ensure to apply
Colloid amount, once a certain gluing link is made a fault, can all be impacted to whole production line, and even finished product can be influenceed when serious
Line mass under car.
Chinese utility model patent application 201320598752.3《Robot coating quality group is box-like to be regarded online without shadow without blind
Feel detecting system》Disclose a kind of robot coating quality group it is box-like without shadow without blind online vision detection system, for detection machine
The gluing quality of device people's glue spreader, the detecting system includes 2 ~ 3 sets of vision-based detection lists being arranged on into spatial distribution on connector
Unit, visual detection unit includes industrial camera and light source, but in actual applications, the gluing operation in automobile production, not only
Gluing including flat state plate, also curved surface, cambered surface, or even the gluing under eaves shape plate, the vision inspection in this application
Examining system, only increased vision detection system on the basis of coating system, and its structure and construction do not account for actual production
Middle complicated operating environment, this design is detrimental to the application of complex job environment.
The content of the invention
The purpose of the present invention is to design a kind of vision of strong applicability to follow detection coating system.
For achieving the above object, the technical scheme is that：Vision follows detection coating system, including glue spreader
Device people, Glue Spreading Robot is arranged on robot stand, and Glue Spreading Robot is by cable connection to robot control cabinet, glue spreader
Device people end is provided with vision glue rifle, and vision glue rifle follows detecting system, glue rifle, the vision to follow detecting system including vision
By cable connection to visual spatial attention cabinet, the glue rifle is connected to glue pump by sebific duct, the sebific duct through for support sebific duct,
Balance the sebific duct balance bracket for swinging；
The robot stand is square table-like, and bottom corner is accurately fixed on stand fixed plate by bolt and block respectively
On, stand fixed plate is fixed on the ground by foundation bolt；
The vision follows detecting system to be spaced 90 °, and the optical axis industrial camera that side inner side is assembled separately down, institute including three
State industrial camera and carry high-strength stroboscopic light source；The glue rifle, workpiece camera are arranged on Glue Spreading Robot by glue rifle support respectively
End；
The glue rifle support is provided with the adpting flange for connecting Glue Spreading Robot, and adpting flange is connected be vertically arranged rectangular
Shape glue rifle installing plate, glue rifle installing plate bottom is provided with the rectangle underframe of horizontal forward setting, and underframe is in L with glue rifle installing plate
Type is connected, and the front side of underframe, left side, right side are respectively provided with the industrial camera installing plate for installing the industrial camera；It is described
Industrial camera installing plate is provided with angular adjustment groove；
The glue rifle includes glue bucket, and pipette tips are connected by the angle valve of L types with glue bucket bottom, and pipette tips are connected to the angle for extending forward
Valve end, pipette tips are set straight down；
The glue rifle is arranged on glue rifle installing plate, and pipette tips are extended downwardly and passed from underframe front middle part, the industrial camera difference
On industrial camera installing plate, industrial camera root edge is higher than underframe
The sebific duct balance bracket is provided with inertia balance hammer.
The beneficial effects of the invention are as follows：
1st, the present invention realizes the online of automobile production gluing operation and follows detection, is applied to closed automatic assembly line, assigns
The function of system autonomous intelligence detection, saves the operation of manual detection, and automaticity is further improved；
2nd, special cantilever-designed, pipette tips, the rational deployment of industrial camera not only realize that full angle is found a view detection, and glue
Rifle flexibility is at all unaffected, can be applied to the penetration type gluing at the unconventional positions such as eaves shape；
3rd, the sebific duct balance bracket of particular design effectively violent swing of buffering sebific duct in Glue Spreading Robot is continuously quickly moved,
Avoid the tangled up and knotted of sebific duct, or the influence to surrounding devices；
4th, the glue rifle connection design of versatility, enables the invention to connect all kinds of humanoid robots, it is to avoid to the machine for involving great expense
The transformation of device people connection end.
Brief description of the drawings
Fig. 1 is structural representation of the invention；
Fig. 2 is enlarged drawing at A in Fig. 1；
Fig. 3 is the structural representation of glue rifle support 504；
Fig. 4 is the structural representation of glue rifle 502.
Specific embodiment
The technical scheme in the embodiment of the present invention is clearly and completely described below in conjunction with accompanying drawing.
