CN107830802A - A kind of auto parts machinery gluing quality dynamic on-line monitoring device and control method - Google Patents
A kind of auto parts machinery gluing quality dynamic on-line monitoring device and control method Download PDFInfo
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- CN107830802A CN107830802A CN201711283283.5A CN201711283283A CN107830802A CN 107830802 A CN107830802 A CN 107830802A CN 201711283283 A CN201711283283 A CN 201711283283A CN 107830802 A CN107830802 A CN 107830802A
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- gluing
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- distance sensor
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- auto parts
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- 238000004026 adhesive bonding Methods 0.000 title claims abstract description 92
- 238000000034 method Methods 0.000 title claims abstract description 26
- 238000012806 monitoring device Methods 0.000 title claims abstract description 11
- 238000001514 detection method Methods 0.000 claims abstract description 28
- 238000004891 communication Methods 0.000 claims abstract description 20
- 238000012360 testing method Methods 0.000 claims abstract description 13
- 239000003292 glue Substances 0.000 claims description 34
- 230000007480 spreading Effects 0.000 claims description 21
- 238000003892 spreading Methods 0.000 claims description 21
- 230000008569 process Effects 0.000 claims description 15
- 230000007246 mechanism Effects 0.000 claims description 12
- 239000002390 adhesive tape Substances 0.000 claims description 10
- 238000007689 inspection Methods 0.000 claims description 4
- 238000006243 chemical reaction Methods 0.000 claims description 2
- 239000011248 coating agent Substances 0.000 abstract description 4
- 238000000576 coating method Methods 0.000 abstract description 4
- 230000007547 defect Effects 0.000 abstract description 3
- 238000003908 quality control method Methods 0.000 abstract description 3
- 238000004519 manufacturing process Methods 0.000 description 12
- 238000012544 monitoring process Methods 0.000 description 4
- 238000010586 diagram Methods 0.000 description 2
- 238000007789 sealing Methods 0.000 description 2
- 230000003068 static effect Effects 0.000 description 2
- 241000208340 Araliaceae Species 0.000 description 1
- 235000005035 Panax pseudoginseng ssp. pseudoginseng Nutrition 0.000 description 1
- 235000003140 Panax quinquefolius Nutrition 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008901 benefit Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 235000008434 ginseng Nutrition 0.000 description 1
- 230000036541 health Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 239000000203 mixture Substances 0.000 description 1
- 239000003973 paint Substances 0.000 description 1
- 238000010422 painting Methods 0.000 description 1
- 230000036632 reaction speed Effects 0.000 description 1
- 238000011160 research Methods 0.000 description 1
- 229910001220 stainless steel Inorganic materials 0.000 description 1
- 239000010935 stainless steel Substances 0.000 description 1
- 230000009466 transformation Effects 0.000 description 1
- 239000002699 waste material Substances 0.000 description 1
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/02—Measuring arrangements characterised by the use of optical techniques for measuring length, width or thickness
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
Landscapes
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Investigating Materials By The Use Of Optical Means Adapted For Particular Applications (AREA)
- Automobile Manufacture Line, Endless Track Vehicle, Trailer (AREA)
Abstract
The invention belongs to auto parts machinery gluing field of quality control, more particularly to a kind of auto parts machinery gluing quality dynamic on-line monitoring device and control method, including terminal, ethernet communication cable, detection controller, RS485 communication cables and gluing and testing agency.The terminal is connected by ethernet communication cable with detection controller；The detection controller is connected by RS485 communication cables with gluing and testing agency.By controlling gluing and testing agency's Real-time and Dynamic Detection gluing state, and quickly the condition feedback of detection whether there is defect, ensure gluing quality to terminal, real-time reflection gluing, it is uncontrollable to solve robot coating quality, the problems such as artificial vision's detection efficiency is low.
Description
Art
The invention belongs to auto parts machinery gluing field of quality control, and in particular to a kind of auto parts machinery gluing quality is moved online
State detection means and control method.
Technical background
With the high speed development of the increasingly mature and automobile industry of robot technology, more and more industrial robots are put into
In automobile production.At present, automobile turns into one of most important application field of industrial robot already, including welds, paints, applies
There is the figure of industrial robot in multiple links such as glue, assembling and logistics.As important composition portion during automobile production
The gluing link divided, because its working environment is severe, labor intensity is big, operating efficiency is low and asks harmful health etc.
Topic, in order to improve production efficiency, improve the characteristics of gluing quality requirement such as gluing movement accuracy and stationarity is high, it is necessary to progressively
The transformation from manual gluing to robot coating is completed, gluing automation turns into a kind of trend gradually.Due to gluing quality
Quality has had a strong impact on vehicle product quality and traffic safety, in the intelligent and unmanned workshop of manufacturer, gluing inspection
Also become the indispensable link of production process.
