CN108031614B - Automatic glue coating compensation method for gas meter and device adopting same - Google Patents
Automatic glue coating compensation method for gas meter and device adopting same Download PDFInfo
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- CN108031614B CN108031614B CN201711332590.8A CN201711332590A CN108031614B CN 108031614 B CN108031614 B CN 108031614B CN 201711332590 A CN201711332590 A CN 201711332590A CN 108031614 B CN108031614 B CN 108031614B
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- gluing
- glue
- robot
- visual detection
- detection unit
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- 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
- B05C5/0212—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 only at particular parts of the articles
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- 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
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- 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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
Abstract
The invention discloses a gluing automatic compensation method of a gas meter, which comprises the following steps: the robot gluing unit finishes gluing operation on a preset position of the shell according to a pre-taught gluing track; the visual detection unit controls the manipulator to move to a visual detection station so as to image the gluing part of the shell in real time; the visual detection unit compares the gluing part on the real-time imaging picture with a pre-stored standard picture in sections to determine the section number where the glue is broken and transmits the section number to the robot gluing unit; and the robot gluing unit performs glue supplementing operation based on the received section number. The invention provides a gluing automatic compensation method of a gas meter, which obtains the gluing effect of a gluing robot in real time through a visual detection mechanism, compares the gluing effect with a stored standard picture to determine a section of the gluing robot needing glue supplement, provides the section of the gluing robot with the stored standard picture, provides the section of the gluing robot with the section of the gluing robot as an operation basis for glue supplement, and has the effects of high automation degree, good adaptability and controllable precision.
Description
Technical Field
The invention relates to a compensation method for use in the case of installation of a device. More specifically, the invention relates to a gluing automatic compensation method used in the assembly condition of a gas meter and a device adopting the method.
Background
In an existing gas meter assembly production line, the assembly work of the whole gas meter is usually completed manually, namely, workers need to pick up various raw materials from a material frame, then complete installation operation on corresponding stations, and repeat the same action repeatedly during working, so that the workers are easily in fatigue and in a boring state, and the workers cannot pause due to self or external reasons during working, and whether the workers can influence the production progress of subsequent stations, and further influence the production efficiency.
The reason why the existing gas meter production line can not realize full-automatic assembly basically is that assembly of the gas meter requires about 40 working modules for flow process, and operation and time sequence of each module also have special requirements, and in the process of packaging after assembly of parts in the gas meter, glue needs to be applied to a corresponding groove body of a shell of the gas meter, so that the shell is tightly matched, and the requirement of the shell on sealing performance is met.
However, in the prior art, manual operation is mostly adopted for packaging of the gas meters, and the reason is that the production line of the gas meters does not realize automatic operation at present, a gluing robot is introduced in the packaging link for gluing, but glue needs to be added into the gluing robot at variable time due to the flow production of the gluing process, and air easily enters a pipeline when a glue barrel is replaced, so that bubbles or glue breakage occurs in the gluing process, and the assembly precision is influenced.
Disclosure of Invention
An object of the present invention is to solve at least the above problems and/or disadvantages and to provide at least the advantages described hereinafter.
The invention also aims to provide a gluing automatic compensation method for the gas meter, which obtains the gluing effect of the gluing robot in real time through a visual detection mechanism, compares the gluing effect with a stored standard picture to determine a section of the gas meter which needs glue supplement and provides the section of the gas meter for the gluing robot, and provides the section of the gas meter with the glue supplement operation basis for the gluing robot.
The invention also aims to provide a gluing automatic compensation device of a gas meter, which can lead the working state of a gluing robot to be detected in real time by introducing a visual detection device matched with the gluing robot so as to be convenient for compensating the stored defects, lead the later assembly precision to meet the performance requirements of products, and have the effects of good implementable effect, strong operability and good stability.
To achieve these objects and other advantages in accordance with the purpose of the invention, the present invention may be realized by a method of applying an automatic glue compensating apparatus, comprising:
the robot gluing unit finishes gluing operation on a preset position of the shell according to a pre-taught gluing track;
the visual detection unit controls the manipulator to move to a visual detection station so as to image the gluing part of the shell in real time;
the visual detection unit compares the gluing part on the real-time imaging picture with a pre-stored standard picture in sections to determine the section number where the glue is broken and transmits the section number to the robot gluing unit;
and the robot gluing unit performs glue supplementing operation based on the received section number.
