CN114529547B - Gluing quality detection system and method for robot gluing workstation - Google Patents

Gluing quality detection system and method for robot gluing workstation Download PDF

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CN114529547B
CN114529547B CN202210433403.XA CN202210433403A CN114529547B CN 114529547 B CN114529547 B CN 114529547B CN 202210433403 A CN202210433403 A CN 202210433403A CN 114529547 B CN114529547 B CN 114529547B
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gluing
glue
coefficient
time
curing time
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CN114529547A (en
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程彪
杨先明
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Changzhou Jieshite Robot Technology Co ltd
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Changzhou Jieshite Robot Technology Co ltd
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    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/0002—Inspection of images, e.g. flaw detection
    • G06T7/0004—Industrial image inspection
    • 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
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/10—Segmentation; Edge detection
    • G06T7/13—Edge detection
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/60—Analysis of geometric attributes
    • G06T7/62—Analysis of geometric attributes of area, perimeter, diameter or volume
    • 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
    • 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
    • Y02P90/30—Computing systems specially adapted for manufacturing

Abstract

The invention discloses a gluing quality detection system and method for a robot gluing workstation, and belongs to the technical field of robot gluing detection. The invention comprises the following steps: the method comprises the following steps: monitoring the gluing working process of the robot in real time by using an industrial camera, acquiring gluing glue overflow area and glue overflow diffusion time based on a monitoring image, and calculating the gluing coefficient through acquired data; step two: calculating the curing time of the glue coating with different thicknesses based on the bonding coefficient; step three: detecting the gluing quality according to the gluing adhesion coefficient and the curing time; step four: the method and the device are different from the prior art that whether the gluing thickness is consistent or not is calculated to judge the comprehensive gluing quality, so that the phenomenon that the thickness of the glued glue changes after a period of time due to the existence of bubbles in the glued glue is avoided, and the gluing quality detection precision is improved.

Description

Gluing quality detection system and method for robot gluing workstation
Technical Field
The invention relates to the technical field of robot gluing detection, in particular to a gluing quality detection system and method for a robot gluing workstation.
Background
The robot is the intelligent machine that can semi-independently or independently work entirely, and the wide application is in some dangerous trades nowadays, and the rubber coating is in the spraying in-process, and the particulate matter that wherein contains is inhaled in the lung easily, threatens to the health, consequently carries out rubber coating work through the robot and becomes a popular trend, but the robot can't carry out the perception to the rubber coating quality at the rubber coating in-process.
The existing gluing quality detection system usually detects the gluing quality after the gluing work of a robot is finished, secondary gluing work is needed after the detection, and the robot path cannot be immediately changed at the uneven gluing position, so that the robot can perform glue supplementing treatment on the uneven gluing position, the adhesion degree between gluing and a material is reduced, the smoothness of the surface of the material and the using effect of the material are reduced, the existing gluing quality detection system usually judges whether the gluing is even or not by analyzing the gray value and the brightness value of a gluing image through collecting the gluing image, the gluing image obtained in the process is easily influenced by other interference factors, a certain error exists in the detection result, and the detection effect of the gluing quality detection system is reduced.
Disclosure of Invention
The invention aims to provide a gluing quality detection system and a gluing quality detection method for a robot gluing workstation, so as to solve the problems in the background technology.
In order to solve the technical problems, the invention provides the following technical scheme: a gluing quality detection method for a robot gluing workstation comprises the following steps:
the method comprises the following steps: monitoring the gluing working process of the robot in real time by using an industrial camera, acquiring gluing glue overflow area and glue overflow diffusion time based on a monitoring image, and calculating the gluing coefficient through acquired data;
step two: calculating the curing time of the glue coating with different thicknesses based on the bonding coefficient;
step three: detecting the gluing quality according to the gluing adhesion coefficient and the curing time;
step four: and adjusting the gluing path based on the gluing curing time.
Further, the specific method for calculating the gluing and bonding coefficient by collecting data in the first step is as follows:
1) acquiring images when glue overflow starts and ends during gluing in the monitoring images, performing edge strengthening treatment on a gluing position in the image of ending glue overflow, acquiring a gluing edge contour after treatment, constructing a coordinate system based on the gluing edge contour, calculating a gluing overflow surface area and a gluing curing surface area, and taking an intercepting time interval of two images as glue overflow diffusion time, wherein the gluing curing surface area represents a surface area formed on a gluing original track after glue overflow is ended;
2) searching a contrast point in the gluing working area, enabling the focus of the industrial camera, the height point of the gluing edge and the contrast point to be on the same straight line, and calculating the gluing overflow height and the gluing curing height by using the shooting angle difference of the industrial camera;
3) the gluing overflow surface area obtained by the calculation in 1)
Figure 100002_DEST_PATH_IMAGE001
The glue overflow diffusion time and the glue overflow height of the glue coating obtained by the calculation in the step 2)
Figure 454874DEST_PATH_IMAGE002
Calculating the adhesive coefficient of the glue coating, wherein the specific calculation formula is as follows:
Figure 100002_DEST_PATH_IMAGE003
；
wherein the content of the first and second substances,
Figure 621413DEST_PATH_IMAGE004
the glue density is shown to be the glue density,
Figure 100002_DEST_PATH_IMAGE005
the volume of the glue overflow is shown,
Figure 89172DEST_PATH_IMAGE006
the time of the glue overflow diffusion is shown,
Figure 100002_DEST_PATH_IMAGE007
the glue overflow speed of the unit volume of the glue is expressed,
Figure 948544DEST_PATH_IMAGE008
which represents the internal frictional resistance per unit area of the glue,
Figure 100002_DEST_PATH_IMAGE009
the adhesive bonding coefficient of the glue is shown,
Figure 370429DEST_PATH_IMAGE010
when the pressure of the coating layer is expressed as
Figure 100002_DEST_PATH_IMAGE011
The corresponding gluing and bonding coefficient is measured,
Figure 871818DEST_PATH_IMAGE012
the dynamic viscosity of the glue is expressed, and when the pressure of the glue coating layer is less than
Figure 662925DEST_PATH_IMAGE011
When the glue is overflowed, the pressure of the glue coating layer is less than
Figure 162039DEST_PATH_IMAGE011
When using
Figure 100002_DEST_PATH_IMAGE013
The adhesive coefficient of the glue is calculated,
Figure 867958DEST_PATH_IMAGE010
a larger value indicates a larger adhesive coefficient of the paste.
