Automatic glue path detection equipment based on 3D line laser and 2D camera

Abstract

The invention discloses glue path automatic detection equipment based on 3D line laser and a 2D camera, and the glue path automatic detection equipment based on the 3D line laser and the 2D camera comprises a workbench, a balance plate, a first limiting plate, a second limiting plate, a positioning disc, a clamping assembly, a 3D line laser scanner and the 2D camera. An X-axis moving module and a Y-axis moving module are fixedly connected to the workbench and the stand column plate respectively, the balance plate is fixedly connected to the X-axis moving module and moves along the X axis, the first limiting plate and the second limiting plate are both fixedly connected to the balance plate, a placement plate is hinged to the first limiting plate, the positioning disc is connected to the placement plate, and the second limiting plate is hinged to the second limiting plate. The clamping assembly is arranged on the upper side of the positioning disc and used for positioning and clamping a workpiece placed on the positioning disc. According to the technical scheme of the invention, man-made interference is reduced, the consistency and stability of detection are improved, and the stability of product quality is ensured.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of automatic glue path detection equipment based on 3D line laser and 2D camera, and particularly relates to an automatic glue path detection equipment based on 3D line laser and 2D camera. BACKGROUND

[0002] In industrial manufacturing, in order to avoid the influence of moisture, dust, harmful substances or temperature, many industries have important production processes of gluing, for example, automobile manufacturing industry, 3C consumer electronics industry, lithium battery industry and some daily use factory enterprises, and the quality of products is directly related to the quality of the glue coating and the accuracy of dispensing, therefore, dispensing guidance and detection are essential parts in the production process.

[0003] In the prior art, there are usually two methods for glue path detection. The first method is to randomly place the workpiece with glue coating on the workbench for detection without positioning and fixing the workpiece. This method is prone to cause deformation of the workpiece during detection due to external force, thereby affecting the accuracy of data such as the shape and thickness of the glue path. The second method is to use a specially designed clamp to position the workpiece so that it is in contact with the surface for detection. However, such a clamp usually cannot adapt to workpieces of different shapes and sizes, resulting in reduced consistency and stability of detection and unable to ensure the stability of product quality. SUMMARY

[0004] The main purpose of the present application is to provide an automatic glue path detection equipment based on 3D line laser and 2D camera, which aims to reduce human interference, improve the consistency and stability of detection, and ensure the stability of product quality.

[0005] To achieve the above purpose, the present application provides an automatic glue path detection equipment based on 3D line laser and 2D camera, which comprises:

[0006] A workbench is fixedly connected with a column plate, and an X-axis moving module and a Y-axis moving module are fixedly connected to the workbench and the column plate, respectively;

[0007] A balance plate is fixedly connected to the X-axis moving module and moves along the X-axis;

[0008] First and second limiting plates are fixedly connected to the balance plate, and a placement plate is hingedly connected to the first limiting plate;

[0009] A positioning disc is connected to the placement plate;

[0010] A clamping assembly is arranged on the upper side of the positioning disc and is used for positioning and clamping the workpiece placed on the positioning disc;

[0011] 3D line laser scanner and 2D camera are fixedly connected on the Y-axis moving module.

[0012] In a possible implementation, the clamping assembly comprises:

[0013] The first air cylinder is fixedly connected to the lower side of the positioning disc, and a positioning plate is fixedly connected to the telescopic shaft of the first air cylinder.

[0014] The second positioning seat is fixedly connected to the positioning disc, and the long side of the first positioning seat is parallel to the long side of the second positioning seat.

[0015] Two clamping rings are slidably connected to the upper side of the positioning disc, and each clamping ring is connected with a transmission plate at the lower side. Each transmission plate is hingedly connected with a linkage plate at the end away from the clamping ring, and each linkage plate is hingedly connected with the positioning plate.

[0016] In a possible implementation, the positioning disc is provided with a first clamping groove and two second clamping grooves, the inner wall of the first clamping groove is slidably connected with a first clamping block, the first clamping block is fixedly connected between the positioning plate and the first positioning seat, and the inner wall of each second clamping groove is slidably connected with a second clamping block. Each second clamping block is fixedly connected between the adjacent clamping ring and the transmission plate.

[0017] In a possible implementation, two positioning blocks are rotatably connected to the clamping ring.

[0018] In a possible implementation, two reset columns are slidably connected to the first positioning seat, and a reset plate is fixedly connected to the two reset columns. Each reset column is sleeved with a reset spring, and each reset spring is arranged between the first positioning seat and the reset plate.

[0019] In a possible implementation, the lower side of the placement plate is connected with a rotating module for driving the rotation of the positioning disc.

