An intelligent rubber head automation detection method with an adaptive standard library, a terminal device, and a computer storage medium

Abstract

This invention relates to an automated testing method, terminal device, and computer storage medium for intelligent rubber heads with an adaptive standard library. The method includes: clamping the rubber head to be tested and acquiring static images to establish an initial reference template; pressing down at a first speed to a first preset displacement, simultaneously acquiring a first force signal and a first time-series image, and calculating a first degree of overlap; pressing down at a second speed greater than the first speed to a second preset displacement, simultaneously acquiring a second force signal and a second time-series image, and calculating a second degree of overlap; retracting at a third speed, simultaneously acquiring a rebound force signal and a rebound time-series image, and calculating a third degree of overlap; establishing a speed response difference ratio fusion annotation library by combining the various degrees of overlap and force signal data, solving for a comprehensive score, and comparing it with a quality threshold to determine passability. Through force and visual fusion analysis during multi-level speed compression and rebound processes, accurate detection of the dynamic deformation characteristics and recovery ability of the rubber head is achieved, improving detection accuracy and stability.

Description

Technical Field

[0001] This application relates to the field of automated testing technology, and in particular to an automated testing method, terminal equipment, and computer storage medium for intelligent rubber heads with an adaptive standard library. Background Technology

[0002] In industrial applications such as electronics manufacturing, semiconductor packaging, dispensing processes, and automated gripping, dispensing heads (typically made of elastic polymer materials such as silicone and rubber) are widely used as actuators. The physical properties of the dispensing head, such as hardness, elastic modulus, stress relaxation characteristics, and deformation recovery ability, directly determine the accuracy and stability of its contact operation. For example, in precision dispensing or chip bonding processes, even slight differences in the characteristics of the dispensing head can lead to uneven contact pressure, misdispensing of adhesive, or component damage.

[0003] However, current technologies for detecting the characteristics of rubber tips primarily rely on manual experience or single physical tests. Common methods include using a hardness tester (such as a Shore hardness tester) for fixed-point measurements or using a simple pressure sensor for contact force testing. However, a single hardness test can only reflect the local hardness of the rubber tip under static or quasi-static conditions, and cannot comprehensively characterize the viscoelastic properties of the rubber tip during dynamic contact, especially failing to reflect the response differences of the rubber tip at different speeds. Furthermore, existing detection methods often ignore the geometric deformation information of the rubber tip during the force application process. The rubber tip undergoes complex deformation when subjected to contact pressure, and it is difficult to distinguish whether the rubber tip is too hard or too soft, or whether lateral displacement or torsion has occurred, based solely on force signals, leading to a high misjudgment rate.

[0004] Chinese patent CN116678780A discloses a method for detecting the surface drying time of an adhesive. The method involves using a dispensing machine to dispense adhesive lines at a fixed speed of v1 on a fixed plate, and using a probe with a certain force to contact the adhesive surface. The surface drying time of the adhesive is calculated by the change in the amount of adhesive on the probe. The surface drying time of the adhesive is T1 = Ln1 / v1 + n*f1.

[0005] Although the above scheme quantifies the surface drying time of the adhesive by the dynamic contact between the probe and the adhesive surface, the object of detection is the surface state of the adhesive material itself, rather than the adhesive head as the actuator, and it cannot decouple the effects of elastic deformation, viscoelastic response and geometric changes of the adhesive head during the contact operation on its contact behavior.

[0006] Therefore, we propose an automated detection method, terminal device, and computer storage medium for intelligent rubber heads with an adaptive standard library. Summary of the Invention

[0007] The main objective of this application is to provide an automated detection method, terminal device, and computer storage medium for intelligent rubber heads with an adaptive standard library, aiming to solve the problem that the detection of rubber head characteristics in the prior art cannot fully reflect the dynamic viscoelastic properties and deformation recovery ability of the rubber head.

