CN204594418U - A kind of Glue Spreading Robot tree lace automatic detection device - Google Patents

A kind of Glue Spreading Robot tree lace automatic detection device Download PDF

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Publication number
CN204594418U
CN204594418U CN201520128084.7U CN201520128084U CN204594418U CN 204594418 U CN204594418 U CN 204594418U CN 201520128084 U CN201520128084 U CN 201520128084U CN 204594418 U CN204594418 U CN 204594418U
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China
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industrial camera
tree lace
glue spreading
spreading robot
horizontal
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CN201520128084.7U
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梅雪川
张晓瑾
林粤科
林君健
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Guangzhou Mechanical Engineering Research Institute Co Ltd
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Guangzhou Mechanical Engineering Research Institute Co Ltd
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Abstract

The utility model relates to a kind of Glue Spreading Robot tree lace automatic detection device, and comprise erecting frame, camera head, light source and image processing system, described camera head and light source are arranged on erecting frame; Described camera head comprises side-looking industrial camera and overlooks industrial camera, this side-looking industrial camera and overlook industrial camera respectively by side direction travel(l)ing rest with bow and be connected on erecting frame to travel(l)ing rest, this side-looking industrial camera with overlook industrial camera and be connected with the signal input part of image processing system; Described erecting frame is arranged on the outside of the moving guide rail of the portable tooling platform of Glue Spreading Robot, when described portable tooling platform moves to erecting frame place, the operative end surface of described side-looking industrial camera is right against the side of tree lace to be detected, described in overlook industrial camera operative end surface be right against the end face of tree lace to be detected.Tree lace of the present utility model automatically detect dress can to Glue Spreading Robot be coated with tree lace quality automatically detect, improve detection efficiency and accuracy of detection.