[0020] The rotating module comprises:

[0021] The first motor is fixedly connected to the lower side of the placement plate, and a driving shaft of the first motor is fixedly connected with a first gear.

[0022] The second gear is coaxially fixedly connected to the lower side of the positioning disc, and the first gear is engaged with the second gear.

[0023] In a possible implementation, a turnover module is connected between the first limiting plate and the second limiting plate, the turnover module is used for adjusting the included angle between the first limiting plate and the placement plate, and the turnover module comprises:

[0024] Two limiting columns, each of the limiting columns is fixedly connected between the first limiting plate and the second limiting plate;

[0025] A transmission screw rod is rotatably connected to the first limiting plate and the second limiting plate, and a transmission block is threadedly connected to the transmission screw rod;

[0026] A receiving plate is hingedly connected between the transmission block and the placing plate;

[0027] A second motor is fixedly connected to the second limiting plate, and a drive shaft of the second motor is fixedly connected to the transmission screw rod.

[0028] The technical scheme of the present application realizes high-precision three-dimensional shape detection and surface defect capture in the rubber road detection by fusing 3D line laser scanning technology and 2D cameras. The 3D line laser scanner can obtain high-precision geometric data of the workpiece surface, and the 2D camera can assist in capturing subtle surface defects. The combination of the two not only improves the performance of the system in detecting details, but also makes the quality control of the workpiece more comprehensive. Through three-dimensional modeling of the rubber road shape, the system can accurately identify shape variations caused by improper construction process or external factors, thereby effectively preventing potential quality problems. In addition, the clamping assembly enables the workpiece to automatically adapt to different shapes and sizes during the detection process. Whether it is a complex curved surface or an irregular shape, the adaptability of the clamping assembly ensures stable placement of the workpiece, thereby reducing detection errors caused by workpiece position deviation. It can meet the efficient detection needs of different types of workpieces, effectively reduce the influence of human interference, has high automation, and reduces the intervention of operators. This is crucial for improving the consistency and stability of detection. It can detect in real time during the production process, automatically identify and feedback quality problems, and take corrective measures in a timely manner, greatly improving the overall operation efficiency of the production line. BRIEF DESCRIPTION OF DRAWINGS

[0029] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the drawings needed to be used in the embodiment or prior art description. Obviously, the drawings in the following description are only some embodiments of the present application, and those skilled in the art can obtain other drawings from the structures shown in the drawings without creative labor.

[0030] Figure 1 A schematic diagram of the rubber road automatic detection equipment based on 3D line laser and 2D camera of the present application Figure 1 ;

[0031] Figure 2 A schematic diagram of the rubber road automatic detection equipment based on 3D line laser and 2D camera of the present application Figure 2 ;

[0032] Figure 3 For Figure 2 enlarged view of A in the middle;

[0033] Figure 4 For the schematic of the automatic detection equipment of the glue path based on 3D line laser and 2D camera Figure 3 ;

[0034] Figure 5 For Figure 4 enlarged view of B in the middle;

[0035] Figure 6 For Figure 4 enlarged view of C in the middle.

[0036] BRIEF DESCRIPTION OF DRAWINGS

[0037] 11, workbench; 12, column plate; 13, X-axis moving module; 14, Y-axis moving module; 15, balance plate; 161, first limiting plate; 162, second limiting plate; 17, mounting plate; 18, positioning disc; 181, first clamping groove; 182, second clamping groove; 191, 3D line laser scanner; 192, 2D camera; 21, first air cylinder; 22, positioning plate; 23, first positioning seat; 231, reset column; 232, reset plate; 233, reset spring; 24, second positioning seat; 25, clamping ring; 251, positioning block; 26, transmission plate; 27, linkage plate; 28, first clamping block; 29, second clamping block; 31, first motor; 32, first gear; 33, second gear; 41, limiting column; 42, transmission screw; 43, transmission block; 44, receiving plate; 45, second motor.

[0038] The implementation, functional features and advantages of the present application will be further described with reference to the embodiments and the accompanying drawings. DETAILED DESCRIPTION

[0039] In order to make the purpose, technical scheme and advantages of the present application more clear, the present application will be further described in detail below with reference to the drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application, and are not used to limit the present application.

[0040] The present application provides an automatic detection equipment of the glue path based on 3D line laser and 2D camera.

