CN207300177U - A kind of three-dimensional gluing detection device in real time - Google Patents
A kind of three-dimensional gluing detection device in real time Download PDFInfo
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- CN207300177U CN207300177U CN201721507163.4U CN201721507163U CN207300177U CN 207300177 U CN207300177 U CN 207300177U CN 201721507163 U CN201721507163 U CN 201721507163U CN 207300177 U CN207300177 U CN 207300177U
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Abstract
The utility model discloses a kind of three-dimensional gluing detection device in real time, including：Shell（1）, installation lid（2）, through hole（3）, and by image acquiring device（4）And laser（5）The structural light measurement unit of composition, the structural light measurement unit should be at least provided with three groups, and every two groups of interval angles are equal, described image acquisition device（4）Optical filter, the laser are installed（5）The laser launched is in wire, passes through image acquiring device（4）Gather laser（5）The structure light image being incident upon in adhesive tape, the width and height of glue section to be measured are calculated using structure light image three-dimensional measurement principle, whether judge to be gummed bar with this qualified, whether there is disconnected glue, compared with existing detection method, the detection to adhesive tape elevation information is added, in addition, when adhesive tape color with it is close or consistent by painting workpiece color when, the detection method of the present apparatus can still realize effective analysis to adhesive tape quality.
Description
Technical field
A kind of gluing on-line detecting system is the utility model is related to, in particular to a kind of three-dimensional gluing detection in real time
Device.
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, its performance requirement is also continuously improved with people, the high accuracy and intelligence of auto production line
Degree can be changed and also seem particularly important, the quality of gluing quality is directly related to the quality of vehicle performance, and the utility model is with vapour
Car gluing quality visual detection technique is point of penetration, for the three-dimensional information of gluing adhesive tape（Glue is wide, glue is high and continuity）Carry out
Intelligent measurement, the detection device and method have universality for adhesive tape detection.
In the prior art, demonstrate and gluing quality is analyzed by image processing techniques, be a kind of highly effective detection side
Method, existing method can be described as the two dimensional image using adhesive tape to be measured, by analyzing in image adhesive tape and by between painting workpiece
Aberration, realize the extraction to adhesive tape edge, and then obtain the width information of adhesive tape, be not directed to for elevation information, 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 provides a kind of three-dimensional gluing detection device in real time, the technology taken
Scheme is：
A kind of three-dimensional gluing detection device in real time, for the width of colloid, height during detection robot coating in real time
And continuity, including：Shell, installation lid, through hole, the installation are placed on case nose, and through hole is located among device, is used as this
Bright further improvement, enclosure is provided with the structural light measurement unit by image acquiring device and laser constitution, described
Structural light measurement unit should be at least provided with three groups, and every two groups of interval angles are equal, and described image acquisition device is provided with filter
Mating plate, the laser that the laser is launched are in wire.
Image acquiring device in every group of structural light measurement unit, which corresponds to, gathers the wire that the laser on the inside of it is launched
Laser projection structure light image in adhesive tape to be measured, optical filter can only pass through the light for the wavelength that laser sent, so as to have
Effect inhibits the interference of background information.
Preferably, the camera optical axis in image acquiring device 4 and the angle of 5 optical axis of laser are preferably 20 °.
Preferably, described image acquisition device 4 is high speed camera so that system real time higher.
The detection device of the present invention carries out nested encryptions by through hole 3 and glue rifle, with Tu Suijian, is not take up beat.
The installation lid 2 is detachable, and is installed on case nose equipped with internal thread structure, in corresponding image acquiring device
4 and 5 position of laser at be arranged to transparent material, installation lid plays a protective role the internal structure of the present apparatus, removably
Structure design, it is convenient to be replaced in time when being stained.
In conclusion of the invention contrast with gluing detection device of the prior art, have the advantages and positive effects of：
1 compared with two-dimentional gluing detects, in addition to it can obtain adhesive tape width information, can also calculate the height of adhesive tape；
2 are different from two-dimentional gluing detection carries out adhesive tape identification by the aberration of adhesive tape and bottom plate, when adhesive tape and bottom plate color
When close or consistent, three-dimensional glue spreading detecting system can still realize the calculating of adhesive tape width, height.
Brief description of the drawings
Fig. 1 is gluing structure of the detecting device schematic diagram in the utility model embodiment（Lid open mode is installed）；
Fig. 2 is the schematic perspective view of the utility model gluing detection device；
Fig. 3 is the profile after the utility model gluing detection device installation glue rifle.
In figure：1st, shell；2nd, installation lid；3rd, through hole；4th, image acquiring device；5th, laser；6th, glue rifle.
Embodiment
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 real-time gluing detection device of three-dimensional information of the utility model, shell 1, installation lid 2, through hole 3, image acquisition dress
4, laser 5 is put, the installation lid 2 is placed in 1 front end of shell, and through hole 3 is located among device, is provided with inside shell 1 by image
Acquisition device 4 and laser 5 form structural light measurement unit, in order to realize the comprehensive detection to adhesive tape, eliminate check frequency,
It is designed with least three groups and the structural light measurement unit that laser 5 forms is gathered by image acquiring device 4, is provided with the present embodiment
Four groups of structural light measurement units, specifically, the structure light being incident upon by the collection laser 5 of image acquiring device 4 in adhesive tape
Image, using method of structured light three-dimensional measurement principle, obtains the three-dimensional data of structure light image, so that the width to adhesive tape to be measured
Degree, height and continuity are analyzed, and judge whether it is qualified, whether there is disconnected glue.
