CN121231800A - Device and method for detecting mixing and curing degree of bi-component glue for bonding crystal bars - Google Patents
Device and method for detecting mixing and curing degree of bi-component glue for bonding crystal barsInfo
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- CN121231800A CN121231800A CN202511804987.7A CN202511804987A CN121231800A CN 121231800 A CN121231800 A CN 121231800A CN 202511804987 A CN202511804987 A CN 202511804987A CN 121231800 A CN121231800 A CN 121231800A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N35/00—Automatic analysis not limited to methods or materials provided for in any single one of groups G01N1/00 - G01N33/00; Handling materials therefor
- G01N35/00584—Control arrangements for automatic analysers
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N11/00—Investigating flow properties of materials, e.g. viscosity, plasticity; Analysing materials by determining flow properties
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
- G01N21/17—Systems in which incident light is modified in accordance with the properties of the material investigated
- G01N21/25—Colour; Spectral properties, i.e. comparison of effect of material on the light at two or more different wavelengths or wavelength bands
- G01N21/251—Colorimeters; Construction thereof
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N35/00—Automatic analysis not limited to methods or materials provided for in any single one of groups G01N1/00 - G01N33/00; Handling materials therefor
- G01N35/0099—Automatic analysis not limited to methods or materials provided for in any single one of groups G01N1/00 - G01N33/00; Handling materials therefor comprising robots or similar manipulators
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N11/00—Investigating flow properties of materials, e.g. viscosity, plasticity; Analysing materials by determining flow properties
- G01N2011/006—Determining flow properties indirectly by measuring other parameters of the system
- G01N2011/008—Determining flow properties indirectly by measuring other parameters of the system optical properties
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Abstract
本发明公开了一种晶棒粘接用双组分胶水混合及固化度检测装置及方法，属于胶水混合及固化检测技术领域，包括涂胶单元、检测单元，检测单元包括移动平台座、线上检测台、线下检测台、微型存储库、检测主件及试样盒；由涂胶单元将混合胶水滴在试样盒中，通过检测主件将试样盒由线上检测台搬运至线下检测台，线下检测台将试样盒存储于微型存储库中；检测主件包括六轴工业机器人、图像信息获取组件，图像信息获取组件与计算机相连，计算机根据胶水试样的RGB值与对比度信息，计算得出胶水试样的混合度和固化度。本发明实现了对双组分AB混合胶水混合度和固化度的线上和线下双重检测，避免了人工检测误判和疏漏，提高了检测效率和准确性。
This invention discloses a device and method for detecting the mixing and curing degree of a two-component adhesive used in crystal rod bonding, belonging to the field of adhesive mixing and curing detection technology. It includes an adhesive application unit and a detection unit. The detection unit comprises a moving platform base, an online detection stage, an offline detection stage, a miniature storage container, a detection main component, and a sample box. The adhesive application unit drips the mixed adhesive into the sample box, and the detection main component transports the sample box from the online detection stage to the offline detection stage. The offline detection stage stores the sample box in the miniature storage container. The detection main component includes a six-axis industrial robot and an image information acquisition component connected to a computer. The computer calculates the mixing degree and curing degree of the adhesive sample based on the RGB values and contrast information of the adhesive sample. This invention achieves dual online and offline detection of the mixing degree and curing degree of two-component AB mixed adhesive, avoiding errors and omissions in manual detection and improving detection efficiency and accuracy.
Description
Technical Field
The invention belongs to the technical field of glue mixing and curing detection, and particularly relates to a device and a method for detecting mixing and curing degree of bi-component glue for crystal bar bonding.
