CN204718963U - The online vision detection system of a kind of Y-△ humanoid robot gluing quality - Google Patents
The online vision detection system of a kind of Y-△ humanoid robot gluing quality Download PDFInfo
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- CN204718963U CN204718963U CN201520311016.4U CN201520311016U CN204718963U CN 204718963 U CN204718963 U CN 204718963U CN 201520311016 U CN201520311016 U CN 201520311016U CN 204718963 U CN204718963 U CN 204718963U
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Abstract
The utility model relates to the online vision detection system of a kind of Y-△ humanoid robot gluing quality, be connected with robot coating machine, this detection system is hierarchy, comprise the articulamentum, camera layer and the light source layer that set gradually from top to bottom, wherein: described articulamentum comprises the connector and the first triangle connecting plate that are connected, and described connector is connected with robot coating machine; Described camera layer comprises many covers visual detection unit of the distribution in " Y " shape, and distribution is arranged on the first triangle connecting plate; Described light source layer comprises many covers LED light source of the distribution in " △ " shape, and LED light source is corresponding with visual detection unit to be connected.Compared with prior art, the utility model structure is simple, easy for installation, check frequency can be eliminated, have and be easy to realize the online vision-based detection function of high speed gluing adhesive tape quality, the completing of vision-based detection task, on the operation station cycle activity duration almost without impact, debug the advantages such as easy, highly versatile, opening are good.
Description
Technical field
The utility model relates to a kind of robot coating quality detecting system, especially relates to the online vision detection system of a kind of Y-△ humanoid robot gluing quality.
Background technology
Various check measurement is related in modern industry automated production, as: the bar code in the inspection packing of product and character recognition etc.The common feature of this kind of application is continuously, produce in enormous quantities, very high to the requirement of presentation quality.Usually, thisly can only to have come by manual detection with high reproducibility and intelligent work.We see that after the modernization streamline of some factories that are everlasting hundreds of detection workman even exceeding thousand is to perform this procedure.Still the rate that is up to the standards and the zero-fault of 100% can not be ensured while increasing huge cost of labor and handling cost to factory.And the competition between current enterprise has not allowed even the defect of 0.1% exists.Sometimes, as minute sized accurate Quick Measurement, form fit, color-identifying etc. cannot carry out continuously, stably with human eye at all.Other physical quantity transducer also difficulty is had place to show one's prowess.At this moment people start to consider the repeatability of the rapidity of computing machine, reliability, result, thus introduce machine vision technique.Machine vision pole is applicable to measurement inspection in high volume production process and identification in general.
Machine vision replaces human eye measure and judge with machine exactly.Vision Builder for Automated Inspection refers to and is converted to picture signal by machine vision product and image-pickup device (point CMOS and CCD two kinds) send special image processing system to by being ingested target, is transformed into digitized signal according to pixel distribution and the information such as brightness, color.Picture system carries out various computing to extract clarification of objective to these signals, and then controls on-the-spot device action according to the result differentiated.The feature of Vision Builder for Automated Inspection improves the flexibility and automaticity of producing.Be not suitable at some the occasion that the dangerous work environment of manual work or artificial vision be difficult to meet the demands, machine in normal service vision carrys out alternative artificial vision.Meanwhile, by artificial visual inspection product quality in industrial processes in enormous quantities, efficiency is low and precision is not high.By the automaticity that machine vision detection method can greatly be enhanced productivity and produce, and machine vision is easy to realize information integerated, is the basic technology realizing computer integrated manufacturing system.
Machine vision is a complex art, comprising digital image processing techniques, mechanical engineering technology, control technology, light illumination technology, optical image technology, sensor technology, simulation and digital video technology, computer hardware technique, human-machine interface technology etc.Machine vision emphasizes practicality, and requirement can adapt to industry spot rugged environment, have rational cost performance, general industrial interface, higher fault-tolerant ability and security, and have stronger versatility and portability.It more emphasizes real-time, requires high speed and high precision.
Machine vision result in the generation of robot vision (robot vision) at the research and apply of robot field.Robot vision is an important directions in robot research field.
In modern industry automated production, gluing is a very important operation in a lot of industry.The quality of colloid application is directly connected to the quality of product.Therefore gluing detects is a requisite link aborning.