In recent years, domestic existing more Automobile Enterprises and production firm of robot realize and robot coating system are drawn
Enter or research and develop, but have the defects of they still suffer from：(1) most of is Static Detection, inefficient；(2) in hole position gluing inspection
When, because in inside parts gluing, if the defects of holiday is identified using Traditional Man detection mode, operating efficiency is low,
Error occurs in artificial sight blind area, influences the performance of whole assembly part；(3) there is no high resolution detection holiday, disconnected glue,
The tightness and sealing of bonding can be influenceed；(4) quality control of spreading width is carried out, overbrushing causes to waste, and excessive glue influences beautiful
See, tree lace is narrow to influence tightness and sealing.
The content of the invention
For above-mentioned technical problem, the present invention provides a kind of auto parts machinery gluing quality dynamic on-line monitoring dress
Put, it is characterised in that including：Terminal, ethernet communication cable, detection controller, RS485 communication cables and gluing and
Testing agency；
The terminal is connected by ethernet communication cable with detection controller；The detection controller passes through
RS485 communication cables are connected with gluing and testing agency；
The gluing and testing agency, including short distance sensor, installing mechanism and Glue Spreading Robot；
The short distance sensor is fixed on installing mechanism, and installing mechanism is arranged in the glue rifle of Glue Spreading Robot；It is described
Short distance sensor and the gum outlet of the glue rifle are in Relative vertical relation；
The installing mechanism is trapezoidal fixed mount.
The short distance sensor is short distance range sensor.
Using the control method of above-mentioned auto parts machinery gluing quality dynamic on-line monitoring device, it is characterised in that including
Following steps：
Step 1, operating personnel require according to Product Process, adjust the relative position of short distance sensor and Glue Spreading Robot,
Short distance sensor is set to be normally carried out the dynamic detection of gluing procedural image data and position data；
Step 2, operating personnel are required according to product quality, and ginseng is controlled to the gluing of short distance sensor by terminal
Number carries out initial setting up；
Step 3, Glue Spreading Robot starts the auto parts machinery gluing work of current generation, short distance sensor record gluing process
The initial data of view data and position data；
Step 4, the initial data of the gluing procedural image data of acquisition and position data is carried out data by short distance sensor
Conversion, obtains current gluing status values, judges whether current gluing status values are qualified, obtains result of determination and preserve not conforming to
Lattice detection record；
Step 5, judge whether Glue Spreading Robot completes the auto parts machinery gluing work of current generation, if so, performing step
6, otherwise, return to step 4；
Step 6, short distance sensor by the initial data of gluing procedural image data and position data, result of determination and does not conform to
Lattice detection record reaches terminal and shown；
Step 7, underproof gluing auto parts machinery numbering is recorded and counted according to result of determination by terminal.
The gluing control parameter of the short distance sensor includes：The setting range of adhesive tape position, the setting range of width, height
The setting range of degree and the setting range of length.
The view data of the short distance sensor record gluing process and the detailed process of position data initial data are：It is short
Journey sensor follows the running orbit of Glue Spreading Robot, obtains and preserves view data and position data.
The short distance sensor is changed the view data of gluing process of acquisition and the initial data of position data,
Current gluing status values are obtained, judging current gluing status values, whether qualified specific control process is：Short distance sensor
By the view data of gluing process of acquisition and the initial data of position data be converted to the location of glue rifle, adhesive tape width and
Adhesive tape height, as current gluing status values；Judge whether current gluing status values are satisfied by the gluing of short distance sensor
Control parameter；If satisfied, then the result of determination of the current generation is qualified；Conversely, to be unqualified, and it is gluey to preserve current painting
State numerical value is as unqualified state recording.
Beneficial effects of the present invention：
The present invention proposes a kind of auto parts machinery gluing quality dynamic on-line monitoring device, and it is reflective short to introduce High-performance lasers
Journey sensor is as machine vision dynamic on-line monitoring, and high resolution and reaction speed is fast solves robot coating quality not
It is controllable, the problems such as artificial vision's detection efficiency is low；
The present invention applies dynamic on-line monitoring, instead of traditional Static Detection, and the quality and production for improving finished product are imitated
Rate；
The present invention is reasonable in design, it is easy to accomplish, there is good practical value.
Brief description of the drawings
Fig. 1 is auto parts machinery gluing quality dynamic on-line monitoring apparatus structure schematic diagram in the specific embodiment of the invention.
Fig. 2 is the structural representation of specific embodiment of the invention medium or short range sensor.
Fig. 3 is the mounting means schematic diagram of specific embodiment of the invention medium or short range sensor.