Background
In the process of cutting the crystal bar by the diamond wire, firstly, the dual-component AB mixed glue, namely the epoxy resin AB glue, is used for bonding the crystal bar, the supporting plate and the material seat, then, the crystal bar is precisely cut, the dual-component AB mixed glue is widely applied to the cutting processing process of photoelectricity, solar monocrystalline silicon, polycrystalline silicon, semiconductors and the like, and the dual-component AB mixed glue has the advantages of low cost, high efficiency, easiness in operation, no pollution, low energy consumption and the like. Because finished products bonded by the crystal bar and the supporting plate and the material seat are inconvenient to detect after entering a standing warehouse for solidification, in order to ensure that the crystal bar and the supporting plate are firmly connected with the supporting plate and the material seat in the cutting process, the bonding result needs to be checked and confirmed in advance, namely whether the mixing degree and the solidification degree of the bi-component AB mixed glue are qualified is judged. In the existing production process, the problems of misjudgment, omission and the like can be easily caused by the detection method, so that the detection result is inaccurate, the mixing degree and the curing degree of the double-component AB mixed glue, namely the AB glue mixing condition and the curing degree, cannot be accurately calculated, and the problem that the production process is batch-out due to unqualified mixing degree and curing degree of the double-component AB mixed glue cannot be avoided. How to sample and detect the double-component AB mixed glue and ensure whether the mixing degree and the solidifying degree of the double-component AB mixed glue are qualified or not so as to achieve the effect of accurate detection, and the device and the method for detecting the mixing degree and the solidifying degree of the double-component glue for crystal bar bonding, which are needed to be solved, are needed to be developed.
Disclosure of Invention
The invention aims at the problems and overcomes the defects of the prior art, and provides a device and a method for detecting the mixing and solidification degree of bi-component glue for bonding crystal bars.
In order to achieve the above purpose, the present invention adopts the following technical scheme.
The invention provides a device for mixing and detecting the solidifying degree of bi-component glue for bonding a crystal bar, which comprises a gluing unit and a detecting unit, wherein the gluing unit is matched with the detecting unit for providing the detected bi-component AB mixed glue for the detecting unit;
The glue sample manufacturing and on-line detecting platform comprises an XY moving workbench and a single sample box tray, one end of the XY moving workbench is fixedly connected to the moving platform seat, the main body part of the XY moving workbench extends out of the moving platform seat and is positioned below the gluing unit, the single sample box tray is connected to the XY moving workbench, the single sample box tray is used for placing a sample box, and mixed glue is dripped into the sample box on the single sample box tray by the gluing unit so as to finish glue sample manufacturing;
The method comprises the steps that a sample box with a glue sample is manufactured by the glue sample manufacturing and is conveyed to an off-line detection platform by the detection main part, the off-line detection platform is matched with a micro storage library for use, and the off-line detection platform stores the sample box with the glue sample in the micro storage library;
The detection main part comprises a six-axis industrial robot and an image information acquisition and sample box grabbing component, wherein the image information acquisition and sample box grabbing component is connected to the front end of a mechanical arm of the six-axis industrial robot and is used for carrying the sample box, the image information acquisition and sample box grabbing component is also respectively used for shooting glue samples in the glue sample boxes on the glue sample manufacturing and on-line detection table and the off-line detection table so as to acquire RGB value and contrast information of the glue sample, the image information acquisition and sample box grabbing component is connected with a computer, and the computer calculates the mixing degree and the solidifying degree of the glue sample according to the RGB value and the contrast information of the glue sample.
Further, the image information acquisition and sample box grabbing assembly comprises a mounting plate, one end of the mounting plate is connected to the front end of the mechanical arm of the six-axis industrial robot, the other end of the mounting plate is connected with a vacuum chuck, an adjustable spectrum light source and a CCD camera, the adjustable spectrum light source and the CCD camera are integrally installed, the CCD camera is electrically connected with a computer, and the adjustable spectrum light source provides a changeable spectrum light source for the CCD camera.
