Cylinder sealant line detection equipment based on machine vision and its application method

Abstract

The present application provides a cylinder seal glue path detection device based on machine vision and its application method, which relates to the glue path detection field. It includes a transverse slide and a visual detection mechanism, the transverse slide is provided with a bottom plate, the bottom plate is provided with a hydraulic cylinder, the outer side of the bottom plate is provided with a mounting plate for mounting the visual detection mechanism, the transverse slide is used to drive the visual detection mechanism to move in the horizontal direction, and the hydraulic cylinder is used to drive the visual detection mechanism to move in the vertical direction; the visual detection system is used to collect the image of the glue path generated by the dispensing mechanism and analyze whether there are defects in the glue path. The present application has the effect of improving detection efficiency and detection accuracy.

Description

Technical Field

[0001] The present application relates to the field of glue path detection, and in particular to a cylinder seal glue path detection device based on machine vision. In addition, it also relates to an application method of the detection device. Background Art

[0002] In modern industrial manufacturing, some cylinders need to be sealed during use, so sealants need to be applied to the joints of the cylinders to improve the sealing performance of the cylinders. As the process requirements increase, the quality requirements for dispensing are also increasing.

[0003] Usually, after the cylinder body is coated with sealant, it needs to pass a sealing test, including manual inspection of the joints where the sealant is applied. Some cylinder bodies can also be tested by pressurizing the cylinder body to test the sealing performance.

[0004] However, during conventional processing, only the assembled molded cylinder body can be tested. If the air tightness of the cylinder is unqualified, the cylinder body needs to be returned to the processing line and re-sealanted, resulting in low processing efficiency. Summary of the invention

[0005] In order to improve the problem of low processing efficiency when detecting dispensing effects through molded products, the present application provides a cylinder seal glue path detection device based on machine vision and an application method thereof.

[0006] In the first aspect, the present application provides a cylinder seal rubber path detection device based on machine vision, which adopts the following technical solution:

[0007] The cylinder seal glue path detection equipment based on machine vision includes a transverse slide and a visual detection mechanism, wherein the transverse slide is provided with a base plate, the base plate is provided with a hydraulic cylinder, the outer side of the base plate is provided with a mounting plate for installing the visual detection mechanism, the transverse slide is used to drive the visual detection mechanism to move in the horizontal direction, and the hydraulic cylinder is used to drive the visual detection mechanism to move in the vertical direction; the visual detection system is used to collect the image of the glue path generated by the dispensing mechanism and analyze whether there are defects in the glue path.

[0008] By adopting the above technical scheme, under the driving action of the transverse slide, the base plate can move reliably in the horizontal plane, and under the driving action of the hydraulic cylinder, the mounting plate can move reliably in the vertical direction. In this way, the visual inspection mechanism can move freely in the three-dimensional space, thereby ensuring that the visual inspection can reliably photograph and scan the complete path of the rubber road, and automatically analyze and judge, thereby effectively improving the inspection efficiency.

[0009] Optionally, the transverse slide includes a first electric slide and two second electric slides, the two second electric slides are arranged in parallel and fixed by a bracket, one end of the first electric slide is connected to a slider of one of the second electric slides, the other end of the first electric slide is connected to a slider of another second electric slide, the base plate is connected to the slider of the first electric slide, the second electric slide drives the first electric slide to move in the X-axis direction, the first electric slide drives the base plate to move in the Y-axis direction, and the hydraulic cylinder is used to drive the base plate to move in the Z-axis direction.

[0010] By adopting the above technical scheme, the first electric slide is mounted on the second electric slide, so that it can reliably move in the direction of the X-axis under the drive of the second electric slide, and the base plate is arranged on the first electric slide, so that the base plate can move in the direction of the X-axis simultaneously with the first electric slide, and can also move in the direction of the Y-axis under the drive of the first electric slide, so that the base plate can reliably move in the horizontal plane, and a mounting plate is arranged on the base plate, and a visual detection mechanism is installed on the mounting plate, and the reliable movement of the visual detection mechanism is realized under the drive of the first electric slide and the second electric slide.

[0011] Optionally, it further includes a frame, the frame is provided with a conveying track, the conveying track is provided with a carrier plate for placing workpieces, and the conveying track drives the carrier plate to move along the Y-axis direction.