Description

A kind of Glue Spreading Robot tree lace automatic detection device
Technical field
The utility model relates to a kind of pick-up unit of Glue Spreading Robot, is specifically related to a kind of Glue Spreading Robot tree lace automatic detection device.
Background technology
Along with gluing field put into by increasing industrial robot, the requirement of gluing robotization is more and more higher.After adopting Glue Spreading Robot to carry out gluing, be requisite work in automatic glue coating technology to the quality testing of be coated with tree lace.All the detection method by manually watching usually in prior art, tree lace quality is detected, Detection of content comprises tree lace width, tree lace height, tree lace surface quality etc., but this detection method exists that efficiency is low, be difficult to deficiencies such as carrying out under low precision, complex environment.
Utility model content
In view of above shortcomings in prior art, the purpose of this utility model is to provide a kind of Glue Spreading Robot tree lace automatic detection device, this device can to Glue Spreading Robot be coated with tree lace quality automatically detect, improve detection efficiency and accuracy of detection, and can work under complex environment.
The technical scheme that the utility model solves the problems of the technologies described above is:
A kind of Glue Spreading Robot tree lace automatic detection device, it is characterized in that, comprise erecting frame, camera head, light source and image processing system, wherein, described camera head and light source are arranged on erecting frame; Described camera head comprises side-looking industrial camera and overlooks industrial camera, this side-looking industrial camera and overlook industrial camera respectively by side direction travel(l)ing rest with bow and be connected on erecting frame to travel(l)ing rest, this side-looking industrial camera with overlook industrial camera and be connected with the signal input part of image processing system;
Described erecting frame is arranged on the outside of the moving guide rail of the portable tooling platform of Glue Spreading Robot, when described portable tooling platform moves to erecting frame place, the operative end surface of described side-looking industrial camera is right against the side of tree lace to be detected, described in overlook industrial camera operative end surface be right against the end face of tree lace to be detected.
A preferred version of the present utility model, wherein, described erecting frame is formed by connecting by some vertical poles and some horizontal cross bars, wherein, described side-looking industrial camera is connected on vertical pole by side direction travel(l)ing rest, described industrial camera of overlooking is connected on horizontal cross bar by bowing to travel(l)ing rest, and described light source is arranged on horizontal cross bar.By said structure, be convenient to side-looking industrial camera, overlook the installation of industrial camera and light source.
A preferred version of the present utility model, wherein, described side direction travel(l)ing rest is connected in sequence by fixture, contiguous block, connecting link and fixed block, wherein, described fixture is connected on vertical pole, and one end and the fixture of described contiguous block are hinged, and the other end is provided with holes for clamping; Described connecting link is cylindrical bar, and this cylindrical bar is clamped in described holes for clamping; Described fixed block is hinged on the end of connecting link, and described side-looking industrial camera is fixed on this fixed block.
Pass through said structure, flexible can be carried out to the position of side-looking industrial camera, to adapt to no detection occasion, wherein, described contiguous block can rotate by opposed fixed member, described connecting link can move axially in holes for clamping and circumference is rotated, and described fixed block can rotate relative to connecting link, thus realizes the position adjustments of side-looking industrial camera on three dimensions.
Preferably, described vertical pole is made up of the section bar being provided with T-slot, and described fixture is bolted on described T-slot.By this structure, the position of fixture in vertical pole can be regulated, thus the height of side-looking industrial camera can be regulated.
A preferred version of the present utility model, wherein, described in bow to travel(l)ing rest and comprise vertical connecting link, intermediate connector, horizontal brace rod and end coupling, wherein, described vertical connecting link is connected on horizontal brace rod; Described vertical connecting link and horizontal brace rod are cylindrical bar, and described intermediate connector is provided with vertical holes for clamping and horizontal-clamping hole, and vertical connecting link is clamped in vertical holes for clamping, and described horizontal brace rod is clamped in horizontal-clamping hole; Described end coupling is hinged on the end of horizontal brace rod, described in overlook industrial camera and be fixed on this end coupling.
Pass through said structure, flexible can be carried out to the position overlooking industrial camera, to adapt to no detection occasion, wherein, described vertical connecting link can move axially in vertical holes for clamping and circumference is rotated, described horizontal brace rod can move axially in horizontal-clamping hole and circumference is rotated, and described end coupling can rotate by relative level connecting link, thus realizes overlooking the position adjustments of industrial camera on three dimensions.
Preferably, described vertical connecting link is connected with horizontal cross bar by resilient clamping mechanism.Adopt the benefit of this structure to be, vertical connecting link can be allowed to move at horizontal cross bar, thus can regulate and overlook industrial camera position in the horizontal direction.
A preferred version of the present utility model, wherein, described light source comprises fluorescent tube and tube stand, and described tube stand is connected on horizontal cross bar.
A preferred version of the present utility model, wherein, described image processing system comprises image input device, image operation treatment facility, video memory and image output device.
A preferred version of the present utility model, wherein, described moving guide rail is arranged on base, and described erecting frame is arranged on one end of moving guide rail, and the glue rifle of Glue Spreading Robot is arranged on the other end of guide rail.During work, the portable tooling platform on moving guide rail moves to one end corresponding with glue rifle and carries out gluing, moves to erecting frame place and carry out gluing quality and automatically detect after gluing.
Principle of work of the present utility model is: the portable tooling platform be positioned on moving guide rail drives workpiece arrival Glue Spreading Robot place to carry out gluing, after gluing, portable tooling platform drives workpiece arrival erecting frame place to carry out gluing quality testing, Cleaning Principle is: by side-looking industrial camera with overlook industrial camera and make a video recording to the side of tree lace and end face respectively, and the image information of acquisition is transported to image processing system carries out analyzing and processing, the image of image processing techniques to tree lace is utilized to judge, draw the numerical value of index to be detected, thus judge that whether gluing quality is qualified, concrete determination methods can be carried out in conjunction with the industrial picture treatment technology of existing maturation, such as, by judging that lateral view can know length and the height of tree lace as size, length and the width of tree lace can be known to image size by judging to bow, by judging that the change of color of image can judge whether tree lace surface exists bubble or disconnected glue etc.
