CN207280385U - A kind of robot coating three-dimensional information vision inspection apparatus - Google Patents
A kind of robot coating three-dimensional information vision inspection apparatus Download PDFInfo
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- CN207280385U CN207280385U CN201721506296.XU CN201721506296U CN207280385U CN 207280385 U CN207280385 U CN 207280385U CN 201721506296 U CN201721506296 U CN 201721506296U CN 207280385 U CN207280385 U CN 207280385U
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Abstract
The utility model discloses a kind of robot coating three-dimensional information vision inspection apparatus, for width, height and the continuity of colloid during detection robot coating in real time, including driving mechanism（1）, detection sensor（2）, hollow shaft（3）, the driving mechanism（1）Including motor（101）, stent for fixing motor（104）, driving gear（102）, driven gear（103）, the detection sensor（2）Inside is provided with horizontally disposed a pair of of indication laser（201）, a pair of of measurement laser（202）Camera is measured with a pair（203）, above-mentioned laser, camera slope inwardly identical angle；The utility model is by analyzing adhesive tape three-dimensional data, it is possible to achieve the calculating of adhesive tape width and height, compared with existing detection method, add the detection to adhesive tape elevation information, in addition, the utility model device and method is from adhesive tape color and the interference by painting workpiece color, strong robustness.
Description
Technical field
A kind of gluing on-line detecting system is the utility model is related to, is believed in particular to a kind of robot coating is three-dimensional
Cease vision inspection apparatus.
Background technology
Coating technique is industry manufacture field widely used process technology, is widely used in automobile, electronics, light industry, doctor
The price production process such as medicine, food, the quality of gluing quality are directly related to the precision and final product quality of whole process, soon
Fast accurately gluing quality testing is of great practical significance, particularly in automobile manufacture field, automobile coating technique
It is the required step of automobile production institute, the quality of gluing quality is directly related to the quality of vehicle performance, and the utility model is with automobile
Gluing quality visual detection technique is point of penetration, on-line measurement is carried out to adhesive tape quality for robot coating technique, to being applied
The glue of adhesive tape is wide, glue is high and continuity carries out vision and detects in real time, this vision inspection apparatus and method are directed to robot coating mistake
Adhesive tape detection in journey has universality.
Traditional gluing quality testing judges according to human eye, not only labor intensive but also since human eye judges there is subjectivity
Property, often there are larger error for judging result.At present, by it was verified that by visible detection method and robot coating skill
Art blends, and it is a kind of efficient detection method that detection in real time is carried out to gluing quality, and existing visible detection method can describe
For using the two dimensional image of adhesive tape to be measured, by analyzing in image adhesive tape and by the aberration between painting workpiece, realizing to adhesive tape side
The extraction of edge, and then the width information of adhesive tape is obtained, such detection method and device, do not relate to for the elevation information of adhesive tape
And and when be gummed the color of bar with it is close or consistent by painting workpiece color when, existing method can not detect.
The content of the invention
To solve the above-mentioned problems, the utility model discloses a kind of robot coating three-dimensional information vision inspection apparatus,
Technical solutions of the utility model can be described as：
A kind of robot coating three-dimensional information vision inspection apparatus, including driving mechanism, detection sensor, hollow shaft, institute
Stating driving mechanism includes motor, the stent for fixing motor, driving gear, driven gear, the motor and driving gear phase
Even, driven gear can be driven, the hollow shaft runs through detection device, and upper end is connected with driven gear, and lower end is passed with detection
Sensor is connected, and specifically, according to command signal, motor control driving gear drives driven gear to be driven by hollow shaft and senses
Device turns an angle so that is in 90 ° of angles between laser strip and adhesive tape；
Robot end connects gluing glue rifle, and workpiece gluing, present apparatus hollow mandrel are carried out according to set gluing track
With glue rifle nested encryptions, detection in real time applies the quality of adhesive tape, is not take up beat.
As further improvement of the utility model, horizontally disposed a pair of is installed inside the detection sensor and is used for
The indication laser and a pair for indicating rotation angle equally exist for measuring the measurement laser of adhesive tape information, being also equipped with a pair
On horizontal level be used for gather measurement laser strip image measurement camera, above-mentioned three pairs placed respectively on horizontal level swash
Light device, camera, are parallel to each other and the identical angle that slopes inwardly, angle value are preferably 30 °, intilted double camera with it is double
Laser is set, and easy to obtain more laser strip flex point information, result of calculation is more accurate.
