CN209646884U - Vision dynamic following automatic gluing device - Google Patents
Vision dynamic following automatic gluing device Download PDFInfo
- Publication number
- CN209646884U CN209646884U CN201920171337.7U CN201920171337U CN209646884U CN 209646884 U CN209646884 U CN 209646884U CN 201920171337 U CN201920171337 U CN 201920171337U CN 209646884 U CN209646884 U CN 209646884U
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- Prior art keywords
- gluing
- altitude meter
- laser
- dynamic following
- following automatic
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Abstract
The utility model discloses a kind of vision dynamic following automatic gluing device, it include: conveying device, photographic device, height measuring device, gluing system and two rotary encoders, height measuring device includes first laser altitude meter and second laser altitude meter, gluing workpiece has the first gluing point and the second gluing point, first laser altitude meter is used to measure the height coordinate of the first gluing point, and second laser altitude meter is used to measure the height coordinate of the second gluing point；Along the direction of advance of conveyer belt, rotary encoder, photographic device, height measuring device and rubber head are successively spaced setting.The utility model can automatically grab the coordinate of gluing workpiece, and carry out the automatic gluing of dynamic following to gluing workpiece by photographic device, rotary encoder and gluing system and handle.Compared with artificial gluing, the utility model can solve the problems, such as that artificial gluing amount is unstable, there are the anomalous mass such as wire drawing for gluing, and be able to achieve the Non-toxic operation of toxic work post, can effective guarantee worker health, reduction labor intensity.
Description
Technical field
The utility model relates to intelligent equipment technology fields, and in particular to a kind of vision dynamic following automatic gluing device.
Background technique
Existing factory's air-conditioning produced, refrigerator, washing machine, the household appliances such as LCD TV, in its certain plastic part junction
Gluing is needed, plays the role of being connected and fixed.Existing factory is substantially all using pipelining production model, artificial to need to hold
Glue rifle carries out the processing of dynamic gluing to product on assembly line, this mode of operation can have the disadvantage that
1, gluing process is toxic work post, contains the substance being largely harmful to the human body in auxiliary material, there is strong pungent peculiar smell.
Employee's direct long term contact, it will biggish harm is caused to health；Also just because of this reason, the post personnel separation rate
Very high, gluing process quality also cannot be guaranteed；
2, artificial gluing is unstable to the control of glue amount, causes a degree of artificial waste；
3, operating staff labor intensity is larger；
4, this process per tour needs to put into special operating staff, it appears human cost investment is higher.
Utility model content
The purpose of this utility model is to provide a kind of vision dynamic following automatic gluing device, can dynamic following beat automatically
Glue processing, can solve the problems, such as that artificial gluing amount is unstable, there are the anomalous mass such as wire drawing for gluing, and be able to achieve Non-toxic operation.
For this purpose, the utility model uses following technical scheme:
A kind of vision dynamic following automatic gluing device is provided, comprising:
Conveying device comprising the drive of rack, the conveyer belt being installed in the rack and the driving conveying V belt translation
Dynamic device, to convey gluing workpiece；
Photographic device is installed on the top of the rack, the seat of the gluing point to obtain the gluing workpiece automatically
Mark；
Height measuring device, the height measuring device include spaced first laser altitude meter and second laser altitude meter, institute
It states first laser altitude meter and the second laser altitude meter is installed in the rack by second support, the gluing workpiece
Upper the first gluing point and the second gluing point with to gluing, the first laser altitude meter is for measuring the first gluing point
Height coordinate, the second laser altitude meter is used to measure the height coordinate of the second gluing point；
Gluing system, the gluing system is installed on the side of the rack, and the rubber head of the gluing system is located at
The top of the rack；
Two rotary encoders, be respectively installed on the rack along its width direction two sides the first rotary encoder and
Second rotary encoder；
The photographic device, the height measuring device, the rubber head and the rotary encoder respectively with the gluing
The controller of system connects, and along the direction of advance of the conveyer belt, the rotary encoder, the photographic device, the survey are high
Device and the rubber head are successively spaced setting.
As a kind of preferred embodiment of vision dynamic following automatic gluing device, the first laser altitude meter and described
Dual-laser altitude meter is movably installed in the second support.
As a kind of preferred embodiment of vision dynamic following automatic gluing device, along the conveyer belt in the second support
Width direction be arranged at intervals with the first sliding rail and the second sliding rail, the first laser altitude meter passes through the first sliding block and described the
One sliding rail is slidably connected, and the second laser altitude meter is slidably connected by the second sliding block and second sliding rail.