Further, in the second step, the curing time of the glue with different thicknesses is calculated based on the adhesive coefficient, and the specific calculation method is as follows:
step 1: coefficient of adhesion to glue
Figure 110721DEST_PATH_IMAGE014
Pressure with glue coating
Figure 100002_DEST_PATH_IMAGE015
Are described, then
Figure 38226DEST_PATH_IMAGE016
Wherein, in the step (A),
Figure DEST_PATH_IMAGE017
the gluing height is hierarchically divided according to the user-defined height difference,
Figure 217229DEST_PATH_IMAGE015
is shown as
Figure 100002_DEST_PATH_IMAGE019
The layer is coated with glue under a corresponding gluing pressure,
Figure 862974DEST_PATH_IMAGE011
when the adhesive bonding coefficient is
Figure 660160DEST_PATH_IMAGE010
When the pressure of the corresponding glue coating layer is applied,
Figure 707750DEST_PATH_IMAGE020
the relationship between the coefficients is expressed in terms of,
Figure 548667DEST_PATH_IMAGE014
is shown as
Figure 134238DEST_PATH_IMAGE019
The layer is coated with glue with a corresponding glue binding coefficient,
Figure 100002_DEST_PATH_IMAGE021
the smaller the adhesive bonding coefficient of the corresponding position
Figure 249962DEST_PATH_IMAGE022
The larger the size of the tube is,
Figure 620900DEST_PATH_IMAGE021
the larger the adhesive bonding coefficient of the corresponding position
Figure 180189DEST_PATH_IMAGE022
The smaller;
step 2: coefficient of adhesion to glue by database data
Figure 269367DEST_PATH_IMAGE022
And glue coating and curing time
Figure 100002_DEST_PATH_IMAGE023
Describing the relationship between the two components, the adhesive bonding coefficient of the adhesive
Figure 172470DEST_PATH_IMAGE022
And glue coating and curing time
Figure 397915DEST_PATH_IMAGE023
Are in inverse proportion;
step 3: curing time for gluing different thicknesses based on adhesion coefficient
Figure 846214DEST_PATH_IMAGE024
And (3) performing calculation, wherein a specific calculation formula is as follows:
Figure 100002_DEST_PATH_IMAGE025
；
wherein, the first and the second end of the pipe are connected with each other,
Figure 173421DEST_PATH_IMAGE026
when the adhesive bonding coefficient is
Figure 896527DEST_PATH_IMAGE010
The curing time of the corresponding gluing surface is used,
Figure 100002_DEST_PATH_IMAGE027
the coefficient of the relationship is represented by,
Figure 22483DEST_PATH_IMAGE028
denotes the first
Figure 376104DEST_PATH_IMAGE019
Gluing and curing time corresponding to layer gluing;
the gluing layer pressure is used as a conversion quantity to calculate the curing time of gluing with different thicknesses, the curing time in the gluing layer is brought into a calculation result, and the situation that the subsequent other operations of the robot are influenced due to the fact that the calculated gluing curing time is small is avoided.
Further, in the third step, the gluing quality is detected according to the gluing adhesion coefficient and the curing time, and the specific method comprises the following steps: (1) based on the gluing adhesion coefficient, the gluing flowing degree is evaluated
Figure 100002_DEST_PATH_IMAGE029
Wherein, in the step (A),
Figure 439875DEST_PATH_IMAGE030
is shown as
Figure 100002_DEST_PATH_IMAGE031
When the number of the corresponding glue layers is
Figure 451825DEST_PATH_IMAGE032
When the coating quality is poor, the coating quality is considered to be poor
Figure 100002_DEST_PATH_IMAGE033
When the glue is applied, the gluing quality is preliminarily considered to be good;
(2) when in use
Figure 183020DEST_PATH_IMAGE033
Based on the curing time of the glue
Figure 759407DEST_PATH_IMAGE024
And (3) evaluating the satisfaction degree of gluing and supplementing materials, and then:
Figure 44895DEST_PATH_IMAGE034
；
when in use
Figure 100002_DEST_PATH_IMAGE035
When the glue is applied, the comprehensive quality of the glue is considered to be good, and when the glue is applied, the glue is applied
Figure 594956DEST_PATH_IMAGE036
And meanwhile, the comprehensive quality of the glue coating is considered to be poor.
Further, in the fourth step, the gluing path is adjusted based on the gluing curing time, and the specific method is as follows:
firstly, glue coating and curing time
Figure 649500DEST_PATH_IMAGE024
And the one-time circulation time of gluing
Figure 100002_DEST_PATH_IMAGE037
The multiple relation satisfied between the robot and the robot is calculated, and the glue filling time of the robot is calculated based on the multiple relation
Figure 876082DEST_PATH_IMAGE038
Make a determination that
Figure 100002_DEST_PATH_IMAGE039
Wherein, in the step (A),
Figure 429292DEST_PATH_IMAGE040
expressing the rounding of the multiple relation;
and secondly, taking the glue supplementing time of the robot as a time interval, changing the glue coating amount after the glue supplementing time of the robot, ensuring that the glue coating thickness of the robot is on the same horizontal line after the glue is supplemented, and changing the glue coating path from vertical motion to horizontal motion.
A gluing quality detection system of a robot gluing workstation comprises a gluing bonding coefficient calculation module, a gluing curing time determination module, a gluing quality analysis module and a gluing path adjustment module;
the gluing and bonding coefficient calculation module is used for monitoring the gluing working process of the robot in real time by using an industrial camera, acquiring gluing glue overflow area and glue overflow diffusion time based on a monitoring image, calculating the gluing bonding coefficient through acquired data, and transmitting the calculation result to the gluing curing time determination module;
the gluing curing time determining module is used for receiving the calculation result transmitted by the gluing bonding coefficient calculating module, calculating the curing time of gluing with different thicknesses according to the received content, optimizing the gluing bonding coefficient, and transmitting the calculation result and the optimized gluing bonding coefficient to the gluing quality analyzing module;
the gluing quality analysis module is used for receiving the calculation result transmitted by the gluing curing time determination module and the gluing adhesion coefficient after optimization processing, analyzing the comprehensive gluing quality based on the received content, and transmitting the analysis result to the gluing path adjustment module;
and the gluing path adjusting module is used for receiving the analysis result transmitted by the gluing quality analysis module, and adjusting the gluing path based on the gluing curing time when the comprehensive gluing quality is good.