[0008] To achieve the above objectives, this application provides an automated detection method for intelligent rubber heads with an adaptive standard library, comprising the following steps; S1. Control the clamping assembly to clamp the rubber head to be tested with a preset clamping force; S2. Take a static image of the rubber head to be tested through the vision acquisition module, extract the initial center coordinates and initial outer contour of the rubber head to be tested, and establish an initial reference template; S3. The moving module drives the test head to be pressed down to the reference surface of the corresponding mold. When the reference surface of the mold contacts the lower surface of the test head, the moving module presses down to the first preset displacement at the first speed. During the interaction between the test head and the reference surface of the mold, the first force signal output by the force acquisition module and the first time sequence image output by the vision acquisition module are recorded with a unified timestamp. The first time sequence image is compared with the initial reference template at the origin point to calculate the first degree of overlap. S4. Control the moving module to press down to a second preset displacement at a second speed, and the second speed is greater than the first speed. Record the second force signal output by the force acquisition module and the second time sequence image output by the vision acquisition module with a unified timestamp. Compare the second time sequence image with the initial reference template at the origin point and calculate the second degree of overlap. S5. Control the moving module to retreat upwards to the initial height at the third speed. During the rebound process, record the rebound force signal output by the force acquisition module and the rebound timing image output by the vision acquisition module with a unified timestamp. Compare the rebound timing image with the initial reference template at the origin point. S6. Establish a velocity response difference ratio fusion annotation library based on the acquired overlap and force signal data. Calculate the comprehensive score of the rubber head based on the established velocity response difference ratio fusion annotation library. If the comprehensive score of the rubber head is less than or equal to the preset quality threshold, the rubber head is deemed unqualified. If the comprehensive score of the rubber head is greater than the quality threshold, the rubber head is deemed qualified.

[0009] Preferably, the specific method for the origin coincidence comparison is as follows: the deformation contour of the glue head in the time series image is matched with the initial outer contour of the initial reference template by least squares, and the area ratio of the contour overlap region is calculated as the degree of coincidence.

[0010] Preferably, the first speed ranges from 0.5 mm / s to 2 mm / s, the second speed ranges from 5 mm / s to 15 mm / s, and the first preset displacement is 10%-30% of the initial height of the rubber head, and the second preset displacement is 40%-60% of the initial height of the rubber head.

[0011] Preferably, the third velocity during the rebound process is in the range of 2mm / s-8mm / s, and after returning to the initial height, it is held for 3-5 seconds, and a static image of the rubber head is collected again for stability verification.

[0012] Preferably, the velocity response difference ratio fusion annotation library specifically comprises: ; in, These correspond to the first degree of overlap, the second degree of overlap, and the third degree of overlap, respectively. The preset reference force value is the clamping force in step S1. Extract the average force value within the time window of the first force signal, during which the force is pressed down at the first velocity to the first preset displacement. To extract the average force value within a time window during the second force signal, where the force is pressed down at the second velocity to the second preset displacement, To extract the average residual force from the rebound force signal during the time window of the upward retreat to the initial height at the third velocity, the The weighting coefficients for the low-to-high speed adjustment of the compression and rebound phases, and satisfying the following conditions: , To prevent zero stability constant, the range of values ​​is: to .

[0013] Preferably, before obtaining the comprehensive score of the rubber head in step S6, a single-item veto judgment is required, and the single-item veto judgment is specifically as follows: If the first overlap is less than 0.2, or the second overlap is less than 0.2, or the third overlap is less than 0.2, or the average residual force is greater than the product of the residual force threshold coefficient and the reference force value, then the rubber head is directly determined to be unqualified and the testing process ends. The residual force threshold coefficient ranges from 0.1 to 0.2.

[0014] Preferably, the values ​​of the first overlap, the second overlap, and the third overlap are all in the range of 0 to 1. Their values ​​are used to represent the degree of deformation recovery of the rubber head at the corresponding stage, and the smaller the value, the worse the deformation recovery ability.

[0015] Preferably, the visual acquisition module and the force acquisition module achieve synchronized recording of a unified timestamp through a hardware trigger signal, which is generated by the encoder of the mobile module when a preset displacement is reached.

[0016] To achieve the above objectives, this application provides a terminal device, including a processor, a memory, and an image sensor; The memory stores computer programs; The image sensor is used to acquire imaging data of the product under test; The processor is used to execute the computer program to implement the automated detection method for smart rubber heads with an adaptive standard library as described in any of the preceding claims.

