Visual gluing edge defect detection device of industrial robot

Abstract

The invention relates to the technical field of gluing edge defect detection, in particular to an industrial robot visual gluing edge defect detection device which comprises a base, a conveying unit, a placing unit, a detection assembly and an industrial camera, the conveying unit is arranged above the base, and the detection assembly comprises a transverse moving part, an arc-shaped sliding rail and an infrared detection unit. A gluing plate is placed on the placing unit, then the conveying unit conveys the gluing plate to the position below the infrared detection unit, at the moment, the transverse moving part is started to adjust the transverse position, the conveying unit adjusts the longitudinal position, and meanwhile the infrared detection unit conducts arc angle adjustment above the gluing plate under the action of the arc sliding rail; the infrared detection unit is arranged on the gluing edge and can move around the gluing edge, multiple infrared devices arranged in the infrared detection unit can detect multiple defects of the gluing edge, defect detection can be carried out in multiple directions by means of transverse, longitudinal and arc-shaped angle adjustment, and detection comprehensiveness is guaranteed.

Description

Technical Field

[0001] The invention relates to the technical field of gluing edge defect detection, and in particular to an industrial robot visual gluing edge defect detection device. Background Art

[0002] Currently, in industrial processing, workpieces need to be coated with glue. However, in order to ensure the quality of the glue coating, the glue edge needs to be inspected. Traditional glue edge inspection devices can only detect the missing glue edge by taking pictures, but cannot detect the height of the glue edge, which is inconvenient to use.

[0003] In the prior art, when the staff needs to detect the height of the rubber edge, the staff grasps the handle and moves it, the handle drives the first positioning plate to move, the first positioning plate drives the second fixed plate to move, the second fixed plate drives the ruler to move, and at the same time the second fixed plate drives the auxiliary component to move, the auxiliary component drives the first fixed block to move, the first fixed block drives the roller to move through the axle pin, one of the rollers is moved to the defective place, the roller shifts downward, and the roller shifts downward while driving one side of the fixed rod to shift downward, when the roller shifts downward, the ruler on one side shifts downward to cause the height to be different from the ruler on the other side, and then the staff can observe the ruler to detect the height of the defect, thereby completing the purpose of detecting the height of the rubber edge.

[0004] However, in the aforementioned prior art, the glue edge is detected by contacting the roller with the glue-coated plate, which can only be used for one defect detection of the glue edge height; there is no shooting and sensor equipment, and it is impossible to perform multi-directional adjustment and movement, which makes the detection limited; as a result, it is impossible to detect whether there is glue leakage, glue edge thickness or other unqualified defects on the glue edge, and it is impossible to perform comprehensive defect detection on the glue-coated edge. Summary of the invention

[0005] The purpose of the present invention is to provide an industrial robot visual glue edge defect detection device to solve the problem that the prior art detects glue edges by contacting rollers with glue-coated plates, and is only applicable to one defect detection of glue edge height; it does not have shooting and sensor equipment, and cannot be adjusted and moved in all directions, which limits the detection; it results in the inability to detect whether there are glue leaks, glue edge thickness or other unqualified defects on the glue edge, and the inability to perform comprehensive defect detection on the glue edge.

[0006] To achieve the above-mentioned object, the present invention provides an industrial robot visual glue edge defect detection device, comprising a base, a conveying unit, a placement unit, an industrial camera and a detection component, wherein the conveying unit is arranged above the base, and the placement unit is arranged on the conveying unit;

[0007] The detection component includes a transverse moving component, an arc-shaped slide rail and an infrared detection unit. The transverse moving component is arranged above the base, the arc-shaped slide rail is arranged at the output end of the transverse moving component, the infrared detection unit is arranged below the arc-shaped slide rail, and the industrial camera is arranged on the infrared detection unit.

[0008] Wherein, the conveying unit comprises two longitudinal moving components and a lifting seat, the two longitudinal moving components are sequentially arranged above the base, and the lifting seat is arranged at the output ends of the two longitudinal moving components.

[0009] Wherein, the lifting seat comprises a support plate and a plurality of first lifting components, the support plate is arranged at the output ends of the two longitudinal moving components, and the plurality of first lifting components are sequentially arranged above the support plate.

[0010] Wherein, the placing unit includes a placing plate, multiple anti-sliding blocks and a material changing component, the placing plate is arranged at the output end of multiple first lifting components, multiple anti-sliding blocks are arranged in sequence above the placing plate, and the material changing unit is arranged above the base.