Further, the gluing and bonding coefficient calculation module comprises an image data acquisition unit, a gluing data processing unit and a gluing and bonding coefficient calculation unit;
the image data acquisition unit acquires images when the robot starts to overflow and finishes glue overflow in glue coating by using an industrial camera, takes the intercepting time interval of the two images as glue overflow diffusion time, and transmits the acquired images and the glue overflow diffusion time to the glue coating data processing unit;
the gluing data processing unit receives the acquired image and the glue overflow diffusion time transmitted by the image data acquisition unit, performs edge strengthening processing on a gluing position in the finished glue overflow image, acquires a gluing edge profile after processing, calculates a gluing overflow surface area and a gluing curing surface area based on a coordinate system established by the gluing edge profile, searches a comparison point in a gluing working area, enables an industrial camera focus, a gluing edge height point and the comparison point to be on the same straight line, calculates the gluing overflow height and the gluing curing height by using an industrial camera shooting angle difference, and transmits a calculation result and the glue overflow diffusion time to the gluing bonding coefficient calculation unit;
the glue coating and bonding coefficient calculation unit receives the calculation result and the glue overflow diffusion time transmitted by the glue coating data processing unit and utilizes a formula according to the receiving content
Figure 32311DEST_PATH_IMAGE003
To the pressure of the glue layer is
Figure 957673DEST_PATH_IMAGE011
Calculating the corresponding gluing and bonding coefficient, wherein,
Figure 823998DEST_PATH_IMAGE004
the glue density is shown to be the glue density,
Figure 84078DEST_PATH_IMAGE005
the volume of the glue overflow is shown,
Figure 694051DEST_PATH_IMAGE006
the time of the glue overflow diffusion is shown,
Figure 706875DEST_PATH_IMAGE007
the glue overflow speed of the unit volume of the glue is expressed,
Figure 9681DEST_PATH_IMAGE008
which represents the internal frictional resistance per unit area of the glue,
Figure 491478DEST_PATH_IMAGE010
when the pressure of the coating layer is expressed as
Figure 452611DEST_PATH_IMAGE011
The corresponding gluing and bonding coefficient is measured,
Figure 336254DEST_PATH_IMAGE012
and expressing the dynamic viscosity of the gluing, and transmitting the calculation result to a gluing curing time determining module.
Further, the gluing and curing time determining module comprises a gluing and bonding coefficient optimizing unit, a relation determining unit and a gluing and curing time calculating unit;
the gluing and bonding coefficient optimizing unit receives the calculation result transmitted by the gluing and bonding coefficient calculating unit and utilizes a formula based on the receiving content
Figure 809960DEST_PATH_IMAGE016
The relation between the adhesive bonding coefficient of the adhesive and the pressure of the adhesive layer is described, wherein,
Figure 779054DEST_PATH_IMAGE017
the gluing height is hierarchically divided according to the user-defined height difference,
Figure 980097DEST_PATH_IMAGE015
is shown as
Figure 983825DEST_PATH_IMAGE019
The layer is coated with glue under a corresponding gluing pressure,
Figure 362853DEST_PATH_IMAGE011
when the adhesive bonding coefficient is
Figure 819243DEST_PATH_IMAGE010
When the pressure of the corresponding gluing layer is applied,
Figure 325441DEST_PATH_IMAGE020
expressing the coefficient relation and transmitting the description result to a gluing curing time calculation unit;
the relation determining unit describes the relation between the gluing adhesion coefficient and the gluing curing time through database data, and transmits the relation description result to the gluing curing time calculating unit;
the gluing and curing time calculation unit receives the description results transmitted by the gluing and bonding coefficient optimization unit and the relation determination unit and utilizes a formula based on the received contents
Figure 918097DEST_PATH_IMAGE025
The curing times for the different thicknesses of glue were calculated, wherein,
Figure 530344DEST_PATH_IMAGE026
when the adhesive bonding coefficient is
Figure 740875DEST_PATH_IMAGE010
The curing time of the corresponding gluing surface is used,
Figure 300032DEST_PATH_IMAGE027
the coefficient of the relationship is represented by,
Figure 12773DEST_PATH_IMAGE028
is shown as
Figure 733604DEST_PATH_IMAGE019
And (5) gluing and curing time corresponding to layer gluing, and transmitting the calculated result and the gluing adhesion coefficient after optimization processing to a gluing quality analysis module.
Further, the gluing quality analysis module comprises a gluing flowing degree evaluation unit and a gluing and glue supplementing satisfaction evaluation unit;
the gluing flow degree evaluation unit receives the gluing adhesion coefficient after the optimization processing transmitted by the gluing curing time calculation unit, and the gluing adhesion coefficient is smaller than the pressure of the gluing layer through calculation
Figure 649739DEST_PATH_IMAGE011
The ratio relation between the number of the corresponding gluing levels and the total number of the gluing levels is evaluated when the gluing adhesion coefficient is expressed, and when the gluing adhesion coefficient is expressed, the gluing flow degree is evaluated
Figure 747008DEST_PATH_IMAGE032
When the coating quality is poor, the coating quality is considered to be poor
Figure 579835DEST_PATH_IMAGE033
When the glue is applied, the gluing quality is preliminarily considered to be good, and the preliminary analysis result is transmitted to a gluing and glue supplementing satisfaction degree evaluation unit;
the gluing and glue-filling satisfaction evaluation unit receives the calculation result transmitted by the gluing and curing time calculation unit and the preliminary analysis result transmitted by the gluing and flowing degree evaluation unit, and when the calculation result and the preliminary analysis result are received by the gluing and glue-filling satisfaction evaluation unit, the calculation result and the preliminary analysis result are transmitted by the gluing and curing time calculation unit
Figure 471567DEST_PATH_IMAGE033
When the glue is applied, the satisfaction degree of glue supplementing is evaluated by utilizing the ratio relation between the glue application curing time and the glue application one-time circulation time, and when the satisfaction degree is not reached, the glue supplementing is carried out
Figure DEST_PATH_IMAGE041
When the glue is applied, the comprehensive quality of the glue is considered to be good, and when the glue is applied, the glue is applied
Figure 967008DEST_PATH_IMAGE042
And meanwhile, the comprehensive gluing quality is considered to be poor, and an analysis result with good comprehensive gluing quality is transmitted to the gluing path adjusting module.
Furthermore, the gluing path adjusting module receives an analysis result transmitted by the gluing quality analysis module, when the comprehensive gluing quality is analyzed to be good, a multiple relation which is satisfied between the gluing curing time and the gluing primary circulation time is calculated, the gluing time of the robot is determined based on the multiple relation, the determined gluing time of the robot is used as a time interval, the gluing amount of the robot is changed after the gluing time is passed, the gluing thickness of the robot is ensured to be on the same horizontal line after the gluing is carried out, and the gluing path is changed from vertical movement to horizontal movement.
Compared with the prior art, the invention has the following beneficial effects:
1. according to the invention, the gluing adhesion coefficient is calculated by using the data information of the corresponding image acquisition when the gluing starts to overflow and finishes overflowing, the gluing curing time is calculated based on the gluing adhesion coefficient, and the gluing comprehensive quality is analyzed based on the gluing adhesion coefficient and the gluing curing time.
2. According to the invention, the relation between the gluing adhesion coefficient and the gluing layer pressure is described, the gluing curing time of gluing with different thicknesses is calculated by taking the gluing layer pressure as a conversion quantity, the internal curing time of the gluing layer is taken into a calculation result, and the phenomenon that the calculated gluing curing time is small, so that secondary glue overflow is caused by gluing under the action of glue filling gravity when the robot finishes glue filling within a specified time is avoided, and the gluing quality of the robot is further reduced.
