Automatic gluing detection device based on 3D vision

Abstract

The utility model relates to the field of gluing detection, and discloses an automatic gluing detection device based on 3D vision, the automatic gluing detection device comprises a base, a gluing machine and a detection table, the detection table is fixed between the inner sides of the base, the gluing machine is located on one side of the base, and the base is provided with a liftable moving frame for supporting a gluing head and a moving assembly for driving the moving frame to move horizontally. A liftable annular frame is arranged on the movable frame, and the gluing head can penetrate through the annular frame; the distribution radius and angle of the visual sensor can be dynamically adjusted through the hinge rods and the folding and unfolding assemblies which are circumferentially distributed on the annular frame, when a deep groove and a corner area are detected, the hinge rods retract to enable the sensor to be close to the surface of a workpiece, then the local resolution can be improved, and when a large-area curved surface is detected, the hinge rods are unfolded to expand the detection range; the three-dimensional curved surface of the workpiece surface is fully covered, the problem of defect missing detection of the corner area of the deep groove can be effectively solved, and the detection efficiency can be improved.

Description

Technical Field

[0001] This application relates to the field of adhesive coating inspection technology, and in particular to an automatic adhesive coating inspection device based on 3D vision. Background Technology

[0002] In modern industrial production, automated adhesive application processes are widely used in automobile manufacturing, electronic assembly, aerospace and other fields. The quality of these processes directly affects the sealing performance, structural strength and appearance of the products. To ensure the quality of adhesive application, it is often necessary to use automated adhesive application detection devices to detect the quality in real time. Existing automated adhesive application detection devices mostly use fixed-installation cameras for detection. However, the viewing angle of fixed-installation cameras is also fixed, which cannot effectively cover deep grooves and corner areas of the workpiece, leading to missed defects and affecting detection efficiency. To solve the above problems, an automated adhesive application detection device based on 3D vision is proposed.

[0003] The information disclosed in this background section is only intended to enhance the understanding of the background technology of this application, and therefore may include prior art that is not known to those skilled in the art. Utility Model Content

[0004] To address the aforementioned issues, this application provides an automatic adhesive application detection device based on 3D vision.

[0005] The automatic glue application detection device based on 3D vision provided in this application adopts the following technical solution:

[0006] An automatic glue application and inspection device based on 3D vision includes a base, a glue applicator, and an inspection table. The inspection table is fixed between the inner sides of the base, and the glue applicator is located on one side of the base. The base is provided with a liftable movable frame for supporting the glue applicator head and a movable component for driving the movable frame to move horizontally. The movable frame is provided with a liftable annular frame, through which the glue applicator head can pass. The annular frame is provided with multiple hinge rods circumferentially and a retraction component that simultaneously drives the multiple hinge rods to retract or expand along the axis of the annular frame. Each of the multiple hinge rods is provided with an adjustable-angle vision sensor at its bottom end.

[0007] Preferably, the retractable assembly includes rack one, gear three, external gear ring, rack two, and electric push rod two. The top of the ring frame has multiple notches circumferentially open, and multiple hinge rods are hinged in the notches. The number of racks one is the same as the number of hinge rods and is hinged to one side of the top of the hinge rods. Rack one slides on the top of the ring frame. Gear three and external gear ring both rotate on the top of the ring frame. Gear three meshes with rack one and external gear ring simultaneously. Rack two slides on the top of the ring frame. Electric push rod two is fixed on the top of the ring frame. The telescopic end of electric push rod two is fixed to rack two. Rack two meshes with external gear ring.

[0008] Preferably, an adjustment block is hinged to the bottom end of the hinge rod, the vision sensor is fixed to the bottom of the adjustment block, a gear one and a gear two are rotatably provided on one side of the hinge rod, the gear one and the gear two mesh, the gear one is fixed to the adjustment block, a mounting bracket is fixed to one side of the hinge rod, a motor three is fixed to one side of the mounting bracket, and the rotor end of the motor three is fixed to the gear two.

[0009] Preferably, the moving component includes a slider, a lead screw, a motor, and an electric slide rail. The base has grooves on both sides for the lead screw to rotate. The motor is fixed to one side of the base, and the rotor end of the motor is fixed to the lead screw. The slider slides in the grooves and is threadedly connected to the lead screw. The slider is fixed to the electric slide rail, and the moving frame slides on the electric slide rail. The electric slide rail is perpendicular to the cross section of the lead screw.

[0010] Preferably, an electric actuator is fixed to the top of the slider, and the telescopic end of the electric actuator is fixed to the bottom of the electric slide rail.

