A fixed-point position acquisition method for a gluing robot and the gluing robot
A fixed-point position and robot technology, which is applied to the device and coating of the surface coating liquid, can solve the problems of complex configuration of the visual correction system, inability to guarantee the accuracy of glue application, and high cost of system equipment
Active Publication Date: 2021-04-06
库卡机器人制造(上海)有限公司
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However, this method has high requirements on the environment and engineer technology, and the configuration of the visual correction system is complex, the cost of system equipment is high, and the accuracy of gluing cannot be guaranteed.
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[0038] Example embodiments will now be described more fully with reference to the accompanying drawings. Example embodiments may, however, be embodied in many forms and should not be construed as limited to the examples set forth herein; rather, these embodiments are provided so that this application will be thorough and complete, and will fully convey the concepts of example embodiments to those skilled in the art.
[0039] Furthermore, the described features, structures, or characteristics may be combined in any suitable manner in one or more embodiments. In the following description, numerous specific details are provided in order to give a thorough understanding of the embodiments of the application. However, those skilled in the art will appreciate that the technical solutions of the present application may be practiced without one or more of the specific details, or other methods, components, devices, steps, etc. may be employed. In other instances, well-known methods,...
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Embodiments of the present application provide a method for acquiring a fixed-point position of a gluing robot and the gluing robot. The method for obtaining the fixed-point position of the gluing robot includes: obtaining the gluing track of the gluing robot and the speed of movement along the gluing track; The initial position in the gluing track; through the distance difference between the actual position of the gluing robot and the initial position when the glue gun performs the gluing operation along the gluing track, the initial position is corrected to obtain the gluing operation Fixed location. The technical solution of the embodiment of the present application determines the distance difference based on the previously determined initial position, and corrects the initial position of the gluing robot according to the distance difference, so that the corrected position meets the set operating conditions to obtain more accurate correction The location improves the accuracy of the gluing robot as a position, thereby improving the effect of gluing.
Description
technical field [0001] The present application relates to the technical field of gluing robot control, in particular, to a method for obtaining a fixed-point position of a gluing robot and the gluing robot. Background technique [0002] The gluing process is a technology that needs to be used in various fields including the automobile industry, the metal industry, the plastics industry, the wood product industry, and the ceramics industry. Problems such as uneven gluing, glue flow, and gluing will greatly affect the gluing process. Effect. Generally, the vision correction method is used to collect the robot's gluing trajectory, and then the vision system is used to identify and obtain the image, and match it with the predetermined data deviation, and the calculation error is transmitted to the robot controller. However, this method has high requirements on the environment and engineer technology, and the configuration of the vision correction system is complicated, the cost...
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IPC IPC(8): B05C5/02B05C11/10
CPCB05C5/02B05C11/10
Inventor 张冬林包祥浩刘星施俊龙李彦秀夏俊超张祥坤
Owner 库卡机器人制造(上海)有限公司