3. According to the invention, the gluing flowing degree and the gluing and glue supplementing satisfaction degree are respectively evaluated through the gluing adhesion coefficient and the gluing curing time, and the data involved in the process is not required to be obtained through accurate measurement, so that the data acquisition time and the gluing quality analysis time are saved.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the principles of the invention and not to limit the invention. In the drawings:
FIG. 1 is a schematic diagram of the work flow of the gluing quality detection system and method of the robot gluing workstation of the present invention;
fig. 2 is a schematic structural diagram of the working principle of the gluing quality detection system and method of the robot gluing workstation of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Referring to fig. 1 and 2, the present invention provides a technical solution: a gluing quality detection method for a robot gluing workstation comprises the following steps:
the method comprises the following steps: the method comprises the following steps of monitoring the gluing working process of the robot in real time by utilizing an industrial camera, acquiring gluing glue overflow area and glue overflow diffusion time based on a monitoring image, and calculating gluing adhesion coefficient by acquiring data, wherein the specific method comprises the following steps:
1) acquiring images when glue overflow starts and ends during gluing in the monitoring images, performing edge strengthening treatment on a gluing position in the image of ending glue overflow, acquiring a gluing edge contour after treatment, constructing a coordinate system based on the gluing edge contour, calculating a gluing overflow surface area and a gluing curing surface area, and taking an intercepting time interval of two images as glue overflow diffusion time, wherein the gluing curing surface area represents a surface area formed on a gluing original track after glue overflow is ended;
2) searching a contrast point in the gluing working area, enabling the focus of the industrial camera, the height point of the gluing edge and the contrast point to be on the same straight line, and calculating the gluing overflow height and the gluing curing height by using the shooting angle difference of the industrial camera;
3) the gluing overflow surface area obtained by the calculation in 1)
Figure 867968DEST_PATH_IMAGE001
The glue overflow diffusion time and the glue overflow height of the glue coating obtained by the calculation in the step 2)
Figure 774876DEST_PATH_IMAGE002
And calculating the gluing coefficient of the glue, wherein the specific calculation formula is as follows:
Figure 103089DEST_PATH_IMAGE003
；
wherein, the first and the second end of the pipe are connected with each other,
Figure 243083DEST_PATH_IMAGE004
the glue density is shown to be the glue density,
Figure 947734DEST_PATH_IMAGE005
the volume of the glue overflow is shown,
Figure 738841DEST_PATH_IMAGE006
the time of the glue overflow diffusion is shown,
Figure 237956DEST_PATH_IMAGE007
the glue overflow speed of the unit volume of the glue is expressed,
Figure 661984DEST_PATH_IMAGE008
which represents the internal frictional resistance per unit area of the glue,
Figure 655479DEST_PATH_IMAGE009
the adhesive bonding coefficient of the adhesive is shown,
Figure 51825DEST_PATH_IMAGE010
when the pressure of the coating layer is expressed as
Figure 456262DEST_PATH_IMAGE011
The corresponding gluing and bonding coefficient is measured,
Figure 570848DEST_PATH_IMAGE012
the dynamic viscosity of the glue is expressed, and when the pressure of the glue coating layer is less than
Figure 600990DEST_PATH_IMAGE011
When the glue is overflowed, the pressure of the glue coating layer is less than
Figure 117422DEST_PATH_IMAGE011
When using
Figure 958339DEST_PATH_IMAGE013
The adhesive coefficient of the glue is calculated,
Figure 107692DEST_PATH_IMAGE010
a larger value indicates a larger adhesion coefficient of the glue;
step two: the method comprises the following steps of calculating the curing time of glue coating with different thicknesses based on the adhesion coefficient, wherein the specific calculation method comprises the following steps:
step 1: coefficient of adhesion to glue
Figure 692257DEST_PATH_IMAGE014
Pressure with glue coating
Figure 63195DEST_PATH_IMAGE015
The relationship between them is described, then
Figure 75014DEST_PATH_IMAGE016
Wherein, in the step (A),
Figure 684898DEST_PATH_IMAGE017
the gluing height is hierarchically divided according to the user-defined height difference,
Figure 73154DEST_PATH_IMAGE015
is shown as
Figure 298599DEST_PATH_IMAGE019
The layer is coated with glue under a corresponding gluing pressure,
Figure 232051DEST_PATH_IMAGE011
when the adhesive bonding coefficient is
Figure 808526DEST_PATH_IMAGE010
When the pressure of the corresponding glue coating layer is applied,
Figure 469315DEST_PATH_IMAGE020
the relationship between the coefficients is represented by,
Figure 549266DEST_PATH_IMAGE014
is shown as
Figure 417734DEST_PATH_IMAGE019
The adhesive bonding coefficient of the layer adhesive is corresponding to the adhesive bonding coefficient,
Figure 215926DEST_PATH_IMAGE021
the smaller the adhesive bonding coefficient of the corresponding position
Figure 742722DEST_PATH_IMAGE022
The larger the size of the tube is,
Figure 427912DEST_PATH_IMAGE021
the larger the adhesive bonding coefficient of the corresponding position
Figure 218014DEST_PATH_IMAGE022
The smaller;
step 2: coefficient of adhesion to glue by database data
Figure 503502DEST_PATH_IMAGE022
And glue coating and curing time
Figure 771672DEST_PATH_IMAGE023
Describing the relationship therebetween, the adhesive bonding systemNumber and curing time of coating
Figure 809904DEST_PATH_IMAGE023
Are in inverse proportion relation;
step 3: curing time for gluing different thicknesses based on adhesion coefficient
Figure 36486DEST_PATH_IMAGE024
And (3) performing calculation, wherein a specific calculation formula is as follows:
Figure 278112DEST_PATH_IMAGE025
；
wherein the content of the first and second substances,
Figure 349973DEST_PATH_IMAGE026
when the adhesive bonding coefficient is
Figure 275335DEST_PATH_IMAGE010
The curing time of the corresponding gluing surface is used,
Figure 938397DEST_PATH_IMAGE027
the coefficient of the relationship is represented by,
Figure 198477DEST_PATH_IMAGE028
is shown as
Figure 57718DEST_PATH_IMAGE019
Gluing and curing time corresponding to layer gluing;
calculating the curing time of the glue with different thicknesses by taking the pressure of the glue layer as a conversion quantity, and bringing the curing time in the glue layer into a calculation result, so as to avoid that the calculated glue curing time is small and influences other subsequent operations of the robot;
step three: the gluing quality is detected according to the gluing bonding coefficient and the curing time, and the specific method comprises the following steps: (1) based on the gluing adhesion coefficient, the gluing flowing degree is evaluated
Figure 352433DEST_PATH_IMAGE029
Wherein, in the step (A),
Figure 389659DEST_PATH_IMAGE030
is shown as
Figure 887767DEST_PATH_IMAGE031
When the number of the corresponding glue layers is
Figure 98169DEST_PATH_IMAGE032
When the coating quality is poor, the coating quality is considered to be poor
Figure 981811DEST_PATH_IMAGE033
When the glue is used, the gluing quality is preliminarily considered to be good;
(2) when in use
Figure 698926DEST_PATH_IMAGE033
Based on the curing time of the glue
Figure 402440DEST_PATH_IMAGE024
And (3) evaluating the satisfaction degree of gluing and supplementing materials, and then:
Figure 354215DEST_PATH_IMAGE034
；
when in use
Figure 357943DEST_PATH_IMAGE035
When the glue is applied, the comprehensive quality of the glue is good, and when the glue is applied, the glue is applied
Figure 487705DEST_PATH_IMAGE036
When the glue is used, the comprehensive quality of the glue coating is considered to be poor;
step four: the gluing path is adjusted based on gluing curing time, and the specific method comprises the following steps:
firstly, the glue is applied and cured for a long time
Figure 944094DEST_PATH_IMAGE024
And the one-time circulation time of gluing
Figure 699560DEST_PATH_IMAGE037
The multiple relation satisfied between the robot and the robot is calculated, and the glue filling time of the robot is calculated based on the multiple relation
Figure 603800DEST_PATH_IMAGE038
Making a determination of
Figure 419309DEST_PATH_IMAGE039
Wherein, in the step (A),
Figure 362994DEST_PATH_IMAGE040
expressing the rounding of the multiple relation;
and secondly, taking the glue supplementing time of the robot as a time interval, changing the glue coating amount after the glue supplementing time of the robot, ensuring that the glue coating thickness of the robot is on the same horizontal line after the glue is supplemented, and changing the glue coating path from vertical motion to horizontal motion.
