An industrial robot vision glue edge defect detection device

Abstract

The present application relates to the technical field of glue edge defect detection, and particularly relates to an industrial robot vision glue 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, the detection assembly comprises a transverse moving part, an arc-shaped slide rail and an infrared detection unit, the glue plate is placed on the placing unit, and then the conveying unit is conveyed below the infrared detection unit, at this time, the transverse moving part is started, the transverse position is adjusted, the conveying unit adjusts the longitudinal position, and the infrared detection unit is adjusted in an arc-shaped angle above the glue plate under the action of the arc-shaped slide rail, and then the infrared detection unit can move around the glue edge, so that the plurality of infrared devices arranged in the infrared detection unit can detect various defects of the glue edge, and the defects can be detected in multiple directions by adjusting the transverse position, the longitudinal position and the arc-shaped angle, so that the comprehensiveness of detection is ensured.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of glue edge defect detection, and particularly relates to an industrial robot vision glue edge defect detection device. BACKGROUND

[0002] In current industrial processing, workpieces need to be glued, but after gluing, the glue edge needs to be detected to ensure the gluing quality. Traditional glue edge detection devices can only detect the missed gluing of the glue edge by shooting, but cannot detect the height of the glue edge, which is inconvenient to use.

[0003] In the prior art, when the height of the glue edge needs to be detected, the worker grasps the handle to move, 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 scale to move, and at the same time, the second fixed plate drives the auxiliary assembly to move, the auxiliary assembly drives the first fixed block to move, the first fixed block drives the roller to move through the shaft pin, one of the rollers is moved to the defective place, the roller is offset downward, and at the same time, one side of the fixed rod is offset downward, when the roller is offset downward, one side of the scale is offset downward to cause the height of the scale to be different from that of the other side, then the worker can observe the scale to detect the height of the defect, thereby achieving the purpose of detecting the height of the glue edge.

[0004] However, in the foregoing prior art, the glue edge is detected by the contact between the roller and the glue plate, which can only be used for detecting one kind of defect of the height of the glue edge; does not have shooting and sensor equipment, and cannot be adjusted and moved in multiple directions, so that the detection has limitations; and cannot detect whether the glue edge has missed gluing, the thickness of the glue edge or other unqualified defects, and cannot comprehensively detect the defects of the glue edge. SUMMARY

[0005] The present application aims to provide an industrial robot vision glue edge defect detection device, which solves the problems in the prior art that the glue edge is detected by the contact between the roller and the glue plate, which can only be used for detecting one kind of defect of the height of the glue edge; does not have shooting and sensor equipment, and cannot be adjusted and moved in multiple directions, so that the detection has limitations; and cannot detect whether the glue edge has missed gluing, the thickness of the glue edge or other unqualified defects, and cannot comprehensively detect the defects of the glue edge.

[0006] To achieve the above-mentioned purpose, the present application provides an industrial robot vision glue edge defect detection device, which comprises a base, a conveying unit, a placing unit, an industrial camera and a detection assembly, the conveying unit is arranged above the base, and the placing unit is arranged on the conveying unit.

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

[0008] 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 end of the two longitudinal moving components.

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

[0010] The placing unit comprises a placing plate, a plurality of anti-skid blocks and a material replacing component, the placing plate is arranged at the output end of the plurality of first lifting components, the plurality of anti-skid blocks are sequentially arranged above the placing plate, and the material replacing unit is arranged above the base.

[0011] The material replacing component comprises two feeding placing blocks and two discharging placing blocks, the two feeding placing blocks and the two discharging placing blocks are both arranged above the base and are respectively located at the two sides of the longitudinal moving components.

[0012] The detection assembly further comprises an arc-shaped moving unit, and the arc-shaped moving unit is arranged on the arc-shaped sliding rail.

[0013] The arc-shaped moving unit comprises a sliding block, a locking mechanism, two driving mechanisms and a second lifting component, the sliding block is in sliding connection with the arc-shaped sliding rail, the locking mechanism is arranged on the arc-shaped sliding rail and the sliding block, the two driving mechanisms are symmetrically arranged on the sliding block, the second lifting component is arranged below the sliding block, and the output end of the second lifting component is fixedly connected with the infrared detection unit.