[0011] Wherein, the material changing component comprises two feed placing blocks and two discharge placing blocks, and the two feed placing blocks and the two discharge placing blocks are both arranged above the base and are respectively located on both sides of the longitudinal moving component.

[0012] Wherein, the detection assembly further comprises an arc-shaped moving unit, and the arc-shaped moving unit is arranged on the arc-shaped slide rail;

[0013] The arc moving unit includes a slider, a locking mechanism, two driving mechanisms and a second lifting component. The slider is slidably connected to the arc slide rail. The locking mechanism is arranged on the arc slide rail and the slider. The two driving mechanisms are symmetrically arranged on the slider. The second lifting component is arranged below the slider. The output end of the second lifting component is fixedly connected to the infrared detection unit.

[0014] Wherein, the locking mechanism includes two electromagnets and a metal arc plate, the two electromagnets are symmetrically arranged on both sides of the slider and located inside the arc slide rail, and the metal arc plate is fixedly connected to the arc slide rail and located on the inner top wall of the arc slide rail.

[0015] Wherein, the driving mechanism includes a support block, a driving component and a roller, the arc-shaped slide rail has an arc-shaped groove, the support block is arranged at one end of the slider, the driving component is arranged above the support block, the output end of the driving component is fixedly connected to the roller, and the roller contacts the inner wall of the arc-shaped groove.

[0016] Wherein, the infrared detection unit includes a shell, a detection port, a turntable, an infrared thermal imager, an infrared sensor, an infrared thickness gauge, an infrared spectrometer, a rotating component and a limiting mechanism, the shell is fixedly connected to the output end of the second lifting component, the detection port is arranged on the shell, the turntable is rotatably connected to the shell and is located inside the shell, the infrared thermal imager, the infrared sensor, the infrared thickness gauge and the infrared spectrometer are sequentially arranged on the turntable, the rotating component is arranged on the inner top wall of the shell, the output end of the rotating component is fixedly connected to the turntable, and the limiting mechanism is arranged inside the shell.

[0017] Wherein, the limiting mechanism includes a telescopic component and a limiting block, the turntable has a plurality of limiting holes, the telescopic component is arranged on the inner top wall of the shell, the output end of the telescopic component is fixedly connected to the limiting block, and the limiting block is mutually adapted to any of the limiting holes.

[0018] The present invention provides an industrial robot visual glue-coated edge defect detection device, which places the glue-coated board on the placing unit and then transports it to the bottom of the infrared detection unit. At this time, the lateral moving component is started to adjust the lateral position, and the conveying unit adjusts the longitudinal position. At the same time, the infrared detection unit, under the action of the arc-shaped slide rail, performs arc-shaped angle adjustment above the glue-coated board, and can then move around the glue-coated edge. Through the above-mentioned structural setting, through the multiple infrared devices provided in the infrared detection unit and the industrial camera, various defects of the glue-coated edge can be detected and photographed for analysis. At the same time, relying on the lateral, longitudinal and arc-shaped angle adjustments, the glue-coated board can be comprehensively inspected for defects from multiple angles, thereby ensuring the comprehensiveness and accuracy of the inspection. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art are briefly introduced below.

[0020] Figure 1 It is a schematic diagram of the overall structure of the present invention.

[0021] Figure 2 It is a cross-sectional view of the whole of the present invention.

[0022] Figure 3 The present invention Figure 2 AA line section view.

[0023] Figure 4 The present invention Figure 2 Enlarged view of the local structure at point B.

[0024] Figure 5 The present invention Figure 3 Enlarged view of the local structure at location C.

[0025] Figure 6 It is a bottom view of the arc slide rail of the present invention.

[0026] Figure 7 It is a structural schematic diagram of the infrared detection unit of the present invention.

[0027] 1-base, 2-industrial camera, 3-lateral moving part, 4-arc slide rail, 5-longitudinal moving part, 6-support plate, 7-first lifting part, 8-placement plate, 9-anti-sliding block, 10-feed placement block, 11-discharge placement block, 12-sliding block, 13-second lifting part, 14-electromagnet, 15-metal arc plate, 16-support block, 17-driving part, 18-roller, 19-arc groove, 20-housing, 21-detection port, 22-turntable, 23-infrared thermal imager, 24-infrared sensor, 25-infrared thickness gauge, 26-infrared spectrometer, 27-rotating part, 28-telescopic part, 29-limiting block, 30-limiting hole. DETAILED DESCRIPTION

[0028] Embodiments of the present invention are described in detail below. Examples of the embodiments are shown in the accompanying drawings. The embodiments described below with reference to the accompanying drawings are exemplary and are intended to be used to explain the present invention, but should not be construed as limiting the present invention.

