CN211887668U - Gluing track guiding and gluing type quality detection system - Google Patents
Gluing track guiding and gluing type quality detection system Download PDFInfo
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- CN211887668U CN211887668U CN201922177500.3U CN201922177500U CN211887668U CN 211887668 U CN211887668 U CN 211887668U CN 201922177500 U CN201922177500 U CN 201922177500U CN 211887668 U CN211887668 U CN 211887668U
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Abstract
The utility model discloses a rubber coating orbit guide and gluey type quality detection system, including gluing type quality detection sensor and rubber coating orbit guide sensor, glue type quality detection sensor and rubber coating orbit guide sensor and arrange on the spraying of rubber coating robot glues the rifle to be located the top both sides of gluing the rifle nozzle. The utility model discloses a gluey type quality testing sensor and rubber coating orbit guide sensor that set up can revise the rubber coating orbit of guide robot in real time to glue the type quality to the rubber coating and carry out automated inspection.
Description
Technical Field
The utility model relates to an automobile manufacturing equipment technical field especially relates to a rubber coating orbit guide and gluey type quality detection system.
Background
In an automobile manufacturing workshop, an automobile body is manufactured by welding, riveting or bonding prefabricated parts, and in order to meet the requirement that the automobile body has better waterproof performance, a gluing process is carried out at a welding seam or a riveting seam, so that the sealing waterproof performance, the attractive appearance and the corrosion resistance of the automobile body are realized. In addition, some structural parts or exterior trimming parts of the vehicle body need to be formed by bonding, and structural glue needs to be sprayed and bonded at specific positions of the structural parts or the exterior trimming parts, so that good bonding performance is realized.
At present, in the automobile manufacturing process, the automatic gluing process is generally finished by a robot gluing system, and the quality detection of the gluing process is also generally carried out by adopting a manual sampling inspection mode. The manual spot inspection is mainly used for observing and measuring the external dimensions such as the length, the width, the thickness and the like of the glue coating type, whether the glue coating type is filled flatly and completely, whether the defects such as glue breakage, glue stacking, obvious glue coating folds and the like exist, whether the track of a glue coating adhesive tape is matched with a preset welding seam position or a bonding position and the like. The manual sampling inspection can basically meet the detection requirement of gluing quality, but has the defect of large difference of data of different individual detection results, and the detection result is also influenced by the individual working state of detection personnel.
SUMMERY OF THE UTILITY MODEL
The utility model aims at providing a rubber coating orbit guide and gluey type quality testing system to the technical defect who exists among the prior art.
For realizing the utility model discloses a technical scheme that the purpose adopted is:
the utility model provides a rubber coating orbit guide and gluey type quality testing system, includes gluey type quality testing sensor and rubber coating orbit guide sensor, gluey type quality testing sensor and rubber coating orbit guide sensor arrange on the spraying of rubber coating robot glues the rifle to be located the top both sides of gluing the rifle nozzle.
The glue type quality detection sensor and the gluing track guide sensor are arranged on a support, and the support is arranged on a spraying glue gun of the gluing robot.
The glue type quality detection sensors and the glue coating track guide sensors are symmetrically arranged.
The glue type quality detection sensor and the glue coating track guiding sensor adopt semiconductor laser sensors.
Wherein, in the gluing orbit moving direction, the orbit guide sensor is fixed in the front end of gluing the rifle nozzle, glues the type quality detection sensor and is fixed in the rear end of gluing the rifle nozzle.
The utility model discloses a gluey type quality testing sensor and rubber coating orbit guide sensor who sets up can realize revising the rubber coating orbit of guide robot in real time through control to glue the type quality to the rubber coating and carry out automated inspection.
Drawings
FIG. 1 is a schematic diagram of a glue track guidance and glue type quality inspection system;
FIGS. 2-3 are schematic views of the installation axis of the track guide sensor and the glue-applying type quality detecting sensor installed at the end of the glue-applying gun and the front view thereof, respectively;
fig. 4 is a schematic structural view of a sensor mounting bracket at the end of a glue gun according to another embodiment.
In the figure: the robot comprises a robot 1, a spray glue gun 2, a sensor mounting bracket 3, a glue gun nozzle 4, a gluing track guide sensor 5, a glue type quality detection sensor 6, a quality detection structure light beam 7, a gluing adhesive tape 8, a workpiece gluing track 9, a workpiece to be glued 10 and an annular sensor mounting bracket 11.
Detailed Description
The present invention will be described in further detail with reference to the following drawings and specific embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
The utility model relates to a rubber coating robot application system of welding seam sealed glue or bonding structure glue technique such as automobile manufacturing welding shop, painting shop and assembly shop, this rubber coating robot system is sealed at inside welding seam, the damping that gives sound insulation is glued, the sealed glue of vehicle bottom welding seam, the anticorrosive stone-hit prevention of vehicle bottom glues, the skirt is glued, decorative fine seal glues, automobile parts adhesive cement, in the rubber coating process such as spot welding glue and the sealed glue of seam, can revise the rubber coating orbit procedure of guide robot in real time, and carry out automated inspection to rubber coating type quality.
As shown in fig. 1-3, the utility model discloses rubber coating orbit guide and gluey type quality testing system, include and install on the gluey rifle 2 of rubber coating of robot 1 through sensor installing support 3 to be located the top of gluing rifle nozzle 4, including rubber coating orbit guide sensor 5, gluey type quality testing sensor 6.
The mounting bracket of the sensor can also be made into a ring-shaped sensor mounting bracket 11 shown in fig. 4, the track guide sensor and the glue-type quality detection sensor are integrally mounted in the ring-shaped bracket, and the mounting bracket is not limited to different mounting bracket structural forms and sensor shapes.