A gluing quality detection system of a robot gluing workstation comprises a gluing adhesion coefficient calculation module, a gluing curing time determination module, a gluing quality analysis module and a gluing path adjustment module;
the gluing and bonding coefficient calculation module is used for monitoring the gluing working process of the robot in real time by using an industrial camera, acquiring gluing glue overflow area and glue overflow diffusion time based on a monitoring image, calculating the gluing bonding coefficient through acquired data, and transmitting the calculation result to the gluing and curing time determination module;
the gluing and bonding coefficient calculation module comprises an image data acquisition unit, a gluing data processing unit and a gluing and bonding coefficient calculation unit;
the image data acquisition unit acquires images when glue overflow of the robot is started and finished by gluing by using an industrial camera, takes the intercepting time interval of two images as glue overflow diffusion time, and transmits the acquired images and the glue overflow diffusion time to the gluing data processing unit;
the gluing data processing unit receives the acquired image and the glue overflow diffusion time transmitted by the image data acquisition unit, carries out edge strengthening processing on a gluing position in an end glue overflow image, acquires a gluing edge profile after processing, constructs a coordinate system based on the gluing edge profile to calculate a gluing overflow surface area and a gluing curing surface area, searches a comparison point in a gluing working area, enables an industrial camera focus, a gluing edge height point and the comparison point to be on the same straight line, calculates the gluing overflow height and the gluing curing height by using an industrial camera shooting angle difference, and transmits a calculation result and the glue overflow diffusion time to the gluing adhesion coefficient calculation unit;
the glue coating and bonding coefficient calculation unit receives the calculation result and the glue overflow diffusion time transmitted by the glue coating data processing unit and utilizes a formula according to the receiving content
Figure 656573DEST_PATH_IMAGE003
To the pressure of the adhesive layer is
Figure 854467DEST_PATH_IMAGE011
Calculating the corresponding gluing and bonding coefficient, wherein,
Figure 840877DEST_PATH_IMAGE004
the glue density is shown to be the glue density,
Figure 271859DEST_PATH_IMAGE005
the volume of the glue overflow is shown,
Figure 369128DEST_PATH_IMAGE006
the time for the glue overflow to diffuse is shown,
Figure 247960DEST_PATH_IMAGE007
the glue overflow speed of the unit volume of the glue is expressed,
Figure 405272DEST_PATH_IMAGE008
which represents the internal frictional resistance per unit area of the glue,
Figure 74282DEST_PATH_IMAGE010
when the pressure of the coating layer is expressed as
Figure 709662DEST_PATH_IMAGE011
The corresponding gluing and bonding coefficient is measured,
Figure 193733DEST_PATH_IMAGE012
expressing the dynamic viscosity of the gluing, and transmitting the calculation result to a gluing curing time determining module;
the gluing and curing time determining module is used for receiving the calculation result transmitted by the gluing and bonding coefficient calculating module, calculating the curing time of gluing with different thicknesses according to the received content, optimizing the gluing and bonding coefficient, and transmitting the calculation result and the optimized gluing and bonding coefficient to the gluing quality analyzing module;
the gluing and curing time determining module comprises a gluing and bonding coefficient optimizing unit, a relation determining unit and a gluing and curing time calculating unit;
the gluing and bonding coefficient optimizing unit receives the calculation result transmitted by the gluing and bonding coefficient calculating unit and utilizes a formula based on the receiving content
Figure 771214DEST_PATH_IMAGE016
The relation between the adhesive bonding coefficient of the adhesive and the pressure of the adhesive layer is described, wherein,
Figure 911208DEST_PATH_IMAGE017
the gluing height is hierarchically divided according to the user-defined height difference,
Figure 147017DEST_PATH_IMAGE015
is shown as
Figure 439590DEST_PATH_IMAGE019
The layer is coated with glue under a corresponding gluing pressure,
Figure 938704DEST_PATH_IMAGE011
when the adhesive bonding coefficient is
Figure 565995DEST_PATH_IMAGE010
When the pressure of the corresponding gluing layer is applied,
Figure 277599DEST_PATH_IMAGE020
expressing the coefficient relation and transmitting the description result to a gluing curing time calculation unit;
the relation determining unit describes the relation between the gluing adhesion coefficient and the gluing curing time through the database data, and transmits the relation description result to the gluing curing time calculating unit;
the gluing and curing time calculation unit receives the description results transmitted by the gluing and bonding coefficient optimization unit and the relation determination unit and utilizes a formula based on the received contents
Figure 194651DEST_PATH_IMAGE025
The curing times for the different thicknesses of glue were calculated, wherein,
Figure 864667DEST_PATH_IMAGE026
when the adhesive bonding coefficient is
Figure 979253DEST_PATH_IMAGE010
The curing time of the corresponding gluing surface is used,
Figure 42018DEST_PATH_IMAGE027
the coefficient of the relationship is represented by,
Figure 558450DEST_PATH_IMAGE028
is shown as
Figure 930526DEST_PATH_IMAGE019
Gluing and curing time corresponding to layer gluing, and transmitting the calculation result and the gluing adhesion coefficient after optimization processing to a gluing quality analysis module;
the gluing quality analysis module is used for receiving the calculation result transmitted by the gluing curing time determination module and the gluing adhesion coefficient after optimization processing, analyzing the gluing comprehensive quality based on the received content, and transmitting the analysis result to the gluing path adjustment module;
the gluing quality analysis module comprises a gluing flowing degree evaluation unit and a gluing and glue supplementing satisfaction evaluation unit;
the gluing flow degree evaluation unit receives the gluing adhesion coefficient after the optimization processing transmitted by the gluing curing time calculation unit, and the gluing adhesion coefficient is smaller than the pressure of the gluing layer through calculation
Figure 578414DEST_PATH_IMAGE011
The ratio relation between the number of the corresponding gluing levels and the total number of the gluing levels is evaluated when the gluing adhesion coefficient is expressed, and when the gluing adhesion coefficient is expressed, the gluing flow degree is evaluated
Figure 897400DEST_PATH_IMAGE032
When the coating quality is poor, the coating quality is considered to be poor
Figure 815808DEST_PATH_IMAGE033
When the glue is applied, the gluing quality is preliminarily considered to be good, and the preliminary analysis result is transmitted to a gluing and glue supplementing satisfaction degree evaluation unit;