Glue spreader occurs that in gluing process the phenomenon that tree lace disconnects is very serious quality problems, will be directly connected to the sealing property of seal.So tree lace quality testing is a very important procedure.
Along with developing rapidly of Domestic Automotive Industry, the demand introducing robotic vision system at gluing station is increasing.It can reduce cost of human resources, improves intelligent level and the production line automation degree of glue spreader.
The online vision-based detection of robot, owing to not taking the activity duration of gluing, can not affect the duty cycle of station, so be more and more subject to the favor of user.
In auto manufacturing field, the online vision-based detection of robot coating quality has a wide range of applications and demand, as: the gluing in the sheet metal parts of the band such as car door, standby cabin, front shroud radian detects application.Along with the development of auto industry demand, also new requirement is constantly proposed to robot coating quality online vision-based detection application system.In the past, the normal application rate of robot was 150mm/s-300mm/s.Now, the exemplary operation speed of Glue Spreading Robot is between 500 ~ 600mm/s.Application rate improves constantly, to adapt to the beat requirement that different workpieces improves day by day.Glue Spreading Robot along complexity auto parts and components profile orbiting motion and realize the online vision-based detection of robot coating quality, this is a new challenge, is also the problem that user is concerned about most.
At present, even the external import that can see on the market of robot coating quality online vision-based detection application system also can only meet the requirement that maximum application rate is less than the online vision-based detection of 500mm/s robot coating system adhesive tape quality.The online vision detection system of adhesive tape quality of existing external import has the following disadvantages:
1, camera configuration is dumb: camera adopts monoblock type configuration.In actual applications, for the detection of non-360-degree without territory, shadow non-blind area, this system can not cut down configuration;
2, external imported product, cost and after service cost high;
3, light source light distribution is dumb: LED light source is all-in-one-piece, and be not split type, non-adjustable, luminous intensity distribution is dumb, sometimes easily occurs the situation that polishing is not enough or excessively strong.
4, open bad: whole system is monolithic construction, be not easy to user's apolegamy, change hardware configuration.
5, maintenance is inconvenient, maintenance cost is high: whole system is monolithic construction, once there is hardware fault, can only change whole system, causes maintenance cost very high.
Utility model content
The purpose of this utility model is exactly providing a kind of open good, strong adaptability in order to overcome defect that above-mentioned prior art exists, debugging the online vision detection system of Y-△ humanoid robot gluing quality easily.
The purpose of this utility model can be achieved through the following technical solutions:
The online vision detection system of a kind of Y-△ humanoid robot gluing quality, be connected with robot coating machine, this detection system is hierarchy, comprises the articulamentum, camera layer and the light source layer that set gradually from top to bottom, wherein:
Described articulamentum comprises the connector and the first triangle connecting plate that are connected, and described connector is connected with robot coating machine;
Described camera layer comprises many covers visual detection unit of the distribution in " Y " shape, and distribution is arranged on the first triangle connecting plate;
Described light source layer comprises many covers LED light source of the distribution in " △ " shape, and LED light source is corresponding with visual detection unit to be connected.
Described light source layer is connected with camera layer by the second triangle connecting plate, and described many covers LED light source distribution is arranged on the second triangle connecting plate.
Described LED light source different colours or the light source of same color.
Described visual detection unit comprises camera and phase machine protective cover, and described phase machine protective cover is connected with camera.
Each camera is the industrial camera of same model or different model.
Described connector comprises trench structure connector.
Described connector is arranged on the first triangle connecting plate central authorities.
This detection system is provided with the through hole for the Jiao Zui through robot coating machine, and this through hole is through articulamentum, camera layer, the second triangle connecting plate and light source layer successively.
Compared with prior art, the utility model has the following advantages:
1, camera configuration is flexible: according to user's request, for the detection of non-360-degree without territory, shadow non-blind area, can cut down system configuration, adopts dual camera systems, even single camera system thus reduce the purchase cost of user.
2, light source flexible configuration: the position of light source is adjustable on web joint, more easily meets the polishing requirement of workpiece.The quantity of light source suitably can increase and decrease thus reduce the purchase cost of user.According to testing requirement, each visual detection unit can separate configurations light source, can adopt the light of three kinds of different colours simultaneously.This is also the characteristic that current online vision detection system does not on the market have.