Referring to Fig. 1-3, the real-time gluing detection device of three-dimensional information includes：Shell 1, installation lid 2, through hole 3, image acquisition dress
Put 4, laser 5.
In the present embodiment, by glue rifle 6 penetrate into through hole 3 with detection device is nested is connected, both again with Glue Spreading Robot
It is fixed, specific detection process and method, can be described as：Glue Spreading Robot is carried out according to the TRAJECTORY CONTROL glue rifle 6 of setting
Gluing, carries out a teaching process, and specifically, examination applies a workpiece, robot coating track is segmented, by each section
Arrange in numerical order according to time series, time series is arranged to 5ms in the present embodiment, at different glue sections, according to laser strip and machine
Angle between device people's direction of motion selects corresponding camera and laser, specifically, chooses angle closer to 90 ° of laser
Camera and laser corresponding to bar image, i.e., during subsequent detection, in the glue section to be measured only corresponding unlatching of a certain numbering
Chosen camera and laser, at the end of workpiece examination is teaching process after the completion of applying, stores teaching information, due to robot pair
The gluing track of same model workpiece is constant, has high reproducibility, thus teaching information can directly apply to after machine
People to the detection process of workpiece gluing, it is simple and direct efficiently.
During detection, the linear laser that the laser 5 in gluing detection device is sent is incident upon in applied adhesive tape, is obtained by image
Device 4 is taken to gather the structure light image in real time, in order to ensure the real-time of gatherer process and high efficiency, image acquiring device 4 is adopted
With high speed camera, and optical filter is installed, the effect of optical filter is：Can only pass through the light for the wavelength that laser 5 sent, from
And high speed camera only collects the image that linear laser is incident upon on gluing, so that suppress the interference of background information, meanwhile, as
Further improvement of the utility model, the method for taking detection structure light image are close with by painting workpiece color suitable for adhesive tape
Or unanimous circumstances, compared with the prior art, robustness is stronger.
Four image acquiring devices 4 are installed, and the angle between every two is equal is in the present embodiment, in detection device
90。, and laser 5 is installed in the inner side of 4 position of correspondence image acquisition device, both form one group of structural light measurement unit, i.e.,
Every image acquiring device 4, which corresponds to, to be gathered formed by linear laser bar that closest laser 5 projected and adhesive tape to be measured
Structure light image, according to principle of triangulation, adhesive tape shape is constructed using linear laser, calculates the three-dimensional data letter of adhesive tape
Breath, and carry out analysis according to three-dimensional data and judge whether this section of adhesive tape qualified, so as to fulfill to adhesive tape width, height and continuity
Detection.
Preferably, the camera optical axis in image acquiring device 4 and the angle of 5 optical axis of laser are preferably 20 °.
Lid 2 is installed detachably, the position of correspondence image acquisition device 4 and laser 5 is arranged to transparent material, installation lid pair
The internal structure of the present apparatus plays a protective role, dismountable structure design, convenient to be replaced in time when being stained.
The method for taking detection structure light image, adds the detection to gluing height, and suitable for adhesive tape with being applied
Workpiece color is close or unanimous circumstances, and compared with the prior art, robustness is stronger.
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 (5)
1. a kind of three-dimensional gluing detection device in real time, including：Shell（1）, installation lid（2）, through hole（3）, the installation lid（2）Put
In shell（1）Front end, through hole（3）Among device, it is characterised in that：Shell（1）Inside is provided with by image acquiring device
（4）And laser（5）The structural light measurement unit of composition, the structural light measurement unit should at least provided with three groups, and every two
Group interval angles are equal, described image acquisition device（4）Optical filter, the laser are installed（5）The laser launched is in line
Shape.
A kind of 2. three-dimensional gluing detection device in real time according to claim 1, it is characterised in that described image acquisition device
（4）For high speed camera.
A kind of 3. three-dimensional gluing detection device in real time according to claim 1, it is characterised in that image acquiring device（4）
In camera optical axis and laser（5）The angle of optical axis is preferably 20 °.
4. a kind of three-dimensional gluing detection device in real time according to claim 1, it is characterised in that detection device passes through through hole
（3）Nested encryptions are carried out with glue rifle.
A kind of 5. three-dimensional gluing detection device in real time according to claim 1, it is characterised in that the installation lid（2）Can
Dismounting.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721507163.4U CN207300177U (en) | 2017-11-13 | 2017-11-13 | A kind of three-dimensional gluing detection device in real time |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721507163.4U CN207300177U (en) | 2017-11-13 | 2017-11-13 | A kind of three-dimensional gluing detection device in real time |
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| Publication Number | Publication Date |
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| CN207300177U true CN207300177U (en) | 2018-05-01 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201721507163.4U Active CN207300177U (en) | 2017-11-13 | 2017-11-13 | A kind of three-dimensional gluing detection device in real time |
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| CN (1) | CN207300177U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109396641A (en) * | 2018-12-06 | 2019-03-01 | 上海航天精密机械研究所 | The robotic laser welding system and method for a kind of annulus part or irregular roundness ring |
| 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 |
-
2017
- 2017-11-13 CN CN201721507163.4U patent/CN207300177U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109396641A (en) * | 2018-12-06 | 2019-03-01 | 上海航天精密机械研究所 | The robotic laser welding system and method for a kind of annulus part or irregular roundness ring |
| 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 |
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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: Lv Meng Inventor before: Liu Haiqing Inventor before: Guo Lei Inventor before: Yin Shibin Inventor before: Lv Meng Inventor before: Zhuang Xuan |