the gluing and glue-filling satisfaction evaluation unit receives the calculation result transmitted by the gluing and curing time calculation unit and the preliminary analysis result transmitted by the gluing and flowing degree evaluation unit, and when the calculation result and the preliminary analysis result are received by the gluing and glue-filling satisfaction evaluation unit, the calculation result and the preliminary analysis result are transmitted by the gluing and curing time calculation unit
Figure 827627DEST_PATH_IMAGE033
When the glue is applied, the satisfaction degree of glue supplementing is evaluated by utilizing the ratio relation between the glue application curing time and the glue application one-time circulation time, and when the satisfaction degree is not reached, the glue supplementing is carried out
Figure 651226DEST_PATH_IMAGE041
When the glue is applied, the comprehensive quality of the glue is considered to be good, and when the glue is applied, the glue is applied
Figure 39482DEST_PATH_IMAGE042
When the glue coating is finished, the comprehensive gluing quality is considered to be poor, and an analysis result with good comprehensive gluing quality is transmitted to a gluing path adjusting module;
the gluing path adjusting module is used for receiving an analysis result transmitted by the gluing quality analysis module, when the comprehensive gluing quality is analyzed to be good, the multiple relation between gluing curing time and gluing primary cycle time is calculated, the gluing time of the robot is determined based on the multiple relation, the determined gluing time of the robot is used as a time interval, the gluing amount of the robot is changed after the gluing time is passed, the gluing thickness of the robot is ensured to be on the same horizontal line after the gluing is carried out, and the gluing path is changed from vertical movement to horizontal movement.
Example (b): when the pressure of the glue coating layer is set as
Figure 45353DEST_PATH_IMAGE011
Corresponding adhesive coefficient of glue application
Figure DEST_PATH_IMAGE043
The glue overflow time of the glue coating is
Figure 759231DEST_PATH_IMAGE044
The glue spreading height is
Figure DEST_PATH_IMAGE045
To in order to
Figure 617597DEST_PATH_IMAGE046
The glue spreading height is divided into levels for the height difference, and the division is processed by a formula
Figure 75123DEST_PATH_IMAGE016
In the process of obtaining the target product,
Figure DEST_PATH_IMAGE047
、
Figure 935501DEST_PATH_IMAGE048
、
Figure DEST_PATH_IMAGE049
、
Figure 820280DEST_PATH_IMAGE050
、
Figure DEST_PATH_IMAGE051
、
Figure 900363DEST_PATH_IMAGE052
one cycle time of glue application
Figure 161580DEST_PATH_IMAGE037
Is composed of
Figure DEST_PATH_IMAGE053
And then:
glue coating and curing time
Figure 425200DEST_PATH_IMAGE024
Comprises the following steps:
Figure 215302DEST_PATH_IMAGE054
；
the glue flow degree is as follows:
Figure DEST_PATH_IMAGE055
；
then, the gluing quality is considered to be good preliminarily;
when in use
Figure 313839DEST_PATH_IMAGE033
In time, the satisfactory degree of gluing and material supplementing is as follows:
Figure 221490DEST_PATH_IMAGE056
；
then, the comprehensive quality of the gluing is considered to be good;
the glue adding time of the robot is determined, then
Figure DEST_PATH_IMAGE057
；
Then, it indicates that the robot is passing
Figure 557924DEST_PATH_IMAGE053
Then changing the gluing amount, ensuring that the gluing thickness of the robot is on the same horizontal line after glue is supplemented, and changing the gluing path from vertical movement to horizontal movement;
when in use
Figure 253348DEST_PATH_IMAGE033
And the one-time circulation time of gluing
Figure 26132DEST_PATH_IMAGE037
Is composed of
Figure 81681DEST_PATH_IMAGE058
In time, the satisfaction degree of gluing and material supplementing is as follows:
Figure DEST_PATH_IMAGE059
；
then, the comprehensive quality of the gluing is considered to be poor;
at this time, after one cycle of gluing, the gluing at the position to be glued is cured, so that the adhesion coefficient between the glue filling and the gluing is reduced, and the gluing operation is carried out again at this time.
It is noted that, herein, relationships, terms, such as first and second, and the like, are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus.
Finally, it should be noted that: although the present invention has been described in detail with reference to the foregoing embodiments, it will be apparent to those skilled in the art that modifications may be made to the embodiments described above, or equivalents may be substituted for elements thereof. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims (8)

1. A gluing quality detection method of a robot gluing workstation is characterized by comprising the following steps: the method comprises the following steps:
the method comprises the following steps: monitoring the gluing working process of the robot in real time by using an industrial camera, acquiring gluing glue overflow area and glue overflow diffusion time based on a monitoring image, and calculating the gluing coefficient through acquired data;
the specific method for calculating the gluing and bonding coefficient by collecting data in the first step comprises the following steps:
1) acquiring images when glue overflow starts and ends during gluing in the monitoring images, performing edge strengthening treatment on the gluing position in the glue overflow ending image, acquiring the outline of the gluing edge after treatment, constructing a coordinate system based on the outline of the gluing edge, calculating the gluing overflow surface area and the gluing curing surface area, and taking the intercepting time interval of the two images as the glue overflow diffusion time;
2) searching a contrast point in the gluing working area, enabling the focus of the industrial camera, the height point of the gluing edge and the contrast point to be on the same straight line, and calculating the gluing overflow height and the gluing curing height by using the shooting angle difference of the industrial camera;
3) the gluing overflow surface area obtained by the calculation in 1)
Figure DEST_PATH_IMAGE001
The glue overflow diffusion time and the glue overflow height of the glue coating obtained by the calculation in the step 2)
Figure 742358DEST_PATH_IMAGE002
Calculating the adhesive coefficient of the glue coating, wherein the specific calculation formula is as follows:
Figure DEST_PATH_IMAGE003
；
wherein the content of the first and second substances,
Figure 507052DEST_PATH_IMAGE004
the glue density is shown to be the glue density,
Figure DEST_PATH_IMAGE005
the volume of the glue overflow is shown,
Figure 717366DEST_PATH_IMAGE006
the time for the glue overflow to diffuse is shown,
Figure DEST_PATH_IMAGE007
the glue overflow speed of the unit volume of the glue is expressed,
Figure 225707DEST_PATH_IMAGE008
which represents the internal frictional resistance per unit area of the glue,
Figure DEST_PATH_IMAGE009
the adhesive bonding coefficient of the glue is shown,
Figure 700682DEST_PATH_IMAGE010
when the pressure of the coating layer is expressed as
Figure DEST_PATH_IMAGE011
The corresponding gluing and bonding coefficient is measured,
Figure 947862DEST_PATH_IMAGE012
expressing the dynamic viscosity of the glue;
step two: calculating the curing time of the glue coating with different thicknesses based on the bonding coefficient;
step three: detecting the gluing quality according to the gluing bonding coefficient and the curing time;
step four: and adjusting the gluing path based on the gluing curing time.