The indication laser transmitting laser is visible ray, carries out clearly observing laser strip during robot teaching
Angle between adhesive tape；
It is black light to measure laser transmitting laser, and black light can avoid from the influence of applied adhesive tape color
Color interference between homochromy laser strip and adhesive tape；
The camera is provided with optical filter, can collect the black light for the respective wavelength that measurement laser is sent.
A kind of detection method for above-mentioned robot coating three-dimensional information vision inspection apparatus, can obtain according to the present apparatus
The structure light image got, according to structural light three-dimensional measuring principle and algorithm, calculates the width and elevation information of tested adhesive tape,
It is specifically described as following steps：
A. indication laser is opened, robot tries to apply a workpiece according to gluing track, and at different glue sections, foundation refers to
Show the angle information between laser strip and robot motion direction, rotation sensor, swashs the instruction in detection sensor
Striation is vertical with robot motion direction, and computer preserves the rotating angle information of institute；
When b. detecting, indication laser is closed, measurement laser, measurement camera are opened, according to being preserved in the step a
Rotation angle information, during robot coating in real time adjustment detection sensor angle, meanwhile, measurement camera correspond to adopts
Collection measurement laser strip image；
C. computer obtains measurement laser strip image, and image procossing is carried out to this image, calculates adhesive tape width and height is believed
Breath, and carry out interface display；
The step a is teaching process, and since robot coating process has high reproducibility, the teaching process only needs
To be carried out once when trying to apply workpiece by robot, after the completion of workpiece examination applies, preserve teaching information, teaching information can be answered directly
Gluing detection process for robot afterwards to workpiece, time-saving and efficiency.
Image processing process includes described in the step c：Computer is obtained from two measurement cameras of left and right placement
It is corresponding in image to choose match point, wherein, match point can choose multiple points, will according to the co-ordinate position information of multiple match points
One secondary pending image of two images synthesis.
Further included in the step c and contrasted computed altitude value, width value and standard value, whether judgement is gummed bar
It is qualified.
In conclusion the utility model compared with the prior art, has the advantages and positive effects of：
1 by the three-dimensional information measuring principle of structure light image, using the present apparatus and method, can obtain adhesive tape width,
Elevation information, while the present apparatus carries out real-time tracking detection to robot coating track, can interpolate that the continuity of adhesive tape；
2 pass through rotation sensor so that laser strip is vertical with adhesive tape, and detection width value, height value are glue at this time
The true glue of bar is wide, glue is high, simplifies algorithm.
3 using imperceptible structured light measurement adhesive tape quality, and the color for having broken adhesive tape and bottom plate is limited to, when adhesive tape and bottom plate
When color is close or consistent, this method can still realize the calculating of adhesive tape width, height, while overcome using visible structure
The problem of laser strip is weakened by homochromy adhesive tape during photo measure.
Brief description of the drawings
Fig. 1 is the structure planing surface figure of the utility model device；
Fig. 2 is the utility model device detection sensor cut-away view；
Fig. 3 is the laser of horizontal direction in the utility model device, camera tilt angles degree schematic diagram.
In figure：Driving mechanism 1, motor 101, stent 104, driving gear 102, driven gear 103, detection sensor 2, refer to
Show laser 201, measurement laser 202, measurement camera 203, hollow shaft 3.
Embodiment
In the description of the utility model, it is to be understood that term " " center ", " longitudinal direction ", " transverse direction ", " on ", " under ",
The orientation or position relationship of the instruction such as "front", "rear", "left", "right", " vertical ", " level ", " top ", " bottom ", " interior ", " outer " are
Based on orientation shown in the drawings or position relationship, it is for only for ease of description the utility model and simplifies description, rather than instruction
Or imply that signified device or element there must be specific orientation, with specific azimuth configuration and operation, it is impossible to be interpreted as pair
The limitation of the utility model.
, it is necessary to which explanation, unless otherwise clearly defined and limited, term " are pacified in the description of the utility model
Dress ", " connected ", " connection " should be interpreted broadly, for example, it may be fixedly connected or be detachably connected, or integratedly
Connection；Can mechanically connect or be electrically connected；It can be directly connected, can also be indirectly connected by intermediary,
It can be the connection inside two elements.For the ordinary skill in the art, on being understood by concrete condition
State concrete meaning of the term in the utility model.