[0011] Preferably, a lifting groove for rotating the lead screw is provided on one side of the movable frame, and a lifting rod is slidably provided in the lifting groove. The lifting rod is threadedly connected to the lead screw. A motor is fixed on the top of the movable frame, and the rotor end of the motor is fixed to the lead screw. The side of the lifting rod away from the movable frame is fixed to the outside of the ring frame.

[0012] Preferably, a light source is provided at the bottom of the ring frame.

[0013] Preferably, a glue outlet is fixed at the glue outlet of the glue applicator, and the other end of the glue outlet passes through the movable frame and is fixed to the glue applicator head. A fixed frame is fixed on one side of the movable frame, and the glue applicator head is fixed on the fixed frame.

[0014] In summary, this application includes the following beneficial technical effects:

[0015] By using hinged rods and retractable components distributed circumferentially on the ring frame, the distribution radius and angle of the vision sensor can be dynamically adjusted. When inspecting deep grooves and corner areas, the hinged rods retract to bring the sensor closer to the workpiece surface, which helps to improve local resolution. When inspecting large curved surfaces, the hinged rods extend to expand the inspection range and achieve full coverage of the three-dimensional curved surface of the workpiece. Compared with related technologies, this can effectively solve the problem of missed defects in deep groove corner areas, thus improving inspection efficiency. Attached Figure Description

[0016] Figure 1 This is a schematic diagram of the overall structure of an embodiment of the application;

[0017] Figure 2 This is a partial structural diagram of an embodiment of the application;

[0018] Figure 3 yes Figure 2 Enlarged structural diagram at point A in the middle;

[0019] Figure 4 This is a schematic diagram of the ring frame structure in an embodiment of the application.

[0020] Explanation of reference numerals in the attached drawings: 1. Base; 2. Glue applicator; 3. Inspection table; 4. Slide groove; 5. Slider; 6. Lead screw one; 7. Motor one; 8. Electric push rod one; 9. Electric slide rail; 10. Moving frame; 11. Lifting groove; 12. Lead screw two; 13. Motor two; 14. Lifting rod; 15. Ring frame; 16. Notch; 17. Hinge rod; 18. Adjusting block; 19. Vision sensor; 20. Gear one; 21. Gear two; 22. Mounting frame; 23. Motor three; 24. Rack one; 25. Gear three; 26. External gear ring; 27. Rack two; 28. Electric push rod two; 29. ​​Glue outlet tube; 30. Fixing frame; 31. Glue applicator head; 32. Light source. Detailed Implementation

[0021] The following is in conjunction with the appendix Figure 1-4 This application will be described in further detail.

[0022] This application discloses an automatic adhesive application detection device based on 3D vision. (Refer to...) Figure 1-4 An automatic glue application and inspection device based on 3D vision includes a base 1 for providing stable support, a glue applicator 2 for providing glue, and an inspection table 3 for placing workpieces, applying glue, and inspecting. The inspection table 3 is fixed between the inner sides of the base 1, and the glue applicator 2 is located on one side of the base 1.

[0023] The base 1 is equipped with a movable frame 10 for supporting the dispensing head 31 and a movable assembly for driving the movable frame 10 to move horizontally. The movable assembly includes a slider 5, a lead screw 6, a motor 7, and an electric slide rail 9. Slots 4 for the lead screw 6 to rotate are provided on both sides of the base 1. The motor 7 is fixed to one side of the base 1, and the rotor end of the motor 7 is fixed to the lead screw 6. The slider 5 slides within the slots 4 and is threadedly connected to the lead screw 6. The slider 5 is fixed to the electric slide rail 9, and the movable frame 10 slides on the electric slide rail 9. The electric slide rail 9 is perpendicular to the cross-section of the lead screw 6. An electric push rod 8 is fixed to the top of the slider 5, and the telescopic end of the electric push rod 8 is connected to... The bottom of the electric slide rail 9 is fixed, and the glue outlet of the glue applicator 2 is fixed with a glue outlet tube 29. The other end of the glue outlet tube 29 passes through the moving frame 10 and is fixed to the glue applicator head 31. A fixed frame 30 is fixed on one side of the moving frame 10. The glue applicator head 31 is fixed on the fixed frame 30. The motor 7 is started to rotate the lead screw 6. Under the guidance of the slide groove 4, the slider 5 drives the electric slide rail 9 and the moving frame 10 to move longitudinally. The electric slide rail 9 is started to move the moving frame 10 laterally, thereby realizing the movement of the glue applicator head 31 in the horizontal direction. With the extension and retraction of the electric push rod 8, the glue applicator head 31 can be pressed down and flexibly complete the automatic glue applicator work.