[0029] See also Figures 1 to 7 The present invention provides an industrial robot visual glue edge defect detection device, comprising a base 1, a conveying unit, a placement unit and a detection component, the detection component comprising a lateral moving component 3, an arc-shaped slide rail 4 and an infrared detection unit, the conveying unit comprising two longitudinal moving components 5 and a lifting seat, the lifting seat comprising a support plate 6 and a plurality of first lifting components 7, the placement unit comprising a placement plate 8, a plurality of anti-sliding blocks 129 and a material changing component, the material changing component comprising two feeding placement blocks 10 and two discharging placement blocks 11, the detection component further comprising an arc-shaped moving unit, the arc-shaped moving unit comprising The slider 12, the locking mechanism, the two driving mechanisms and the second lifting component 13, the locking mechanism includes two electromagnets 14 and a metal arc plate 15, the driving mechanism includes a support block 16, a driving component 17 and a roller 18, the arc slide rail 4 has an arc groove 19, the infrared detection unit includes a housing 20, a detection port 21, a turntable 22, an infrared thermal imager 23, an infrared sensor 24, an infrared thickness gauge 25, an infrared spectrometer 26 and a rotating component 27 and a limiting mechanism, the limiting mechanism includes a telescopic component 28 and a limiting block 29, and the turntable 22 has a plurality of limiting holes 30.

[0030] The conveying unit is arranged above the base 1, the placement unit is arranged on the conveying unit, the transverse moving component 3 is arranged above the base 1, the arc slide rail 4 is arranged at the output end of the transverse moving component 3, the infrared detection unit is arranged below the arc slide rail 4, and the industrial camera 2 is arranged on the infrared detection unit. The transverse moving component 3 is an electric slide rail; by placing the glue-coated board on the placement unit, and then the conveying unit is transported to the bottom of the infrared detection unit, the transverse moving component 3 is started at this time to adjust the transverse position, the conveying unit adjusts the longitudinal position, and at the same time, the infrared detection unit, under the action of the arc slide rail 4, performs an arc angle adjustment above the glue-coated board, and then can move around the glue-coated edge, and at the same time, the industrial camera 2 takes pictures of the glue-coated edge, and then performs all-round defect detection.

[0031] Secondly, the two longitudinal moving parts 5 are sequentially arranged above the base 1, and the lifting seat is arranged at the output ends of the two longitudinal moving parts 5. The longitudinal moving parts 5 are electric slide rails; when the longitudinal moving parts 5 are started, the lifting seat is driven to move so that it is located below the infrared detection unit to detect defects on the glue coating edge.

[0032] At the same time, the support plate 6 is arranged at the output ends of the two longitudinal moving parts 5, and the plurality of the first lifting parts 7 are sequentially arranged above the support plate 6. The support plate 6 supports the plurality of the first lifting parts 7, and the first lifting parts 7 are cylinders. When the first lifting parts 7 are started, the placement unit is driven to rise and fall, and the height of the glue-coated board is adjusted.

[0033] In addition, the placing plate 8 is arranged at the output end of the plurality of the first lifting components 7, the plurality of anti-slip blocks 129 are sequentially arranged above the placing plate 8, and the material changing unit is arranged above the base 1. The placing plate 8 is used to place the glue-coated board, the anti-slip blocks 129 can prevent the glue-coated board from slipping and falling, and the material changing component can facilitate the replacement of the glue-coated board after detection and inspection.

[0034] Then, the two feeding blocks 10 and the two discharging blocks 11 are both arranged above the base 1 and are respectively located on both sides of the longitudinal moving part 5. The feeding blocks 10 can be used to temporarily store the coating plates to be tested, and the discharging blocks 11 can be used to temporarily store the coating plates that have been tested. After the coating plates are moved above the discharging blocks 11, the lifting seat moves downward, so that the coating plates are supported by the discharging blocks 11, thereby completing the unloading.

[0035] Again, the arc moving unit is arranged on the arc slide rail 4; the slider 12 is slidably connected to the arc slide rail 4, the locking mechanism is arranged on the arc slide rail 4 and the slider 12, the two driving mechanisms are symmetrically arranged on the slider 12, the second lifting component 13 is arranged below the slider 12, and the output end of the second lifting component 13 is fixedly connected to the infrared detection unit. The second lifting component 13 is a cylinder; the driving mechanism is started to drive the slider 12 to slide inside the arc slide rail 4, and after reaching a suitable position, the locking mechanism is started to fix the slider 12 so that it no longer slides, and the second lifting component 13 can drive the sensor unit to adjust its height.