[0041] Referring to Figures 1 to 6 , comprising:

[0042] The workbench 11 is fixedly connected with the column plate 12, and the workbench 11 and the column plate 12 are respectively fixedly connected with the X-axis moving module 13 and the Y-axis moving module 14;

[0043] The balance plate 15 is fixedly connected to the X-axis moving module 13 and moves along the X-axis;

[0044] The first limiting plate 161 and the second limiting plate 162 are both fixedly connected to the balance plate 15, and the first limiting plate 161 is hingedly connected with the placement plate 17;

[0045] The positioning disc 18 is connected to the placement plate 17;

[0046] The clamping assembly is arranged on the upper side of the positioning disc 18 and is used for positioning and clamping the workpiece installed on the positioning disc 18;

[0047] The 3D line laser scanner 191 and the 2D camera 192 are both fixedly connected to the Y-axis moving module 14;

[0048] By fusing the 3D line laser scanning technology and the 2D camera, high-precision three-dimensional shape detection and surface defect capture are realized in the rubber road detection. The 3D line laser scanner can obtain high-precision geometric data of the workpiece surface, and the 2D camera can assist in capturing subtle surface defects. The combination of the two not only improves the performance of the system in detecting details, but also makes the quality control of the workpiece more comprehensive. Through three-dimensional modeling of the rubber road shape, the system can accurately identify shape variations caused by improper construction process or external factors, thereby effectively preventing potential quality problems. In addition, the clamping assembly enables the workpiece to automatically adapt to different shapes and sizes during the detection process. Whether it is a complex curved surface or an irregular shape, the adaptability of the clamping assembly ensures stable placement of the workpiece, thereby reducing detection errors caused by workpiece position deviation. It can meet the efficient detection needs of different types of workpieces, effectively reduce the influence of human interference, has high automation, and reduces the intervention of operators. This is crucial for improving the consistency and stability of detection. It can detect in real time during the production process, automatically identify and feedback quality problems, and take corrective measures in a timely manner, greatly improving the overall operation efficiency of the production line.

[0049] Referring to Figures 1 to 6 The clamping assembly comprises:

[0050] The first cylinder 21 is fixedly connected to the lower side of the positioning disc 18, and the first cylinder 21 is fixedly connected with the positioning plate 22 on the extension shaft of the first cylinder 21. The first positioning seat 23 is connected to the upper side of the positioning plate 22;

[0051] The second positioning seat 24 is fixedly connected to the positioning disc 18, and the long side of the first positioning seat 23 is parallel to the long side of the second positioning seat 24;

[0052] Two clamping rings 25 are slidably connected to the upper side of the positioning disc 18, the lower side of each clamping ring 25 is connected with a transmission plate 26, the end of each transmission plate 26 away from the clamping ring 25 is hingedly connected with a linkage plate 27, each linkage plate 27 is hingedly connected with the positioning plate 22;

[0053] The clamping assembly can clamp workpieces of different shapes and sizes automatically, ensure the stability of the position of the workpiece during the detection of the glue path, avoid detection errors caused by slight displacement or vibration, prevent the workpiece from deforming due to external force, ensure the accuracy of the shape, thickness and other data of the glue path, and has the advantages of strong automatic adaptability, improved detection accuracy and reduced external interference, thereby improving the overall detection efficiency and the reliability of the results.

[0054] With reference to Figure 5 , the positioning disc 18 is provided with a first clamping groove 181 and two second clamping grooves 182, the inner wall of the first clamping groove 181 is slidably abutted with a first clamping block 28, the first clamping block 28 is fixedly connected between the positioning plate 22 and the first positioning seat 23, the inner wall of each second clamping groove 182 is slidably abutted with a second clamping block 29, and each second clamping block 29 is fixedly connected between the adjacent clamping ring 25 and the transmission plate 26;

[0055] The first positioning seat 23 and the clamping ring 25 can slide along the inner wall of the corresponding slot of the positioning disc 18, and the sliding state of the first positioning seat 23 and the clamping ring 25 is limited to enable stable sliding.

[0056] With reference to Figures 1 to 2 , the clamping ring 25 is rotatably connected with two positioning blocks 251;

[0057] Based on the positioning of the two circular arc end points of the clamping ring 25 to the side edges of the workpiece, the positioning block 251 is added, and some workpieces with protruding lower surfaces can also be positioned and clamped through the stepped surface of the positioning block 251. In the clamping process, some circular arc appearances or long side edges can be positioned and clamped through the stepped surface or side edge of the positioning block 251, thereby improving the clamping effect of workpieces of different shapes and improving the practicality.