Preferably, among others, it includes: if the visual detection unit judges that the glue is broken for three times continuously, the robot gluing unit determines that the pipeline enters air when the glue barrel is replaced, and the needle head is moved to the waste material collection mechanism to automatically release the glue;
and after the glue spreading robot finishes the glue releasing operation within the preset time, the needle head is moved to the needle head cleaning mechanism, and the needle head is cleaned through the reciprocating motion of the preset track.
Preferably, the visual detection unit stores a standard picture of gas meter shell gluing, so as to divide the gluing track of the visual detection unit according to sections and encode each corresponding section;
the visual detection unit stores first digital information related to brightness, gray scale, color and pixels related to a bremsstrahlung track of the coating in a standard picture in a preset threshold interval;
and the visual detection unit converts the rubber coating picture shot in real time into second data information corresponding to the first digital information according to the sections and compares the second data information so as to determine whether the sections have rubber breakage or not according to whether the second data information is lower than a threshold value interval or not.
Preferably, the visual detection unit sends the section number obtained by comparison to the gluing robot;
and the gluing robot moves to a glue supplementing position to perform glue supplementing operation based on the received section number.
Preferably, the visual detection unit acquires third data information related to the gluing width of the gluing track in the standard picture to obtain a corresponding first weight;
and the visual detection unit converts the rubber coating picture shot in real time into a second weight corresponding to the third digital information according to the sections and compares the second weight with the first weight to determine whether the second weight is lower than the first weight so as to judge the rubber supply quality of each section.
The invention also aims to provide a gluing automatic compensation device of the gas meter, which comprises:
at least one gluing robot unit arranged on the frame, wherein the gluing robot unit is provided with a needle head for gluing;
the visual detection unit is matched with the gluing stations of the gas meter shells to detect whether glue breaking exists in the gluing operation;
the gas meter shell gluing machine is characterized in that an alcohol cup matched with a needle head is arranged at the position, adjacent to a gluing station of a gas meter shell, of the machine frame, the visual detection unit is connected with the machine frame through a manipulator in communication connection with the visual detection unit, and the gluing robot unit is in communication connection with the visual detection unit so as to obtain a section where glue is broken and perform glue supplementing operation.
Preferably, the machine frame is further provided with a waste collecting mechanism and a needle head cleaning mechanism at positions matched with the gluing stations of the gas meter shells.
Preferably, wherein the waste collection mechanism comprises:
a waste bottle having an open-like opening;
the bottle stopper is matched with the opening;
wherein, have a rectangle notch that is radial run-through in the bottle plug, the intermediate position of rectangle notch is provided with the annular groove who is used for the syringe needle to stretch into the waste bottle, just be provided with the stand pipe with the detachable mode on the annular groove, just
And flexible layers for cleaning the needle head for the first time are respectively arranged at two ends of the annular groove.
Preferably, wherein the needle cleaning mechanism comprises:
the U-shaped mounting seat is arranged on the rack;
the cleaning sponge is detachably arranged on the inner wall of the open end of the U-shaped mounting seat;
the end surfaces of the cleaning sponge and the needle head which are matched are arranged in a wavy shape to form a plurality of groups of longitudinal cleaning brush heads.
Preferably, wherein the vision system comprises:
the conical bracket is arranged at the end part of the manipulator;
at least one industrial camera disposed inside the conical support;
the illuminating mechanism is arranged on the conical bracket and further matched with the industrial camera;
and the visual system control cabinet is arranged on one side of the rack or the manipulator and is in communication connection with the industrial camera and the lighting mechanism.
The invention at least comprises the following beneficial effects: firstly, the invention obtains the gluing effect of the gluing robot in real time through the visual detection mechanism, compares the gluing effect with the stored standard picture to further determine the section of the gluing robot which needs glue supplement, provides the section of the gluing robot with the stored standard picture, and provides the section of the gluing robot with the glue supplement operation basis for the gluing robot.
Secondly, the invention obtains the gluing width value through the visual detection unit, and then judges and controls the gluing quality, so that the gluing quality is controllable.
Thirdly, the section needing glue supplement is positioned by dividing the gluing track according to the sections, so that the section points can be accurately positioned only by dividing the sections to a larger value theoretically, the glue supplement operation of the gluing robot is facilitated, and the method has the effects of controllable precision, good implementable effect and strong operability.