[0024] It should be noted that the base 1 is also equipped with a control panel, which is used to control the parameter configuration, status monitoring and process control of the testing equipment.

[0025] Reference Figure 1 , 2 The movable frame 10 is equipped with a ring frame 15. A lifting groove 11 for rotating the lead screw 12 is opened on one side of the movable frame 10. A lifting rod 14 is slidably arranged in the lifting groove 11. The lifting rod 14 is threadedly connected to the lead screw 12. A motor 13 is fixed on the top of the movable frame 10. The rotor end of the motor 13 is fixed to the lead screw 12. The side of the lifting rod 14 away from the movable frame 10 is fixed to the outside of the ring frame 15. When the motor 13 is started, the lead screw 12 rotates. Under the guidance of the lifting groove 11, the lifting rod 14 and the ring frame 15 are raised and lowered.

[0026] Reference Figure 1-4The applicator head 31 can pass through the ring frame 15. The ring frame 15 is circumferentially provided with multiple hinge rods 17 and a retractable assembly that simultaneously drives the multiple hinge rods 17 to retract or expand along the axis of the ring frame 15. The retractable assembly includes a rack 1 24, a gear 3 25, an external gear ring 26, a rack 27, and an electric actuator 28. The top of the ring frame 15 has multiple notches 16 circumferentially opened, and the multiple hinge rods 17 are hinged in the notches 16. The number of racks 1 24 is the same as the number of hinge rods 17 and is hinged to one side of the top of the hinge rods 17. The bottom of racks 1 24 slides on the top of the ring frame 15 through a fixed sliding block. Gear 3 25 and external gear ring... All 26 rotate on the top of the ring frame 15. Gear 3 25 meshes with rack 1 24 and outer gear ring 26 simultaneously. There is a gap between rack 1 24 and outer gear ring 26. Rack 2 27 slides on the top of the ring frame 15. Electric push rod 28 is fixed on the top of the ring frame 15. The telescopic end of electric push rod 28 is fixed with rack 2 27. Rack 2 27 meshes with outer gear ring 26. When electric push rod 28 is activated, rack 2 27 slides, thereby driving outer gear ring 26 to rotate. At this time, multiple gears 3 25 rotate synchronously with the rotation of outer gear ring 26, thereby driving the corresponding rack 1 24 to slide, so that multiple hinge rods 17 retract or expand synchronously.

[0027] Reference Figure 1-4 Each of the multiple hinge rods 17 has a vision sensor 19 at its bottom end. The vision sensor 19 is electrically connected to the controller and an external power supply. An adjustment block 18 is hinged to the bottom end of the hinge rod 17. The vision sensor 19 is fixed to the bottom of the adjustment block 18. A gear 1 20 and a gear 21 are rotatably mounted on one side of the hinge rod 17. Gear 1 20 and gear 21 mesh with each other. Gear 1 20 is fixed to the adjustment block 18. A mounting bracket 22 is fixed to one side of the hinge rod 17. A motor 3 23 is fixed to one side of the mounting bracket 22. The rotor end of motor 3 23 is fixed to gear 2 21. Starting motor 3 23 causes gear 2 21 to rotate, which in turn drives gear 1 20 and adjustment block 18 to swing, thereby adjusting the angle of the vision sensor 19. This allows for real-time adjustment of the angle to optimize the field of view, reduce blind spots, and improve the defect recognition rate.

[0028] Reference Figure 2 The bottom of the ring frame 15 is equipped with a light source 32, which is used to dynamically compensate for ambient light fluctuations and workpiece reflections to ensure stable image quality. At the same time, it works in coordination with multiple vision sensors 19 to form 3D vision for workpiece adhesive detection.

[0029] Finally, the following points should be noted: First, in the description of this application, it should be noted that, unless otherwise specified and limited, the terms "installation", "connection", and "linkage" should be interpreted broadly, and can be mechanical or electrical connections, or internal connections between two components, or direct connections. "Up", "down", "left", "right", etc. are only used to indicate relative positional relationships. When the absolute position of the described object changes, the relative positional relationship may change.

[0030] Secondly: The accompanying drawings of the embodiments disclosed in this utility model only involve the structures involved in the embodiments disclosed in this utility model. Other structures can refer to the general design. In the absence of conflict, the same embodiment and different embodiments of this utility model can be combined with each other.

[0031] Finally: The above description is only a preferred embodiment of the present utility model and is not intended to limit the present utility model. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present utility model should be included within the protection scope of the present utility model.

