CN214924450U - Robot gluing guiding and quality detecting device based on 3D laser camera - Google Patents
Robot gluing guiding and quality detecting device based on 3D laser camera Download PDFInfo
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- CN214924450U CN214924450U CN202120364099.9U CN202120364099U CN214924450U CN 214924450 U CN214924450 U CN 214924450U CN 202120364099 U CN202120364099 U CN 202120364099U CN 214924450 U CN214924450 U CN 214924450U
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Abstract
The utility model relates to the technical field of gluing equipment, in particular to a robot gluing guide and quality detection device based on a 3D laser camera, which comprises a gluing robot and a controller, wherein the gluing robot comprises a mechanical arm and a mounting seat arranged at the end part of the mechanical arm, the mounting seat is detachably connected with a gluing device and an image acquisition module, the image acquisition module is obliquely arranged and comprises an acquisition part, the gluing device comprises a gluing head, and the acquisition part faces the gluing head; the controller is respectively electrically connected with the gluing robot, the image acquisition module and the gluing device, and is used for storing images acquired by the image acquisition module, controlling the gluing robot to move according to the images acquired by the image acquisition module and controlling the opening and closing of the gluing device. This scheme of adoption can realize the guide of rubber coating orbit to and the detection of rubber coating quality.
Description
Technical Field
The utility model relates to a rubber coating equipment technical field specifically is a robot rubber coating guide and quality detection device based on 3D laser camera.
Background
In the production process of different devices, the produced workpieces need to be assembled, the most means is adhesion in the assembly process, and the parts to be adhered of the workpieces are coated with glue by the glue coating device, so that the assembly of the workpieces is realized. Traditional rubber coating process is glued by the staff, and the gluey degree of consistency receives the gluey ability of staff, the quality of rubber coating equipment and the influence of product position, and it is not good to appear the rubber coating state easily, leads to bonding between the part bad to the condition of quality problems appears.
Along with the popularization of automation equipment, gluing equipment has also been improved, guides gluing equipment based on the vision technique, realizes the automatic rubber coating to the work piece. The method comprises the steps that a visual system shoots a workpiece, the position of the workpiece and an area to be coated with glue are obtained based on an image obtained through shooting, due to the fact that the initial position of gluing equipment is stored in the visual system, route planning is conducted under the condition that the initial position of the gluing equipment and the area to be coated with glue are known, and the gluing equipment runs and coats glue according to the planned route. However, for some large-sized workpieces, the automation degree of the gluing equipment is limited due to the condition of the production environment, and the workpieces exceed the visual field range acquired by the vision system. Meanwhile, at present, in order to ensure the gluing quality, workers are required to carry out gluing quality detection beside a production line, but the gluing areas are located in all directions of a workpiece, so that the workers are difficult to carry out comprehensive detection.
SUMMERY OF THE UTILITY MODEL
The utility model provides a robot rubber coating guide and quality detection device based on 3D laser camera can realize the guide of rubber coating orbit to and the detection of rubber coating quality.
The utility model provides a following basic scheme:
the robot gluing guiding and quality detecting device based on the 3D laser camera comprises a gluing robot and a controller, wherein the gluing robot comprises a mechanical arm and a mounting seat arranged at the end part of the mechanical arm, the mounting seat is detachably connected with a gluing device and an image acquisition module, the image acquisition module is obliquely arranged, the image acquisition module comprises an acquisition part, the gluing device comprises a gluing head, and the acquisition part faces the gluing head;
the controller is respectively electrically connected with the gluing robot, the image acquisition module and the gluing device, and is used for storing images acquired by the image acquisition module, controlling the gluing robot to move according to the images acquired by the image acquisition module and controlling the opening and closing of the gluing device.
The beneficial effects of the basic scheme are as follows: the controller is used for controlling the gluing robot, so that the gluing robot drives the gluing device to move, and gluing of different positions of a workpiece is achieved.
The setting of mount pad provides the mounted position for rubber coating ware and image acquisition module, realizes the installation of rubber coating ware and image acquisition module. The arrangement of detachable connection is convenient for replacement and maintenance when the rubber coating device and the image acquisition module are damaged.