2. A gluing quality detection method for a robotic gluing station according to claim 1, characterized in that: in the second step, the curing time of the glue with different thicknesses is calculated based on the adhesive coefficient, and the specific calculation method is as follows:
step 1: coefficient of adhesion to glue
Figure DEST_PATH_IMAGE013
Pressure with glue coating
Figure 62448DEST_PATH_IMAGE014
Are described, then
Figure DEST_PATH_IMAGE015
Wherein, in the step (A),
Figure 187530DEST_PATH_IMAGE016
it means that the gluing height is hierarchically divided according to the user-defined height difference,
Figure 703962DEST_PATH_IMAGE014
is shown as
Figure 325305DEST_PATH_IMAGE018
The layer is coated with glue under a corresponding gluing pressure,
Figure 661609DEST_PATH_IMAGE011
when the adhesive bonding coefficient is
Figure 980594DEST_PATH_IMAGE010
When the pressure of the corresponding gluing layer is applied,
Figure DEST_PATH_IMAGE019
the relationship between the coefficients is represented by,
Figure 164582DEST_PATH_IMAGE013
is shown as
Figure 222406DEST_PATH_IMAGE018
Gluing and bonding coefficients corresponding to the layer gluing;
step 2: coefficient of adhesion to glue by database data
Figure 311585DEST_PATH_IMAGE020
And glue coating and curing time
Figure DEST_PATH_IMAGE021
Describing the relationship between the two components, the adhesive bonding coefficient of the adhesive
Figure 699841DEST_PATH_IMAGE020
And glue coating and curing time
Figure 941597DEST_PATH_IMAGE021
Are in inverse proportion;
step 3: curing time for gluing different thicknesses based on adhesion coefficient
Figure 452213DEST_PATH_IMAGE022
And (3) performing calculation, wherein a specific calculation formula is as follows:
Figure DEST_PATH_IMAGE023
；
wherein the content of the first and second substances,
Figure 803254DEST_PATH_IMAGE024
when the adhesive bonding coefficient is
Figure 808251DEST_PATH_IMAGE010
The curing time of the corresponding gluing surface is used,
Figure DEST_PATH_IMAGE025
the coefficient of the relationship is represented by,
Figure 871890DEST_PATH_IMAGE026
is shown as
Figure 271517DEST_PATH_IMAGE018
And gluing and curing time corresponding to layer gluing.
3. The gluing quality detection method for the robot gluing workstation according to claim 2, characterized in that: in the third step, the gluing quality is detected according to the gluing adhesion coefficient and the curing time, and the specific method comprises the following steps: (1) based on the gluing adhesion coefficient, the gluing flowing degree is evaluated
Figure DEST_PATH_IMAGE027
Wherein, in the process,
Figure 413916DEST_PATH_IMAGE028
is shown as
Figure DEST_PATH_IMAGE029
Number of glue levels when
Figure 252297DEST_PATH_IMAGE030
When the coating quality is poor, the coating quality is considered to be poor
Figure DEST_PATH_IMAGE031
When the glue is used, the gluing quality is preliminarily considered to be good;
(2) when in use
Figure 176303DEST_PATH_IMAGE031
Based on the curing time of the glue
Figure 231983DEST_PATH_IMAGE022
And (3) evaluating the satisfaction degree of gluing and supplementing materials, and then:
Figure 799362DEST_PATH_IMAGE032
；
when in use
Figure DEST_PATH_IMAGE033
When the glue is applied, the comprehensive quality of the glue is considered to be good, and when the glue is applied, the glue is applied
Figure 175854DEST_PATH_IMAGE034
And meanwhile, the comprehensive quality of the glue coating is considered to be poor.
4. A gluing quality detection method for a robotic gluing station according to claim 3, characterized in that: in the fourth step, the gluing path is adjusted based on the gluing curing time, and the specific method comprises the following steps:
firstly, the glue is applied and cured for a long time
Figure 761557DEST_PATH_IMAGE022
And the one-time circulation time of gluing
Figure DEST_PATH_IMAGE035
The multiple relation satisfied between the robot and the robot is calculated, and the glue filling time of the robot is calculated based on the multiple relation
Figure 801188DEST_PATH_IMAGE036
Making a determination of
Figure DEST_PATH_IMAGE037
Wherein, in the process,
Figure 619977DEST_PATH_IMAGE038
expressing the rounding of the multiple relation;
and secondly, taking the glue supplementing time of the robot as a time interval, changing the glue coating amount after the glue supplementing time of the robot, ensuring that the glue coating thickness of the robot is on the same horizontal line after the glue is supplemented, and changing the glue coating path from vertical motion to horizontal motion.
