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Method for determining model selection and installation position of steel coil labeling and code spraying six-axis robot

A technology for installation position and determination method, which is applied to instruments, manipulators, image data processing, etc., and can solve the problems of robot selection basis and installation position determination method that have not yet seen relevant research reports.

Active Publication Date: 2019-11-08
CHINA NAT HEAVY MACHINERY RES INSTCO
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  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0005] The existing literature mainly studies how to realize various functions of the robot and how to plan the trajectory of the robot, but there are no relevant research reports on the specific selection basis and installation position determination method of the robot.

Method used

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  • Method for determining model selection and installation position of steel coil labeling and code spraying six-axis robot
  • Method for determining model selection and installation position of steel coil labeling and code spraying six-axis robot
  • Method for determining model selection and installation position of steel coil labeling and code spraying six-axis robot

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Embodiment 1

[0051] A method for determining the type selection and installation position of a six-axis robot for labeling and coding on steel coils. The specific implementation methods are as follows:

[0052] Step 1: Give the maximum radius r_max=750mm and the maximum width l_max=1500mm of the steel coil to be labeled and coded;

[0053] Step 2: Solve the reachable space of the six-axis robot, including:

[0054] (1) Set a local coordinate system for each link of the robot according to the D-H method, where the coordinate system of link i is X i -Y i -Z i , the value range of i is 0~6, i=0 represents the robot base;

[0055] (2) at X 0 =0 in the plane; the connecting rod parameters of the six-axis robot are:

[0056]

[0057] (3) According to the parameters in step 2 (2) of step 2, the lower limit of lower arm swing θ 下min =-133°, lower arm swing upper limit θ 下max =-10°, lower limit of upper arm swing θ 上min =-57°, upper arm swing upper limit θ 上max =90°, lower limit of wris...

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Abstract

The invention discloses a method for determining model selection and installation position of a steel coil labeling and code spraying six-axis robot. The method mainly comprises the following steps: 1, giving the maximum diameter and width of a steel coil; 2, solving a reachable space of a robot; 3, performing contour extraction on the reachable space diagram; 4, solving the maximum inscribed circle radius and circle center coordinates of the reachable space; and 5, judging whether the steel coil with the maximum specification is completely in a reachable space of the robot or not and determining a relative mounting position. The method can determine whether the robot can meet the task requirement in the determination stage, can avoid type selection errors while determining the relative installation position of the robot and the steel coil, can fully utilize the whole reachable space of the robot, and has the advantages of high accuracy, high working efficiency and low production cost.

Description

technical field [0001] The invention belongs to the field of steel rolling and post-processing, and in particular relates to a method for selecting the type of a steel coil labeling and spraying code six-axis robot and determining the installation position. Background technique [0002] With its remarkable advantages of high performance and high precision, strip steel is widely used in industrial manufacturing sectors such as automobiles, home appliances, construction and electronics. After the production of strip steel is completed, it is generally necessary to carry out labeling and coding on the top and side surfaces. These tasks are traditionally done manually, which not only has certain risks, but also is inefficient and prone to misoperation. Robots emerge as a suitable alternative machinery, which can effectively improve efficiency and safety, and reduce error rates. [0003] Before performing robot labeling and inkjet coding, it is necessary to determine whether the...

Claims

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Application Information

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IPC IPC(8): G06T7/13G06T7/70B25J11/00
CPCG06T7/13G06T7/70B25J11/00B25J11/0075G06T2207/20024
Inventor 张康武郭韡刘渭苗李联飞岳国富
Owner CHINA NAT HEAVY MACHINERY RES INSTCO
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