[0017] To achieve the above objectives, this application provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the steps of the automated detection method for smart rubber heads with an adaptive standard library as described in any of the preceding claims.

[0018] The beneficial effects of the technical solution of this invention are as follows: A unified timestamp mechanism ensures precise spatiotemporal alignment of deformation data (overlap rate) and mechanical data (mean force). A pressing phase with significant speed differences (low-speed first speed and high-speed second speed) is set up to simulate the mechanical and deformation behavior of the dispensing head under two extreme conditions: "gentle pressure" and "rapid pressure." By calculating the difference between the first and second overlap rates and combining it with changes in the force signal, the stress relaxation rate and creep characteristics of the dispensing head material can be accurately captured. This allows for the identification of defective products that pass static inspection but exhibit sluggishness or abnormal deformation during high-frequency dispensing, ensuring the stability and consistency of the dispensing process.

[0019] The velocity response difference ratio fusion annotation library introduces velocity response ratio (i.e., the difference between force signals at low and high speeds) and deformation recovery capability (rebound overlap and residual force) to construct a high-dimensional evaluation index that comprehensively reflects the elasticity, plasticity, viscosity, and structural stability of the rubber head. This transforms complex physical changes into a specific comprehensive score for the rubber head, achieving quantification and standardization of test results and reducing subjective errors from human judgment. Through preset quality thresholds and a single-item veto mechanism, it can quickly and automatically determine whether the rubber head is qualified, effectively improving production efficiency and product quality consistency. Furthermore, before calculating the velocity response difference ratio fusion annotation library, rapid screening can be performed using critical overlap thresholds and residual force thresholds in the three stages of low-speed compression, high-speed compression, and rebound. Rubber heads with serious defects (such as cracking, excessive softening, and permanent deformation) can be quickly eliminated in the early stages, avoiding the occupation of the testing cycle by subsequent complex calculations.

[0020] By combining the vision acquisition module and the force acquisition module, the deformation data (overlap) and mechanical data (force signal) of the rubber head during the force process are acquired simultaneously, overcoming the one-sidedness of single sensor detection and enabling a more comprehensive reflection of the physical characteristics of the rubber head.

[0021] It can effectively detect the residual deformation and structural relaxation of the rubber head after high-speed impact. Some rubber heads may show good overlap at the moment of force application, but if slow stress release occurs after a short rest period, causing the contour to fail to return to the initial reference template, it will be judged as unqualified by this mechanism, thereby improving the screening ability for the durability and long-term stability of the rubber head. Attached Figure Description

[0022] Figure 1 This is a schematic diagram of the rubber head structure of an automated detection method for intelligent rubber heads with an adaptive standard library in one embodiment of this application; Figure 2 A schematic block diagram of the internal structure of a terminal device in one embodiment of this application.

[0023] The realization of the purpose, functional features and advantages of this application will be further explained in conjunction with the embodiments and with reference to the accompanying drawings. Detailed Implementation

[0024] The embodiments of this application are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and intended to explain this application, and should not be construed as limiting this application. All other embodiments obtained by those skilled in the art based on the embodiments of this application without inventive effort are within the scope of protection of this application.

[0025] Furthermore, descriptions using terms such as "first" and "second" in this application are for descriptive purposes only (e.g., to distinguish identical or similar elements) and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Therefore, features defined with "first" or "second" may explicitly or implicitly include at least one of those features. Additionally, technical solutions from different embodiments can be combined with each other, but this must be based on the ability of those skilled in the art to implement them. If a combination of technical solutions is contradictory or impossible to implement, such a combination should be considered nonexistent and not within the scope of protection claimed in this application.

[0026] In the manufacturing process of colored contact lenses, pad printing is a crucial technical step. It achieves high-quality printing results through the precise transfer of ink via the printing head. The physical properties of the printing head, such as hardness, elastic modulus, stress relaxation characteristics, and deformation recovery ability, directly determine the accuracy and stability of its contact operation. Furthermore, as a core consumable in the pad printing process, the printing head undergoes irreversible changes in hardness, elasticity, and deformation recovery ability during repeated use, thus affecting the consistency and reliability of the process. See [link to relevant documentation]. Figure 1 .