The collection portion of the image collection module faces the gluing head, so that the image collection module can collect images of the positions, to be glued, of the workpieces, the image collection module is arranged on the mounting base, the images of the positions, to be glued, of the workpieces are collected along with the movement of the gluing robot, and the guiding of gluing tracks is achieved without the limitation of environmental conditions. Meanwhile, the controller stores the image acquired by the image acquisition module, and a worker can directly call the image to check the image, so that the gluing quality of the workpiece is detected.
Furthermore, a first clamping block is arranged on the mounting seat, a second clamping block is detachably connected to the first clamping block, and the first clamping block and the second clamping block clamp the glue applicator.
Has the advantages that: the glue applicator is detachably connected and convenient to disassemble and assemble by matching the first clamping block with the second clamping block.
Furthermore, the opposite side of the first clamping block and the second clamping block is provided with an elastic piece.
Has the advantages that: due to the arrangement of the elastic piece, the rubber coating device can be clamped more stably, and meanwhile, the rubber coating device with different cross-sectional areas can be clamped.
Furthermore, an angle adjusting mechanism is arranged on the mounting seat, and the image acquisition module is detachably connected with the mounting seat through the angle adjusting mechanism.
Has the advantages that: the setting of angle adjustment mechanism adjusts the inclination of image acquisition module, and the staff can carry out angle modulation as required when the installation.
Further, the angle adjusting structure comprises a first mounting block fixedly connected with the mounting base and a second mounting block connected with the image acquisition module, and through holes are formed in the first mounting block and the second mounting block; the locking bolt is used for penetrating through the through holes in the first mounting block and the second mounting block and clamping the first mounting block and the second mounting block with the nut.
Has the advantages that: through locking bolt and nut, connect first installation piece and second installation piece, when locking bolt and nut locking, the relative position of first installation piece and second installation piece was fixed this moment, when locking bolt and nut unscrewed to locking bolt is the axle center, adjusts the relative position of first installation piece and second installation piece, realizes the regulation to image acquisition module inclination.
Further, the quantity of first installation piece, second installation piece, locking bolt and nut is two, two second installation piece fixedly connected with installation shell, and image acquisition module installs in the installation shell.
Has the advantages that: the quantity of first installation piece, second installation piece is a plurality of for the installation shell is more firm with being connected of mount pad, and when locking bolt and nut were locked, the inclination of guarantee image acquisition module kept invariable.
Further, the gluing robot further comprises a rotating base, the mechanical arm comprises a first movable arm and a second movable arm which are sequentially and movably connected, the first movable arm is far away from one end of the second movable arm and movably connected with the rotating base, and the second movable arm is far away from one end of the first movable arm and movably connected with the mounting base.
Has the advantages that: the installation seat is driven to move in the space through the matching use among the rotary base, the first movable arm, the second movable arm and the installation seat, so that the glue applicator is driven to move, and the gluing of the workpiece is realized.
Furthermore, the bottom of the rotating base is provided with anti-skid lines.
Has the advantages that: the friction between the rotating base and the ground is increased by the arrangement of the anti-slip grains.
Drawings
Fig. 1 is a schematic structural diagram of an embodiment of the robot gluing guiding and quality detecting device based on a 3D laser camera;
fig. 2 is a top view of a mounting base of an embodiment of the robot gluing guiding and quality detecting device based on the 3D laser camera;
fig. 3 is a left side view of a mounting base of an embodiment of the robot gluing guiding and quality detecting device based on the 3D laser camera;
fig. 4 is a right side view of the robot gluing guide and quality detection device embodiment mount pad based on 3D laser camera.
Detailed Description
The following is further detailed by way of specific embodiments:
reference numerals in the drawings of the specification include: the device comprises a rotary base 1, a first movable arm 2, a second movable arm 3, a mounting seat 4, a glue applicator 6, a first clamping block 701, a second clamping block 702, an image acquisition module 8, a first mounting block 901 and a second mounting block 902.
Examples
Robot rubber coating guide and quality detection device based on 3D laser camera, including rubber coating robot, controller and image acquisition module 8, image acquisition module 8 adopts current 3D laser camera, and the controller adopts STM32F1 series's singlechip.
