Detection device and manipulator for glass coating detection item

Abstract

The utility model relates to the technical field of glass coating detection, in particular to a detection device for glass coating detection items and a manipulator, which comprise a manipulator body, a shell and a visual component, the shell is provided with an assembly hole, the visual component comprises an industrial camera and a line laser, and the line laser is provided with a lens. The industrial camera and the line laser are both arranged on the shell, and an end effector of the manipulator body is connected with the shell through an assembly hole. According to the utility model, the glass coating quality can be detected on line, and the detection precision is ensured.

Description

Technical Field

[0001] This utility model relates to the field of glass coating inspection technology, and in particular to an inspection device and robotic arm for glass coating inspection projects. Background Technology

[0002] Various components typically need to be bonded to automotive glass. During production, this involves applying activators, primers, and adhesives to improve adhesion and sealing. The activator is a fast-drying solution that becomes difficult to identify after drying and evaporation. The primer is a black, fast-drying solution that blends with the printing ink on the glass to achieve a similar color. The adhesive used for applying the sealant is usually black, matching the color of the components.

[0003] To ensure product quality, it is necessary to inspect the coating precision of the activator and primer, as well as the quality of the adhesive application. This includes checking for under-coating or missed areas in the activator and primer application, and verifying that parameters such as the width, height, and volume of the adhesive path meet process requirements during application. Current inspection methods include offline visual inspection, planar tracking inspection using matrix light sources and cameras, and manual inspection.

[0004] However, offline inspection requires removing the product from the production line before inspection, wasting robotic arm cycles and disrupting production rhythm. On the other hand, due to the fast-drying nature of activators and primers, especially for large-size glass, the coating time is relatively long. By the time production is complete, the pre-applied activator and primer are already dry, easily leading to false positives. Planar imaging inspection is limited by the frame rate of industrial cameras, inspection speed, and fast production cycle, making it impossible to perform full-coverage inspection of the glass under test, resulting in lower inspection accuracy. Manual inspection is highly subjective, susceptible to visual fatigue, has low efficiency and accuracy, and relies heavily on the skill level of the inspectors. Utility Model Content

[0005] The technical problem to be solved by this utility model is to provide a testing device for glass coating testing, which can detect the quality of glass coating online and ensure the accuracy of the test.

[0006] To solve the above-mentioned technical problems, the technical solution adopted by this utility model is as follows: a detection device for glass coating detection projects, including a housing and a vision component, wherein the housing is provided with an assembly hole, and the vision component includes an industrial camera and a line laser, both of which are mounted on the housing.

[0007] Furthermore, the lens of the industrial camera is perpendicular to the glass surface, the lens of the line laser is also facing the glass surface, and the lens of the line laser is biased towards the industrial camera.

[0008] Furthermore, the laser emitted by the line laser forms an angle of 10° to 20° with the glass surface.

[0009] Furthermore, the housing has an assembly cavity, the vision component is disposed in the assembly cavity, the housing is provided with a clearance hole, the lens of the industrial camera acquires an image of the glass surface through the clearance hole, and the lens of the line laser emits a laser beam onto the glass surface through the clearance hole.

[0010] Furthermore, the vision component also includes a filter, through which the lens of the industrial camera acquires an image of the glass surface, and the laser emitted by the line laser passes through the filter and reaches the glass surface.

[0011] Furthermore, the housing is provided with clearance holes corresponding to the lenses of industrial cameras and line lasers.

[0012] Furthermore, at least three vision components are evenly arranged around the mounting holes on the housing.

[0013] Furthermore, the housing is provided with an IO trigger interface, which is electrically connected to the industrial camera and the line laser, respectively.

[0014] Furthermore, the housing is provided with a data interface, which is electrically connected to the industrial camera.

[0015] To solve the above-mentioned technical problems, another technical solution adopted by this utility model is as follows:

[0016] A robotic arm includes a robotic arm body and a detection device for glass coating inspection as described above, wherein the end effector of the robotic arm body is connected to the housing through an assembly hole.

[0017] The beneficial effects of this utility model are as follows: the vision component is set on the housing, and the housing is connected to the coating equipment through the assembly hole. Thus, when the coating equipment coats the glass with activator, primer or glue, the vision component can perform detection at the same time, thereby realizing online detection. This not only does not affect the production rhythm, but also avoids the activator or primer drying and affecting the detection accuracy. Attached Figure Description

[0018] Figure 1 This invention provides a schematic diagram of the structure of a testing device for glass coating testing. Figure 1 ;

[0019] Figure 2 This invention provides a schematic diagram of the structure of a testing device for glass coating testing. Figure 2 ;

[0020] Figure 3This is a schematic diagram showing the arrangement of the vision components above the glass surface of a detection device for glass coating inspection proposed in this utility model.

[0021] Label Explanation:

[0022] 1. Housing; 11. Mounting hole; 12. Clearance hole; 13. I / O trigger interface; 14. Data interface;

[0023] 2. Vision components; 21. Industrial cameras; 22. Line lasers; 23. Filters. Detailed Implementation

[0024] To explain in detail the technical content, objectives, and effects of this utility model, the following description is provided in conjunction with the embodiments and accompanying drawings.

[0025] Please refer to Figure 1 As shown, this utility model discloses a robotic arm, including a robotic arm body (not shown in the figure), a housing 1, and a vision component 2. The housing 1 is provided with an assembly hole 11, and the end effector of the robotic arm body is connected to the housing 1 through the assembly hole 11. The vision component 2 includes an industrial camera 21 and a line laser 22, both of which are mounted on the housing 1.

[0026] The end effector of the robot body can be equipped with a clamp or column that engages with the assembly hole 11 to connect the robot body to the housing 1.