Fig. 4 is the control method stream of auto parts machinery gluing quality dynamic on-line monitoring device in the specific embodiment of the invention
Cheng Tu.
In figure：1 is terminal, and 2 be ethernet communication cable, and 3 be detection controller, and 4 be RS485 communication cables, 5
It is short distance sensor for gluing and testing agency, 6,7 be installing mechanism, and 8 be Glue Spreading Robot, and 9 be glue rifle.
Embodiment
In order to make the purpose , technical scheme and advantage of the present invention be clearer, below in conjunction with accompanying drawing and embodiment,
The present invention is further elaborated.It should be appreciated that specific embodiment described herein is only explaining this hair
It is bright, it is not intended to limit the present invention.
The invention provides a kind of auto parts machinery gluing quality dynamic on-line monitoring device, as shown in figure 1, including：Calculate
Machine terminal 1, ethernet communication cable 2, detection controller 3, RS485 communication cables 4 and gluing and testing agency 5；
The terminal 1 is connected by ethernet communication cable 2 with detection controller 3；The detection controller 3 is logical
RS485 communication cables 4 are crossed to be connected with gluing and testing agency 5.
As shown in Fig. 2 the gluing and testing agency 5 include：Short distance sensor 6, installing mechanism 7 and Glue Spreading Robot 8；
The measuring method of the short distance sensor 6 is the triangulation of vertical incidence formula, the direct shadow of installation site of short distance sensor 6
Ring measurement result to the end；As shown in figure 3, the glue rifle 9 of short distance sensor 6 and Glue Spreading Robot 8 is passed through into installing mechanism 7
It is fixed together, the gum outlet of short distance sensor 6 and glue rifle 9 is in Relative vertical relation, and what can thus be stablized measures adhesive tape
Position, height and width；The installing mechanism is trapezoidal fixed mount.
Preferably, the terminal 1 selects the industrial computer of TaiWan, China Yan Hua companies production, model IPC610H；
Ethernet communication cable 2 selects the 6XV1840-1AH10 of Siemens production；Detect controller 3 and select TaiWan, China
The APAX-5620 of Yan Hua companies production；RS485 communication cables 4 select the 24AWG of Tianjin General Electric Cable Factory's production；Short distance senses
Device 6 selects the Profiler2 of German Sick companies production；Installing mechanism 7 is the stainless steel of 316 models；Glue Spreading Robot 8
Select the IRB1600 of ABB AB of U.S. production；
Under identical embodiment, Glue Spreading Robot 8 can be replaced with by other models according to user's use demand.
As shown in figure 4, the present embodiment follows the steps below work：
Step 1, operating personnel require according to Product Process, adjustment short distance sensor 6 and the relative position of Glue Spreading Robot 8
Put, short distance sensor 6 is normally carried out dynamic detection；
Step 2, operating personnel are controlled the gluing of short distance sensor 6 according to product quality demand by terminal 1
Parameter carries out initial setting up；
The gluing control parameter of the short distance sensor 6 includes：The setting range of adhesive tape position, the setting range of width,
The setting range of height and the setting range of length.
Step 3, Glue Spreading Robot starts the auto parts machinery gluing work of current generation, and short distance sensor 6 follows glue spreader
The running orbit of device people 8, short distance sensor 6 record the initial data of gluing procedural image data and position data；
Step 4, short distance sensor 6 is converted to the view data of gluing process of acquisition and the initial data of position data
The location of glue rifle, adhesive tape width and adhesive tape height, as current gluing status values；Judging current gluing status values is
The no gluing control parameter for being satisfied by short distance sensor 6；If satisfied, then the result of determination of the current generation is qualified；Conversely, it is
It is unqualified, and current gluing status values are preserved as unqualified state recording；
Step 5, judge whether Glue Spreading Robot completes the auto parts machinery gluing work of current generation, if so, performing step
6, otherwise, return to step 4；
Step 6, short distance sensor 6 is by the initial data of gluing procedural image data and position data, result of determination and not
Qualified detection record reaches terminal 1 and shown；
Step 7, underproof gluing auto parts machinery numbering is recorded and united according to result of determination by terminal 1
Meter.
Claims (7)
- A kind of 1. auto parts machinery gluing quality dynamic on-line monitoring device, it is characterised in that including：Terminal, Ethernet Communication cable, detection controller, RS485 communication cables and gluing and testing agency；The terminal is connected by ethernet communication cable with detection controller；The detection controller passes through RS485 Communication cable is connected with gluing and testing agency；The gluing and testing agency, including short distance sensor, installing mechanism and Glue Spreading Robot；The short distance sensor is fixed on installing mechanism, and installing mechanism is arranged in the glue rifle of Glue Spreading Robot；The short distance Sensor and the gum outlet of the glue rifle are in Relative vertical relation.