[0014] The locking mechanism comprises two electromagnets and a metal arc-shaped plate, the two electromagnets are symmetrically arranged at the two sides of the sliding block and are located inside the arc-shaped sliding rail, the metal arc-shaped plate is fixedly connected with the arc-shaped sliding rail and is located at the inner top wall of the arc-shaped sliding rail.

[0015] The driving mechanism comprises a supporting block, a driving component and a roller, the arc-shaped sliding rail has an arc-shaped groove, the supporting block is arranged at one end of the sliding block, the driving component is arranged above the supporting block, the output end of the driving component is fixedly connected with the roller, and the roller is in contact with the inner wall of the arc-shaped groove.

[0016] The infrared detection unit comprises a shell, a detection port, a rotating disc, 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 with the output end of the second lifting component, the detection port is arranged on the shell, the rotating disc is rotatably connected with the shell and is located in the interior of the shell, the infrared thermal imager, the infrared sensor, the infrared thickness gauge and the infrared spectrometer are sequentially arranged on the rotating disc, the rotating component is arranged on the inner top wall of the shell, the output end of the rotating component is fixedly connected with the rotating disc, and the limiting mechanism is arranged in the interior of the shell.

[0017] The limiting mechanism comprises a telescopic component and a limiting block, the rotating disc 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 with the limiting block, and the limiting block is matched with any limiting hole.

[0018] The industrial robot vision glue edge defect detection device can be used for detecting and analyzing the glue edge of the glue plate from multiple angles, and the detection is comprehensive and accurate. BRIEF DESCRIPTION OF DRAWINGS

[0019] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the drawings needed to be used in the embodiments or the prior art description will be briefly introduced.

[0020] Figure 1 It is a structural schematic diagram of the whole of the present application.

[0021] Figure 2 It is a sectional view of the whole of the present application.

[0022] Figure 3 It is a sectional view of the whole of the present application. Figure 2 of the A-A line.

[0023] Figure 4 It is a sectional view of the whole of the present application. Figure 2 of the B local structure of the present application.

[0024] Figure 5 is a partial structure enlarged view of C of the present application Figure 3 is a partial structure enlarged view of C of the present application

[0025] Figure 6 is a bottom view of the arc-shaped slide rail of the present application

[0026] Figure 7 is a structural schematic view of the infrared detection unit of the present application

[0027] 1-base, 2-industrial camera, 3-transverse moving part, 4-arc-shaped slide rail, 5-longitudinal moving part, 6-supporting plate, 7-first lifting part, 8-putting plate, 9-anti-skid block, 10-feeding putting block, 11-discharging putting block, 12-sliding block, 13-second lifting part, 14-electromagnet, 15-metal arc-shaped plate, 16-supporting block, 17-driving part, 18-roller, 19-arc-shaped groove, 20-outer shell, 21-detecting port, 22-rotating disc, 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] The embodiments of the present application are described in detail below, examples of which are shown in the accompanying drawings, the embodiments described below by referring to the accompanying drawings are exemplary, and are intended to explain the present application, and cannot be understood as a limitation of the present application.

[0029] Please refer to Figures 1 to 7 , the present application provides an industrial robot vision glue edge defect detection device, including base 1, conveying unit, putting unit and detection assembly, the detection assembly includes transverse moving part 3, arc-shaped slide rail 4 and infrared detection unit, the conveying unit includes two longitudinal moving parts 5 and lifting seat, the lifting seat includes supporting plate 6 and a plurality of first lifting parts 7, the putting unit includes putting plate 8, a plurality of anti-skid blocks 129 and feeding part, the feeding part includes two feeding putting blocks 10 and two discharging putting blocks 11, the detection assembly further includes arc-shaped moving unit, the arc-shaped moving unit includes sliding block 12, locking mechanism, two driving mechanisms and second lifting part 13, the locking mechanism includes two electromagnets 14 and metal arc-shaped plate 15, the driving mechanism includes supporting block 16, driving part 17 and roller 18, the arc-shaped slide rail 4 has arc-shaped groove 19, the infrared detection unit includes outer shell 20, detecting port 21, rotating disc 22, infrared thermal imager 23, infrared sensor 24, infrared thickness gauge 25, infrared spectrometer 26 and rotating part 27 and limiting mechanism, the limiting mechanism includes telescopic part 28 and limiting block 29, the rotating disc 22 has a plurality of limiting holes 30.