[0027] However, in actual production, there are many problems with the replacement and inspection of the printing pads. Traditional pad printing machines usually require manual operation to replace the printing pads, which is not only inefficient but also prone to secondary contamination of the printing pads, affecting the printing effect. In addition, because the printing pads are prone to fatigue rebound and softening during use, the actual printing volume is affected, reducing printing efficiency and quality.

[0028] To address these issues, the industry has proposed several improvement solutions. For example, some equipment utilizes highly automated pad printing machines, employing servo electric cylinders instead of pneumatic cylinders to drive the ink head, or using robotic arms to replace manual material loading and unloading. However, these improvements still have limitations. For instance, the ink supply method still uses the traditional model of one pattern template per ink cup. Preparing multiple colors requires several sets of ink cups and templates, and manual disassembly and replacement are still necessary. Furthermore, for multi-color pad printing machines, due to the inherent limitations of the rotary conveyor mechanism, the registration accuracy is somewhat lower than that of single-color pad printing machines.

[0029] More importantly, current technologies for detecting the characteristics of rubber tips largely rely on manual experience or single physical tests. Common methods include using a hardness tester (such as a Shore hardness tester) for fixed-point measurements or using a simple pressure sensor for contact force testing. However, a single hardness test can only reflect the local hardness of the rubber tip under static or quasi-static conditions, and cannot comprehensively characterize the viscoelastic properties of the rubber tip during dynamic contact, especially failing to reflect the response differences of the rubber tip at different speeds. Furthermore, existing detection methods often ignore the geometric deformation information of the rubber tip during the force application process. The rubber tip undergoes complex deformation when subjected to contact pressure, and it is difficult to distinguish whether the rubber tip is too hard or too soft, or whether lateral displacement or torsion has occurred, based solely on force signals, leading to a high misjudgment rate.

[0030] This invention proposes an automated detection method for intelligent adhesive head with an adaptive standard library in the adhesive tape tube alignment and adjustment mechanism, comprising the following steps; S1. Control the clamping assembly to clamp the test head with a preset clamping force; specifically, by setting a fixed clamping force, ensure that the initial state of the test head is consistent each time, avoid affecting the internal stress distribution of the head due to different clamping tightness, and thus ensure the repeatability and comparability of the test results.

[0031] S2. Take a static image of the rubber head to be tested using the vision acquisition module, extract the initial center coordinates and initial outer contour of the rubber head to be tested, and establish an initial reference template.

[0032] In one embodiment, the visual acquisition module and the force acquisition module achieve synchronized recording of a unified timestamp through a hardware trigger signal. This hardware trigger signal is generated by the encoder of the mobile module when a preset displacement is reached. Specifically, the mobile module 120 is equipped with a high-precision encoder. When the mobile module moves and reaches a preset displacement (such as a contact point, a first preset displacement, a second preset displacement, or other key nodes), the encoder 130 generates a hardware trigger signal. This signal is simultaneously sent to both the visual acquisition module and the force acquisition module, forcing them to start recording or timestamp at that moment.

[0033] S3. The external control system drives the moving module to move the test head downwards until the lower surface of the head contacts the reference surface of the mold. After contact confirmation, the moving module continues to press down at the first speed to the first preset displacement.

[0034] During this process, the rubber head under test interacts with the mold reference surface through compression. Simultaneously, the control system synchronously records the first force signal output by the force acquisition module and the first time-series image output by the vision acquisition module with a unified timestamp.

[0035] After recording, the system compares the deformed rubber head image in the first time-series image with the initial reference template established in step S2, focusing on their origins. Specifically, the deformed rubber head contour in the first time-series image is matched with the initial outer contour of the initial reference template, and the degree of overlap between the two is calculated and recorded as the first degree of overlap.

[0036] In one embodiment, the first speed ranges from 0.5 mm / s to 2 mm / s, and the first preset displacement is 10% to 30% of the initial height of the rubber head.

[0037] S4. After completing the first stage of pressing down, control the moving module to continue pressing down at the second speed to the second preset displacement.

[0038] Similarly, during this process, the system synchronously records the second force signal output by the force acquisition module and the second temporal image output by the vision acquisition module with a unified timestamp.