As a kind of preferred embodiment of vision dynamic following automatic gluing device, the height measuring device further includes the first servo
Motor and the second servo motor, the first servo motor is connect with first sliding block and the neighbouring first laser surveys height
Instrument is installed on one end of the second support, and second servo motor connect with second sliding block and adjacent to described second
Laser ceilometer is installed on the other end of the second support, and the first servo motor and second servo motor are and institute
State controller connection.
As a kind of preferred embodiment of vision dynamic following automatic gluing device, two are arranged at intervals on first sliding rail
A first limiting section, to limit the extreme position of the first sliding block sliding；Two are arranged at intervals on second sliding rail
Second limiting section, to limit the extreme position of the second sliding block sliding.
As a kind of preferred embodiment of vision dynamic following automatic gluing device, the gluing system further includes gluing machine
People, the rubber head are connect by mounting plate with the gluing robot, and the gluing robot is connect with the controller.
As a kind of preferred embodiment of vision dynamic following automatic gluing device, the rubber head is adjacent to the gluing workpiece
Upper end.
As a kind of preferred embodiment of vision dynamic following automatic gluing device, the gluing system further includes hot melt adhesive
Machine, the hot melt adhesive machine are connect by hot melt pipe with the rubber head.
As a kind of preferred embodiment of vision dynamic following automatic gluing device, support is provided in the gluing robot
Plate offers the through-hole passed through for the hot melt pipe in the support plate.
The utility model has the beneficial effects that the utility model using photographic device to the coordinate of the characteristic point of gluing workpiece into
Row automatically grabs, and carries out the automatic gluing of dynamic following to gluing workpiece by photographic device, rotary encoder and gluing system
Processing.Compared with artificial gluing, the vision dynamic following automatic gluing device of the utility model can solve artificial gluing amount not
Stablize, gluing there are the anomalous mass such as wire drawing, and the Non-toxic operation of toxic work post may be implemented, can effective guarantee work
Human body health reduces labor intensity.
Detailed description of the invention
It, below will be in the utility model embodiment in order to illustrate more clearly of the technical solution of the utility model embodiment
Required attached drawing is briefly described.It should be evident that drawings described below is only the one of the utility model
A little embodiments for those of ordinary skill in the art without creative efforts, can also be according to these
Attached drawing obtains other attached drawings.
Fig. 1 is that the structure at the first visual angle of vision dynamic following automatic gluing device described in the utility model embodiment is shown
It is intended to.
Fig. 2 is that the structure at the second visual angle of vision dynamic following automatic gluing device described in the utility model embodiment is shown
It is intended to.
Fig. 3 is the structural schematic diagram of height measuring device described in the utility model embodiment.
Fig. 4 is the structural schematic diagram of gluing system described in the utility model embodiment.
Fig. 5 is the structural schematic diagram of gluing workpiece described in the utility model embodiment.
In figure:
1, conveying device；11, rack；12, conveyer belt；2, photographic device；21, first support；22,2D camera；3, it surveys high
Device；31, first laser altitude meter；32, second laser altitude meter；33, second support；34, the first sliding rail；35, the second sliding rail；
36, the first sliding block；37, the second sliding block；38, first servo motor；39, the second servo motor；4, gluing system；41, rubber head；
42, gluing robot；43, mounting plate；44, hot melt adhesive machine；45, hot melt pipe；46, support plate；51, the first rotary encoder；
52, the second rotary encoder；
100, gluing workpiece；110, the first gluing point；120, the second gluing point.
Specific embodiment
Further illustrate the technical solution of the utility model below with reference to the accompanying drawings and specific embodiments.
Wherein, the drawings are for illustrative purposes only and are merely schematic diagrams, rather than pictorial diagram, should not be understood as to this
The limitation of patent；In order to better illustrate the utility model embodiment, the certain components of attached drawing have omission, zoom in or out,
The size of actual product is not represented；It will be understood by those skilled in the art that certain known features and its explanation may save in attached drawing
Slightly it will be understood by.