- 2. auto parts machinery gluing quality dynamic on-line monitoring device as claimed in claim 1, it is characterised in that：The short distance passes Sensor is short distance range sensor.
- 3. auto parts machinery gluing quality dynamic on-line monitoring device as claimed in claim 1, it is characterised in that：The fitting machine Structure is trapezoidal fixed mount.
- 4. using the control method of the auto parts machinery gluing quality dynamic on-line monitoring device described in claim 1, its feature exists In comprising the following steps：Step 1, operating personnel require according to Product Process, adjust the relative position of short distance sensor and Glue Spreading Robot, make short Journey sensor can be normally carried out the dynamic detection of gluing procedural image data and position data；Step 2, operating personnel require according to product quality, and the gluing control parameter of short distance sensor is entered by terminal Row initial setting up；Step 3, Glue Spreading Robot starts the auto parts machinery gluing work of current generation, short distance sensor record gluing procedural image The initial data of data and position data；Step 4, the initial data of the gluing procedural image data of acquisition and position data is carried out data conversion by short distance sensor, Current gluing status values are obtained, judge whether current gluing status values are qualified, result of determination is obtained and preserves unqualified inspection Survey record；Step 5, judge whether Glue Spreading Robot completes the auto parts machinery gluing work of current generation, if so, step 6 is performed, it is no Then, return to step 4；Step 6, short distance sensor is by the initial data of gluing procedural image data and position data, result of determination and unqualified inspection Record is surveyed to reach terminal and show；Step 7, underproof gluing auto parts machinery numbering is recorded and counted according to result of determination by terminal.
- 5. control method as claimed in claim 4, it is characterised in that：The gluing control parameter of the short distance sensor includes： The setting range of adhesive tape position, the setting range of width, the setting range of the setting range of height and length.
- 6. control method as claimed in claim 4, it is characterised in that：The picture number of the short distance sensor record gluing process It is according to the detailed process with position data initial data：Short distance sensor follows the running orbit of Glue Spreading Robot, obtains and protects Deposit view data and position data.
- 7. control method as claimed in claim 4, it is characterised in that：The short distance sensor is by the figure of the gluing process of acquisition As the initial data of data and position data is changed, current gluing status values are obtained, judge current gluing status values Whether qualified specific control process is：Short distance sensor is converted to the view data of gluing process of acquisition and the initial data of position data residing for glue rifle Position, adhesive tape width and adhesive tape height, as current gluing status values；It is short to judge whether current gluing status values are satisfied by The gluing control parameter of journey sensor；If satisfied, then the result of determination of the current generation is qualified；Conversely, to be unqualified, and Current gluing status values are preserved as unqualified state recording.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711283283.5A CN107830802B (en) | 2017-12-07 | 2017-12-07 | Online dynamic detection device and control method for glue coating quality of automobile parts |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711283283.5A CN107830802B (en) | 2017-12-07 | 2017-12-07 | Online dynamic detection device and control method for glue coating quality of automobile parts |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN107830802A true CN107830802A (en) | 2018-03-23 |
| CN107830802B CN107830802B (en) | 2024-03-15 |
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| CN201711283283.5A Active CN107830802B (en) | 2017-12-07 | 2017-12-07 | Online dynamic detection device and control method for glue coating quality of automobile parts |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108537808A (en) * | 2018-04-08 | 2018-09-14 | 易思维（天津）科技有限公司 | A kind of gluing online test method based on robot teaching point information |
| CN110189316A (en) * | 2019-05-29 | 2019-08-30 | 易思维（杭州）科技有限公司 | A kind of adhesive tape detection automatic teaching method |
| CN111844025A (en) * | 2020-07-02 | 2020-10-30 | 上海发那科机器人有限公司 | Device and method for recording visual data of glue coating robot |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108537808A (en) * | 2018-04-08 | 2018-09-14 | 易思维（天津）科技有限公司 | A kind of gluing online test method based on robot teaching point information |
| CN108537808B (en) * | 2018-04-08 | 2019-02-22 | 易思维（天津）科技有限公司 | A kind of gluing online test method based on robot teaching point information |
| CN110189316A (en) * | 2019-05-29 | 2019-08-30 | 易思维（杭州）科技有限公司 | A kind of adhesive tape detection automatic teaching method |
| CN111844025A (en) * | 2020-07-02 | 2020-10-30 | 上海发那科机器人有限公司 | Device and method for recording visual data of glue coating robot |
| CN111844025B (en) * | 2020-07-02 | 2024-04-16 | 上海发那科机器人有限公司 | Device and method for recording visual data of gluing robot |
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| Publication number | Publication date |
|---|---|
| CN107830802B (en) | 2024-03-15 |
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