In order to be better understood from the utility model, hereby lift following embodiments and be described in detail with reference to attached drawing：
A kind of robot coating three-dimensional information vision inspection apparatus, as shown in Figure 1, including driving mechanism 1, detection sensor
2nd, hollow shaft 3, motor 101 is installed inside the driving mechanism 1 and is fixed by stent 104, driving gear 102, from
Moving gear 103, motor 101 are connected with driving gear 102, and motor 101 drives driven gear according to instruction control driving gear 102
103, the hollow shaft 3 runs through detection device, and upper end is connected with driven gear 103, and lower end is connected with detection sensor 2, tool
For body, during detection, according to command signal, motor 101 controls driving gear 102 to drive driven gear 103, and passes through hollow shaft
3 drive detection sensors 2 turn an angle so that are in 90 ° of angles between laser strip and adhesive tape, at this time, in laser strip image
The width that is calculated, height are true adhesive tape width, height, so as to simplify software algorithm to result of calculation in angle
Amendment；
Robot end connects gluing glue rifle, and workpiece gluing, present apparatus hollow mandrel 3 are carried out according to set gluing track
With glue rifle nested encryptions, the detection in real time of detection sensor 2 applies the quality of adhesive tape, is not take up beat.
Further, as shown in Fig. 2, being provided with a pair of horizontal positioned indication laser 201 inside detection sensor 2,
Above-mentioned indication laser 201 is used to indicate that detection sensor 2 needs rotating angle, and left and right two indication lasers 201 are thrown
The laser strip penetrated overlaps；
Be also equipped with inside detection sensor 2 a pair of horizontal positioned measurement laser 202 for being used to measure adhesive tape information,
A pair of measurement camera 203 for being used to gather measurement laser strip image equally on horizontal level, the pair of left and right placement
Measurement laser 202 projects laser strip coincidence, and the measurement laser strip of two measurement camera collection coincidences is placed by arranged on left and right sides
The image being incident upon in adhesive tape, and this two width measurement laser strip image is all transmitted to computer and carries out processing analysis；Compared to
The setting of one camera, single laser, using the structure design of double measurement cameras and double measurement lasers, enables to left and right to measure
Camera, which collects structure light image, has more detailed information, and result of calculation is more accurate.
Above-mentioned three pairs horizontal positioned indication laser, measurement laser, measurement camera keep being parallel to each other and respectively
Slope inwardly identical angle, as shown in figure 3, wherein angle value is preferably 30 °, ensures the indication laser and measurement laser
Device projection laser strip is parallel, i.e., when indicating that laser strip is vertical with adhesive tape, measurement laser strip is also vertical with adhesive tape；Meanwhile tilt
Angle enables to the details of measurement laser strip and adhesive tape intersection more accurate, so that measurement camera 203 is got
Structure light image picture material more horn of plenty；
Further, it is visible ray that indication laser 201, which launches laser, can clearly be observed during robot teaching
To the angle between laser strip and adhesive tape；
It is black light to measure laser 202 to launch laser, can be from the shadow of applied adhesive tape color using black light
Ring, avoid the color interference between homochromy laser strip and adhesive tape；
The measurement camera 203 is provided with optical filter, can collect the respective wavelength that sends of measurement laser 202 not
Visible ray.
The utility model further relates to a kind of method for above-mentioned robot coating three-dimensional information vision inspection apparatus, including
Following steps：
A. indication laser 201 is opened, robot tries to apply a workpiece, at different glue sections, foundation according to gluing track
Indicate the angle information between laser strip and robot motion direction, rotation sensor 2, makes the instruction in detection sensor
Laser strip is vertical with robot motion direction, and computer preserves the rotating angle information of institute；
When b. detecting, indication laser 201 is closed, measurement laser 202, measurement camera 203 are opened, according to the step
The rotation angle information preserved in rapid a, adjusts the angle of detection sensor in real time during robot coating, meanwhile, measurement
Camera 203 corresponds to collection measurement laser strip image；
C. computer obtains measurement laser strip image, and image procossing is carried out to this image, calculates adhesive tape width and height is believed
Breath, and result of calculation is subjected to interface display；
It should be further noted that step a is teaching process, since robot coating process has high reproducibility,
The teaching process only needs to carry out once when trying to apply workpiece by robot, after the completion of workpiece examination applies, preserves teaching information, shows
Robot is to the gluing detection process of workpiece, time-saving and efficiency after religion information may be directly applied to.