[0032] The above are all preferred embodiments of this application, and are not intended to limit the scope of protection of this application. Therefore, all equivalent changes made in accordance with the structure, shape and principle of this application should be covered within the scope of protection of this application.

Claims

1. An automatic glue application and inspection device based on 3D vision, comprising a base (1), a glue applicator (2), and an inspection table (3), wherein the inspection table (3) is fixed between the inner sides of the base (1), and the glue applicator (2) is located on one side of the base (1), characterized in that: The base (1) is provided with a liftable movable frame (10) for supporting the glue applicator (31) and a moving component for driving the movable frame (10) to move horizontally. The movable frame (10) is provided with a liftable ring frame (15). The glue applicator (31) can pass through the ring frame (15). The ring frame (15) is provided with a plurality of hinge rods (17) circumferentially and a retraction component that simultaneously drives the plurality of hinge rods (17) to retract or expand along the axis of the ring frame (15). The bottom end of the plurality of hinge rods (17) is provided with an adjustable angle vision sensor (19).

2. The automatic glue application detection device based on 3D vision according to claim 1, characterized in that: The retractable assembly includes rack one (24), gear three (25), external gear ring (26), rack two (27), and electric push rod two (28). The top of the ring frame (15) has multiple notches (16) circumferentially oriented. Multiple hinge rods (17) are hinged within the notches (16). The number of racks one (24) is the same as the number of hinge rods (17), and they are hinged to one side of the top of the hinge rods (17). Rack one (24) slides on the ring frame (15). At the top of the ring frame (15), the gear three (25) and the outer gear ring (26) rotate on the top of the ring frame (15). The gear three (25) meshes with the rack one (24) and the outer gear ring (26) at the same time. The rack two (27) slides on the top of the ring frame (15). The electric push rod two (28) is fixed on the top of the ring frame (15). The telescopic end of the electric push rod two (28) is fixed with the rack two (27). The rack two (27) meshes with the outer gear ring (26).

3. The automatic glue application detection device based on 3D vision according to claim 1, characterized in that: The bottom end of the hinge rod (17) is hinged to an adjustment block (18), and the vision sensor (19) is fixed to the bottom of the adjustment block (18). A gear 1 (20) and a gear 2 (21) are rotatably provided on one side of the hinge rod (17). The gear 1 (20) meshes with the gear 2 (21). The gear 1 (20) is fixed to the adjustment block (18). A mounting bracket (22) is fixed on one side of the hinge rod (17). A motor 3 (23) is fixed on one side of the mounting bracket (22). The rotor end of the motor 3 (23) is fixed to the gear 2 (21).

4. The automatic glue application detection device based on 3D vision according to claim 1, characterized in that: The moving assembly includes a slider (5), a lead screw (6), a motor (7), and an electric slide rail (9). The base (1) has grooves (4) on both sides for the lead screw (6) to rotate. The motor (7) is fixed on one side of the base (1). The rotor end of the motor (7) is fixed to the lead screw (6). The slider (5) slides in the groove (4). The slider (5) is threadedly connected to the lead screw (6). The slider (5) is fixed to the electric slide rail (9). The moving frame (10) slides on the electric slide rail (9). The electric slide rail (9) is perpendicular to the cross section of the lead screw (6).

5. The automatic glue application detection device based on 3D vision according to claim 4, characterized in that: The top of the slider (5) is fixed with an electric push rod (8), and the telescopic end of the electric push rod (8) is fixed to the bottom of the electric slide rail (9).

6. The automatic glue application detection device based on 3D vision according to claim 1, characterized in that: The movable frame (10) has a lifting groove (11) on one side for the rotation of the lead screw (12). A lifting rod (14) is slidably provided in the lifting groove (11). The lifting rod (14) is threadedly connected to the lead screw (12). A motor (13) is fixed on the top of the movable frame (10). The rotor end of the motor (13) is fixed to the lead screw (12). The side of the lifting rod (14) away from the movable frame (10) is fixed to the outside of the ring frame (15).

7. The automatic glue application detection device based on 3D vision according to claim 1, characterized in that: The bottom of the ring frame (15) is provided with a light source (32).

8. The automatic glue application detection device based on 3D vision according to claim 1, characterized in that: The glue applicator (2) has a glue outlet tube (29) fixed at the glue outlet. The other end of the glue outlet tube (29) passes through the movable frame (10) and is fixed to the glue applicator head (31). A fixed frame (30) is fixed on one side of the movable frame (10), and the glue applicator head (31) is fixed on the fixed frame (30).

Images