[0012] By adopting the above technical solution, the conveying track can convey the carrier tray to move along the Y-axis direction, ensuring that after the visual inspection mechanism completes the inspection of the workpiece on one carrier tray, the next carrier tray can be quickly conveyed to the bottom of the visual inspection mechanism, thereby improving the smoothness of the inspection and thus improving the inspection efficiency.

[0013] Optionally, the second electric slide is straddled above the frame, a pair of chain drive mechanisms are provided on the conveying track, and the carrier plate is adaptively placed on the chain of the chain drive mechanism.

[0014] By adopting the above technical solution, the chain drive mechanism can transport the carrier plate more smoothly and accurately, thereby avoiding the need for the visual inspection mechanism to perform frequent alignment operations before inspection.

[0015] Optionally, the glue dispensing mechanism includes a glue dispensing head and a material delivery pipe, the glue dispensing head is fixed on the mounting plate, the material delivery pipe is used to transport colloid to the glue dispensing head, and the glue dispensing head is used to dispense glue on the workpiece and form the glue path.

[0016] By adopting the above technical solution, the dispensing mechanism and the visual inspection mechanism are both arranged on the mounting plate, so that the first electric slide and the second electric slide can also reliably drive the dispensing mechanism, thereby ensuring that the dispensing mechanism can smoothly dispense glue on the surfaces of workpieces of different shapes, and a complete glue path can be formed after the dispensing is completed.

[0017] Optionally, the moving path of the visual inspection mechanism is consistent with the moving path of the dispensing head.

[0018] By adopting the above technical solution, it is ensured that the visual inspection mechanism can scan and collect a complete glue path image, thereby improving the accuracy of the analysis result.

[0019] Optionally, a vertical slide groove and a horizontal slide groove are provided on the mounting plate, and the vertical slide groove and the horizontal slide groove are interconnected and L-shaped; a first plug block is provided in the vertical slide groove, and a second plug block is provided in the horizontal slide groove, and the first plug block and the second plug block are both in an inverted T-shape, the dispensing head is fixed to the horizontal end of the first plug block, and the vertical end of the first plug block is passed through the vertical slide groove and extends toward the bottom plate, the visual detection mechanism is fixed to the horizontal end of the second plug block, and the vertical end of the second plug block is passed through the horizontal slide groove and extends toward the bottom plate; a horizontal cylinder and a vertical cylinder are provided on the side of the mounting plate facing the bottom plate, the horizontal cylinder is used to drive the vertical end of the second plug block to slide in the horizontal slide groove, and the vertical cylinder is used to drive the vertical end of the first plug block to slide in the vertical slide groove.

[0020] By adopting the above technical solution, when performing the dispensing operation, the vertical cylinder drives the first plug to move to the lowest position of the vertical slide, so that the dispensing head can approach the workpiece and perform the dispensing operation. At this time, the visual inspection mechanism is located at the end of the horizontal slide away from the vertical slide under the drive of the horizontal cylinder. When the dispensing is completed, the dispensing head resets upward, and the horizontal cylinder drives the visual inspection mechanism to move to the other end of the horizontal slide, that is, the lowest position of the vertical slide. In this way, the position of the visual inspection mechanism and the dispensing head is interchanged, so that the transverse slide performs the same action again. The displacement path of the visual inspection mechanism and the displacement path of the dispensing head can be overlapped, and the initial position of the visual inspection mechanism can be quickly positioned, effectively improving the inspection efficiency.

[0021] Optionally, a baffle is provided at the horizontal end of the second plug block, and the baffle is arranged at an angle. A receiving groove is provided at the top of the horizontal end of the second plug block, one end of the baffle is connected to the notch of the receiving groove, and the other end of the baffle extends to the top of the visual detection mechanism.

[0022] By adopting the above technical solution, when the dispensing head and the visual inspection mechanism are both located in the vertical slide groove, the dispensing head is located above the visual inspection mechanism, and the baffle is blocked between the dispensing head and the visual inspection mechanism, thereby preventing the colloid in the dispensing head from dripping onto the visual inspection mechanism. At the same time, the baffle can guide the dripping colloid to flow into the receiving groove through its own inclined setting, thereby realizing the concentration and recovery of the dripping colloid, and further facilitating the reliable processing of the colloid.