The off-line detection platform comprises a trapezoid support frame, wherein the trapezoid support frame is fixed on a movable platform seat, a guide cam and a plurality of sample box trays are arranged on the trapezoid support frame, the trapezoid support frame limits the plurality of sample box trays placed on the trapezoid support frame through the guide cam, the plurality of sample box trays are used for placing a plurality of sample boxes with glue samples, and a plurality of photoelectric sensors are distributed at the bottoms of the plurality of sample box trays.
Further, a pushing mechanism and a slideway hole are formed in the movable platform seat below the trapezoid supporting frame, one part of the pushing mechanism is fixedly connected to the bottom surface of the movable platform seat, and the other part of the pushing mechanism penetrates through the slideway hole and is detachably connected with the multi-sample box tray.
The pushing mechanism comprises a sliding rail cylinder, a pneumatic sliding table, a lifting cylinder and a traction pin, wherein the sliding rail cylinder is fixed beside a sliding rail hole in the bottom surface of the movable platform seat, the lower portion of the pneumatic sliding table is connected to the sliding rail cylinder in a sliding mode, the upper portion of the pneumatic sliding table penetrates through the sliding rail hole to be exposed out of the upper portion of the movable platform seat, the lifting cylinder is connected to the upper portion of the pneumatic sliding table, the traction pin is connected to the lifting end of the lifting cylinder, a traction block is fixedly arranged on the multi-sample box tray, and the traction pin and the traction block are matched and detachably connected.
The micro storage warehouse is arranged opposite to the off-line detection table, the micro storage warehouse comprises a warehouse body top plate, a warehouse outer cover plate, a warehouse storage vacancy and a warehouse position lifting control mechanism, the lower part of the warehouse position lifting control mechanism is fixed on the movable platform seat, the warehouse storage vacancy is connected to the warehouse position lifting control mechanism, the top of the warehouse position lifting control mechanism is connected with the warehouse body top plate, under the control of the warehouse position lifting control mechanism, the warehouse storage vacancy can reciprocate up and down below the warehouse body top plate, the two sides of the warehouse body top plate are connected with the warehouse outer cover plate, the bottom of the warehouse outer cover plate is fixedly connected to the movable platform seat, and a warehouse inlet of the warehouse storage vacancy is arranged opposite to the multi-sample box tray on the trapezoid support frame.
The garage position lifting control mechanism comprises an electric motor, a synchronous belt transmission mechanism, a screw rod nut and a linear guide rail, wherein the electric motor and the synchronous belt transmission mechanism are fixed on the bottom surface of the movable platform seat, the power output end of the electric motor is connected with the synchronous belt transmission mechanism, the synchronous belt transmission mechanism is connected with the screw rod, the screw rod penetrates through the movable platform seat and is vertically arranged above the movable platform seat, the screw rod nut is connected onto the screw rod, the screw rod nut is fixedly connected with a storage vacancy in the garage, the linear guide rail is connected onto the screw rod nut in a penetrating mode, and two ends of the linear guide rail are fixedly connected with the top plate of the garage body and the movable platform seat respectively.
Further, an empty sample box tray is arranged above the top plate of the warehouse body, a sliding rail is arranged between the empty sample box tray and the top plate of the warehouse body, the sliding rail is fixedly connected to the top plate of the warehouse body, the empty sample box tray is slidably connected to the sliding rail, and the empty sample box tray is used for storing a plurality of sample boxes without glue dripping.
Further, the gluing unit comprises a gluing manipulator and a double glue dispensing gun, and the double glue dispensing gun is fixed on the gluing manipulator.
Further, a sample discarding box is further arranged on the movable platform base.
Further, the XY movable workbench upper cover is provided with a protective cover, an opening is formed in the protective cover, and the size of the opening is larger than that of the Shan Shiyang box tray.