The utility model compared with prior art has following beneficial effect:
1, can replace manually detecting tree lace quality, alleviate labor strength, improve the quality of products, detection efficiency is high, and testing process accuracy rate is high, can effectively ensure gluing quality, namely ensure product quality, the competitive power of enterprise and credit worthiness.
2, by mutual vertically arranged side-looking industrial camera with overlook industrial camera and carry out Image Acquisition, realize the complete detection to tree lace quality, comprise in width, height and both direction whether there is bubble or disconnected glue.
3, tree lace automatic detection device of the present utility model can with the on-line job of all types of industries Glue Spreading Robot, realize the robotization of the whole process from intelligent gluing to Intelligent Measurement.
4, structure is simple, easy to maintenance.
Accompanying drawing explanation
Fig. 1 is the structural representation of an embodiment of the utility model Glue Spreading Robot tree lace automatic detection device.
Embodiment
Below in conjunction with embodiment and accompanying drawing, the utility model is described in further detail, but embodiment of the present utility model is not limited thereto.
See Fig. 1, Glue Spreading Robot tree lace automatic detection device of the present utility model comprises erecting frame 8, camera head, light source 9 and image processing system, and wherein, described camera head and light source 9 are arranged on erecting frame 8; Described camera head comprises side-looking industrial camera 4 and overlooks industrial camera 10, this side-looking industrial camera 4 and overlook industrial camera 10 respectively by side direction travel(l)ing rest with bow and be connected on erecting frame 8 to travel(l)ing rest, this side-looking industrial camera 4 with overlook industrial camera 10 and be connected with the signal input part of image processing system.Described erecting frame 8 is arranged on the outside of the moving guide rail 2 of the portable tooling platform 5 of Glue Spreading Robot, when described portable tooling platform 5 moves to erecting frame 8 place, the operative end surface of described side-looking industrial camera 4 is right against the side of tree lace 6 to be detected, described in overlook industrial camera 10 operative end surface be right against the end face of tree lace 6 to be detected.
See Fig. 1, described erecting frame 8 is formed by connecting by some vertical poles and some horizontal cross bars, wherein, described side-looking industrial camera 4 is connected on vertical pole by side direction travel(l)ing rest, described industrial camera 10 of overlooking is connected on horizontal cross bar by bowing to travel(l)ing rest, and described light source 9 is arranged on horizontal cross bar.By said structure, be convenient to side-looking industrial camera 4, overlook the installation of industrial camera 10 and light source 9.
See Fig. 1, described side direction travel(l)ing rest is connected in sequence by fixture 17, contiguous block 18, connecting link 19 and fixed block, and wherein, described fixture 17 is connected on vertical pole, one end and the fixture 17 of described contiguous block 18 are hinged, and the other end is provided with holes for clamping; Described connecting link 19 is cylindrical bar, and this cylindrical bar is clamped in described holes for clamping; Described fixed block is hinged on the end of connecting link, and described side-looking industrial camera 4 is fixed on this fixed block.Pass through said structure, flexible can be carried out to the position of side-looking industrial camera 4, to adapt to no detection occasion, wherein, described contiguous block 18 can rotate by opposed fixed member 17, described connecting link 19 can move axially in holes for clamping and circumference is rotated, and described fixed block can rotate relative to connecting link 19, thus realizes the position adjustments of side-looking industrial camera 4 on three dimensions.Described vertical pole is made up of the section bar being provided with T-slot, and described fixture 17 is bolted on described T-slot, can regulate the position of fixture 17 in vertical pole like this, thus can regulate the height of side-looking industrial camera 4.
See Fig. 1, described in bow to travel(l)ing rest and comprise vertical connecting link 16, intermediate connector 15, horizontal brace rod 14 and end coupling, wherein, described vertical connecting link 16 is connected on horizontal brace rod 14; Described vertical connecting link 16 and horizontal brace rod 14 are cylindrical bar, and described intermediate connector 15 is provided with vertical holes for clamping and horizontal-clamping hole, and vertical connecting link 16 is clamped in vertical holes for clamping, and described horizontal brace rod 14 is clamped in horizontal-clamping hole; Described end coupling is hinged on the end of horizontal brace rod 14, described in overlook industrial camera 10 and be fixed on this end coupling.Pass through said structure, flexible can be carried out to the position overlooking industrial camera 10, to adapt to no detection occasion, wherein, described vertical connecting link 16 can move axially in vertical holes for clamping and circumference is rotated, described horizontal brace rod 14 can move axially in horizontal-clamping hole and circumference is rotated, and described end coupling can rotate by relative level connecting link 14, thus realizes overlooking the position adjustments of industrial camera 10 on three dimensions.Further, described vertical connecting link 16 is connected with horizontal brace rod by resilient clamping mechanism, and vertical connecting link 16 can be allowed like this to move at horizontal brace rod, thus can regulate and overlook industrial camera 10 position in the horizontal direction.
See Fig. 1, described light source 9 comprises fluorescent tube and tube stand, and described tube stand is connected on horizontal cross bar.
Described image processing system is primarily of formations such as image input device, image operation treatment facility, video memory, image output device, operating system and control software design.
See Fig. 1, the automatic adhesive application system applying tree lace automatic detection device of the present utility model comprises Glue Spreading Robot 12, for colloid system 13, switch board 11, portable tooling platform 5 and moving guide rail 2, wherein, Glue Spreading Robot 12 is provided with glue rifle 3, described moving guide rail 2 is arranged on base 1, treats that gluing workpiece 7 is arranged on portable tooling platform 5.Described erecting frame 8 is arranged on one end of moving guide rail 2, and the glue rifle 3 of Glue Spreading Robot 12 is arranged on the other end of guide rail 2.During work, switch board 11 controls portable tooling platform 5 and moves to one end corresponding with glue rifle 3 in moving guide rail 2, when workpiece 7 arrives gluing station, switch board 11 starts for colloid system 13, the track of expectation is completed by Glue Spreading Robot 12, the gluing action completed on workpiece 7 by the glue rifle 3 of its end, obtains the tree lace 6 expected; After completing gluing work, switch board 11 stops Glue Spreading Robot 12 and supplies colloid system 13, and control portable tooling platform 5 and move to one end corresponding with erecting frame 8 in moving guide rail 2, detected by the gluing quality of tree lace automatic detection device of the present utility model to tree lace 6.
Above-mentioned is the utility model preferably embodiment; but embodiment of the present utility model is not by the restriction of foregoing; change, the modification done under other any does not deviate from Spirit Essence of the present utility model and principle, substitute, combine, simplify; all should be the substitute mode of equivalence, be included within protection domain of the present utility model.

