Robot glue scraping method based on visual identification

Abstract

The invention discloses a robot glue scraping method based on visual identification, and belongs to the field of glue scraping methods. The robot glue scraping method comprises the following steps that a visual identification device obtains an image of a to-be-processed pipe, and the image is processed through a visual image processing algorithm to obtain the diameter and perimeter L of the to-be-processed pipe and the curvature of the circumference of the to-be-processed pipe; according to the curvature information, the position of a glue scraping mechanism on a mechanical arm in a glue scraping system is adjusted, so that a glue scraping roller brush is positioned at the topmost end of the to-be-processed pipe and moves downwards to the lowest point along the curvature path of the to-be-processed pipe from the topmost end to complete the first half-perimeter glue scraping action, a second driving device starts to drive the mechanical arm to move by the width of one roller brush and return to the first step for circular treatment again until glue scraping of the first half surface of the to-be-processed pipe is completed; and the to-be-processed pipe is rotated, and returns to thefirst step for circular treatment again until glue scraping of the second half surface of the to-be-processed pipe is completed. The robot glue scraping method can adopt the glue scraping system to automatically complete the glue scraping action, and is safe and environmentally-friendly.

Description

technical field [0001] The invention relates to the field of squeegeeing methods, in particular to a visual recognition-based robot squeegeeing method. Background technique [0002] In the manufacturing process of the pipe made of resin material, in the process of winding the glass fiber reinforced plastic fiber on the core column, it is necessary to continuously add chemical glue to solidify it into an integrated pipe. In this manufacturing process, every time a layer of fiberglass fiber is wound, the excess glue will flow down the cylindrical surface. The chemical glue will pollute the environment, and the glue left on the pipe is uneven; Toxic gas will harm the workers on site, and also cause waste of raw materials for production enterprises. [0003] At present, enterprises that manufacture pipes use manual operations to complete this process. There are several problems: first, the harsh environment brings occupational hazards such as respiratory diseases to workers; c...

AI Technical Summary

Problems solved by technology

In this manufacturing process, every time a layer of fiberglass fiber wire is wound, the excess glue will flow down the cylindrical surface. The chemical glue will pollute the environment, and the glue left on the pipe is uneven; Toxic gas will harm the workers on site, and also cause waste of raw materials for production enterprises

[0003] At present, enterprises that manufacture pipes use manual operations to complete this process. There are several problems: first, the harsh environment brings occupational hazards such as respiratory diseases to workers; create pollution

Third, the manual operation is not standard, resulting in waste of glue, and also causes uneven thickness of glue on the surface of the pipe, which affects the quality of the pipe

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