As shown in the attached drawing 1, the gluing robot comprises a rotating base 1, a mechanical arm and a mounting seat 4, wherein the rotating base 1 is movably connected with the mechanical arm, the end part of the mechanical arm of the mounting seat 4 is movably connected with the mechanical arm, the mechanical arm comprises a first movable arm 2 and a second movable arm 3 which are sequentially and movably connected with each other, one end of the first movable arm, far away from the second movable arm 3, is movably connected with the rotating base 1, and one end of the second movable arm, far away from the first movable arm 2, is movably connected with the mounting seat 4. Rotating base 1, first digging arm 2, pass through drive assembly swing joint between second digging arm 3 and the mount pad 4, drive assembly includes the motor, the pneumatic cylinder, automatically controlled telescopic link, one of automatically controlled cylinder, in this embodiment, drive assembly adopts the motor, the vertical setting of rotation axis of motor between rotating base 1 and the arm, the rotation axis level setting of motor between roating base and the first digging arm 2, the vertical setting of rotation axis of motor between first digging arm 2 and the second digging arm 3, set up two motors between second digging arm 3 and the mount pad 4, wherein, keep away from the vertical setting of rotation axis of the motor of mount pad 4, the rotation axis level setting of another motor. The motor with the horizontally arranged rotating shaft changes the included angle of the two adjacent parts in the horizontal direction, and the motor with the vertically arranged rotating shaft changes the included angle of the two adjacent parts in the vertical direction. In other embodiments, the bottom of the rotating base 1 is provided with anti-slip lines.
The gluing robot further comprises a gluing device 6, the mounting base 4 is detachably connected with the gluing device 6, specifically, as shown in the accompanying drawings 2 and 3, a first clamping block 701 is arranged on the mounting base 4, the first clamping block 701 is detachably connected with a second clamping block 702, the first clamping block 701 and the second clamping block 702 are semi-arc-shaped, two ends of the first clamping block 701 and two ends of the second clamping block 702 extend to form connecting portions, the connecting portions on the first clamping block 701 and the second clamping block 702 are arranged oppositely, and the first clamping block 701 and the second clamping block 702 are detachably connected through locking screws. The opposite sides of the first clamping block 701 and the second clamping block 702 are provided with elastic members, and the first clamping block 701 and the second clamping block 702 clamp the glue applicator 6, in this embodiment, the elastic members are sponges.
In the present embodiment, the number of the first mounting block 901, the second mounting block 902, the lock bolt, and the nut is one. In other embodiments, the number of the first mounting blocks 901, the second mounting blocks 902, the locking bolts and the nuts is two, and the two second mounting blocks 902 are fixedly connected with the mounting shell. In another embodiment, the number of the first mounting blocks 901 is two, the number of the second mounting blocks 902, the number of the locking bolts and the number of the nuts are one, the second mounting blocks 902 are disposed between the two first mounting blocks 901, and the locking bolts sequentially pass through the first mounting block 901, the second mounting block 902 and the other first mounting block 901 to be in threaded connection with the nuts.
The image capturing module 8 is mounted in the mounting housing, and in this embodiment, the image capturing module 8 is fixed in the mounting housing by screws. The glue applicator 6 comprises a glue applying head, the glue applying head faces downwards, the image acquisition module 8 is obliquely arranged, the image acquisition module 8 comprises an acquisition part, and the acquisition part faces the glue applying head. In this embodiment, the image capturing module 8 is a 3D laser camera, and the inclination angle of the image capturing module 8 is adjusted by adjusting the included angle between the first mounting block 901 and the second mounting block 902, so that the positioning laser emitted by the 3D laser camera is at a specified distance from the gluing head on a specified plane.
The controller is respectively connected with the gluing robot, the image acquisition module 8 and the gluing device 6, the image acquisition module 8 is used for acquiring images, and the controller is used for storing the images acquired by the image acquisition module 8. The controller is also used for controlling the gluing robot to move according to the image collected by the image collecting module 8 and controlling the opening and closing of the gluing device 6. The image acquisition module 8 acquires images, the controller stores the images, the controller guides the gluing robot to move according to the acquired images, and the controller controls the opening and closing of the gluing device 6 to be the prior art, so that the repeated description is omitted.
When the automatic gluing device is used, the image acquisition module 8 acquires a workpiece image, the controller guides the gluing robot to move according to the workpiece image, so that the gluing device 6 is driven to move, and meanwhile, the starting of the gluing device 6 is controlled, so that the gluing device 6 performs gluing on a moving track, namely, gluing on a part to be glued on the workpiece is realized. The image acquisition module 8 can also carry out image acquisition in the rubber coating process, stores the acquired images, and the staff can directly call the stored images to check the rubber coating quality, such as the rubber height, the rubber width and the width of the gap between the rubber strips.