5. The utility model provides a rubber coating quality detection system of robot rubber coating workstation which characterized in that: the system comprises a gluing bonding coefficient calculation module, a gluing curing time determination module, a gluing quality analysis module and a gluing path adjustment module;
the gluing and bonding coefficient calculation module is used for monitoring the gluing working process of the robot in real time by using an industrial camera, acquiring gluing glue overflow area and glue overflow diffusion time based on a monitoring image, calculating the gluing bonding coefficient through acquired data, and transmitting the calculation result to the gluing curing time determination module;
the gluing curing time determining module is used for receiving the calculation result transmitted by the gluing bonding coefficient calculating module, calculating the curing time of gluing with different thicknesses according to the received content, optimizing the gluing bonding coefficient, and transmitting the calculation result and the optimized gluing bonding coefficient to the gluing quality analyzing module;
the gluing quality analysis module is used for receiving the calculation result transmitted by the gluing curing time determination module and the gluing adhesion coefficient after optimization processing, analyzing the comprehensive gluing quality based on the received content, and transmitting the analysis result to the gluing path adjustment module;
the gluing path adjusting module is used for receiving the analysis result transmitted by the gluing quality analysis module, and adjusting the gluing path based on gluing curing time when the comprehensive gluing quality is good;
the gluing and bonding coefficient calculation module comprises an image data acquisition unit, a gluing data processing unit and a gluing and bonding coefficient calculation unit;
the image data acquisition unit acquires images when glue overflow of the robot is started and finished by gluing by using an industrial camera, takes the intercepting time interval of two images as glue overflow diffusion time, and transmits the acquired images and the glue overflow diffusion time to the gluing data processing unit;
the gluing data processing unit receives the acquired image and the glue overflow diffusion time transmitted by the image data acquisition unit, performs edge strengthening processing on a gluing position in an end glue overflow image, acquires a gluing edge profile after the processing, constructs a coordinate system based on the gluing edge profile to calculate a gluing overflow surface area and a gluing curing surface area, searches a comparison point in a gluing working area, enables an industrial camera focus, a gluing edge height point and the comparison point to be on the same straight line, calculates the gluing overflow height and the gluing curing height by using an industrial camera shooting angle difference, and transmits a calculation result and the glue overflow diffusion time to the gluing adhesion coefficient calculation unit;
the gluing and bonding coefficient calculation unit receives the calculation result and the glue overflow diffusion time transmitted by the gluing data processing unit and utilizes a formula according to the receiving content
Figure 488576DEST_PATH_IMAGE003
To the pressure of the glue layer is
Figure 210675DEST_PATH_IMAGE011
Calculating the corresponding gluing and bonding coefficient, wherein,
Figure 77000DEST_PATH_IMAGE004
the density of the applied glue is shown,
Figure 851927DEST_PATH_IMAGE005
the volume of the glue overflow is shown,
Figure 806108DEST_PATH_IMAGE006
the time of the glue overflow diffusion is shown,
Figure 100823DEST_PATH_IMAGE007
the glue overflow speed of the unit volume of the glue is expressed,
Figure 936053DEST_PATH_IMAGE008
the internal friction resistance per unit area of the coating is expressed, when the pressure of the coating layer is
Figure 745746DEST_PATH_IMAGE011
The corresponding gluing and bonding coefficient is measured,
Figure 175722DEST_PATH_IMAGE012
and expressing the dynamic viscosity of the gluing, and transmitting the calculation result to a gluing curing time determining module.
6. A gluing quality detection system for a robotic gluing station according to claim 5, characterized in that: the gluing and curing time determining module comprises a gluing and bonding coefficient optimizing unit, a relation determining unit and a gluing and curing time calculating unit;
the gluing and bonding coefficient optimizing unit receives the calculation result transmitted by the gluing and bonding coefficient calculating unit and utilizes a formula based on the receiving content
Figure 511894DEST_PATH_IMAGE015
The relation between the adhesive bonding coefficient of the adhesive and the pressure of the adhesive layer is described, wherein,
Figure 516759DEST_PATH_IMAGE016
the gluing height is hierarchically divided according to the user-defined height difference,
Figure 699DEST_PATH_IMAGE014
denotes the first
Figure 545950DEST_PATH_IMAGE018
The layer is coated with glue under a corresponding gluing pressure,
Figure 300410DEST_PATH_IMAGE011
when the adhesive bonding coefficient is
Figure 476177DEST_PATH_IMAGE010
When the pressure of the corresponding glue coating layer is applied,
Figure 978571DEST_PATH_IMAGE019
expressing the coefficient relation, and transmitting the description result to a gluing curing time calculation unit;
the relation determining unit describes the relation between the gluing adhesion coefficient and the gluing curing time through database data, and transmits the relation description result to the gluing curing time calculating unit;
the gluing and curing time calculation unit receives the description results transmitted by the gluing and bonding coefficient optimization unit and the relation determination unit and utilizes a formula based on the received contents
Figure 265196DEST_PATH_IMAGE023
The curing times for the different thicknesses of glue were calculated, wherein,
Figure 405321DEST_PATH_IMAGE024
when the adhesive bonding coefficient is
Figure 220831DEST_PATH_IMAGE010
The curing time of the corresponding gluing surface is used,
Figure 747539DEST_PATH_IMAGE025
the coefficient of the relationship is represented by,
Figure 588587DEST_PATH_IMAGE026
is shown as
Figure 35749DEST_PATH_IMAGE018
And (5) gluing and curing time corresponding to layer gluing, and transmitting the calculation result and the gluing bonding coefficient after optimization processing to a gluing quality analysis module.
7. A gluing quality detection system for a robotic gluing station according to claim 6, characterized in that: the gluing quality analysis module comprises a gluing flowing degree evaluation unit and a gluing and glue supplementing satisfaction evaluation unit;
the gluing flow degree evaluation unit receives the gluing adhesion coefficient after the optimization processing transmitted by the gluing curing time calculation unit, and the gluing adhesion coefficient is smaller than the pressure of the gluing layer through calculation
Figure 22159DEST_PATH_IMAGE011
The ratio relation between the number of the corresponding gluing levels and the total number of the gluing levels is evaluated, and when the gluing adhesion coefficient is expressed, the flowing degree of gluing is evaluated
Figure 233567DEST_PATH_IMAGE030
When the coating quality is poor, the coating quality is considered to be poor
Figure 65257DEST_PATH_IMAGE031
When the glue is applied, the gluing quality is preliminarily considered to be good, and the preliminary analysis result is transmitted to a gluing and glue supplementing satisfaction degree evaluation unit;
the gluing and glue-supplementing satisfaction evaluating unit receives the calculation result transmitted by the gluing and curing time calculating unit and the preliminary analysis result transmitted by the gluing flowing degree evaluating unit, and when the calculation result and the preliminary analysis result are received by the gluing and glue-supplementing satisfaction evaluating unit, the calculation result and the preliminary analysis result are transmitted by the gluing and curing time calculating unit
Figure 898083DEST_PATH_IMAGE031
When the glue is applied, the relation of the ratio between the curing time of the glue and the one-time circulation time of the glue is utilized to evaluate the satisfaction degree of the glue supplementing and repairing, and when the glue is applied, the glue supplementing and repairing are carried out
Figure DEST_PATH_IMAGE039
When the glue is applied, the comprehensive quality of the glue is considered to be good, and when the glue is applied, the glue is applied
Figure 134024DEST_PATH_IMAGE040
And meanwhile, the comprehensive gluing quality is considered to be poor, and the gluing quality analysis result is transmitted to the gluing path adjusting module.
8. A gluing quality detection system for a robotic gluing station according to claim 7, characterized in that: the gluing path adjusting module receives an analysis result transmitted by the gluing quality analysis module, when the comprehensive gluing quality is good, the multiple relation between the gluing curing time and the gluing primary cycle time is calculated, the robot glue supplementing time is determined based on the multiple relation, the determined robot glue supplementing time is used as a time interval, the gluing amount is changed after the robot passes the glue supplementing time, the gluing thickness of the robot is ensured to be on the same horizontal line after glue supplementing, and the gluing path is changed from vertical movement to horizontal movement.
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