Fourthly, the invention provides the automatic gluing compensation device for the gas meter, which can lead the working state of the gluing robot to be detected in real time by introducing the visual detection device matched with the gluing robot so as to compensate the stored defects of the gluing robot, lead the later assembly precision to meet the performance requirements of products, and has the effects of good implementable effect, strong operability and good stability.
Fifthly, the waste material collecting mechanism can remove the rubber section with air bubbles through the structural design of the waste material collecting mechanism, simultaneously preliminarily clean the removed needle head, prevent the needle head from being polluted by other equipment in the moving process, and simultaneously ensure the cleanliness of the needle head by matching with a special needle head cleaning mechanism so as to ensure the gluing quality of the needle head.
Additional advantages, objects, and features of the invention will be set forth in part in the description which follows and in part will become apparent to those having ordinary skill in the art upon examination of the following or may be learned from practice of the invention.
Drawings
FIG. 1 is a schematic diagram of a segment division structure of a glue spreading track according to an embodiment of the present invention;
FIG. 2 is a schematic structural diagram of an automatic glue-applying compensation device according to another embodiment of the present invention;
fig. 3 is a schematic top view of the closure of fig. 2;
fig. 4 is a schematic view of the structure of the guide tube in the stopper of fig. 2.
Detailed Description
The present invention is further described in detail below with reference to the attached drawings so that those skilled in the art can implement the invention by referring to the description text.
It will be understood that terms such as "having," "including," and "comprising," as used herein, do not preclude the presence or addition of one or more other elements or groups thereof.
The object of the invention can be achieved by an automatic compensation method for application of gluing, comprising:
the robot gluing unit finishes gluing operation on a preset position of the shell according to a pre-taught gluing track;
the visual detection unit controls the manipulator to move to a visual detection station so as to perform real-time imaging on the shell gluing part, and the visual detection unit is used for obtaining the gluing effect on the shell through a visual imaging technology;
the visual detection unit compares the coated glue part on the real-time imaging picture with a pre-stored standard picture in sections, as shown in fig. 1, so as to determine the section number where the glue is broken, and transmits the section number to the robot gluing unit, wherein the visual detection unit is used for comparing the real-time image with the standard picture so as to obtain the section number of the broken glue;
the robot gluing unit performs glue supplementing operation based on the received section number, accurate glue supplementing is achieved, and pollution to equipment and the gas meter due to overflow of glue is prevented. The proposal is adopted to realize the detection of the glue breaking track so as to ensure the gluing quality, and the code of the glue breaking segment is output, so that the robot has the advantages of good implementable effect, strong operability, good adaptability and strong controllability when executing the glue supplementing action. Also, this manner is merely an illustration of a preferred example, but not limited thereto. When the invention is implemented, appropriate replacement and/or modification can be carried out according to the requirements of users.
In another example, if the visual detection unit judges that the glue is broken for three times continuously, the robot gluing unit determines that the pipeline enters air when the glue barrel is replaced, and the needle head is moved to the waste material collection mechanism to automatically release the glue;
and after the glue spreading robot finishes the glue releasing operation within the preset time, the needle head is moved to the needle head cleaning mechanism, and the needle head is cleaned through the reciprocating motion of the preset track. By adopting the scheme, the gluing robot system can automatically discharge glue according to the feedback data of the visual system so as to eliminate air entering the pipeline when the glue barrel is replaced; when the glue needs to be discharged, the robot moves to the waste material port, the glue valve is automatically opened according to the glue discharging time configured by the system to discharge the glue, and the needle head is automatically wiped after the glue is discharged, so that the glue coating quality is ensured. Also, this manner is merely an illustration of a preferred example, but not limited thereto. When the invention is implemented, appropriate replacement and/or modification can be carried out according to the requirements of users.