[0039] Subsequently, the second time-series image is compared with the initial reference template at the origin to calculate the second degree of overlap. In one embodiment, the second speed ranges from 5 mm / s to 15 mm / s, and the second preset displacement is 40% to 60% of the initial height of the rubber head.

[0040] In a preferred embodiment, the first speed is 0.8 mm / s, the second speed is 9 mm / s, the first preset displacement is 18% of the initial height of the rubber head, and the second preset displacement is 46% of the initial height of the rubber head.

[0041] In summary, by setting two different compression speeds—low and high—it is possible to simulate two typical working conditions that the rubber head might encounter in actual operation: slow compression and rapid impact. This allows for a more comprehensive evaluation of the rubber head's mechanical response characteristics under different strain rates. The low-speed compression stage is mainly used to test the elastic modulus and deformation uniformity of the rubber head under quasi-static conditions, while the high-speed compression stage focuses more on evaluating the rubber head's instantaneous response and impact resistance under dynamic impact loads.

[0042] Further, the first time-series image and the initial reference template are compared at the origin point to calculate the first degree of overlap. Specifically, the method of the origin point comparison is as follows: the deformation contour of the rubber head in the time-series image is matched with the initial outer contour of the initial reference template using least squares, and the area ratio of the contour overlap region is calculated as the degree of overlap.

[0043] The overlap value ranges from 0 to 1. Its value is used to indicate the degree of deformation recovery of the rubber head at the corresponding stage. The smaller the value, the worse the deformation recovery ability, indicating that the rubber head has undergone abnormal deformation or structural damage under this working condition.

[0044] S5. After reaching the maximum compression, control the moving module to retract upwards to the initial height at a third speed. During the rebound process, the rubber head attempts to return to its original shape.

[0045] The system records the rebound force signal output by the force acquisition module and the rebound timing image output by the vision acquisition module with a unified timestamp.

[0046] Subsequently, the rebound timing image is compared with the initial reference template at the origin to calculate the third degree of overlap.

[0047] In one embodiment, the third velocity during the rebound process ranges from 2mm / s to 8mm / s, and after returning to the initial height, it is held for 3-5 seconds, and a static image of the rubber head is captured again to verify stability.

[0048] Furthermore, the stability verification specifically includes: In step S5, after the moving module retracts to its initial height, it does not stop immediately but remains stationary for 3-5 seconds. During this period, the vision acquisition module again captures a static image of the rubber head.

[0049] The system compares the image with the initial reference template to verify whether the rubber head has returned to its initial geometric state after a complete compression-springback cycle. If the rubber head still exhibits significant deformation or positional shift after the holding period, it indicates that the rubber head has undergone substantial plastic deformation or creep.

[0050] S6. Input the overlap data and force signal data obtained in the above steps into the pre-established velocity response difference ratio fusion annotation library to solve for the comprehensive score of the rubber head.

[0051] The speed response difference ratio fusion annotation library evaluates the dynamic characteristics of the rubber head by quantifying the relationship between deformation and force at different speeds. When the overall score of the rubber head is less than or equal to a preset quality threshold, the rubber head is deemed unqualified; when the overall score of the rubber head is greater than the quality threshold, the rubber head is deemed qualified.

[0052] In one embodiment, the velocity response difference is compared to the fused annotation library: ; in, These correspond to the first degree of overlap, the second degree of overlap, and the third degree of overlap, respectively.

[0053] The preset reference force value is the clamping force in step S1. To extract the average force value from the first force signal within a time window during the period from the first velocity downwards to the first preset displacement, To extract the average force value within a time window during the second force signal, where the force is pressed down at the second velocity to the second preset displacement, To extract the average residual force from the rebound force signal during the time window of the phase when the force recoils upward at the third velocity back to the initial height.

[0054] The The weighting coefficients for the low-to-high speed adjustment of the compression and rebound phases must satisfy the following conditions: , To prevent zero stability constant, the range of values ​​is: to .