The same or similar label correspond to the same or similar components in the attached drawing of the utility model embodiment；It is practical at this
In novel description, it is to be understood that if there is the orientation of the instructions such as term " on ", "lower", "left", "right", "inner", "outside"
Or positional relationship is to be based on the orientation or positional relationship shown in the drawings, and is merely for convenience of description the utility model and simplification is retouched
It states, rather than the device or element of indication or suggestion meaning must have a particular orientation, be constructed and operated in a specific orientation,
Therefore the terms describing the positional relationship in the drawings are only for illustration, should not be understood as the limitation to this patent, for this
For the those of ordinary skill in field, the concrete meaning of above-mentioned term can be understood as the case may be.
In the description of the present invention, unless otherwise clearly defined and limited, if there is the instruction such as term " connection "
Connection relationship between component, which shall be understood in a broad sense, for example, it may be being fixedly connected, may be a detachable connection,
Or it is integral；It can be mechanical connection, be also possible to be electrically connected；It can be directly connected, it can also be indirect by intermediary
It is connected, can be the connection of two components interiors or the interaction relationship of two components.For the ordinary skill people of this field
For member, the concrete meaning of above-mentioned term in the present invention can be understood with concrete condition.
As depicted in figs. 1 and 2, the embodiments of the present invention provide a kind of vision dynamic following automatic gluing device, packet
It includes:
Conveying device 1 comprising the drive that rack 11, the conveyer belt 12 being installed in rack 11 and driving conveyer belt 12 are driven
Dynamic device, to convey gluing workpiece 100；
Photographic device 2 is installed on the top of rack 11, the coordinate of the gluing point to automatically grab gluing workpiece 100；
Specifically, photographic device 2 includes the first support 21 being installed in the rack 11 and the 2D phase being fixed in first support 21
Machine 22,2D camera 22 are connect with controller；
Height measuring device 3, height measuring device 3 include spaced first laser altitude meter 31 and second laser altitude meter 32,
First laser altitude meter 31 and second laser altitude meter 32 are installed in rack 11 by second support 33, on gluing workpiece 100
With the first gluing point 110 and the second gluing point 120 (Fig. 5) to gluing, first laser altitude meter 31 is for measuring first dozen
The height coordinate of glue point 110, second laser altitude meter 32 are used to measure the height coordinate of the second gluing point 120；
Gluing system 4, gluing system 4 is installed on the side of rack 11, and the rubber head 41 of gluing system 4 is located at rack 11
Top；
Two rotary encoders are respectively installed on first rotary encoder 51 He of the rack 11 along its width direction two sides
Second rotary encoder 52；
Photographic device 2, height measuring device 3, rubber head 41 and rotary encoder connect with the controller of gluing system 4 respectively
It connects, along the direction of advance of conveyer belt 12, rotary encoder, photographic device 2, height measuring device 3 and rubber head 41 are successively spaced setting.
In the present embodiment, gluing workpiece 100 is transmitted from conveyer belt 12, when photographic device 2 is captured at any time to gluing workpiece
After 100 characteristic point, starts 120 two characteristic points of the first gluing point 110 and the second gluing point for capturing gluing workpiece 100, lead to
Pixel analysis is crossed, the coordinate position of the first gluing point 110 and the second gluing point 120 is determined, this data is issued into gluing system 4
Controller, and gluing workpiece 100 is automatically tracked on conveyer belt 12 by the first rotary encoder 51 and the second rotary encoder 52
Moving distance, i.e. the second rotary encoder 52 track gluing workpiece 100 when being moved to the lower section of height measuring device 3, to first
Gluing point 110 and the second gluing point 120 carry out laser-measured height, to obtain the Z of the first gluing point 110 and the second gluing point 120
Axis gluing height coordinate position, when the first rotary encoder 51 tracking gluing workpiece 100 is moved to the gluing region of rubber head 41
When, calculate the dynamic of 100 first gluing point 110 and the second gluing point 120 of gluing workpiece automatically by the controller of gluing system 4
Gluing track, and gluing processing, gluing work are carried out to gluing workpiece 100 along dynamic gluing track by controller control rubber head 41
Part 100 flows out automatically after having played glue.
The present embodiment can automatically grab the coordinate of gluing workpiece 100 using photographic device 2, and pass through photographic device 2, rotation
Encoder and gluing system 4 carry out the automatic gluing of dynamic following to gluing workpiece 100 and handle.Compared with artificial gluing, it can solve
Certainly artificial gluing amount is unstable, gluing has the anomalous mass such as wire drawing, and the nontoxic of toxic work post may be implemented and be turned into
Industry, can effective guarantee worker health, reduction labor intensity.