In another example, a standard picture of gas meter shell gluing is stored in the visual detection unit, so that the gluing track of the visual detection unit is divided into sections, and each corresponding section is coded;
the visual detection unit stores first digital information related to brightness, gray scale, color and pixels related to a bremsstrahlung track of the coating in a standard picture in a preset threshold interval;
and the visual detection unit converts the rubber coating picture shot in real time into second data information corresponding to the first digital information according to the sections and compares the second data information so as to determine whether the sections have rubber breakage or not according to whether the second data information is lower than a threshold value interval or not. By adopting the scheme, the gluing track is segmented and coded, and the segment number of the shell gluing track is divided according to the following figure example; judging whether the glue is broken and the number of the broken glue section by the vision system according to the difference between the real-time shot picture and the standard picture; when glue is broken, the glue breaking information is identified, and a glue breaking code is output to the gluing robot, so that corresponding glue supplementing action is facilitated, and the glue repairing robot has the advantages of being good in implementable effect, strong in operability, good in controllability and good in adaptability. Also, this manner is merely an illustration of a preferred example, but not limited thereto. When the invention is implemented, appropriate replacement and/or modification can be carried out according to the requirements of users.
In another example, the vision detection unit sends the section number obtained by comparison to the gluing robot;
and the gluing robot moves to a glue supplementing position to perform glue supplementing operation based on the received section number.
Preferably, the visual detection unit acquires third data information related to the gluing width of the gluing track in the standard picture to obtain a corresponding first weight;
and the visual detection unit converts the rubber coating picture shot in real time into a second weight corresponding to the third digital information according to the sections and compares the second weight with the first weight to determine whether the second weight is lower than the first weight so as to judge the rubber supply quality of each section. By adopting the scheme, the glue supply quality is judged by detecting the weight of the glue coating width, and the method has the advantages of good implementable effect, strong operability and high automation degree. Also, this manner is merely an illustration of a preferred example, but not limited thereto. When the invention is implemented, appropriate replacement and/or modification can be carried out according to the requirements of users.
Fig. 2 shows an implementation form of a gluing automatic compensation device of a gas meter according to the present invention, which includes:
at least one gluing robot unit 2 arranged on the frame 1, the gluing robot motion controller has a plurality of communication protocols, such as standard IO signals, extended IO signals, serial communication (RS232, RS422) and ODBUS-TCP, so that the gluing robot motion controller has strong adaptability, and is respectively provided with a gluing needle 20;
the visual detection unit 3 is matched with the gluing stations of the gas meter shells to detect whether glue breaking exists in the gluing operation, is a new technology with development potential in the technical field of precision testing, comprehensively applies electronics, photoelectric detection, image processing and computer technology, introduces machine vision into industrial detection, realizes quick measurement of the three-dimensional size or position of an object (product or part), has the outstanding advantages of non-contact, high speed, good flexibility and the like, and has important application prospect in the modern manufacturing industry;
wherein, the frame is provided with the alcohol cup 4 with syringe needle matched with in the department that borders on of gas meter case rubber coating station, and it is used for protecting its syringe needle when the rubber coating robot is in non-operating condition, prevents that glue from condensing to and the pollution that causes the syringe needle, visual detection unit is connected with the frame through rather than communication connection's manipulator 5, and it is used for adjusting visual detection unit's position to stagger with the work position of rubber coating robot when making it out of work, in order to prevent its blockking that causes the work area, rubber coating robot unit and visual detection unit communication connection, carry out the benefit with the district's section that obtains disconnected glue place and glue the operation. The scheme has the advantages of good implementable effect, strong operability and good adaptability. Also, this manner is merely an illustration of a preferred example, but not limited thereto. When the invention is implemented, appropriate replacement and/or modification can be carried out according to the requirements of users.
As shown in fig. 2, in another example, the frame is further provided with a waste collecting mechanism 6 at a position matched with each gas meter housing gluing station, the waste collecting mechanism is used for entering air in a pipeline when a glue barrel is replaced and discharging glue to empty gas so as to ensure gluing quality of the glue barrel, and a needle cleaning mechanism 7 is used for cleaning a needle after glue discharging and further ensuring gluing quality in a later period. The scheme has the advantages of good implementable effect, good reliability and strong stability. Also, this manner is merely an illustration of a preferred example, but not limited thereto. When the invention is implemented, appropriate replacement and/or modification can be carried out according to the requirements of users.