In addition, the invention provides a method for detecting the mixing and curing degree of bi-component glue for bonding crystal bars, which comprises the following steps:
Step one, glue sample preparation, namely driving a vacuum chuck of an image information acquisition and sample box grabbing assembly to grab and transport an empty sample box to a single sample box tray connected with an XY moving workbench through a six-axis industrial robot, then adjusting the position of the single sample box tray through the XY moving workbench, moving the sample box to the position below a gluing unit, and dripping the tested bi-component AB mixed glue in the sample box through the gluing unit;
step two, setting a CCD camera, namely driving the CCD camera of the image information acquisition and sample box grabbing component to move above a sample box with a glue sample by a six-axis industrial robot, adjusting parameters of the CCD camera and an adjustable spectrum light source, including exposure time, shooting speed, resolution and triggering mode, and correcting the CCD camera to realize image initialization;
Step three, calibrating, namely shooting the glue sample by using a CCD camera respectively at time points of 1 minute, 5 minutes, 10 minutes, 30 minutes, 2 hours and 10 hours after the glue sample is manufactured, and calibrating CCD camera parameters based on the shot images;
And step four, a detection step, namely continuously shooting the glue sample by using a calibrated CCD camera, obtaining RGB value and contrast information of an image, transmitting the RGB value and the contrast information to a computer, calculating the mixing degree and the solidifying degree of the glue sample based on the RGB value and the contrast information, specifically, calculating the chromatic aberration delta E of the RGB value and the contrast information by combining CIE-Lab data of a standard sample and CIE-Lab data of the glue sample, and judging the mixing degree and the solidifying degree of the glue sample according to the delta E value.
Further, the calculating method of the chromatic aberration delta E comprises the steps of firstly measuring CIE-Lab values (L_s, a_s, b_s) of a standard sample, then measuring CIE-Lab values (L_t, a_t, b_t) of a glue sample, and then calculating according to a formula delta E= [ delta L ] 2+ (delta a) 2+ (delta b) 2 ];
In the formula, deltaL=L_t-L_s is brightness difference, deltaa=a_t-a_s is red offset, deltab=b_t-b_s is yellow Lan Cha, smaller DeltaE value indicates that the color of the glue sample is closer to that of the standard sample, the mixing degree and the curing degree are more satisfactory, namely the glue sample is qualified, and larger DeltaE value indicates that the color difference between the glue sample and the standard sample is larger, and the mixing degree and the curing degree are less satisfactory, namely the glue sample is disqualified.
Compared with the prior art, the invention has the following beneficial effects:
According to the invention, the glue sample is manufactured in an automatic mode and an image information acquisition technology is utilized, so that on-line and off-line dual detection of the mixing degree and the solidifying degree of the double-component AB mixed glue is realized, the misjudgment and omission of manual detection are avoided, the detection efficiency and accuracy are improved, meanwhile, batch and time-division detection is realized through the micro storage library, and the reliability of the detection result is ensured.
Drawings
FIG. 1 is a schematic diagram of the overall structure of a device for detecting the mixing and curing degree of bi-component glue for bonding a crystal bar;
FIG. 2 is a schematic diagram showing a three-dimensional structure of a detecting unit of a device for detecting the mixing and curing degree of two-component glue for bonding a crystal bar according to the present invention;
FIG. 3 is a schematic diagram showing a second perspective view of a detecting unit of the device for detecting the mixing and curing degree of two-component glue for bonding a crystal bar according to the present invention;
FIG. 4 is a third schematic perspective view of a detecting unit of a device for detecting the mixing and curing degree of two-component glue for bonding a crystal bar according to the present invention;
FIG. 5 is an enlarged schematic view of the portion A in FIG. 2;
Fig. 6 is a schematic structural diagram of an image information acquisition and sample box grabbing component of a dual-component glue mixing and curing degree detection device for bonding a crystal bar.