[0036] Furthermore, the two electromagnets 14 are symmetrically arranged on both sides of the slider 12 and are located inside the arc-shaped slide rail 4. The metal arc-shaped plate 15 is fixedly connected to the arc-shaped slide rail 4 and is located on the inner top wall of the arc-shaped slide rail 4. When the electromagnet 14 is energized, it will be mutually adsorbed with the metal arc-shaped plate 15, thereby locking the slider 12, making it impossible for the slider 12 to slide in an arc shape, thereby improving the detection stability.

[0037] Furthermore, the arc-shaped slide rail 4 has an arc-shaped groove 19, the support block 16 is arranged at one end of the slider 12, the driving component 17 is arranged above the support block 16, the output end of the driving component 17 is fixedly connected to the roller 18, and the roller 18 contacts the inner wall of the arc-shaped groove 19. The support block 16 supports the driving component 17, and the driving component 17 is a motor. When the driving component 17 is started, the roller 18 is driven to rotate in the arc-shaped groove 19 and contact the inner wall of the arc-shaped groove 19, thereby driving the slider 12 to slide, and adjusting the angle of the infrared detection unit in an arc shape.

[0038] Thus, the housing 20 is fixedly connected to the output end of the second lifting component 13, the detection port 21 is arranged on the housing 20, the turntable 22 is rotatably connected to the housing 20 and is located inside the housing 20, the infrared thermal imager 23, the infrared sensor 24, the infrared thickness gauge 25 and the infrared spectrometer 26 are sequentially arranged on the turntable 22, the rotating component 27 is arranged on the inner top wall of the housing 20, the output end of the rotating component 27 is fixedly connected to the turntable 22, and the limiting mechanism is arranged inside the housing 20. The rotating component 27 is a motor, the housing 20 supports the entire infrared detection unit, and the turntable 22 supports multiple infrared devices. The rotating component 27 starts to drive the turntable 22 to rotate, and then drives multiple devices to rotate. When it is located at the detection port 21, it stops. At this time, the turntable 22 is limited by the limiting mechanism, and then four devices are used in turn to detect defects on the glue coating edge. At the same time, the information captured by the industrial camera 2 on the glue coating edge is transmitted to the host computer for analysis, so as to accurately determine the defects on the glue coating edge; the infrared thermal imager 23 can generate a temperature distribution image of the glue coating area, so as to intuitively display Thermal effect during the glue coating process; by analyzing the temperature distribution image, the uniformity of the glue coating and whether there is a missing or overheated area can be detected; the infrared sensor 24 is used to measure the intensity of the reflected light, so as to determine the position of the glue coating boundary; the infrared thickness gauge 25 uses the absorption, reflection and other effects of infrared light penetrating the material to measure the thickness of the glue coating layer; the infrared spectrometer 26 is used to analyze the chemical composition and properties of the glue coating material, and provide detailed spectral information of the glue coating material, which is helpful to understand the quality and performance of the glue coating. Therefore, through the four infrared devices, the defects of glue coating uniformity, glue leakage, glue coating boundary, glue coating thickness and glue coating quality can be detected.

[0039] Finally, the turntable 22 has a plurality of limit holes 30, the telescopic component 28 is arranged on the inner top wall of the housing 20, the output end of the telescopic component 28 is fixedly connected to the limit block 29, and the limit block 29 is adapted to any of the limit holes 30. The telescopic component 28 is an electric push rod; when infrared detection is required, the telescopic component 28 is started, driving the limit block 29 to enter the limit hole 30, thereby limiting the turntable 22 to improve the detection stability. After the detection is completed, the limit is released, the turntable 22 continues to rotate, and the next infrared device is used, thus cyclic operation.

[0040] When using an industrial robot visual glue edge defect detection device of the present embodiment, the glued plate is placed on the placement plate 8, and then the longitudinal moving component 5 is started to transport it to the bottom of the infrared detection unit. At this time, the industrial camera 2 takes pictures, and the multiple infrared devices rotate in sequence, and detect defects on the glued edge in sequence through the detection port 21; at the same time, the lateral moving component 3 adjusts the lateral detection position, and the longitudinal moving component 5 adjusts the longitudinal position; the driving component 17 is started to drive the roller 18 to rotate in the arc groove 19, contact with the inner wall of the arc groove 19, and then drive the slider 12 to slide, so that the infrared detection unit performs arc angle adjustment above the glued plate, and then can move around the glued edge, thereby adjusting the detection angle in all directions; through the above-mentioned structural setting, the multiple infrared devices set in the infrared detection unit can detect multiple defects on the glued edge, and at the same time, relying on the lateral, longitudinal and arc angle adjustments, defect detection can be performed in multiple directions to ensure the comprehensiveness of the detection.