Image processing process includes in the step c：Two width that computer is obtained from two measurement cameras of left and right placement
In image, multiple corresponding match points are chosen, it is according to the co-ordinate position information of match point, two images synthesis one is secondary pending
Image.
To this testing image, using method of structured light three-dimensional measurement principle, the three-dimensional of adhesive tape structure light image to be measured is obtained
Data, so as to analyze the width of adhesive tape to be measured, height and continuity, judge whether it qualified, whether there is disconnected glue, it is specific and
Speech, can be contrasted computed altitude value, width value and standard value, and result is shown, while can also set report
Alert signal, when adhesive tape is unqualified, prompts staff.
The method that this method takes detection structure light image, adds the detection to adhesive tape height, from adhesive tape with being applied
The influence of workpiece color, with Tu Suijian, is not take up beat, is easy to observe, robustness is more preferable.
Specific case used herein is set forth the principle and embodiment of the utility model, above example
Explanation be only intended to help to understand the method and its core concept of the utility model.It should be pointed out that for the art
For those of ordinary skill, on the premise of the utility model principle is not departed from, some change can also be carried out to the utility model
Into and modification, these improve and modification also fall into the protection domain of the utility model claims.
Claims (3)
1. a kind of robot coating three-dimensional information vision inspection apparatus, including driving mechanism（1）, detection sensor（2）, hollow shaft
（3）, the driving mechanism includes motor（101）, stent for fixing motor（104）, driving gear（102）, driven gear
（103）, the motor（101）With driving gear（102）It is connected, driven gear can be driven（103）, the hollow shaft（3）Pass through
Wear detection device, and upper end and driven gear（103）It is connected, lower end and detection sensor（2）It is connected, it is characterised in that described
Detection sensor（2）Inside is provided with a pair of of the indication laser set on horizontal level（201）, a pair of of measurement laser
（202）, also have a pair of of measurement camera（203）, above-mentioned three pairs of lasers, camera keep being parallel to each other, slope inwardly identical
Angle, the indication laser（201）Transmitting laser is visible ray, measures laser（202）Transmitting laser is black light, institute
State measurement camera（203）Optical filter is installed.
A kind of 2. robot coating three-dimensional information vision inspection apparatus according to claim 1, it is characterised in that it is described to
Introversion rake angle is preferably 30 °.
A kind of 3. robot coating three-dimensional information vision inspection apparatus according to claim 1, it is characterised in that the sky
Mandrel（3）Nested encryptions are carried out with glue rifle.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721506296.XU CN207280385U (en) | 2017-11-13 | 2017-11-13 | A kind of robot coating three-dimensional information vision inspection apparatus |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721506296.XU CN207280385U (en) | 2017-11-13 | 2017-11-13 | A kind of robot coating three-dimensional information vision inspection apparatus |
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| Publication Number | Publication Date |
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| CN207280385U true CN207280385U (en) | 2018-04-27 |
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ID=61979097
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| Application Number | Title | Priority Date | Filing Date |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115106260A (en) * | 2022-07-14 | 2022-09-27 | 河南埃尔森智能科技有限公司 | Automatic gluing and detecting method based on 3D vision |
| CN116777888A (en) * | 2023-06-30 | 2023-09-19 | 广州高迪机电工程有限公司 | Self-adaptive compensation correction method for adhesive width by visual detection system during angular adhesive coating |
-
2017
- 2017-11-13 CN CN201721506296.XU patent/CN207280385U/en active Active
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115106260A (en) * | 2022-07-14 | 2022-09-27 | 河南埃尔森智能科技有限公司 | Automatic gluing and detecting method based on 3D vision |
| CN116777888A (en) * | 2023-06-30 | 2023-09-19 | 广州高迪机电工程有限公司 | Self-adaptive compensation correction method for adhesive width by visual detection system during angular adhesive coating |
| CN116777888B (en) * | 2023-06-30 | 2024-02-06 | 广州高迪机电工程有限公司 | Self-adaptive compensation correction method for adhesive width by visual detection system during angular adhesive coating |
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Legal Events
| Date | Code | Title | Description |
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| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CB03 | Change of inventor or designer information | ||
| CB03 | Change of inventor or designer information |
Inventor after: Liu Haiqing Inventor after: Guo Lei Inventor after: Zou Jian Inventor after: Lv Meng Inventor before: Liu Haiqing Inventor before: Yin Shibin Inventor before: Guo Lei Inventor before: Zou Jian Inventor before: Zhuang Xuan Inventor before: Lv Meng |