[0023] In the second aspect, the present application provides an application method of a cylinder seal rubber path detection device based on machine vision, which adopts the following technical solution:

[0024] The application method of the cylinder seal glue path detection equipment based on machine vision includes the following steps: S1, the first electric slide and the second electric slide cooperate to drive the visual detection mechanism to move in the X-axis direction and the Y-axis direction, and the moving path of the visual detection mechanism is consistent with the glue path; S2, the visual detection mechanism segments and scans the glue path multiple times during the movement to obtain the image of the glue path; S3, the visual detection mechanism analyzes the image of the glue path and determines whether there are defects in the glue path.

[0025] By adopting the above technical solution, reliable and rapid scanning and analysis of the glue path can be achieved, thereby completing the detection of the glue path.

[0026] Optionally, the visual inspection mechanism stops and performs a scan after moving a preset distance, and the visual inspection mechanism analyzes the results of the multiple scans in sequence.

[0027] By adopting the above technical solution, the visual inspection mechanism scans in segments to ensure that it can handle complex-shaped glue paths, thereby improving the accuracy and efficiency of inspection.

[0028] In summary, this application has the following beneficial effects:

[0029] 1. Through the cooperation of the first electric slide, the second electric slide and the hydraulic cylinder, the visual inspection mechanism can scan and analyze the glue path along the same path after the glue dispensing mechanism has finished dispensing, so as to quickly determine whether there are defects in the glue path.

[0030] 2. By sliding the dispensing mechanism and the visual inspection mechanism in the vertical slide groove and the horizontal slide groove, the position of the visual inspection mechanism during photo scanning is the same as the position of the dispensing mechanism during dispensing, thereby improving the degree of consistency between the walking route of the visual inspection mechanism and the walking route of the dispensing mechanism, thereby improving the accuracy of the detection result. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] Figure 1 is a schematic stereogram of the present application;

[0032] Figure 2 is a schematic three-dimensional diagram of a rack and a conveyor track;

[0033] Figure 3 It is a reference for the installation status of the visual inspection mechanism and the dispensing mechanism. Figure 1 ;

[0034] Figure 4 It is a reference for the installation status of the visual inspection mechanism and the dispensing mechanism. Figure 2 ;

[0035] In the figure: 1. transverse slide; 11. first electric slide; 12. second electric slide; 120. bracket; 2. visual inspection mechanism; 3. bottom plate; 30. hydraulic cylinder; 4. mounting plate; 41. vertical slide; 42. transverse slide; 43. first plug-in block; 44. second plug-in block; 441. baffle; 442. accommodating groove; 45. transverse cylinder; 46. vertical cylinder; 5. dispensing mechanism; 51. dispensing head; 52. feed pipe; 6. rack; 61. conveying track; 610. chain drive mechanism; 62. carrier plate. DETAILED DESCRIPTION

[0036] The following is combined with Figure 1-4 This application is described in further detail.

[0037] This embodiment discloses a cylinder seal rubber path detection device based on machine vision.

[0038] Figure 1 is a schematic three-dimensional diagram of the present application, Figure 2 is a schematic perspective view of the rack and conveyor track. Figure 1 and Figure 2 The cylinder seal glue path detection equipment based on machine vision includes a frame 6, a transverse slide 1 and a visual inspection mechanism 2. The frame 6 is provided with a conveying track 61, and the conveying track 61 is provided with a carrier plate 62 for placing workpieces. The conveying track 61 is provided with a pair of parallel chain driving mechanisms 610, and the carrier plate 62 is adaptively placed on the chain of the chain driving mechanism 610, so that the conveying track 61 can drive the carrier plate 62 to move along the Y-axis direction, and the transverse slide 1 is used to drive the visual inspection mechanism 2 to move in the X-axis direction and the Y-axis direction. At the same time, the transverse slide 1 is also provided with a dispensing mechanism 5, which is used to dispense glue to the workpiece on the carrier plate 62 and form a glue path on the workpiece, and the visual inspection mechanism 2 is used to detect the glue path, so as to determine whether there is a defect in the glue path.