[0030] The conveying unit is arranged above the base 1, the placing unit is arranged on the conveying unit, the transverse moving component 3 is arranged above the base 1, the arc-shaped slide rail 4 is arranged at the output end of the transverse moving component 3, the infrared detection unit is arranged below the arc-shaped 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; the glue-coated plate is placed on the placing unit, and then the conveying unit is conveyed below the infrared detection unit; at this time, the transverse moving component 3 is started to adjust the transverse position, the conveying unit adjusts the longitudinal position, the infrared detection unit is adjusted in an arc-shaped angle above the glue-coated plate under the action of the arc-shaped slide rail 4, and then the infrared detection unit can move around the glue-coated edge, and the industrial camera 2 can shoot the glue-coated edge to perform omnibearing defect detection.

[0031] Secondly, the two longitudinal moving components 5 are sequentially arranged above the base 1, and the lifting seat is arranged at the output ends of the two longitudinal moving components 5. The longitudinal moving component 5 is an electric slide rail; the longitudinal moving component 5 is started to drive the lifting seat to move, so that the lifting seat is located below the infrared detection unit to perform glue-coated edge defect detection.

[0032] Meanwhile, the support plate 6 is arranged at the output ends of the two longitudinal moving components 5, and a plurality of first lifting components 7 are sequentially arranged above the support plate 6. The support plate 6 supports the plurality of first lifting components 7, the first lifting component 7 is a pneumatic cylinder, and the first lifting component 7 is started to drive the placing unit to lift and adjust the height of the glue-coated plate.

[0033] In addition, the placing plate 8 is arranged at the output ends of the plurality of first lifting components 7, a plurality of anti-skid blocks 129 are sequentially arranged above the placing plate 8, and the material replacing unit is arranged above the base 1. The placing plate 8 is used for placing the glue-coated plate, the anti-skid blocks 129 can prevent the glue-coated plate from slipping and falling, and the material replacing component can conveniently replace the glue-coated plate after detection.

[0034] Then, the two feeding placing blocks 10 and the two discharging placing blocks 11 are both arranged above the base 1 and are located at the two sides of the longitudinal moving component 5 respectively. The feeding placing block 10 can be used for temporarily storing the glue-coated plate to be detected, and the discharging placing block 11 can be used for temporarily storing the glue-coated plate after detection. After the glue-coated plate is moved above the discharging placing block 11, the lifting seat is lowered, so that the glue-coated plate is supported by the discharging placing block 11, and then the discharging is completed.

[0035] Again, the arc-shaped moving unit is arranged on the arc-shaped slide rail 4; the sliding block 12 is in sliding connection with the arc-shaped slide rail 4, the locking mechanism is arranged on the arc-shaped slide rail 4 and the sliding block 12, two driving mechanisms are symmetrically arranged on the sliding block 12, the second lifting component 13 is arranged below the sliding block 12, and the output end of the second lifting component 13 is fixedly connected with the infrared detection unit. The second lifting component 13 is a cylinder; the driving mechanism drives the sliding block 12 to slide in the arc-shaped slide rail 4, and after reaching the appropriate position, the locking mechanism is started to fix the sliding block 12 so that it can no longer slide, and the second lifting component 13 can drive the sensor unit to adjust the height.

[0036] Moreover, two electromagnets 14 are symmetrically arranged on both sides of the sliding block 12 and located in the arc-shaped slide rail 4, the metal arc-shaped plate 15 is fixedly connected with the arc-shaped slide rail 4 and located on the inner top wall of the arc-shaped slide rail 4. After the electromagnet 14 is electrified, it will be mutually adsorbed with the metal arc-shaped plate 15, thereby locking the sliding block 12 so that the sliding block 12 cannot slide in an arc shape, improving the detection stability.