The above description is only for the embodiments of the present invention, and the common general knowledge of the known specific structures and characteristics in the schemes is not described herein too much, and those skilled in the art will know all the common technical knowledge in the technical field of the present invention before the application date or the priority date, can know all the prior art in this field, and have the ability to apply the conventional experimental means before this date, and those skilled in the art can combine their own ability to perfect and implement the schemes, and some typical known structures or known methods should not become obstacles for those skilled in the art to implement the present application. It should be noted that, for those skilled in the art, without departing from the structure of the present invention, several modifications and improvements can be made, which should also be regarded as the protection scope of the present invention, and these will not affect the effect of the implementation of the present invention and the practicability of the patent. The scope of the claims of the present application shall be determined by the contents of the claims, and the description of the embodiments and the like in the specification shall be used to explain the contents of the claims.
Claims (8)
1. Robot rubber coating guide and quality detection device based on 3D laser camera, its characterized in that: the automatic gluing device comprises a gluing robot and a controller, wherein the gluing robot comprises a mechanical arm and a mounting seat arranged at the end part of the mechanical arm, the mounting seat is detachably connected with a gluing device and an image acquisition module, the image acquisition module is obliquely arranged and comprises an acquisition part, the gluing device comprises a gluing head, and the acquisition part faces the gluing head;
the controller is respectively electrically connected with the gluing robot, the image acquisition module and the gluing device, and is used for storing images acquired by the image acquisition module, controlling the gluing robot to move according to the images acquired by the image acquisition module and controlling the opening and closing of the gluing device.
2. The 3D laser camera based robotic glue spreading and quality inspection device of claim 1, wherein: be equipped with first grip block on the mount pad, first grip block can dismantle and be connected with the second grip block, first grip block and second grip block centre gripping rubber coating ware.
3. 3D laser camera based robot gluing guiding and quality detection device according to claim 2, characterized in that: and an elastic part is arranged on one side of the first clamping block opposite to the second clamping block.
4. The 3D laser camera based robotic glue spreading and quality inspection device of claim 1, wherein: the mounting seat is provided with an angle adjusting mechanism, and the image acquisition module is detachably connected with the mounting seat through the angle adjusting mechanism.
5. The 3D laser camera based robot glue spreading guiding and quality detecting device according to claim 4, characterized in that: the angle adjusting structure comprises a first mounting block fixedly connected with the mounting base and a second mounting block connected with the image acquisition module, and through holes are formed in the first mounting block and the second mounting block; the locking bolt is used for penetrating through the through holes in the first mounting block and the second mounting block and clamping the first mounting block and the second mounting block with the nut.
6. The 3D laser camera based robot glue spreading guiding and quality detecting device according to claim 5, characterized in that: the quantity of first installation piece, second installation piece, locking bolt and nut is two, two second installation piece fixedly connected with installation shell, and image acquisition module installs in the installation shell.
7. The 3D laser camera based robotic glue spreading and quality inspection device of claim 1, wherein: the gluing robot further comprises a rotating base, the mechanical arm comprises a first movable arm and a second movable arm which are sequentially and movably connected, one end, away from the second movable arm, of the first movable arm is movably connected with the rotating base, and one end, away from the first movable arm, of the second movable arm is movably connected with the mounting base.
8. The 3D laser camera based robotic glue spreading and quality inspection device of claim 7, wherein: the bottom of rotating base is equipped with anti-skidding line.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202120364099.9U CN214924450U (en) | 2021-02-08 | 2021-02-08 | Robot gluing guiding and quality detecting device based on 3D laser camera |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202120364099.9U CN214924450U (en) | 2021-02-08 | 2021-02-08 | Robot gluing guiding and quality detecting device based on 3D laser camera |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN214924450U true CN214924450U (en) | 2021-11-30 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202120364099.9U Active CN214924450U (en) | 2021-02-08 | 2021-02-08 | Robot gluing guiding and quality detecting device based on 3D laser camera |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN214924450U (en) |
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2021
- 2021-02-08 CN CN202120364099.9U patent/CN214924450U/en active Active
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