[0027] As can be seen from the above description, the beneficial effects of this utility model are as follows: The vision component 2 is mounted on the housing 1, and the housing 1 is connected to the robot body via the mounting hole 11. Therefore, when the robot body applies an activator, primer, or adhesive to the glass, the vision component 2 can simultaneously perform detection, thus achieving online detection. This not only does not affect the production rhythm but also avoids the activator or primer drying and affecting detection accuracy. Specifically, since the glass surface is relatively smooth and lacks clear features, a line laser 22 is used to illuminate the glass surface, enabling the industrial camera 21 to effectively acquire images. The acquired images are then compared with standard images to determine whether the coating is qualified.

[0028] Please refer to Figure 3 As shown, the lens of the industrial camera 21 is perpendicular to the glass surface, the lens of the line laser 22 is also directed toward the glass surface, and the lens of the line laser 22 is biased toward the industrial camera 21.

[0029] Please refer to Figure 3 As shown, furthermore, the laser emitted by the line laser 22 forms an angle A with the glass surface. Preferably, A is an angle of 10° to 20°.

[0030] As described above, the lens of the line laser 22 is angled toward the industrial camera, enabling the industrial camera 21 to capture clear laser lines on the glass surface.

[0031] The preferred industrial camera 21 has a lens focal length of 3.37mm, and the laser emitted by the line laser 22 has an angle A of 15° with the glass surface.

[0032] Please refer to Figure 1 As shown, the housing 1 further includes an assembly cavity, the vision component 2 is disposed within the assembly cavity, the housing 1 is provided with a clearance hole 12, the lens of the industrial camera 21 acquires an image of the glass surface through the clearance hole 12, and the lens of the line laser 22 emits a laser beam toward the glass surface through the clearance hole 12.

[0033] As can be seen from the above description, placing the vision component 2 inside the assembly cavity can reduce the impact of other strong light sources on the vision component 2.

[0034] Please refer to Figure 3 As shown, the vision component 2 further includes a filter 23, through which the lens of the industrial camera 21 obtains an image of the glass surface, and the laser emitted by the line laser 22 passes through the filter 23 and reaches the glass surface.

[0035] As described above, the filter 23 can filter out other strong light sources on site, so as to ensure that the industrial camera 21 can only capture the laser emitted by the line laser 22.

[0036] Please refer to Figure 1 As shown, furthermore, the housing 1 is provided with clearance holes 12 corresponding to the lens of the industrial camera 21 and the lens of the line laser 22.

[0037] As can be seen from the above description, the avoidance hole 12 is provided for the industrial camera 21 and the line laser 22, which can reduce the exposure area of ​​the avoidance hole 12, that is, reduce the entry of other strong light sources on site into the assembly cavity through the avoidance hole 12.

[0038] Please refer to Figure 1 As shown, furthermore, at least three vision components 2 are evenly arranged around the mounting hole 11 on the housing 1.

[0039] As described above, in the coating of large-size glass, the trajectory of the robot is often complex and varied. The field of view of a single vision component 2 cannot cover the entire coating area. Therefore, at least three vision components 2 are set around the assembly hole 11. Without affecting the production cycle of the robot body, multiple vision components 2 complement each other's field of view, which can collect complete 3D images and thus ensure detection accuracy.

[0040] Please refer to Figure 2 As shown, the housing 1 is further provided with an IO trigger interface 13, which is electrically connected to the industrial camera 21 and the line laser 22 respectively.

[0041] As described above, the IO trigger interface 13 is used to power the line laser 22 and provide trigger signals to the line laser 22 and the industrial camera 21.

[0042] Please refer to Figure 2 As shown, the housing 1 is further provided with a data interface 14, which is electrically connected to the industrial camera 21.

[0043] As described above, the data interface 14 is used to power the industrial camera 21 and transmit data to an external computer.

[0044] The above description is merely an embodiment of this utility model and does not limit the patent scope of this utility model. Any equivalent modifications made based on the content of this utility model specification and drawings, or direct or indirect applications in related technical fields, are similarly included within the patent protection scope of this utility model.

Claims

1. An inspection apparatus for a glass coating inspection project, characterized by: The device comprises a shell and a visual assembly, the shell is provided with an assembly hole, the shell has an assembly inner cavity, the visual assembly is arranged in the assembly inner cavity, the shell is provided with a relief hole, the visual assembly comprises an industrial camera, a line laser and a filter, the industrial camera and the line laser are arranged on the shell, the lens of the industrial camera obtains a glass surface image through the relief hole, and the lens of the line laser emits laser to the glass surface through the relief hole. The lens of the industrial camera obtains a glass surface image through the filter, and the laser emitted by the line laser reaches the glass surface after passing through the filter. The lens of the industrial camera is vertically directed to the glass surface, the lens of the line laser is directed to the glass surface, and the lens of the line laser is deviated from the industrial camera. The laser emitted by the line laser forms an angle of 10°-20° with the glass surface.

2. The inspection apparatus for glass coating inspection items according to claim 1, characterized by: The relief hole is arranged on the shell corresponding to the lens of the industrial camera and the lens of the line laser.

3. The inspection apparatus for glass coating inspection items according to claim 1, characterized in that: At least three visual assemblies are uniformly arranged around the assembly hole on the shell.

4. The inspection apparatus for glass coating inspection items according to claim 1, characterized by: An IO trigger interface is arranged on the shell and electrically connected with the industrial camera and the line laser.

5. The inspection apparatus for glass coating inspection items according to claim 1, characterized in that: A data interface is arranged on the shell and electrically connected with the industrial camera.

6. A robot, characterized in that: The device comprises a mechanical hand body and the detection device for glass coating detection project in any one of claims 1-5, and the end effector of the mechanical hand body is connected with the shell through the assembly hole.

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