The drawing shows that 1 is a double glue dispensing gun, 2 is a glue spreading manipulator, 3 is an XY moving workbench, 4 is a miniature storage warehouse, 5 is a detection main part, 6 is a protective cover, 7 is a sample box, 8 is an empty sample box tray, 9 is a sample discarding box, 10 is an adjustable spectrum light source, 11 is a vacuum chuck, 12 is a CCD camera, 13 is a moving platform seat, 14 is a mounting plate, 15 is a six-axis industrial robot, 16 is a trapezoid supporting frame, 17 is a guide cam, 18 is a multi-sample box tray, 19 is a photoelectric sensor, 20 is a slide rail cylinder, 21 is a pneumatic sliding table, 22 is a traction block, 23 is a lifting cylinder, 24 is a traction pin, 25 is a linear guide rail, 26 is a lead screw, 27 is an electric motor, 28 is a synchronous belt transmission mechanism, 29 is a library outer cover plate, 30 is a slide rail, 31 is a single sample box tray, 32 is a library top plate, 33 is a library storage space, 34 is a lead screw nut, and 35 is a slide rail hole.
Detailed Description
The following description of the embodiments of the present application will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present application, but not all embodiments. It will be understood that when an element is referred to as being "fixed to" another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present. When an element is referred to as being "disposed on" another element, it can be directly on the other element or intervening elements may also be present. The terms "vertical," "horizontal," "left," "right," and the like are used herein for illustrative purposes only.
Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used herein in the description of the application is for the purpose of describing particular embodiments only and is not intended to be limiting of the application. The term "or/and" as used herein includes any and all combinations of one or more of the associated listed items.
Some embodiments of the application are described in detail. The following embodiments and features of the embodiments may be combined with each other without collision.
Referring to fig. 1 to 6, the device for detecting the mixing and curing degree of the bi-component glue for bonding the crystal bar provided by the embodiment of the invention comprises a gluing unit and a detecting unit, wherein the gluing unit is matched with the detecting unit for use and is used for providing the detected bi-component AB mixed glue for the detecting unit; the detection unit comprises a movable platform seat 13, a glue sample manufacturing and on-line detection platform, an off-line detection platform, a micro storage library 4, a detection main part 5 and a sample box 7, wherein the glue sample manufacturing and on-line detection platform, the off-line detection platform, the micro storage library 4 and the detection main part 5 are all arranged on the movable platform seat 13; the glue sample preparation and on-line detection platform comprises an XY mobile workbench 3 and a single sample box tray 31, one end of the XY mobile workbench 3 is fixedly connected to a mobile platform base 13, a main body part of the XY mobile workbench 3 horizontally extends outside the mobile platform base 13 and is positioned below a gluing unit, the single sample box tray 31 is connected to the XY mobile workbench 3, the single sample box tray 31 is used for placing the sample box 7, the gluing unit drops mixed glue into the sample box 7 on the single sample box tray 31 to complete glue sample preparation, the sample box 7 with the glue sample is carried to an off-line detection platform by the detection main part 5 through the glue sample preparation and on-line detection platform, the off-line detection platform is matched with a micro-storage library 4 for use, the sample box 7 with the glue sample is stored in the micro-storage library 4, the detection main part 5 comprises a six-axis industrial robot 15, an image information acquisition and sample box grabbing component, the image information acquisition and sample box grabbing component is connected to the front end of a mechanical arm of the six-axis industrial robot 15, the image information acquisition and sample box grabbing component is used for carrying the sample box 7, the image information acquisition and sample box grabbing component is further used for shooting glue samples in the glue sample preparation and on-line detection table and the sample box 7 on the off-line detection table respectively so as to acquire RGB value and contrast information of the glue samples, the image information acquisition and sample box grabbing component is connected with a computer, and the computer calculates the mixing degree and the solidifying degree of the glue samples according to the RGB value and the contrast information of the glue samples.
Specifically, the image information acquisition and sample box grabbing assembly comprises a mounting plate 14, one end of the mounting plate 14 is connected to the front end of a mechanical arm of a six-axis industrial robot 15, the other end of the mounting plate 14 is connected with a vacuum chuck 11, an adjustable spectrum light source 10 and a CCD camera 12, the adjustable spectrum light source 10 and the CCD camera 12 are integrally mounted, the CCD camera 12 is electrically connected with a computer, and the adjustable spectrum light source 10 provides a changeable spectrum light source for the CCD camera 12.