[0039] The transverse slide 1 includes a first electric slide 11 and two second electric slides 12. Two brackets 120 are arranged across the frame 6. The two brackets 120 are arranged in parallel. One second electric slide 12 is installed on one bracket 120, and the other second electric slide 12 is installed on the other bracket 120. One end of the first electric slide 11 is mounted on the slider of one second electric slide 12, and the other end of the first electric slide 11 is mounted on the slider of the other second electric slide 12. A bottom plate 3 is provided on the slider of the first electric slide 11, and a mounting plate 4 is provided on the outer side of the bottom plate 3. The mounting plate 4 and the bottom plate 3 are connected by a hydraulic cylinder 30. The visual inspection mechanism 2 and the dispensing mechanism 5 are both installed on the mounting plate 4. In this way, the hydraulic cylinder 30 can drive the mounting plate 4 and the visual inspection mechanism 2 to move in the Z-axis direction, the first electric slide 11 can drive the visual inspection mechanism 2 to move in the Y-axis direction, and the second electric slide 12 can drive the visual inspection mechanism 2 to move in the X-axis direction. Under the action of the first slide, the second slide and the hydraulic cylinder 30, the glue dispensing mechanism 5 and the visual inspection mechanism 2 can move freely in the space above the conveying track 61, so that the glue dispensing operation can be performed on workpieces of different sizes and shapes, and the visual inspection mechanism 2 can detect the glue path formed by the glue dispensing mechanism 5 after the glue dispensing is completed.

[0040] Figure 3 It is a reference for the installation status of the visual inspection mechanism and the dispensing mechanism. Figure 1 See also Figure 3 The dispensing mechanism 5 includes a dispensing head 51 and a feeding pipe 52. The dispensing head 51 is arranged on the mounting plate 4. The feeding pipe 52 is used to feed the colloid to the dispensing head 51. The dispensing head 51 can form a polygonal glue path on the surface of the workpiece during movement. The visual inspection mechanism 2 includes an image acquisition chip, a lens, a light source and a processing module integrated in the same housing. The light source plays a role in illuminating the glue path. The image acquisition chip and the lens cooperate to scan and take pictures of the glue path to complete the image acquisition. The processing module processes and analyzes the collected image data to determine whether there are defects in the glue path formed by the dispensing head 51.

[0041] Figure 4 It is a reference for the installation status of the visual inspection mechanism and the dispensing mechanism. Figure 2 See also Figure 3 Combined with Figure 2A vertical slide groove 41 and a horizontal slide groove 42 are provided on the mounting plate 4. The vertical slide groove 41 extends along the Z-axis direction, and the horizontal slide groove 42 extends along the Y-axis direction. The vertical slide groove 41 and the horizontal slide groove 42 are connected to each other and are L-shaped. A first plug block 43 is provided in the vertical slide groove 41. The first plug block 43 is in an inverted T shape. The horizontal end of the first plug block 43 is located on one side of the mounting plate 4. The vertical end of the first plug block 43 is inserted in the vertical slide groove 41 and extends toward the other side of the mounting plate 4 (that is, extends toward the direction of the bottom plate 3). A vertical cylinder 46 is provided on the side of the mounting plate 4 facing the bottom plate 3. The vertical cylinder 46 is used to drive the first plug block 43 to slide in the vertical slide groove 41. A second plug block 44 is provided in the transverse slide groove 42, and the second plug block 44 is also in an inverted T shape. The transverse end of the second plug block 44 is located on one side of the mounting plate 4, and the vertical end of the second plug block 44 is inserted in the transverse slide groove 42 and extends toward the other side of the mounting plate 4 (that is, extends toward the direction of the base plate 3). A transverse cylinder 45 is also provided on the side of the mounting plate 4 facing the base plate 3, and the transverse cylinder 45 is used to drive the second plug block 44 to slide in the transverse slide groove 42.

[0042] The dispensing head 51 is installed on the horizontal end of the first plug-in block 43, and the visual inspection mechanism 2 is installed on the horizontal end of the second plug-in block 44. Driven by the vertical cylinder 46, the dispensing head 51 can move along the Z-axis direction, and driven by the transverse cylinder 45, the visual inspection mechanism 2 can move along the Y-axis direction. When dispensing operation is required, the transverse cylinder 45 drives the visual inspection mechanism 2 to be located at one end of the transverse slide 42 away from the vertical slide 41, and then the vertical cylinder 46 drives the dispensing head 51 to move to the lowest position of the vertical cylinder 46, that is, the dispensing head 51 is located at one end of the transverse slide 42, and the visual inspection mechanism 2 is located at the other end of the transverse slide 42. In this way, the dispensing head 51 can reliably perform the dispensing operation. During the dispensing process of the dispensing head 51, the visual inspection mechanism 2 is in a standby state.