[0041] What is disclosed above is only one or more preferred embodiments of the present application, and cannot be used to limit the scope of rights of the present application. Ordinary technicians in this field can understand that all or part of the processes of implementing the above embodiments and equivalent changes made according to the claims of the present application are still within the scope covered by the present application.

Claims

1. An industrial robot visual glue edge defect detection device, comprising a base, a conveying unit, a placement unit and an industrial camera, wherein the conveying unit is arranged above the base, and the placement unit is arranged on the conveying unit, characterized in that: Also included are detection components; The detection component includes a transverse moving component, an arc-shaped slide rail and an infrared detection unit. The transverse moving component is arranged above the base, the arc-shaped slide rail is arranged at the output end of the transverse moving component, the infrared detection unit is arranged below the arc-shaped slide rail, and the industrial camera is arranged on the infrared detection unit.

2. The industrial robot visual glue edge defect detection device according to claim 1, characterized in that: The conveying unit comprises two longitudinal moving components and a lifting seat. The two longitudinal moving components are sequentially arranged above the base, and the lifting seat is arranged at the output ends of the two longitudinal moving components.

3. The industrial robot visual glue edge defect detection device according to claim 2, characterized in that: The lifting seat comprises a support plate and a plurality of first lifting components. The support plate is arranged at the output ends of the two longitudinal moving components, and the plurality of first lifting components are arranged above the support plate in sequence.

4. The industrial robot visual glue edge defect detection device according to claim 3, characterized in that: The placing unit includes a placing plate, a plurality of anti-sliding blocks and a material changing component. The placing plate is arranged at the output end of the plurality of first lifting components. The plurality of anti-sliding blocks are arranged in sequence above the placing plate. The material changing unit is arranged above the base.

5. The industrial robot visual glue edge defect detection device according to claim 4, characterized in that: The material changing component comprises two feed placing blocks and two discharge placing blocks, and the two feed placing blocks and the two discharge placing blocks are both arranged above the base and are respectively located on both sides of the longitudinal moving component.

6. The industrial robot visual glue edge defect detection device according to claim 5, characterized in that: The detection assembly further includes an arc-shaped moving unit, and the arc-shaped moving unit is arranged on the arc-shaped slide rail; The arc moving unit includes a slider, a locking mechanism, two driving mechanisms and a second lifting component. The slider is slidably connected to the arc slide rail. The locking mechanism is arranged on the arc slide rail and the slider. The two driving mechanisms are symmetrically arranged on the slider. The second lifting component is arranged below the slider. The output end of the second lifting component is fixedly connected to the infrared detection unit.

7. The industrial robot visual glue edge defect detection device according to claim 6, characterized in that: The locking mechanism includes two electromagnets and a metal arc plate. The two electromagnets are symmetrically arranged on both sides of the slider and located inside the arc slide rail. The metal arc plate is fixedly connected to the arc slide rail and located on the inner top wall of the arc slide rail.

8. The industrial robot visual glue edge defect detection device according to claim 7, characterized in that: The driving mechanism includes a support block, a driving component and a roller. The arc-shaped slide rail has an arc-shaped groove. The support block is arranged at one end of the slider. The driving component is arranged above the support block. The output end of the driving component is fixedly connected to the roller, and the roller contacts the inner wall of the arc-shaped groove.

9. The industrial robot visual glue edge defect detection device according to claim 8, characterized in that: The infrared detection unit includes a shell, a detection port, a turntable, an infrared thermal imager, an infrared sensor, an infrared thickness gauge, an infrared spectrometer, a rotating component and a limiting mechanism. The shell is fixedly connected to the output end of the second lifting component, the detection port is arranged on the shell, the turntable is rotatably connected to the shell and is located inside the shell, the infrared thermal imager, the infrared sensor, the infrared thickness gauge and the infrared spectrometer are sequentially arranged on the turntable, the rotating component is arranged on the inner top wall of the shell, the output end of the rotating component is fixedly connected to the turntable, and the limiting mechanism is arranged inside the shell.

10. The industrial robot visual glue edge defect detection device according to claim 9, characterized in that: The limiting mechanism includes a telescopic component and a limiting block. The turntable has a plurality of limiting holes. The telescopic component is arranged on the inner top wall of the shell. The output end of the telescopic component is fixedly connected to the limiting block. The limiting block is mutually adapted to any of the limiting holes.

Images