[0055] Furthermore, before calculating the comprehensive score of the rubber head in step S6, a single-item veto judgment is required. The single-item veto judgment is specifically as follows: If the first overlap is less than 0.2, or the second overlap is less than 0.2, or the third overlap is less than 0.2, or the average residual force is greater than the product of the residual force threshold coefficient and the reference force value, then the rubber head is directly determined to be unqualified and the testing process ends. The residual force threshold coefficient ranges from 0.1 to 0.2.

[0056] In a preferred embodiment, the values ​​of the first overlap, the second overlap, and the third overlap are all in the range of 0 to 1. Their values ​​are used to represent the degree of deformation recovery of the rubber head at the corresponding stage, and the smaller the value, the worse the deformation recovery ability.

[0057] Furthermore, this application embodiment also provides a terminal device, the internal structure of which can be as follows: Figure 2 As shown, the terminal device includes a processor, memory, communication interface, and database connected via a system bus. The processor provides computing and control capabilities. The terminal device's memory includes a non-volatile storage medium and internal memory. The non-volatile storage medium stores the operating system, computer programs, and database. The internal memory provides an environment for the operation of the operating system and computer programs in the non-volatile storage medium. The terminal device's database stores data called by the computer programs. The terminal device's communication interface is used for data communication with external terminals. The terminal device's input device receives signals from external devices. When the computer program is executed by the processor, it implements an automated intelligent rubber head detection method with an adaptive standard library as described in the above embodiments.

[0058] Those skilled in the art will understand that Figure 2 The structure shown is merely a block diagram of a portion of the structure related to the solution of this application, and does not constitute a limitation on the terminal device to which the solution of this application is applied.

[0059] Furthermore, this application also proposes a readable storage medium comprising a computer program that, when executed by a processor, implements the steps of the automated detection method for smart adhesive tips with an adaptive standard library as described in the above embodiments. It is understood that the readable storage medium in this embodiment can be either a volatile readable storage medium or a non-volatile readable storage medium.

[0060] Those skilled in the art will understand that implementing all or part of the processes in the above-described automated detection method for intelligent rubber heads with an adaptive standard library can be accomplished by a computer program instructing related hardware. The computer program can be stored in a non-volatile computer-readable storage medium. When executed, the computer program can include the processes of the embodiments of the above-described automated detection method for intelligent rubber heads with an adaptive standard library. Any references to memory, storage, databases, or other media used in this application and in the embodiments can include non-volatile and / or volatile memory. Non-volatile memory can include read-only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM), or flash memory. Volatile memory can include random access memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in a variety of forms, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), dual-speed SDRAM (SSRSDRAM), enhanced SDRAM (ESDRAM), synchronous link DRAM (SLDRAM), RAMbus direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM).

[0061] It should be noted that, in this document, the terms "comprising," "including," or any other variations thereof are intended to cover a non-exclusive inclusion, such that a process, apparatus, article, or automated detection method for smart rubber heads with an adaptive standard library that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, apparatus, article, or automated detection method for smart rubber heads with an adaptive standard library. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, apparatus, article, or automated detection method for smart rubber heads with an adaptive standard library that includes that element.

[0062] The above description is only a preferred embodiment of this application and does not limit the patent scope of this application. Any equivalent structural or procedural changes made based on the content of this application's specification and drawings, or direct or indirect applications in other related technical fields, are similarly included within the patent protection scope of this application.

Claims

1. An automated detection method for intelligent rubber heads with an adaptive standard library, characterized in that, Includes the following steps; S1. Control the clamping assembly to clamp the rubber head to be tested with a preset clamping force; S2. Take a static image of the rubber head to be tested through the vision acquisition module, extract the initial center coordinates and initial outer contour of the rubber head to be tested, and establish an initial reference template; S3. The moving module drives the test head to be pressed down to the reference surface of the corresponding mold. When the reference surface of the mold contacts the lower surface of the test head, the moving module presses down to the first preset displacement at the first speed. During the interaction between the test head and the reference surface of the mold, the first force signal output by the force acquisition module and the first time sequence image output by the vision acquisition module are recorded with a unified timestamp. The first time sequence image is compared with the initial reference template at the origin point to calculate the first degree of overlap. S4. Control the moving module to press down to a second preset displacement at a second speed, and the second speed is greater than the first speed. Record the second force signal output by the force acquisition module and the second time sequence image output by the vision acquisition module with a unified timestamp. Compare the second time sequence image with the initial reference template at the origin point and calculate the second degree of overlap. S5. Control the moving module to retreat upwards to the initial height at the third speed. During the rebound process, record the rebound force signal output by the force acquisition module and the rebound timing image output by the vision acquisition module with a unified timestamp. Compare the rebound timing image with the initial reference template at the origin point. S6. Establish a velocity response difference ratio fusion annotation library based on the acquired overlap and force signal data. Calculate the comprehensive score of the rubber head based on the established velocity response difference ratio fusion annotation library. If the comprehensive score of the rubber head is less than or equal to the preset quality threshold, the rubber head is deemed unqualified. If the comprehensive score of the rubber head is greater than the quality threshold, the rubber head is deemed qualified.