As shown in Figure 1, 2, vision follows detection coating system, including Glue Spreading Robot 1, Glue Spreading Robot 1 to be arranged on machine
On device people stand 2, Glue Spreading Robot 1 is connected to robot control cabinet 4 by cable 3, and the robot stand 2 is square table
Shape, bottom corner is accurately fixed in stand fixed plate 203 by bolt 201 and block 202 respectively, and stand fixed plate 203 is led to
Foundation bolt 204 is crossed to fix on the ground.
The end of Glue Spreading Robot 1 is provided with vision glue rifle 5, and vision glue rifle 5 follows detecting system 501, glue rifle including vision
502, the vision follows detecting system 501 to pass through cable connection to visual spatial attention cabinet 6, and the glue rifle 502 is connected by sebific duct 7
To glue pump 8.There is vision glue rifle 5 gluing and vision to follow the function of detection, and phase is taken in real time during gluing, and instead
Visual spatial attention expensive 6 is fed to, visual spatial attention cabinet 6 can realize it being the storage of visual pattern, deviation is recognized, deviation is recorded, and it is right to be easy to
Gluing does not conform to the inspection of lattice point, additionally it is possible to the trackability of data is controlled in realization.
The sebific duct 7 is through for supporting sebific duct, balancing the sebific duct balance bracket 9 for swinging；The sebific duct balance bracket 9 sets
There is inertia balance to hammer 10 into shape.The effectively violent swing of buffering sebific duct 7 in Glue Spreading Robot is continuously quickly moved of sebific duct balance bracket,
Inertia balance hammer 10 absorbs offsets the kinetic energy of sebific duct 7, the rear portion of sebific duct 7 is not likely to produce larger swing, it is to avoid the winding of sebific duct is beaten
Knot, or the influence to surrounding devices.
The vision follows detecting system 501 to be uniformly distributed including three spaced 90 °, and optical axis is square interior separately down
The industrial camera 503 of side aggregation, the industrial camera 503 carries high-strength stroboscopic light source（It is to show in figure）；The glue rifle 502,
Workpiece camera 503 is arranged on the end of Glue Spreading Robot 1 by glue rifle support 504 respectively.The present invention is provided with three industrial cameras
503, there are three kinds of mode of operations, the first applies to the one camera pattern that single constant path uses, and applies to for second
The double camera pattern that plane is used without corner path, the third applies to three camera modes in three-dimensional concave-convex curved surface path,
It is three mesh patterns.
As shown in figure 3, the glue rifle support 504 is provided with the adpting flange 5041 for connecting Glue Spreading Robot 1, connection method
Blue 5041 are connected with the rectangle glue rifle installing plate 5042 being vertically arranged, and the bottom of glue rifle installing plate 5042 is provided with horizontal forward setting
Rectangle underframe 5043, underframe 5043 is connected with glue rifle installing plate 5042 in L types, the front side of underframe 5043, left side, right side
It is respectively provided with the industrial camera installing plate 5044 for installing the industrial camera 503.The industrial camera installing plate 5044 sets
Angled regulating tank 5045.
As shown in figure 4, the glue rifle 502 includes glue bucket 5021, angle valve 5023 and glue bucket that pipette tips 5022 pass through L types
5021 bottoms connect, and pipette tips 5022 are connected to the end of angle valve 5023 for extending forward, and pipette tips 5022 are set straight down.
The glue rifle 502 is arranged on glue rifle installing plate 5042, and pipette tips 5022 are extended downwardly wears from the front middle part of underframe 5043
Go out, the industrial camera 503 is separately mounted on industrial camera installing plate 5044, the root edge of industrial camera 503 is higher than underframe 5043
Edge.By cantilevered glue rifle support 504, on the one hand make the position of vision glue rifle 5 as far as possible away from Glue Spreading Robot 1
Arm, prevents both from interfering, and improves the scope of joint motion, and on the other hand, pipette tips 5022 sink, and makes gluing setting away from regarding
Feel follows the place plane of detecting system 501, and the flexibility of pipette tips 5022 is higher, in pipette tips 5022 in on-plane surface operations such as inclinations
When, industrial camera 503 is difficult to produce interference with workpiece.By the articulated position of adjustment angle regulating tank 5045, every industrial phase
Machine 503 can be realized being finely tuned along space any direction within the specific limits, be equipped with high-strength stroboscopic light source, industrial camera 503, light
It is movable that source is adjustable, and information gathering effect is best.