As shown in fig. 2-4, in another example, the waste collection mechanism includes:
a waste bottle 60 having an open-like opening for collecting waste;
a stopper 61 fitted to the opening for partially closing the waste material to prevent the emission of smell and the pollution to the air in the workshop;
wherein, have one in the bottle plug and be the rectangle notch 62 that radially runs through, the intermediate position of rectangle notch is provided with the annular groove 63 that is used for the syringe needle to stretch into the waste bottle, and it is used for the syringe needle to pass through, carries out the blowing operation, just be provided with stand pipe 65 with the detachable mode on the annular groove, it can be provided with the toper guide end at the free end for lead the syringe needle, so that its business turn over smoothly, and
the flexible layer 64 for cleaning the needle head for the first time is arranged at each of the two ends of the annular groove, and the needle head can be cleaned preliminarily only by being taken out after the needle head completes the emptying and moves horizontally, so that the pollution to equipment caused by the dropping of glue when the needle head moves out is prevented. The scheme has the advantages of good reliability and good implementable effect. Also, this manner is merely an illustration of a preferred example, but not limited thereto. When the invention is implemented, appropriate replacement and/or modification can be carried out according to the requirements of users.
In another example, as shown in fig. 2, the needle cleaning mechanism comprises:
a U-shaped mounting seat 50 arranged on the frame;
a cleaning sponge 51 detachably arranged on the inner wall of the open end of the U-shaped mounting seat and used for exerting force on the needle head so as to keep the needle head in a clean working state;
the end surfaces of the cleaning sponge and the needles are configured in a wavy shape to form a plurality of longitudinal groups of cleaning brush heads 52, which are used for increasing friction and resistance to ensure better cleaning effect. The scheme has the advantages of good implementable effect, strong operability and good stability. Also, this manner is merely an illustration of a preferred example, but not limited thereto. When the invention is implemented, appropriate replacement and/or modification can be carried out according to the requirements of users.
As shown in fig. 2, in another example, the vision system includes:
the conical support 30 is arranged at the end part of the manipulator, and the outer part of the conical support can be designed into a cover body matched with the conical support for limiting the view finding range of the camera so as to be convenient for processing and comparing pictures at the later stage;
at least one industrial camera 31 disposed inside the conical support;
the illuminating mechanism 32 is arranged on the conical bracket and further matched with the industrial camera and is used for supplementing light to the industrial camera so as to ensure the imaging effect of the industrial camera;
and a vision system control cabinet 33 which is arranged at one side of the frame or the manipulator and is in communication connection with the industrial camera and the lighting mechanism. The scheme has the advantages of good implementable effect, strong operability and good stability. Also, this manner is merely an illustration of a preferred example, but not limited thereto. When the invention is implemented, appropriate replacement and/or modification can be carried out according to the requirements of users.
The number of apparatuses and the scale of the process described herein are intended to simplify the description of the present invention. The application, modification and variation of the gluing automatic compensation method for the gas meter and the device applying the method are obvious to those skilled in the art.
While embodiments of the invention have been disclosed above, it is not intended to be limited to the uses set forth in the specification and examples. It can be applied to all kinds of fields suitable for the present invention. Additional modifications will readily occur to those skilled in the art. It is therefore intended that the invention not be limited to the exact details and illustrations described and illustrated herein, but fall within the scope of the appended claims and equivalents thereof.
Claims (6)
1. A gluing automatic compensation method of a gas meter is characterized by comprising the following steps:
the robot gluing unit finishes gluing operation on a preset position of the shell according to a pre-taught gluing track;
the visual detection unit controls the manipulator to move to a visual detection station so as to image the gluing part of the shell in real time;
the visual detection unit compares the gluing part on the real-time imaging picture with a pre-stored standard picture in sections to determine the section number where the glue is broken and transmits the section number to the robot gluing unit;
the robot gluing unit performs glue supplementing operation based on the received section number;
if the visual detection unit judges that the glue is broken for three times continuously, the robot gluing unit determines that the pipeline enters air when the glue barrel is replaced, and the needle head is moved to the waste material collection mechanism to automatically release the glue;
after the glue spreading robot finishes the glue releasing operation within the preset time, the needle head is moved to the needle head cleaning mechanism, and the needle head is cleaned through the reciprocating motion of the preset track;
the visual detection unit acquires third data information related to the gluing width of the gluing track in the standard picture so as to store a corresponding first weight;
and the visual detection unit converts the rubber coating picture shot in real time into a second weight corresponding to the third digital information according to the sections and compares the second weight with the first weight to determine whether the second weight is lower than the first weight so as to judge the rubber supply quality of each section.