In the present embodiment, as shown in figure 3, first laser altitude meter 31 and second laser altitude meter 32 are movably installed in second
It on bracket 33, is adjusted so as to the horizontal position to first laser altitude meter 31 and second laser altitude meter 32, makes
One laser ceilometer 31 and second laser altitude meter 32 are located at the surface of one of gluing point, accurately to obtain first
The height coordinate of gluing point 110 and the second gluing point 120.
Width direction in second support 33 along conveyer belt 12 is arranged at intervals with the first sliding rail 34 and the second sliding rail 35, and first
Laser ceilometer 31 is slidably connected by the first sliding block 36 with the first sliding rail 34, and second laser altitude meter 32 passes through the second sliding block 37
It is slidably connected with the second sliding rail 35.
Height measuring device 3 further includes first servo motor 38 and the second servo motor 39, and first servo motor 38 and first are slided
The connection of block 36 and neighbouring first laser altitude meter 31 are installed on one end of second support 33, and the second servo motor 39 and second is sliding
The connection of block 37 and neighbouring second laser altitude meter 32 are installed on the other end of second support 33, first servo motor 38 and second
Servo motor 39 is connect with controller, controls first servo motor 38 and the second servo motor 39 along setting by controller
Program and path automatic running.Specifically, the inside of the first sliding rail 34 has the first peace to install first servo motor 38
It behave affectedly room, the first screw rod that shaft coupling is connect with first servo motor 38, the first sliding rail is provided in the first installation cavity room
34 side is provided with limition orientation slot, and the first sliding block 36 passes through the limition orientation slot and is fixedly connected with the first screw rod, and first watches
Taking motor 38 can drive the first screw rod that the first sliding block 36 and first laser altitude meter 31 is driven to move along the limition orientation slot；The
The inside of two sliding rails 35 has the second installation chamber to install the second servo motor 39, is provided in the second installation cavity room logical
Cross the second screw rod that shaft coupling is connect with the second servo motor 39, the side of the second sliding rail 35 is provided with limition orientation slot, and second
Sliding block 37 passes through the limition orientation slot and is fixedly connected with the second screw rod, and the second servo motor 39 can drive the second screw rod to drive second
Sliding block 37 and second laser altitude meter 32 are moved along the limition orientation slot.Second rotary encoder 52 tracks gluing workpiece 100
When being moved to the lower section of height measuring device 3, first laser is driven to survey respectively by first servo motor 38 and the second servo motor 39
High instrument 31 is moved to the top of the first gluing point 110 and the second gluing point 120 with second laser altitude meter 32, to the first gluing point
110 and second gluing point 120 carry out laser-measured height.
Specifically, two the first limiting sections are arranged at intervals on the first sliding rail 34, to limit the sliding of the first sliding block 36
Extreme position；Two the second limiting sections are arranged at intervals on second sliding rail 35, to limit the limit position of the second sliding block 37 sliding
It sets.
As shown in figure 4, gluing system 4 further includes gluing robot 42, rubber head 41 passes through mounting plate 43 and gluing machine
People 42 connects, and gluing robot 42 is connect with controller, controls gluing robot 42 by controller and rubber head 41 is driven to fight each other
The processing of the automatic gluing of glue workpiece 100.
Rubber head 41 is adjacent to the upper end of gluing workpiece 100, convenient for control gluing quality.
Gluing system 4 further includes hot melt adhesive machine 44, and hot melt adhesive machine 44 is connect by hot melt pipe 45 with rubber head 41.Hot melt
The glue of 44 heating melting of glue machine is delivered to rubber head 41 by hot melt pipe 45, carries out at automatic gluing under the action of controller
Reason.
Wherein, it is provided with support plate 46 in gluing robot 42, offers in support plate 46 and passed through for hot melt pipe 45
Through-hole, to fixed hot melt pipe 45.
It is to be understood that above-mentioned specific embodiment is only the preferred embodiment and institute's application technology of the utility model
Principle.It will be understood by those skilled in the art that various modifications, equivalent replacement, variation etc. can also be done to the utility model.But
It is that these transformation should be all within the protection scope of the utility model without departing from the spirit of the utility model.In addition, this
Some terms used in application specification and claims are not limitation, it is only for convenient for description.