The glue sample preparation and on-line detection platform can firstly utilize image information to acquire and sample box to snatch the subassembly, detect the glue sample that makes in the sample box 7 that just drips bi-component AB mixed glue, and the main objective can know the AB glue mixing condition of glue in time in a short time to reach the effect of on-line detection in time.
The off-line detection platform comprises a trapezoid supporting frame 16, wherein the trapezoid supporting frame 16 is fixed on a movable platform seat 13, a guide cam 17 and a plurality of sample box trays 18 are arranged on the trapezoid supporting frame 16, the trapezoid supporting frame 16 limits the plurality of sample box trays 18 which are placed on the trapezoid supporting frame 16 through the guide cam 17, the plurality of sample box trays 18 are used for placing a plurality of sample boxes 7 with glue samples, a plurality of photoelectric sensors 19 are distributed at the bottom of the plurality of sample box trays 18, the photoelectric sensors 19 can be used for detecting whether the sample boxes 7 exist on the plurality of sample box trays 18, a pushing mechanism and a slide way hole 35 are arranged on the movable platform seat 13 below the trapezoid supporting frame 16, one part of the pushing mechanism is fixedly connected to the bottom surface of the movable platform seat 13, the other part of the pushing mechanism penetrates through the slide way hole 35 and is detachably connected with the plurality of sample box trays 18, the pushing mechanism comprises a slide rail cylinder 20, a pneumatic slide way 21, a lifting cylinder 23 and a traction pin 24, the slide way cylinder 20 is fixed beside the slide way hole 35 on the bottom surface of the movable platform seat 13, the pneumatic slide way 21 is slidingly connected to the upper part of the slide way 20, the slide way 21 is connected to the lifting cylinder 23 through the slide way hole 35 and the lifting pin 24 is connected to the upper part of the movable platform seat 23, and the traction pin 24 is detachably connected to the slide way 22 on the upper part of the slide way 22.
Specifically, the micro storage warehouse 4 is arranged opposite to the off-line detection table, the micro storage warehouse 4 comprises a warehouse body top plate 32, a warehouse outer cover plate 29, a warehouse storage vacancy 33 and a warehouse position lifting control mechanism, the lower part of the warehouse position lifting control mechanism is fixed on the movable platform seat 13, the warehouse storage vacancy 33 is connected to the warehouse position lifting control mechanism, and the top of the warehouse position lifting control mechanism is connected with the warehouse body top plate 32; under the control of a warehouse position lifting control mechanism, a warehouse storage vacancy 33 can reciprocate up and down below a warehouse body top plate 32, two sides of the warehouse body top plate 32 are connected with a warehouse outer cover plate 29, the bottom of the warehouse outer cover plate 29 is fixedly connected to a movable platform seat 13, a warehouse entry port of the warehouse storage vacancy 33 is opposite to a multi-sample box tray 18 on a trapezoid supporting frame 16, the warehouse position lifting control mechanism comprises an electric motor 27, a synchronous belt transmission mechanism 28, a lead screw 26, a lead screw nut 34 and a linear guide 25, the electric motor 27 and the synchronous belt transmission mechanism 28 are fixed on the bottom surface of the movable platform seat 13, the power output end of the electric motor 27 is connected with the synchronous belt transmission mechanism 28, the synchronous belt transmission mechanism 28 is connected with a lead screw 26, the lead screw 26 penetrates through the movable platform seat 13 and is arranged above the movable platform seat 13, the lead screw nut 34 is connected with the lead screw nut 34, the lead screw nut 34 is fixedly connected with the warehouse body top plate 32 and the movable platform seat 13, the two ends of the linear guide 25 are respectively fixedly connected with the movable platform seat 13, the empty box tray 8 is arranged above the warehouse body 32, the power output end of the synchronous belt transmission mechanism 28 is connected with the empty box tray 30, the sample box 30 is fixedly connected with the sample box top plate 30 on the slide rail 30, the empty box 30 is fixedly connected with the slide rail 30, the empty sample box tray 8 is used for storing a plurality of empty sample boxes 7 without glue dripping, and the empty sample boxes 7 stored on the empty sample box tray 8 are transported to a glue sample preparation and on-line detection platform through the detection main part 5 so as to prepare the glue sample and carry out on-line detection.
