Robot gluing path planning method

Abstract

The invention relates to a robot gluing path planning method, which comprises the following steps of: starting conveying equipment, and driving a to-be-glued object by a conveying belt to enter a two-dimensional visual shooting area; then, photographing the to-be-glued object by a camera in the two-dimensional visual shooting area, and comparing two-dimensional drawings in a database according to the photographed picture so as to identify the corresponding product type; after collection is completed in the two-dimensional visual shooting area, driving the to-be-glued object by the conveying equipment to enter a three-dimensional visual shooting area, scanning the to-be-glued object by three-dimensional shooting equipment to obtain shape and size parameters of the to-be-glued object, and performing contour matching and comparison according to a database three-dimensional model to determine a gluing position; planning the pose of a robot by control equipment, and at the moment, the robot starting to perform gluing operation on the to-be-glued object; and driving the gluing object by the conveying equipment to enter a scanning detection area. According to the invention, the robot gluing path planning method, which is high in gluing precision, high-efficiency in mechanical gluing operation and wide in application range, can be provided.

Description

technical field [0001] The invention belongs to the technical field related to robots, and in particular relates to a robot glue-applying path planning method. Background technique [0002] Plastic, glass, and electronic products often have quality problems due to uneven gluing. Robots are suitable for automatic gluing due to their stability and speed control accuracy. At present, robot gluing has been widely used in the production process of automobiles, electronics, shoes and hats. middle. At present, for different processes and different types of products, the preparation and debugging of robot gluing trajectory still requires online teaching, which consumes a lot of time and delays the production progress. At the same time, the waste of raw materials due to the trial production process increases production costs. ;In the industry, 3D visual scanning technology can also be used to judge the position of the workpiece, and the error caused by the position change of the sam...

AI Technical Summary

Problems solved by technology

At present, for different processes and different types of products, the preparation and debugging of robot gluing trajectory still requires online teaching, which consumes a lot of time and delays the production progress. At the same time, the waste of raw materials due to the trial production process increases production costs. ;In the industry, 3D visual scanning technology can also be used to judge the position of the workpiece, and the error caused by the position change of the same type of product can be automatically compensated. However, the first trial production of different products still requires manual production of trajectory templates, which cannot be completely exempted from display. teach

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