[0043] When the dispensing operation is completed, the vertical cylinder 46 drives the dispensing head 51 to move to the highest position of the vertical cylinder 46, and the transverse cylinder 45 drives the visual inspection mechanism 2 to move to the end where the transverse slide 42 is connected to the vertical slide 41. That is to say, the dispensing head 51 is located at the highest position of the vertical slide 41 (that is, at the top of the vertical slide 41), and the visual inspection mechanism 2 is located at the lowest position of the vertical slide 41 (that is, at the bottom of the vertical slide 41). In this way, the visual inspection mechanism 2 can reliably perform the detection operation of glue path defects. During the detection process of the visual inspection mechanism 2, the dispensing head 51 is in standby state.

[0044] By changing the position of the glue dispensing head 51 and the visual inspection mechanism 2, it is ensured that the initial position of the glue dispensing head 51 is the same as the initial position detected by the visual inspection mechanism 2. In this way, the first electric slide 11, the second electric slide 12 and the hydraulic cylinder 30 only need to execute the same program twice to achieve the consistency between the detection route of the visual inspection mechanism 2 and the glue dispensing route of the glue dispensing head 51, thereby ensuring that the visual inspection mechanism 2 can scan and capture the appropriate glue path image, thereby improving the accuracy and efficiency of the glue path detection by the visual inspection mechanism 2.

[0045] A receiving groove 442 is provided at the top of the horizontal end of the second plug block 44, and a baffle 441 is provided at the notch of the receiving groove 442. One end of the baffle 441 is connected to the second plug block 44, and the other end of the baffle 441 is arranged obliquely upward, so that the baffle 441 can cover the visual inspection mechanism 2. When the inspection operation of the glue path is performed, the dispensing head 51 is located above the visual inspection mechanism 2. When the visual inspection mechanism 2 and the dispensing head 51 move, the colloid in the dispensing head 51 may leak out of the dispensing head 51, and under the shielding effect of the baffle 441, the colloid will not contact the visual inspection mechanism 2, ensuring that the visual inspection mechanism 2 can be in a reliable working state.

[0046] When the colloid falls on the top of the baffle 441, the colloid can slide along the top of the baffle 441 into the receiving groove 442 due to the inclined setting of the baffle 441, thereby realizing the recovery of the colloid. Furthermore, after the visual inspection mechanism 2 has completed the inspection, the dispensing head 51 can directly squeeze out a small amount of colloid to ensure that the colloid at the opening of the dispensing head 51 that has been in contact with the air for a long time can be discharged from the dispensing head 51, so that a more uniform colloid can be squeezed out in the subsequent dispensing operation to prevent the colloid from solidifying.

[0047] This embodiment also discloses an application method of a cylinder seal rubber path detection device based on machine vision.

[0048] The application method of the cylinder seal rubber path detection equipment based on machine vision includes the following steps:

[0049] S1, the first electric slide 11 and the second electric slide 12 cooperate to drive the visual inspection mechanism 2 to move in the X-axis direction and the Y-axis direction, and the moving path of the visual inspection mechanism 2 coincides with the glue path;

[0050] S2, the visual inspection mechanism 2 scans the glue path in sections and multiple times during the movement, thereby obtaining an image of the glue path;

[0051] S3. The visual inspection mechanism 2 analyzes the image of the glue path and determines whether there are defects in the glue path.

[0052] The visual inspection mechanism 2 stops and performs a scan after moving a preset distance. In this way, when the visual inspection mechanism 2 completes moving along the dispensing path of the dispensing head 51, it can form multiple scanning results, and the processing unit of the visual inspection mechanism 2 can process and analyze these multiple scanning results in turn, so as to determine whether the glue path formed by the dispensing head 51 has defects such as external deviation, internal deviation or glue breakage. Such a detection process is more reasonable, the detection efficiency is higher and more accurate detection results can be obtained.

[0053] The above are all preferred embodiments of the present application, and the protection scope of the present application is not limited thereto. Therefore, any equivalent changes made according to the structure, shape, and principle of the present application should be included in the protection scope of the present application.