The multiple sample boxes 7 with glue samples placed on the multiple sample box trays 18 of the off-line detection platform and the sample boxes 7 with glue samples stored in the micro storage warehouse 4 can be used for detecting the mixing degree and the solidification degree of the glue samples after being placed for a long time, and the micro storage warehouse 4 ensures the storage time of the glue samples. The height of the storage space 33 in the warehouse can be adjusted by the warehouse position lifting control mechanism, the pneumatic sliding table 21 of the pushing mechanism pushes the multi-sample box tray 18 carrying the plurality of sample boxes 7 with glue samples into the storage space 33 in the warehouse along the sliding way hole 35, then the traction pin 24 is separated from the traction block 22, and the pushing mechanism returns to the original position.
The automatic glue dripping device comprises a glue spreading unit, a detection unit and a glue spreading machine, wherein the glue spreading unit comprises a glue spreading manipulator 2 and a double glue spreading gun 1, the double glue spreading gun 1 is fixed on the glue spreading manipulator 2, the double glue spreading gun 1 can be controlled to move in azimuth through the glue spreading manipulator 2 so as to finish glue dripping of a sample box 7 on an XY moving workbench 3, and automatic glue dripping is realized.
Preferably, the movable platform base 13 is further provided with a sample discarding box 9, the sample discarding box 9 is used for collecting the sample box 7 with overlong storage time after the detection of the mixing degree and the solidification degree of the glue sample, the six-axis industrial robot 15 drives the vacuum chuck 11 after grabbing the sample box by the vacuum chuck 11, and the sample box 7 stored for more than 120 hours is placed in the sample discarding box 9.
Preferably, the XY moving workbench 3 is covered with a protective cover 6, the protective cover 6 is provided with an opening, the size of the opening is larger than that of the Shan Shiyang box tray 31, and the protective cover 6 can prevent glue overflow generated in the glue dropping process of the double glue dispensing gun 1 from polluting the XY moving workbench 3.
In summary, the glue sample can be automatically manufactured by matching the glue sample manufacturing and on-line detecting table with the glue coating unit, and the mixing and curing conditions of the glue sample can be detected at any time by matching the CCD camera 12 of the image information acquisition and sample box grabbing component with the computer, so that on-line detection is completed. According to the invention, the glue sample is automatically manufactured, so that the manual carrying and detection of workpieces can be avoided, and the pollution caused by the workpiece storage process is avoided. The invention can detect the curing degree of the glue sample at any time in the curing process of the glue sample, the process does not need to be manually participated, the whole process is automated, and the curing detection efficiency and accuracy of the glue are greatly improved. The method is used for detecting whether the mixing degree and the solidifying degree of a glue sample are qualified or not, a double glue dispensing gun 1 extrudes the detected double-component AB mixed glue, an XY moving workbench 3 carries a sample box 7 to move, the double-component AB mixed glue can be dripped in the sample box 7, a six-axis industrial robot 15 carries an adjustable spectrum light source 10 and a CCD camera 12 to detect the glue sample in the automatically prepared sample box 7, the glue sample can be detected on the XY moving workbench 3 for multiple times, on-line detection can be carried out, off-line detection can be carried out on an off-line detection table, the detection is that a CCD camera 12 shoots a glue sample image and transmits the glue sample image to a computer, parameters such as RGB values, brightness, contrast and the like are calculated and analyzed, and the mixing degree and solidifying degree are calculated according to data obtained each time, so that whether the mixing degree and the solidifying degree of the glue sample are qualified or not is obtained.