[0058] With reference to Figures 1 to 3 , the first positioning seat 23 is slidably connected with two reset columns 231, the reset plate 232 is fixedly connected to the two reset columns 231, the reset spring 233 is sleeved on each reset column 231, and the reset spring 233 is arranged between the first positioning seat 23 and the reset plate 232;

[0059] When the first positioning seat 23 is clamped towards the workpiece direction by the action of the reset spring 233, the pressure can be automatically adjusted according to the shape and surface state of the workpiece, ensuring uniform distribution of clamping force, avoiding deformation or damage of the workpiece due to uneven clamping force. Secondly, the workpiece surface may not be completely flat or have slight fluctuations. The reset spring 233 can adjust the surface shape and height of the workpiece through elasticity, ensuring that the clamping force is always stable. In addition, the reset spring 233 can absorb vibration and impact, effectively reducing the impact of vibration or external force on the workpiece during clamping, helping to improve the stability of the workpiece during clamping, preventing processing errors caused by vibration or deviation. The reset plate 232 with the reset spring 233 can provide a certain buffer during clamping, reducing direct contact between the clamp and the workpiece, thereby reducing the risk of friction and wear. This is especially beneficial for long-term use of the clamp, helping to extend the service life of the clamp. Finally, due to the self-adaptive ability of the reset spring 233, the clamping process of the workpiece is simpler and does not require excessive adjustment. Workers can clamp faster, thereby improving production efficiency, especially in large-scale testing, which can save time.

[0060] With reference to Figures 3 to 6 The lower side of the installation plate 17 is connected with a rotating module for driving the positioning disc 18 to rotate:

[0061] The rotating module comprises:

[0062] A first motor 31 is fixedly connected to the lower side of the installation plate 17, and a drive shaft of the first motor 31 is fixedly connected with a first gear 32;

[0063] A second gear 33 is coaxially fixedly connected to the lower side of the positioning disc 18, and the first gear 32 is engaged with the second gear 33.

[0064] Through the rotating module, the workpiece is driven to rotate. After the workpiece rotates, the glue path can be detected from multiple angles. Many glue paths may exist on different sides or at different angles of the workpiece. By rotating the workpiece, the detection device can more easily obtain data in each direction, ensuring that every detail of the glue path can be fully detected, which helps to ensure that the detection system can accurately measure at different positions and angles, helps to eliminate the difference in viewing angle caused by different angles, ensures the accuracy and consistency of measurement, and can also avoid the shadow of the clamping assembly on the surface of the workpiece. The relative position of the clamp and the detection device is more reasonable, reducing the shadow of the clamp on the glue path area, allowing the detection system to realize fully automatic and unmanned detection, reducing manual intervention, and improving the working efficiency and stability of the production line.

[0065] With reference to Figures 3 to 6The overturning module is connected between the first limiting plate 161 and the second limiting plate 162, and is used for adjusting an included angle between the first limiting plate 161 and the placement plate 17, and the overturning module comprises:

[0066] Two limiting columns 41 are fixedly connected between the first limiting plate 161 and the second limiting plate 162;

[0067] A transmission screw 42 is rotatably connected between the first limiting plate 161 and the second limiting plate 162, and a transmission block 43 is threadedly connected to the transmission screw 42;

[0068] A bearing plate 44 is hingedly connected between the transmission block 43 and the placement plate 17;

[0069] A second motor 45 is fixedly connected to the second limiting plate 162, and a driving shaft of the second motor 45 is fixedly connected to the transmission screw 42;

[0070] The second motor 45 in the overturning module drives the transmission screw 42 to rotate, and then controls the relative position of the transmission block 43 on the transmission screw 42, when the transmission block 43 moves towards the second limiting plate 162, the placement plate 17 is driven by the bearing plate 44 to overturn upwards around the hinge point with the first limiting plate 161, the included angle is changed, the included angle between the 2D camera and the workpiece surface can be adjusted, the surface of the glue path may have different defects or irregularities, and some cracks and pits may not be obvious at a normal viewing angle, but can be more prominent when viewed at an inclined angle or from the side. By adjusting the angle, some details can be highlighted by using the reflection of light, shadows and contrast, so that some small cracks, wear or irregularities are more obvious, in addition, the workpiece is tilted at different angles by cooperating with the rotating module, and the observation of the surface of the workpiece glue path is further improved, so that the comprehensiveness, accuracy and efficiency of detection are enhanced, especially when detecting complex shapes, uneven coating or multiple surface glue paths, the glue path detection system can cover every detail to maximize the reliability of the detection result.

[0071] In the drawings of the embodiment, the same or similar reference numerals correspond to the same or similar components; in the description of the present application, it should be understood that the orientations or positional relationships indicated by terms such as “upper”, “lower”, “left”, “right” are based on the orientations or positional relationships shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, therefore the terms describing the positional relationship in the drawings are only used for exemplary illustration, and cannot be understood as a limitation on the present patent, and for those skilled in the art, the specific meanings of the above terms can be understood according to the specific circumstances.

