Three-dimensional visual inspection device and method for gluing of robot
A visual detection device and three-dimensional information technology, applied in the direction of measuring devices, optical devices, instruments, etc., can solve problems such as undetectable, labor-intensive, and judgment result errors, and achieve the effect of simplifying algorithms
Active Publication Date: 2018-02-16
ISVISION (TIANJIN) TECH CO LTD
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[0003]
Traditional gluing quality testing is based on human judgment, which not only consumes manpower but also has a subjective nature of human judgment, and there are often large errors in the judgment results.
At present, it has been proved by practice that it is an efficient detection method to combine the visual detection method with the robot gluing technology to detect the gluing quality in real time. The existing visual detection method can be described as using the two-dimensional image of the rubber strip to be tested By analyzing the color difference between the glue strip and the coated workpiece in the image, the edge of the glue strip can be extracted, and then the width information of the glue strip can be obtained. This kind of detection method and device does not involve the height information of the glue strip, and When the color of the coated strip is similar or consistent with the color of the coated workpiece, the existing method cannot detect
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[0027] In describing the present invention, it should be understood that the terms "center", "longitudinal", "transverse", "upper", "lower", "front", "rear", "left", "right", " The orientations or positional relationships indicated by "vertical", "horizontal", "top", "bottom", "inner" and "outer" are based on the orientations or positional relationships shown in the drawings, and are only for the convenience of describing the present invention and Simplified descriptions, rather than indicating or implying that a referred device or element must have a particular orientation, be constructed, and operate in a particular orientation, should not be construed as limiting the invention.
[0028] In the description of the present invention, it should be noted that unless otherwise specified and limited, the terms "installation", "connection" and "connection" should be understood in a broad sense, for example, it can be a fixed connection or a detachable connection. Connected, or inte...
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The invention discloses a three-dimensional visual inspection device and method for the gluing of a robot, and the device and method are used for detecting the width and height and continuity of gluein real time in a coating process of the robot. The device comprises a drive mechanism (1), a detection sensor (2), and a hollow shaft (3). The drive mechanism (1) comprises a camera (101), a support(104) for fixing the motor (101), a driving gear (102), and a driven gear (103). The interior of the detection sensor (2) is provided with a pair of indication lasers (201) which are arranged horizontally, a pair of measurement lasers (202), and a pair of measurement cameras (203), wherein the lasers and the cameras are inclined inwards at the same angle. According to the invention, the device canachieve the calculation of the width and height of an adhesive tape through the analysis of the three-dimensional data of the adhesive tape. Compared with a conventional detection method, the methodachieves the detection of the height information of the adhesive tape. In addition, the device and method are not disturbed by the color of the adhesive tape and the color of a coated workpiece, and is high in robustness.
Description
technical field [0001] The invention relates to an on-line inspection system for glue application, in particular to a three-dimensional information visual inspection device and method for robot glue application. Background technique [0002] The gluing process is a widely used technology in the field of industrial manufacturing. It is widely used in the price production process of automobiles, electronics, light industry, medicine, food, etc. The quality of gluing is directly related to the accuracy of the entire processing process and the quality of finished products. Fast Accurate gluing quality detection has very important practical significance, especially in the field of automobile processing, the automobile gluing process is a necessary step for automobile production, and the quality of gluing is directly related to the performance of the whole vehicle. Automobile gluing quality visual inspection technology is the entry point, and the robot gluing process is used to me...
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IPC IPC(8): G01B11/02G01B11/06
CPCG01B11/02G01B11/0616
Inventor 刘海庆尹仕斌郭磊邹剑庄洵吕猛
Owner ISVISION (TIANJIN) TECH CO LTD