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

[0038] Therefore, the shell 20 is fixedly connected with the output end of the second lifting component 13, the detection port 21 is arranged on the shell 20, the rotating disc 22 is rotationally connected with the shell 20 and is located in the interior of the shell 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 rotating disc 22, the rotating component 27 is arranged on the inner top wall of the shell 20, the output end of the rotating component 27 is fixedly connected with the rotating disc 22, and the limiting mechanism is arranged in the interior of the shell 20. The rotating component 27 is a motor, the shell 20 supports the entire infrared detection unit, the rotating disc 22 supports multiple infrared devices, the rotating component 27 drives the rotating disc 22 to rotate, thereby driving multiple devices to rotate, and stopping when being located behind the detection port 21, at this time, the rotating disc 22 is limited by the limiting mechanism, and then four devices are sequentially used for defect detection of the rubber coating edge, and information of the rubber coating edge shot by the industrial camera 2 is transmitted to the upper computer for analysis, so that the defects existing in the rubber coating edge are accurately judged; the infrared thermal imager 23 can generate a temperature distribution image of the rubber coating area, so that the thermal effect in the rubber coating process is directly displayed; by analyzing the temperature distribution image, the uniformity of the rubber coating, whether there is a missed coating or an overheated area can be detected; the infrared sensor 24 is used for measuring the intensity of reflected light, so as to judge the position of the rubber coating boundary; the infrared thickness gauge 25 measures the thickness of the rubber coating layer by using the absorption, reflection and other effects of infrared light penetrating the material; the infrared spectrometer 26 analyzes the chemical composition and properties of the rubber coating material, provides detailed spectral information of the rubber coating material, and helps to understand the quality and performance of the rubber coating, so that the four infrared devices can detect defects of rubber coating uniformity, glue leakage, rubber coating boundary, rubber coating thickness and rubber coating quality.

[0039] Finally, the rotating disc 22 has multiple limiting holes 30, the telescopic component 28 is arranged on the inner top wall of the shell 20, the output end of the telescopic component 28 is fixedly connected with the limiting block 29, and the limiting block 29 is matched with any limiting hole 30. The telescopic component 28 is an electric push rod; when infrared detection is needed, the telescopic component 28 is started at this time, the limiting block 29 is driven to enter the limiting hole 30, thereby limiting the rotating disc 22, improving detection stability, and after detection is completed, the limiting is released, the rotating disc 22 continues to rotate, and the next infrared device is used, thereby performing cyclic operation.

[0040] When the industrial robot vision glue edge defect detection device of the embodiment is used, the glue plate is placed on the placing plate 8, then the longitudinal moving part 5 is started, and the glue plate is transported to below the infrared detection unit. At this time, the industrial camera 2 takes a picture, and the plurality of infrared devices are rotated in sequence to detect the defects of the glue edge through the detection port 21. At the same time, the transverse moving part 3 adjusts the transverse detection position, and the longitudinal moving part 5 adjusts the longitudinal position. The driving part 17 is started to drive the roller 18 to rotate in the arc-shaped groove 19, and the roller 18 is in contact with the inner wall of the arc-shaped groove 19, thereby driving the sliding block 12 to slide, so that the infrared detection unit is adjusted in an arc-shaped angle above the glue plate, and then can move around the glue edge, so as to adjust the detection angle in all directions. Through the above structure, the plurality of infrared devices arranged in the infrared detection unit can detect various defects of the glue edge, and the defects can be detected in multiple directions through the adjustment of the transverse, longitudinal and arc-shaped angles, so as to ensure the comprehensiveness of the detection.

[0041] The above only discloses one or more preferred embodiments of the present application, and cannot limit the scope of the rights of the present application. Those skilled in the art can understand that all or part of the above-mentioned embodiments can be implemented, and equivalent changes made according to the claims of the present application still belong to the scope covered by the present application.