[0072] The above merely provides the preferred embodiments of the present application, and is not used to limit the present application. Any modification, equivalent replacement, and improvement made in the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. An automatic glue line detection device based on 3D line laser and 2D camera, characterized in that: include: A workbench (11), wherein a column plate (12) is fixedly connected to the workbench (11), and an X-axis moving module (13) and a Y-axis moving module (14) are fixedly connected to the workbench (11) and the column plate (12), respectively; A balance plate (15), wherein the balance plate (15) is fixedly connected to the X-axis moving module (13) and moves along the X-axis; a first limiting plate (161) and a second limiting plate (162), wherein the first limiting plate (161) and the second limiting plate (162) are both fixedly connected to the balance plate (15), and a placement plate (17) is hingedly connected to the first limiting plate (161); A positioning plate (18), wherein the positioning plate (18) is connected to the placement plate (17); A positioning assembly, the positioning assembly being arranged on the upper side of the positioning plate (18) and being used for positioning and clamping a workpiece placed on the positioning plate (18); A 3D line laser scanner (191) and a 2D camera (192), wherein the 3D line laser scanner (191) and the 2D camera (192) are both fixedly connected to the Y-axis moving module (14).

2. The automatic glue path detection equipment based on 3D line laser and 2D camera according to claim 1 is characterized in that: The positioning component includes: A first cylinder (21), the first cylinder (21) is fixedly connected to the lower side of the positioning plate (18), a positioning plate (22) is fixedly connected to the telescopic shaft of the first cylinder (21), and a first positioning seat (23) is connected to the upper side of the positioning plate (22); A second positioning seat (24), wherein the second positioning seat (24) is fixedly connected to the positioning plate (18), and the long side of the first positioning seat (23) is parallel to the long side of the second positioning seat (24); Two retaining rings (25), each retaining ring (25) is slidably connected to the upper side of the positioning plate (18), the lower side of each retaining ring (25) is connected to a transmission plate (26), one end of each transmission plate (26) away from the retaining ring (25) is hinged to a linkage plate (27), and each linkage plate (27) is hinged to the positioning plate (22).

3. The automatic glue path detection equipment based on 3D line laser and 2D camera according to claim 2 is characterized in that: The positioning plate (18) is provided with a first latching groove (181) and two second latching grooves (182); the inner wall of the first latching groove (181) is slidably abutted against a first latching block (28); the first latching block (28) is fixedly connected between the positioning plate (22) and the first positioning seat (23); the inner wall of each second latching groove (182) is slidably abutted against a second latching block (29); and each second latching block (29) is fixedly connected between an adjacent latching ring (25) and a transmission plate (26).

4. The automatic glue path detection equipment based on 3D line laser and 2D camera according to claim 2 is characterized in that: The retaining ring (25) is rotatably connected to two positioning blocks (251).

5. The automatic glue path detection equipment based on 3D line laser and 2D camera according to claim 2 is characterized in that: Two reset columns (231) are slidably connected to the first positioning seat (23), and a reset plate (232) is fixedly connected to the two reset columns (231). Each reset column (231) is sleeved with a reset spring (233), and each reset spring (233) is respectively arranged between the first positioning seat (23) and the reset plate (232).

6. The automatic glue path detection equipment based on 3D line laser and 2D camera according to claim 1 is characterized in that: The lower side of the placement plate (17) is connected to a rotation module for driving the positioning plate (18) to rotate: The rotation module includes: A first motor (31), the first motor (31) is fixedly connected to the lower side of the placement plate (17), and a driving shaft of the first motor (31) is fixedly connected to a first gear (32); The second gear (33) is coaxially fixedly connected to the lower side of the positioning plate (18), and the first gear (32) is meshed with the second gear (33).

7. The automatic glue path detection equipment based on 3D line laser and 2D camera according to claim 1 is characterized in that: A flip module is connected between the first limiting plate (161) and the second limiting plate (162), and the flip module is used to adjust the angle between the first limiting plate (161) and the placement plate (17). The flip module includes: Two limiting columns (41), each of the limiting columns (41) is fixedly connected between the first limiting plate (161) and the second limiting plate (162); A transmission screw (42), the transmission screw (42) is rotatably connected to the first limit plate (161) and the second limit plate (162), and a transmission block (43) is threadedly connected to the transmission screw (42), and the transmission block (43); A receiving plate (44), wherein the receiving plate (44) is hinged between the transmission block (43) and the placement plate (17); A second motor (45) is fixedly connected to the second limiting plate (162), and a drive shaft of the second motor (45) is fixedly connected to the transmission screw (42).

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