2. The automated detection method for intelligent rubber heads with an adaptive standard library according to claim 1, characterized in that, The specific method for the origin coincidence comparison is as follows: the deformation contour of the glue head in the time series image is matched with the initial outer contour of the initial reference template by least squares, and the area ratio of the contour overlap region is calculated as the degree of coincidence.

3. The automated detection method for intelligent rubber heads with an adaptive standard library according to claim 1, characterized in that, The first speed ranges from 0.5 mm / s to 2 mm / s, the second speed ranges from 5 mm / s to 15 mm / s, and the first preset displacement is 10%-30% of the initial height of the rubber head, and the second preset displacement is 40%-60% of the initial height of the rubber head.

4. The automated detection method for intelligent rubber heads with an adaptive standard library according to claim 3, characterized in that, The third velocity during the rebound process ranges from 2mm / s to 8mm / s, and after returning to the initial height, it is held for 3-5 seconds before a static image of the rubber head is captured again to verify stability.

5. The automated detection method for intelligent rubber heads with an adaptive standard library according to claim 1, characterized in that, The aforementioned velocity response difference ratio fusion annotation library is specifically as follows: ； in, These correspond to the first degree of overlap, the second degree of overlap, and the third degree of overlap, respectively. The preset reference force value is the clamping force in step S1. To extract the average force value from the first force signal within a time window during the period from the first velocity downwards to the first preset displacement, To extract the average force value within a time window during the second force signal, where the force is pressed down at the second velocity to the second preset displacement, To extract the average residual force from the rebound force signal during the time window of the upward retreat to the initial height at the third velocity, the The weighting coefficients for the low-to-high speed adjustment of the compression and rebound phases, and satisfying the following conditions: , To prevent zero stability constant, the range of values ​​is: to .

6. The automated detection method for intelligent rubber heads with an adaptive standard library according to claim 5, characterized in that, Before calculating the comprehensive score of the rubber head in step S6, a single-item veto judgment is required. The single-item veto judgment is specifically as follows: If the first overlap is less than 0.2, or the second overlap is less than 0.2, or the third overlap is less than 0.2, or the average residual force is greater than the product of the residual force threshold coefficient and the reference force value, then the rubber head is directly determined to be unqualified and the testing process ends. The residual force threshold coefficient ranges from 0.1 to 0.

2.

7. The automated detection method for intelligent rubber heads with an adaptive standard library according to claim 6, characterized in that, The values ​​of the first overlap, the second overlap, and the third overlap are all in the range of 0 to 1. Their values ​​are used to indicate the degree of deformation recovery of the rubber head at the corresponding stage, and the smaller the value, the worse the deformation recovery ability.

8. The automated detection method for intelligent rubber heads with an adaptive standard library according to claim 1, characterized in that, The visual acquisition module and the force acquisition module achieve synchronized recording of a unified timestamp through a hardware trigger signal, which is generated by the encoder of the mobile module when it reaches a preset displacement.

9. A terminal device, characterized in that, This includes the processor, memory, and image sensor; The memory stores computer programs; The image sensor is used to acquire imaging data of the product under test; The processor is used to execute the computer program to implement the intelligent rubber head automated detection method with an adaptive standard library as described in any one of claims 1 to 8.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by the processor, it implements the steps of the automated detection method for intelligent rubber heads with an adaptive standard library as described in any one of claims 1 to 8.

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