Claims

1. An industrial robot vision glue edge defect detection device, comprising a base, a conveying unit, a placing unit and an industrial camera, the conveying unit is arranged above the base, the placing unit is arranged on the conveying unit, characterized in that, It also includes a detection assembly; The detection assembly comprises a transverse moving part, an arc-shaped sliding rail and an infrared detection unit, the transverse moving part is arranged above the base, the arc-shaped sliding rail is arranged at the output end of the transverse moving part, the infrared detection unit is arranged below the arc-shaped sliding rail, and the industrial camera is arranged on the infrared detection unit; The conveying unit comprises two longitudinal moving parts and a lifting seat, the two longitudinal moving parts are sequentially arranged above the base, and the lifting seat is arranged at the output end of the two longitudinal moving parts; The detection assembly further comprises an arc-shaped moving unit, which is arranged on the arc-shaped sliding rail; The placing unit comprises a placing plate, a plurality of anti-skid blocks and a material changing part, the placing plate is arranged at the output end of a plurality of first lifting parts, a plurality of anti-skid blocks are sequentially arranged above the placing plate, and the material changing part is arranged above the base; The arc-shaped moving unit comprises a sliding block, a locking mechanism, two driving mechanisms and a second lifting part, the sliding block is in sliding connection with the arc-shaped sliding rail, the locking mechanism is arranged on the arc-shaped sliding rail and the sliding block, the two driving mechanisms are symmetrically arranged on the sliding block, the second lifting part is arranged below the sliding block, and the output end of the second lifting part is fixedly connected with the infrared detection unit; The locking mechanism comprises two electromagnets and a metal arc-shaped plate, the two electromagnets are symmetrically arranged on both sides of the sliding block and located in the interior of the arc-shaped sliding rail, the metal arc-shaped plate is fixedly connected with the arc-shaped sliding rail and located at the inner top wall of the arc-shaped sliding rail; The driving mechanism comprises a supporting block, a driving part and a roller, the arc-shaped sliding rail has an arc-shaped groove, the supporting block is arranged at one end of the sliding block, the driving part is arranged above the supporting block, the output end of the driving part is fixedly connected with the roller, and the roller is in contact with the inner wall of the arc-shaped groove; The lifting seat comprises a supporting plate and a plurality of first lifting parts, the supporting plate is arranged at the output end of the two longitudinal moving parts, and a plurality of first lifting parts are sequentially arranged above the supporting plate; The infrared detection unit comprises a shell, a detection port, a turntable, an infrared thermal imager, an infrared sensor, an infrared thickness gauge, an infrared spectrometer and a rotating part and a limiting mechanism, the shell is fixedly connected with the output end of the second lifting part, the detection port is arranged on the shell, the turntable is in rotary connection with the shell and located in the interior of 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 part is arranged on the inner top wall of the shell, the output end of the rotating part is fixedly connected with the turntable, and the limiting mechanism is arranged in the interior of the shell. The limiting mechanism comprises a telescopic component and a limiting block, the rotating disc 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 with the limiting block, and the limiting block is matched with any limiting hole; By placing the rubberized plate on the placing plate, then starting the longitudinal moving component, conveying it under the infrared detection unit, at this time the industrial camera takes a picture, and a plurality of infrared devices rotate in turn, and the defects of the rubberized edge are detected in turn through the detection port; meanwhile, the transverse moving component adjusts the transverse detection position, and the longitudinal moving component adjusts the longitudinal position; the driving component is started, drives the roller to rotate in the arc-shaped groove, contacts with the inner wall of the arc-shaped groove, and then drives the sliding block to slide, so that the infrared detection unit is adjusted in the arc-shaped angle above the rubberized plate, and then can move around the rubberized edge, so as to adjust the detection angle in all directions.

2. The industrial robot vision rubberized edge defect detection device according to claim 1, characterized in that, The material changing component comprises two feeding placing blocks and two discharging placing blocks, the two feeding placing blocks and the two discharging placing blocks are arranged above the base and are respectively located on the two sides of the longitudinal moving component.

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