3, open good: whole system is hierarchy, is followed successively by articulamentum, camera layer and light source layer from top to bottom.User matches, change hardware configuration is very convenient.
4, easy to maintenance, maintenance cost is low: whole system is hierarchy, once there is hardware fault, as: certain camera or light source have been broken, and need not change whole vision detection system, the parts only need having changed bad, thus reduce the maintenance cost of client to greatest extent.
5, strong adaptability: different glue spreaders can be adapted to.For different glue spreaders, as long as the physical dimension of amendment tank-type connecting component, the installation requirement of vision detection system on glue spreader just can be realized.
6, debugging is convenient: due to the distribution in " Y " shape on web joint of described visual detection unit, can realize without shadow without blind vision-based detection, so the gluing attitude of debugging Glue Spreading Robot is just easier.This can shorten the debug time of Glue Spreading Robot gluing attitude greatly.
7, vision-based detection does not take productive temp: detect, so this vision-based detection can not affect productive temp owing to can be implemented in line.
Accompanying drawing explanation
Fig. 1 is upward view of the present utility model;
Fig. 2 is schematic perspective view of the present utility model;
Fig. 3 is side view of the present utility model;
Fig. 4 of the present utility modelly installs and uses schematic diagram.
In figure, 1,2,3: visual detection unit, 4,5,6:LED light source, 7: Jiao Zui, 8: handle, 9: the first triangle connecting plates, 10: the second triangle connecting plates, 11: robot coating machine, 12: connector, 13: workpiece.
Embodiment
Below in conjunction with the drawings and specific embodiments, the utility model is described in detail.The present embodiment is implemented premised on technical solutions of the utility model, give detailed embodiment and concrete operating process, but protection domain of the present utility model is not limited to following embodiment.
Embodiment 1
As shown in Figure 1-Figure 3, the present embodiment provides a kind of Y-△ humanoid robot gluing quality online vision detection system, for the gluing quality of measuring robots glue spreader, this detection system is hierarchy, comprise the articulamentum, camera layer and the light source layer that set gradually from top to bottom, wherein, articulamentum comprises the connector 12 and the first triangle connecting plate 9 that connect successively, camera layer comprises 3 cover visual detection unit, light source layer comprises 3 cover LED light sources, and light source layer is connected with camera layer above by the second triangle connecting plate 10.
In the present embodiment, LED light source 4,5,6 is the distribution in " △ " shape on triangle connecting plate 10, and visual detection unit 1,2,3 is the distribution in " Y " shape on the first triangle connecting plate 9, as Figure 1-3.
The position of LED light source 4,5,6 is adjustable on web joint, and quantity can suitably increase and decrease, and can be the light source of different colours or same color.
Visual detection unit 1,2,3 comprises camera 4 and phase machine protective cover respectively, and described phase machine protective cover is connected with camera, and camera is the industrial camera of same model or different model, and quantity can suitably be cut down.
Connector 12 shape is not limited to grooved, is convenient to be connected with glue spreader.In this enforcement, connector 12 is trench structure.
As shown in Figure 4, when using above-mentioned online vision detection system, 3 cover visual detection unit 1,2,3 are linked together by the first triangle connecting plate 9, is then connected with robot coating machine 11 by the groove-type connection 12 of web joint central authorities.3 cover visual detection unit 1,2,3 and 3 are overlapped LED light source 4,5,6 and are distributed in around the glue rifle nozzle of robot coating machine, and when robot coating machine 11 utilizes glue mouth 7 pairs of workpiece 13 to carry out gluing, each visual detection unit is Real-time Collection gluing image respectively.
Embodiment 2
Shown in figure 1-Fig. 4, in the present embodiment, visual detection unit is provided with 2 covers, and LED light source is also provided with 2 covers.All the other are with embodiment 1.
Embodiment 3
Shown in figure 1-Fig. 4, in the present embodiment, visual detection unit is provided with 1 cover, and LED light source is also provided with 1 cover.All the other are with embodiment 1.
Claims (8)
1. the online vision detection system of Y-△ humanoid robot gluing quality, be connected with robot coating machine, it is characterized in that, this detection system is hierarchy, comprises the articulamentum, camera layer and the light source layer that set gradually from top to bottom, wherein:
Described articulamentum comprises the connector and the first triangle connecting plate that are connected, and described connector is connected with robot coating machine;
Described camera layer comprises many covers visual detection unit of the distribution in " Y " shape, and distribution is arranged on the first triangle connecting plate;
Described light source layer comprises many covers LED light source of the distribution in " △ " shape, and LED light source is corresponding with visual detection unit to be connected.