Claims (9)
1. a kind of vision dynamic following automatic gluing device characterized by comprising
Conveying device comprising the driving dress of rack, the conveyer belt being installed in the rack and the driving conveying V belt translation
It sets, to convey gluing workpiece；
Photographic device is installed on the top of the rack, the coordinate of the gluing point to obtain the gluing workpiece automatically；
Height measuring device, the height measuring device include spaced first laser altitude meter and second laser altitude meter, and described
One laser ceilometer and the second laser altitude meter are installed in the rack by second support, are had on the gluing workpiece
Need the first gluing point and the second gluing point of gluing, the first laser altitude meter is used to measure the height of the first gluing point
Coordinate is spent, the second laser altitude meter is used to measure the height coordinate of the second gluing point；
Gluing system, the gluing system is installed on the side of the rack, and the rubber head of the gluing system is positioned at described
The top of rack；
Two rotary encoders are respectively installed on the rack along the first rotary encoder of its width direction two sides and second
Rotary encoder；
The photographic device, the height measuring device, the rubber head and the rotary encoder respectively with the gluing system
Controller connection, along the direction of advance of the conveyer belt, the rotary encoder, the photographic device, the height measuring device
Setting is successively spaced with the rubber head.
2. vision dynamic following automatic gluing device according to claim 1, which is characterized in that the first laser is surveyed high
Instrument and the second laser altitude meter are movably installed in the second support.
3. vision dynamic following automatic gluing device according to claim 2, which is characterized in that edge in the second support
The width direction of the conveyer belt is arranged at intervals with the first sliding rail and the second sliding rail, and the first laser altitude meter is sliding by first
Block is slidably connected with first sliding rail, and the second laser altitude meter is connected by the second sliding block and second sliding rail sliding
It connects.
4. vision dynamic following automatic gluing device according to claim 3, which is characterized in that the height measuring device also wraps
Include first servo motor and the second servo motor, the first servo motor is connect and neighbouring described the with first sliding block
One laser ceilometer is installed on one end of the second support, and second servo motor is connect with second sliding block and neighbour
The nearly second laser altitude meter is installed on the other end of the second support, the first servo motor and second servo
Motor is connect with the controller.
5. vision dynamic following automatic gluing device according to claim 4, which is characterized in that between on first sliding rail
Every setting, there are two the first limiting sections, to limit the extreme position of the first sliding block sliding；It is spaced on second sliding rail
There are two the second limiting sections for setting, to limit the extreme position of the second sliding block sliding.
6. vision dynamic following automatic gluing device according to claim 1, which is characterized in that the gluing system is also wrapped
Gluing robot is included, the rubber head is connect by mounting plate with the gluing robot, the gluing robot and the control
Device connection processed.
7. vision dynamic following automatic gluing device according to claim 6, which is characterized in that the rubber head is adjacent to institute
State the upper end of gluing workpiece.
8. vision dynamic following automatic gluing device according to claim 6, which is characterized in that the gluing system is also wrapped
Hot melt adhesive machine is included, the hot melt adhesive machine is connect by hot melt pipe with the rubber head.
9. vision dynamic following automatic gluing device according to claim 8, which is characterized in that in the gluing robot
It is provided with support plate, the through-hole passed through for the hot melt pipe is offered in the support plate.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920171337.7U CN209646884U (en) | 2019-01-31 | 2019-01-31 | Vision dynamic following automatic gluing device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920171337.7U CN209646884U (en) | 2019-01-31 | 2019-01-31 | Vision dynamic following automatic gluing device |
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| Publication Number | Publication Date |
|---|---|
| CN209646884U true CN209646884U (en) | 2019-11-19 |
Family
ID=68523721
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| CN201920171337.7U Active CN209646884U (en) | 2019-01-31 | 2019-01-31 | Vision dynamic following automatic gluing device |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110976211A (en) * | 2019-12-19 | 2020-04-10 | 东莞市南工机械设备科技有限公司 | High-precision glue dispensing device for workpiece |
| CN111285028A (en) * | 2020-03-24 | 2020-06-16 | 张晓林 | Automatic production equipment and process for sponge nail file |
-
2019
- 2019-01-31 CN CN201920171337.7U patent/CN209646884U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110976211A (en) * | 2019-12-19 | 2020-04-10 | 东莞市南工机械设备科技有限公司 | High-precision glue dispensing device for workpiece |
| CN111285028A (en) * | 2020-03-24 | 2020-06-16 | 张晓林 | Automatic production equipment and process for sponge nail file |
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