Described embodiment is only a part of embodiment of the invention, rather than whole embodiments.Based on the present invention
In embodiment, the every other implementation that those of ordinary skill in the art are obtained under the premise of creative work is not made
Example, belongs to the scope of protection of the invention.
Claims (1)
1. vision follows detection coating system, it is characterised in that including Glue Spreading Robot, Glue Spreading Robot is arranged on robot platform
On frame, by cable connection to robot control cabinet, Glue Spreading Robot end is provided with vision glue rifle, vision glue to Glue Spreading Robot
Rifle follows detecting system, glue rifle including vision, and the vision follows detecting system to pass through cable connection to visual spatial attention cabinet, described
Glue rifle is connected to glue pump by sebific duct, and the sebific duct is through for supporting sebific duct, balancing the sebific duct balance bracket for swinging；
The robot stand is square table-like, and bottom corner is accurately fixed on stand fixed plate by bolt and block respectively
On, stand fixed plate is fixed on the ground by foundation bolt；
The vision follows detecting system to be spaced 90 °, and the optical axis industrial camera that side inner side is assembled separately down, institute including three
State industrial camera and carry high-strength stroboscopic light source；The glue rifle, workpiece camera are arranged on Glue Spreading Robot by glue rifle support respectively
End；
The glue rifle support is provided with the adpting flange for connecting Glue Spreading Robot, and adpting flange is connected be vertically arranged rectangular
Shape glue rifle installing plate, glue rifle installing plate bottom is provided with the rectangle underframe of horizontal forward setting, and underframe is in L with glue rifle installing plate
Type is connected, and the front side of underframe, left side, right side are respectively provided with the industrial camera installing plate for installing the industrial camera；It is described
Industrial camera installing plate is provided with angular adjustment groove；
The glue rifle includes glue bucket, and pipette tips are connected by the angle valve of L types with glue bucket bottom, and pipette tips are connected to the angle for extending forward
Valve end, pipette tips are set straight down；
The glue rifle is arranged on glue rifle installing plate, and pipette tips are extended downwardly and passed from underframe front middle part, the industrial camera difference
On industrial camera installing plate, industrial camera root edge is higher than underframe；
The sebific duct balance bracket is provided with inertia balance hammer.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710236218.0A CN106881242A (en) | 2017-04-12 | 2017-04-12 | Vision follows detection coating system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710236218.0A CN106881242A (en) | 2017-04-12 | 2017-04-12 | Vision follows detection coating system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106881242A true CN106881242A (en) | 2017-06-23 |
Family
ID=59183079
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710236218.0A Pending CN106881242A (en) | 2017-04-12 | 2017-04-12 | Vision follows detection coating system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106881242A (en) |
Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107830802A (en) * | 2017-12-07 | 2018-03-23 | 沈阳理工大学 | A kind of auto parts machinery gluing quality dynamic on-line monitoring device and control method |
| CN108818497A (en) * | 2018-05-30 | 2018-11-16 | 宁波易拓智能科技有限公司 | A kind of carousel-type machines people wind |
| CN108816676A (en) * | 2018-06-07 | 2018-11-16 | 上海天永智能装备股份有限公司 | A kind of gluing and the knockdown glue stations of camera detection |
| CN109108975A (en) * | 2018-08-31 | 2019-01-01 | 深圳市博辉特科技有限公司 | A kind of 6 axis robot of binocular vision guidance system |
| CN109959658A (en) * | 2019-03-26 | 2019-07-02 | 上汽通用五菱汽车股份有限公司 | A kind of novel robot automatic glue application detection system |