2. the online vision detection system of a kind of Y-△ humanoid robot gluing quality according to claim 1, it is characterized in that, described light source layer is connected with camera layer by the second triangle connecting plate, and described many covers LED light source distribution is arranged on the second triangle connecting plate.
3. the online vision detection system of a kind of Y-△ humanoid robot gluing quality according to claim 1, is characterized in that, described LED light source different colours or the light source of same color.
4. the online vision detection system of a kind of Y-△ humanoid robot gluing quality according to claim 1, it is characterized in that, described visual detection unit comprises camera and phase machine protective cover, and described phase machine protective cover is connected with camera.
5. the online vision detection system of a kind of Y-△ humanoid robot gluing quality according to claim 4, it is characterized in that, each camera is the industrial camera of same model or different model.
6. the online vision detection system of a kind of Y-△ humanoid robot gluing quality according to claim 1, it is characterized in that, described connector comprises trench structure connector.
7. the online vision detection system of a kind of Y-△ humanoid robot gluing quality according to claim 1, is characterized in that, described connector is arranged on the first triangle connecting plate central authorities.
8. the online vision detection system of a kind of Y-△ humanoid robot gluing quality according to claim 2, it is characterized in that, this detection system is provided with the through hole for the Jiao Zui through robot coating machine, and this through hole is through articulamentum, camera layer, the second triangle connecting plate and light source layer successively.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201520311016.4U CN204718963U (en) | 2015-05-14 | 2015-05-14 | The online vision detection system of a kind of Y-△ humanoid robot gluing quality |
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| CN201520311016.4U CN204718963U (en) | 2015-05-14 | 2015-05-14 | The online vision detection system of a kind of Y-△ humanoid robot gluing quality |
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Cited By (9)
| 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 |
| CN106450473A (en) * | 2016-11-07 | 2017-02-22 | 东莞市腾威电子材料技术有限公司 | Assembling process of power lithium battery module |
| 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 |
| CN107538466A (en) * | 2016-06-23 | 2018-01-05 | 沈阳新松机器人自动化股份有限公司 | Parallel robot |
| CN107726985A (en) * | 2017-11-13 | 2018-02-23 | 易思维（天津）科技有限公司 | A kind of three-dimensional gluing detection method and device in real time |
| CN108297135A (en) * | 2018-03-23 | 2018-07-20 | 埃华路（芜湖）机器人工程有限公司 | One kind acquiring fixed mechanism for multiaxial type industrial robot vision |
| CN109290139A (en) * | 2018-12-06 | 2019-02-01 | 华域汽车车身零件（武汉）有限公司 | A kind of robot coating detection system |
-
2015
- 2015-05-14 CN CN201520311016.4U patent/CN204718963U/en not_active Expired - Fee Related
Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
| CN107538466A (en) * | 2016-06-23 | 2018-01-05 | 沈阳新松机器人自动化股份有限公司 | Parallel robot |
| CN107538466B (en) * | 2016-06-23 | 2020-06-19 | 沈阳新松机器人自动化股份有限公司 | Parallel robot |
| 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 |
| 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 |
| CN106450473A (en) * | 2016-11-07 | 2017-02-22 | 东莞市腾威电子材料技术有限公司 | Assembling process of power lithium battery module |
| CN106450473B (en) * | 2016-11-07 | 2018-10-12 | 东莞市腾威电子材料技术有限公司 | The packaging technology of dynamic lithium battery module |
| 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 |
| CN107726985A (en) * | 2017-11-13 | 2018-02-23 | 易思维（天津）科技有限公司 | A kind of three-dimensional gluing detection method and device in real time |
| CN108297135A (en) * | 2018-03-23 | 2018-07-20 | 埃华路（芜湖）机器人工程有限公司 | One kind acquiring fixed mechanism for multiaxial type industrial robot vision |
| CN109290139A (en) * | 2018-12-06 | 2019-02-01 | 华域汽车车身零件（武汉）有限公司 | A kind of robot coating detection system |
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