2. The gluing automatic compensation method of the gas meter as claimed in claim 1, wherein the visual detection unit stores a standard picture of the gas meter shell gluing to divide the gluing track thereof by sections and encode each corresponding section;
the visual detection unit stores first digital information related to brightness, gray scale, color and pixels related to a bremsstrahlung track of the coating in a standard picture in a preset threshold interval;
and the visual detection unit converts the rubber coating picture shot in real time into second data information corresponding to the first digital information according to the sections and compares the second data information so as to determine whether the sections have rubber breakage or not according to whether the second data information is lower than a threshold value interval or not.
3. The gluing automatic compensation method of the gas meter according to claim 2, wherein the vision detection unit sends the section number obtained by comparison to the gluing robot;
and the gluing robot moves to a glue supplementing position to perform glue supplementing operation based on the received section number.
4. An apparatus for applying the automatic compensation method for glue spreading according to any one of claims 1 to 3, comprising:
at least one gluing robot unit arranged on the frame, wherein the gluing robot unit is provided with a needle head for gluing;
the visual detection unit is matched with the gluing stations of the gas meter shells to detect whether glue breaking exists in the gluing operation;
the machine frame is provided with an alcohol cup matched with a needle head at the adjacent position of a gluing station of the gas meter shell, the visual detection unit is further connected with the machine frame through a manipulator in communication connection with the visual detection unit, and the gluing robot unit is in communication connection with the visual detection unit so as to obtain a section where glue is broken and perform glue supplementing operation;
the garbage collection mechanism includes:
a waste bottle having an open-like opening;
the bottle stopper is matched with the opening;
wherein, have a rectangle notch that is radial run-through in the bottle plug, the intermediate position of rectangle notch is provided with the annular groove who is used for the syringe needle to stretch into the waste bottle, just be provided with the stand pipe with the detachable mode on the annular groove, just
Two ends of the annular groove are respectively provided with a flexible layer for primarily cleaning the needle head;
the needle cleaning mechanism comprises:
the U-shaped mounting seat is arranged on the rack;
the cleaning sponge is detachably arranged on the inner wall of the open end of the U-shaped mounting seat;
the end surfaces of the cleaning sponge and the needle head which are matched are arranged in a wavy shape to form a plurality of groups of longitudinal cleaning brush heads.
5. The apparatus of claim 4, wherein said frame is further provided with waste collection means and needle cleaning means at positions cooperating with respective glue stations of the gas meter housings.
6. The apparatus of claim 4, wherein the vision system comprises:
the conical bracket is arranged at the end part of the manipulator;
at least one industrial camera disposed inside the conical support;
the illuminating mechanism is arranged on the conical bracket and further matched with the industrial camera;
and the visual system control cabinet is arranged on one side of the rack or the manipulator and is in communication connection with the industrial camera and the lighting mechanism.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201711332590.8A CN108031614B (en) | 2017-12-14 | 2017-12-14 | Automatic glue coating compensation method for gas meter and device adopting same |
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| CN201711332590.8A CN108031614B (en) | 2017-12-14 | 2017-12-14 | Automatic glue coating compensation method for gas meter and device adopting same |
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| CN108031614B true CN108031614B (en) | 2020-04-17 |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN111451095A (en) * | 2020-04-09 | 2020-07-28 | 深圳了然视觉科技有限公司 | Real-time gluing quality detection and automatic glue supplementing technology based on vision |
| 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 |
| CN112894807A (en) * | 2021-01-13 | 2021-06-04 | 深圳市玄羽科技有限公司 | Industrial automation control device and method |
| CN113304971B (en) * | 2021-04-26 | 2022-12-13 | 深圳市世宗自动化设备有限公司 | 3D dynamic guiding dispensing compensation method, device and equipment and storage medium thereof |
| CN114833040B (en) * | 2022-05-13 | 2024-01-05 | 智新科技股份有限公司 | Gluing method and new energy electric drive end cover gluing equipment |
| CN116777888B (en) * | 2023-06-30 | 2024-02-06 | 广州高迪机电工程有限公司 | Self-adaptive compensation correction method for adhesive width by visual detection system during angular adhesive coating |
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| GB1303810A (en) * | 1969-05-02 | 1973-01-24 | ||
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| CN104792788B (en) * | 2015-03-18 | 2017-12-22 | 浙江野马电池有限公司 | A kind of gluing visible detection method and its device |
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| CN108031614A (en) | 2018-05-15 |
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