Claims

1. Cylinder seal rubber path detection equipment based on machine vision, characterized in that: The invention comprises a transverse sliding table (1) and a visual detection mechanism (2), wherein the transverse sliding table (1) is provided with a bottom plate (3), the bottom plate (3) is provided with a hydraulic cylinder (30), and a mounting plate (4) for mounting the visual detection mechanism (2) is provided on the outer side of the bottom plate (3); the transverse sliding table (1) is used to drive the visual detection mechanism (2) to move in a horizontal direction, and the hydraulic cylinder (30) is used to drive the visual detection mechanism (2) to move in a vertical direction; The visual inspection mechanism (2) is used to collect an image of the glue path generated by the glue dispensing mechanism (5) and analyze whether there are defects in the glue path; The transverse slide (1) comprises a first electric slide (11) and two second electric slides (12), the two second electric slides (12) are arranged in parallel and are fixed by a bracket (120), one end of the first electric slide (11) is connected to a slider of one of the second electric slides (12), the other end of the first electric slide (11) is connected to a slider of another second electric slide (12), the bottom plate (3) is connected to the slider of the first electric slide (11), the second electric slide (12) drives the first electric slide (11) to move in the X-axis direction, the first electric slide (11) drives the bottom plate (3) to move in the Y-axis direction, and the hydraulic cylinder (30) is used to drive the bottom plate (3) to move in the Z-axis direction; It also comprises a frame (6), the frame (6) being provided with a conveying track (61), the conveying track (61) being provided with a carrier plate (62) for placing workpieces, the conveying track (61) driving the carrier plate (62) to move along the Y-axis direction; The glue dispensing mechanism (5) comprises a glue dispensing head (51) and a material delivery pipe (52); the glue dispensing head (51) is fixed on the mounting plate (4); the material delivery pipe (52) is used to deliver glue to the glue dispensing head (51); the glue dispensing head (51) is used to dispense glue on the workpiece and form the glue path; the moving path of the visual inspection mechanism (2) is consistent with the moving path of the glue dispensing head (51); The mounting plate (4) is provided with a vertical slide groove (41) and a horizontal slide groove (42), wherein the vertical slide groove (41) and the horizontal slide groove (42) are interconnected and are L-shaped; A first plug block (43) is provided in the vertical slide groove (41), and a second plug block (44) is provided in the horizontal slide groove (42). The first plug block (43) and the second plug block (44) are both in an inverted T shape. The dispensing head (51) is fixed to the horizontal end of the first plug block (43), and the vertical end of the first plug block (43) is inserted into the vertical slide groove (41) and extends toward the bottom plate (3). The visual detection mechanism (2) is fixed to the horizontal end of the second plug block (44), and the vertical end of the second plug block (44) is inserted into the horizontal slide groove (42) and extends toward the bottom plate (3). A transverse cylinder (45) and a vertical cylinder (46) are provided on one side of the mounting plate (4) facing the bottom plate (3); the transverse cylinder (45) is used to drive the vertical end of the second plug-in block (44) to slide in the transverse slide groove (42); and the vertical cylinder (46) is used to drive the vertical end of the first plug-in block (43) to slide in the vertical slide groove (41).

2. The cylinder seal rubber path detection device based on machine vision according to claim 1 is characterized in that: The second electric slide (12) is arranged across the frame (6), a pair of chain drive mechanisms (610) are provided on the conveying track (61), and the carrier plate (62) is adaptively placed on the chain of the chain drive mechanism (610).

3. The cylinder seal rubber path detection device based on machine vision according to claim 1 is characterized in that: A baffle (441) is provided at the transverse end of the second plug block (44), and the baffle (441) is arranged obliquely. A receiving groove (442) is provided at the top of the transverse end of the second plug block (44), one end of the baffle (441) is connected to the notch of the receiving groove (442), and the other end of the baffle (441) extends to the top of the visual detection mechanism (2).

4. The application method of the cylinder seal rubber path detection device based on machine vision according to claim 1 is characterized in that: The steps include: S1, the first electric slide (11) and the second electric slide (12) cooperate to drive the visual inspection mechanism (2) to move in the X-axis direction and the Y-axis direction, and the moving path of the visual inspection mechanism (2) coincides with the glue path; S2, the visual inspection mechanism (2) scans the glue path in sections and multiple times during the movement, thereby obtaining an image of the glue path; S3. The visual inspection mechanism (2) analyzes the image of the glue path and determines whether there are defects in the glue path.

5. The application method of the cylinder seal rubber path detection device based on machine vision according to claim 4 is characterized in that: The visual inspection mechanism (2) moves a preset distance and then stops and performs a scan. The visual inspection mechanism (2) analyzes the results of the multiple scans in sequence.

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