The track guide sensor and the glue type quality detection sensor can adopt the existing semiconductor laser sensor, and are composed of a semiconductor laser generator, a photosensitive component, a beam lens, a data acquisition and analysis unit and the like. The semiconductor laser generator emits laser beams with specific frequency, and the laser beams irradiate on the detected workpiece through the emitter lens to be reflected. The reflected laser beam forms an image on the photosensitive component under the gathering action of the receiving lens. The image can be converted into the outline information of the detected workpiece through algorithm processing. This is a prior art of semiconductor laser type sensor and will not be described in detail.
Wherein, the gluing track guide sensor and the glue type quality detection sensor are respectively arranged on two sides of the gun nozzle at the tail end of the glue gun through the sensor mounting bracket. The glue gun is used as a gluing tool and is arranged on a 6-axis flange of a robot arm, and the robot executes gluing operation along a gluing track according to a gluing track program taught in advance. In the gluing track running direction, the track guide sensor is fixed at the front end of the glue gun nozzle, and the glue type quality detection sensor is fixed at the rear end of the glue gun nozzle.
When the glue gun is used, in the working process of the glue coating robot system, the glue gun executes the glue coating operation along the taught glue coating track. The track guide sensor is fixed at the front end of a glue gun nozzle, detected structured light irradiates a detected workpiece through a transmitter lens to be reflected, the reflected detected structured light beam forms an image on a photosensitive component under the gathering action of a receiving lens, a gluing welding seam or a gluing track 9 of the workpiece to be glued is scanned in advance, data information of a non-gluing three-dimensional model of a gluing welding seam or a gluing part of the workpiece 10 to be glued can be obtained through analysis and calculation of a track guide sensor controller, meanwhile, spatial position information of the gluing welding seam or the gluing part can be fed back to the robot, the robot can adjust and optimize the gluing track in real time, and the function of accurately correcting and guiding the gluing track of the robot is achieved.
The glue type quality detection sensor is fixed at the rear end of a glue gun nozzle, after a glue gun performs gluing operation, the detected structured light irradiates a detected workpiece through a transmitter lens to be reflected, and a reflected quality detection structured light beam 7 forms an image on a photosensitive component under the gathering action of a receiving lens, so that a gluing welding seam or a gluing track is scanned again, and three-dimensional model data information of the glued welding seam or the glued part of the workpiece can be obtained through analysis and calculation of a sensor controller.
And the glue type quality detection sensor controller compares and analyzes the scanned three-dimensional model data of the welding line or the gluing part before and after gluing, and cuts out the glue type outline to obtain the gluing shape of the glue material at the welding line or on the workpiece. And meanwhile, displaying data information such as the length, the width, the thickness and the like of the sprayed glue material on the data analysis model of the upper computer, judging whether the defects such as glue breaking, glue stacking and glue spreading wrinkles exist, judging whether the filling of the sprayed glue material is smooth and full, and the like. And for the generated gluing quality defects, the corresponding quality defects can be classified and displayed on a display interface of the upper computer model, and the corresponding quality defects are positioned on the workpiece model, so that process debugging personnel or field operating personnel can quickly identify the types and positions of the gluing quality defects, and subsequent optimization and improvement can be performed on the process parameters of the gluing robot system.
The foregoing is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, a plurality of improvements and decorations can be made without departing from the principle of the present invention, and these improvements and decorations should also be regarded as the protection scope of the present invention.
Claims (5)
1. The gluing track guiding and gluing type quality detecting system is characterized by comprising a gluing type quality detecting sensor and a gluing track guiding sensor, wherein the gluing type quality detecting sensor and the gluing track guiding sensor are arranged on a spraying glue gun of a gluing robot and are positioned on two sides above a nozzle of the glue gun.
2. The glue track guidance and glue type quality detection system of claim 1, wherein the glue type quality detection sensor and the glue track guidance sensor are mounted on a bracket mounted on a spray gun of the glue robot.
3. The glue track guidance and glue type quality detection system of claim 1, wherein the glue type quality detection sensors and the glue track guidance sensors are symmetrically arranged.
4. The glue track guidance and glue type quality inspection system of claim 1 wherein said glue type quality inspection sensor and said glue track guidance sensor employ semiconductor laser sensors.
5. The gluing trajectory guidance and glue type quality detection system according to claim 1, wherein the trajectory guidance sensor is fixed to a front end of the glue gun nozzle and the glue type quality detection sensor is fixed to a rear end of the glue gun nozzle in a running direction of the gluing trajectory.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201922177500.3U CN211887668U (en) | 2019-12-09 | 2019-12-09 | Gluing track guiding and gluing type quality detection system |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201922177500.3U CN211887668U (en) | 2019-12-09 | 2019-12-09 | Gluing track guiding and gluing type quality detection system |
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| CN211887668U true CN211887668U (en) | 2020-11-10 |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113324589A (en) * | 2021-06-08 | 2021-08-31 | 奇瑞商用车（安徽）有限公司 | Automobile parts rubber coating quality testing apparatus |
| CN116493190A (en) * | 2023-03-13 | 2023-07-28 | 上海拔山自动化技术有限公司 | Automobile gluing robot system and gluing method |
-
2019
- 2019-12-09 CN CN201922177500.3U patent/CN211887668U/en active Active
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113324589A (en) * | 2021-06-08 | 2021-08-31 | 奇瑞商用车（安徽）有限公司 | Automobile parts rubber coating quality testing apparatus |
| CN116493190A (en) * | 2023-03-13 | 2023-07-28 | 上海拔山自动化技术有限公司 | Automobile gluing robot system and gluing method |
| CN116493190B (en) * | 2023-03-13 | 2023-12-08 | 上海拔山自动化技术有限公司 | Automobile gluing robot system and gluing method |
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