Claims (9)

1. a Glue Spreading Robot tree lace automatic detection device, is characterized in that, comprises erecting frame, camera head, light source and image processing system, and wherein, described camera head and light source are arranged on erecting frame; Described camera head comprises side-looking industrial camera and overlooks industrial camera, this side-looking industrial camera and overlook industrial camera respectively by side direction travel(l)ing rest with bow and be connected on erecting frame to travel(l)ing rest, this side-looking industrial camera with overlook industrial camera and be connected with the signal input part of image processing system;
Described erecting frame is arranged on the outside of the moving guide rail of the portable tooling platform of Glue Spreading Robot, when described portable tooling platform moves to erecting frame place, the operative end surface of described side-looking industrial camera is right against the side of tree lace to be detected, described in overlook industrial camera operative end surface be right against the end face of tree lace to be detected.
2. Glue Spreading Robot tree lace automatic detection device according to claim 1, it is characterized in that, described erecting frame is formed by connecting by some vertical poles and some horizontal cross bars, wherein, described side-looking industrial camera is connected on vertical pole by side direction travel(l)ing rest, described industrial camera of overlooking is connected on horizontal cross bar by bowing to travel(l)ing rest, and described light source is arranged on horizontal cross bar.
3. Glue Spreading Robot tree lace automatic detection device according to claim 2, it is characterized in that, described side direction travel(l)ing rest is connected in sequence by fixture, contiguous block, connecting link and fixed block, wherein, described fixture is connected on vertical pole, one end and the fixture of described contiguous block are hinged, and the other end is provided with holes for clamping; Described connecting link is cylindrical bar, and this cylindrical bar is clamped in described holes for clamping; Described fixed block is hinged on the end of connecting link, and described side-looking industrial camera is fixed on this fixed block.
4. Glue Spreading Robot tree lace automatic detection device according to claim 3, is characterized in that, described vertical pole is made up of the section bar being provided with T-slot, and described fixture is bolted on described T-slot.
5. Glue Spreading Robot tree lace automatic detection device according to claim 2, it is characterized in that, described bowing to travel(l)ing rest comprises vertical connecting link, intermediate connector, horizontal brace rod and end coupling, and wherein, described vertical connecting link is connected on horizontal brace rod; Described vertical connecting link and horizontal brace rod are cylindrical bar, and described intermediate connector is provided with vertical holes for clamping and horizontal-clamping hole, and described vertical connecting link is clamped in vertical holes for clamping, and described horizontal brace rod is clamped in horizontal-clamping hole; Described end coupling is hinged on the end of horizontal brace rod, described in overlook industrial camera and be fixed on this end coupling.
6. Glue Spreading Robot tree lace automatic detection device according to claim 5, is characterized in that, described vertical connecting link is connected with horizontal cross bar by resilient clamping mechanism.
7. Glue Spreading Robot tree lace automatic detection device according to claim 1, it is characterized in that, described light source comprises fluorescent tube and tube stand, and described tube stand is connected on horizontal cross bar.
8. Glue Spreading Robot tree lace automatic detection device according to claim 1, is characterized in that, described image processing system comprises image input device, image operation treatment facility, video memory and image output device.
9. Glue Spreading Robot tree lace automatic detection device according to claim 1, it is characterized in that, described moving guide rail is arranged on base, and described erecting frame is arranged on one end of moving guide rail, and the glue rifle of Glue Spreading Robot is arranged on the other end of guide rail.
CN201520128084.7U 2015-03-05 2015-03-05 A kind of Glue Spreading Robot tree lace automatic detection device Active CN204594418U (en)