In addition, the method for detecting the mixing and curing degree of the bi-component glue for bonding the crystal bars, provided by the embodiment of the invention, comprises the following steps:
Step one, glue sample preparation, namely driving a vacuum chuck 11 of an image information acquisition and sample box grabbing component to grab and transport an empty sample box 7 onto a single sample box tray 31 connected with an XY moving workbench 3 by a six-axis industrial robot 15, then adjusting the position of the single sample box tray 31 by the XY moving workbench 3, moving the sample box 7 to the lower part of a gluing unit, and dripping the mixed glue of the tested bi-component AB into the sample box 7 by the gluing unit;
step two, setting a CCD camera 12, namely driving the CCD camera 12 of the image information acquisition and sample box grabbing component to move above a sample box 7 with a glue sample by a six-axis industrial robot 15, adjusting parameters of the CCD camera 12 and an adjustable spectrum light source 10, including exposure time, shooting rate, resolution and triggering mode, and correcting the CCD camera 12 to realize image initialization;
A third step of calibrating, namely shooting the glue sample by using a CCD camera 12 respectively at time points of 1 minute, 5 minutes, 10 minutes, 30 minutes, 2 hours and 10 hours after the glue sample is manufactured, and calibrating CCD camera 12 parameters based on the shot images;
And fourthly, a detection step of fixing a CCD camera 12 to a position 14cm to 15cm away from the glue sample in the sample box 7, continuously shooting the glue sample by using the calibrated CCD camera 12, acquiring RGB values and contrast information of images, transmitting the RGB values and the contrast information to a computer, calculating the mixing degree and the solidifying degree of the glue sample based on the RGB values and the contrast information, specifically, combining CIE-Lab data of a standard sample and CIE-Lab data of the glue sample based on the acquired RGB values and the contrast information, calculating chromatic aberration delta E of the CIE-Lab data of the standard sample and the CIE-Lab data of the glue sample, and judging the mixing degree and the solidifying degree of the glue sample according to the delta E value.
Specifically, the calculating method of the chromatic aberration delta E comprises the steps of firstly measuring CIE-Lab values (L_s, a_s, b_s) of a standard sample, then measuring CIE-Lab values (L_t, a_t, b_t) of a glue sample, and then calculating according to a formula delta E= [ delta L ] 2+ (delta a) 2+ (delta b) 2 ];
In the formula, deltaL=L_t-L_s is brightness difference, deltaa=a_t-a_s is red offset, deltab=b_t-b_s is yellow Lan Cha, smaller DeltaE value indicates that the color of the glue sample is closer to that of the standard sample, the mixing degree and the curing degree are more satisfactory, namely the glue sample is qualified, and larger DeltaE value indicates that the color difference between the glue sample and the standard sample is larger, and the mixing degree and the curing degree are less satisfactory, namely the glue sample is disqualified.
The device and the method for detecting the mixing degree and the solidifying degree of the bi-component glue for bonding the crystal bar are not only suitable for detecting the mixing degree and the solidifying degree of the bi-component AB mixed glue, but also can detect the solidifying of the glue if other glue has obvious optical property change in the solidifying process, namely the device and the method for detecting the mixing degree and the solidifying degree of the bi-component glue for bonding the crystal bar are not limited to the components of the glue forming body. In addition, the double-component glue mixing detection device can be used for detecting other component double-component mixed glue, and the detection device is not limited to components and proportions.
It should be understood that the foregoing detailed description of the present invention is provided for illustration only and not for limitation, and it should be understood by those skilled in the art that the present invention may be modified or substituted for the same technical effects and is within the scope of the invention as long as the usage requirement is satisfied.
Claims (10)
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