| CN110052349A (en) * | 2019-05-23 | 2019-07-26 | 济南希润自动化科技有限公司 | Truck vehicle automatic pasting system and glue spreading method |
| CN111843303A (en) * | 2020-07-08 | 2020-10-30 | 北京航天新立科技有限公司 | Connecting device of three-eye vision camera of welding robot |
| CN112025677A (en) * | 2020-07-28 | 2020-12-04 | 武汉象点科技有限公司 | Automatic guiding glue supplementing system and method based on visual detection |
| CN113798139A (en) * | 2021-09-13 | 2021-12-17 | 山西江淮重工有限责任公司 | Be applied to automatic rubber coating robot in narrow and small cavity |
| CN114324395A (en) * | 2021-12-30 | 2022-04-12 | 广州市斯睿特智能科技有限公司 | Following type 3D gluing visual detection device and detection method |
| CN116493213A (en) * | 2023-04-28 | 2023-07-28 | 中车青岛四方机车车辆股份有限公司 | Automatic gluing method and system |
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| KR20130006569U (en) * | 2012-05-07 | 2013-11-15 | (주)위시스 | Sealer Dispenser |
| CN203737467U (en) * | 2013-07-12 | 2014-07-30 | 北京三立车灯有限公司 | Plasma surface processor for product |
| CN205199860U (en) * | 2015-11-13 | 2016-05-04 | 北汽福田汽车股份有限公司 | Assembly glass support for rubber coating |
| CN105921374A (en) * | 2016-06-01 | 2016-09-07 | 奇瑞汽车股份有限公司 | Auxiliary gluing clamp |
| CN207254658U (en) * | 2017-04-12 | 2018-04-20 | 广州瑞松北斗汽车装备有限公司 | Vision follows detection coating system |
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2017
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Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
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| KR20130006569U (en) * | 2012-05-07 | 2013-11-15 | (주)위시스 | Sealer Dispenser |
| CN203737467U (en) * | 2013-07-12 | 2014-07-30 | 北京三立车灯有限公司 | Plasma surface processor for product |
| CN205199860U (en) * | 2015-11-13 | 2016-05-04 | 北汽福田汽车股份有限公司 | Assembly glass support for rubber coating |
| CN105921374A (en) * | 2016-06-01 | 2016-09-07 | 奇瑞汽车股份有限公司 | Auxiliary gluing clamp |
| CN207254658U (en) * | 2017-04-12 | 2018-04-20 | 广州瑞松北斗汽车装备有限公司 | Vision follows detection coating system |
Cited By (15)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107830802B (en) * | 2017-12-07 | 2024-03-15 | 沈阳理工大学 | Online dynamic detection device and control method for glue coating quality of automobile parts |
| CN107830802A (en) * | 2017-12-07 | 2018-03-23 | 沈阳理工大学 | A kind of auto parts machinery gluing quality dynamic on-line monitoring device and control method |
| CN108818497A (en) * | 2018-05-30 | 2018-11-16 | 宁波易拓智能科技有限公司 | A kind of carousel-type machines people wind |
| CN108816676A (en) * | 2018-06-07 | 2018-11-16 | 上海天永智能装备股份有限公司 | A kind of gluing and the knockdown glue stations of camera detection |
| CN109108975A (en) * | 2018-08-31 | 2019-01-01 | 深圳市博辉特科技有限公司 | A kind of 6 axis robot of binocular vision guidance system |
| CN109959658A (en) * | 2019-03-26 | 2019-07-02 | 上汽通用五菱汽车股份有限公司 | A kind of novel robot automatic glue application detection system |
| CN110052349A (en) * | 2019-05-23 | 2019-07-26 | 济南希润自动化科技有限公司 | Truck vehicle automatic pasting system and glue spreading method |
| CN111843303A (en) * | 2020-07-08 | 2020-10-30 | 北京航天新立科技有限公司 | Connecting device of three-eye vision camera of welding robot |
| CN112025677B (en) * | 2020-07-28 | 2023-09-26 | 武汉象点科技有限公司 | Automatic guiding glue supplementing system and method based on visual detection |
| CN112025677A (en) * | 2020-07-28 | 2020-12-04 | 武汉象点科技有限公司 | Automatic guiding glue supplementing system and method based on visual detection |
| CN113798139A (en) * | 2021-09-13 | 2021-12-17 | 山西江淮重工有限责任公司 | Be applied to automatic rubber coating robot in narrow and small cavity |
| CN113798139B (en) * | 2021-09-13 | 2022-06-10 | 山西江淮重工有限责任公司 | Be applied to automatic rubber coating robot in narrow and small cavity |
| CN114324395A (en) * | 2021-12-30 | 2022-04-12 | 广州市斯睿特智能科技有限公司 | Following type 3D gluing visual detection device and detection method |
| CN114324395B (en) * | 2021-12-30 | 2024-01-19 | 广州市斯睿特智能科技有限公司 | Following type 3D gluing visual detection device and detection method |
| CN116493213A (en) * | 2023-04-28 | 2023-07-28 | 中车青岛四方机车车辆股份有限公司 | Automatic gluing method and system |
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