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Cited By (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN106066328A (en) * 2016-07-04 2016-11-02 中国第汽车股份有限公司 The online vision inspection apparatus of robot coating quality and method
CN106093057A (en) * 2016-06-14 2016-11-09 上海贝特威自动化科技有限公司 A kind of online gluing detection method
CN106404781A (en) * 2016-09-05 2017-02-15 北京康视杰视觉技术有限公司 Gluing detection method and device
CN106596555A (en) * 2015-10-19 2017-04-26 由田新技股份有限公司 An optical inspecting apparatus with multi-axial robotic arm
CN106949925A (en) * 2017-05-02 2017-07-14 上海贝特威自动化科技有限公司 It is a kind of to be used for engine, the online visible detection method of gearbox surface coating
CN107796825A (en) * 2016-09-01 2018-03-13 宁波舜宇光电信息有限公司 Device inspection method
CN107883879A (en) * 2016-09-29 2018-04-06 联合汽车电子有限公司 Gluing quality 3D vision detection systems and its detection method
CN108010157A (en) * 2017-11-22 2018-05-08 汽-大众汽车有限公司 A kind of detection method and device for tackling fine and closely woven envelope gluing quality fluctuation

Cited By (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN106596555A (en) * 2015-10-19 2017-04-26 由田新技股份有限公司 An optical inspecting apparatus with multi-axial robotic arm
CN106093057A (en) * 2016-06-14 2016-11-09 上海贝特威自动化科技有限公司 A kind of online gluing detection method
CN106066328A (en) * 2016-07-04 2016-11-02 中国第汽车股份有限公司 The online vision inspection apparatus of robot coating quality and method
CN106066328B (en) * 2016-07-04 2018-10-19 中国第一汽车股份有限公司 The online vision inspection apparatus of robot coating quality and method
CN107796825A (en) * 2016-09-01 2018-03-13 宁波舜宇光电信息有限公司 Device inspection method
CN107796825B (en) * 2016-09-01 2021-01-05 宁波舜宇光电信息有限公司 Device detection method
CN106404781A (en) * 2016-09-05 2017-02-15 北京康视杰视觉技术有限公司 Gluing detection method and device
CN107883879A (en) * 2016-09-29 2018-04-06 联合汽车电子有限公司 Gluing quality 3D vision detection systems and its detection method
CN106949925A (en) * 2017-05-02 2017-07-14 上海贝特威自动化科技有限公司 It is a kind of to be used for engine, the online visible detection method of gearbox surface coating
CN108010157A (en) * 2017-11-22 2018-05-08 汽-大众汽车有限公司 A kind of detection method and device for tackling fine and closely woven envelope gluing quality fluctuation

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