Method and system for optimizing gluing track of robot based on dynamic path

Abstract

The invention relates to a method and system for optimizing the gluing track of a robot based on a dynamic path, the robot is provided with a glue gun head for gluing a workpiece, the glue gun head is provided with a distance measuring module, the workpiece to be glued is fixed, and the posture of the glue gun head is fixed; and the initial gluing position of the glue gun head is demonstrated, the glue gun head is controlled to glue the gluing face of the workpiece along the preset gluing track, in the gluing process, distance measurement information, measured by the distance measurement module, between the glue gun head and the gluing face of the workpiece is obtained in real time, and the height of the glue gun head is optimized in real time according to the distance measurement information. The precision of gluing operation is improved, and the stability and consistency of gluing quality are ensured; and the risk that the gun head is damaged due to contact between the gun head and the gluing surface is avoided.

Description

Technical Field

[0001] The present invention relates to the technical field of robot gluing, and in particular to a method and system for optimizing robot gluing trajectory based on dynamic path. Background Art

[0002] In the existing gluing technology, the gluing process has been basically automated to improve the gluing quality and efficiency. However, although these automated processes have optimized the gluing process to a great extent, there are still some problems and challenges.

[0003] During the gluing process, in order to ensure the quality of the gluing, the gluing thickness needs to be consistent and as thin as possible. However, due to various factors, such as thermal expansion and contraction and manufacturing process errors, the surface of the gluing workpiece may have a slight deformation in the height direction. This requires adjusting the height of the glue gun head to ensure the consistency of the glue thickness and prevent the glue gun head from colliding with the workpiece surface.

[0004] Currently, the main method for adjusting the height of the glue gun head is by changing the cylinder pressure. However, this method has some problems, such as low response sensitivity and large position error, which may affect the glue coating quality and efficiency.

[0005] In addition, the current glue coating process often needs to be used in conjunction with other functional equipment, such as 3D cameras and quantitative glue machines. Although this combined use can improve the quality and efficiency of glue coating to a certain extent, it also increases the cost of equipment. Moreover, when used in conjunction with a quantitative glue machine, although the glue flow rate and glue width can be controlled, the error range of glue thickness accuracy is large. When used in conjunction with a cylinder, although the distance between the gun head and the workpiece surface can be adjusted, this method is usually only applicable to the glue coating process of different workpieces.

[0006] In actual gluing applications, the distance to the gluing surface is usually required to be between 0.1 and 0.3 mm. If the workpiece is slightly tilted and the gun tip position is not compensated, the gun tip may come into contact with the gluing surface, thus damaging the equipment and affecting the gluing quality. At the same time, since the workpiece surface may have non-discrete deformation caused by factors such as heat, the accuracy and real-time performance of position compensation are required to be high.

[0007] Therefore, it is urgent to develop a debugging method with high sensitivity and fast response speed for the compensation of the gluing trajectory position to solve the above problems and improve the gluing quality and efficiency. Summary of the invention

[0008] Based on the above problems, the present invention relates to a method and system for optimizing the gluing trajectory of a robot based on a dynamic path, aiming to improve the quality and efficiency of gluing.

[0009] A method for optimizing a robot's gluing trajectory based on a dynamic path, wherein the robot is provided with a glue gun head for gluing a workpiece, and a distance measuring module is provided at the glue gun head, and the method comprises the following steps:

[0010] Step A1, fixing the workpiece to be glued and fixing the posture of the glue gun head;

[0011] Step A2, teaching the initial gluing position of the glue gun head, controlling the glue gun head to glue the gluing surface of the workpiece along a predetermined gluing trajectory, and during the gluing process, obtaining the distance measurement information between the glue gun head and the gluing surface of the workpiece measured by the distance measurement module in real time, and optimizing the height of the glue gun head in real time according to the distance measurement information.

[0012] Furthermore, in step A2, obtaining the distance measurement information between the distance measurement module and the glue coating surface of the workpiece in real time, and optimizing the height of the glue gun head in real time according to the distance measurement information includes:

[0013] Step A21, obtaining distance measurement information between the distance measurement module and the glue-coated surface of the workpiece;

[0014] Step A22, calculating a height compensation value according to the distance measurement information;

[0015] Step A23, optimizing the height of the glue gun head based on the height compensation value.

[0016] Further, in step A1, fixing the workpiece includes determining a user coordinate system plane of a glue coating surface of the workpiece, and the height of the glue gun head refers to the height of the glue gun head in the user coordinate system;

[0017] Step A22 includes:

[0018] Step A221, calculating the actual height of the glue gun head relative to the distance measurement information according to the fitting relationship between the height of the glue gun head and the distance measurement information;

[0019] Step A222, calculating the offset between the actual height of the glue gun head and the preset height to obtain a height compensation value.

[0020] Furthermore, in step A1, after fixing the workpiece to be glued and fixing the posture of the glue gun head, a process of obtaining a fitting relationship between the height of the glue gun head and the distance measurement information is also included, specifically including:

[0021] Step A11, controlling the glue gun head to move in the height direction, and recording the height of the glue gun head and the distance information to the glue coating surface measured by the distance measuring module at each movement;

[0022] Step A12, performing fitting based on the height and distance measurement information of the series of glue gun heads obtained in step A11 to obtain a fitting relationship.

[0023] Furthermore, the distance measuring module is a laser distance measuring device.

[0024] Furthermore, in step A2, the distance measuring module obtains an electrical signal during distance measurement and converts the electrical signal into a distance analog quantity as distance measurement information, which is then sent to the robot.

[0025] Furthermore, in step A2, the distance measuring module obtains an electrical signal during distance measurement and sends it to the robot, and the robot converts the electrical signal into a distance analog value as distance measurement information.

[0026] A system for optimizing the gluing trajectory of a robot based on a dynamic path, characterized in that it is used to implement the method for optimizing the gluing trajectory of a robot based on a dynamic path as described above, comprising:

[0027] A robot, which is provided with a glue gun head for applying glue to the workpiece;

[0028] A glue gun head is provided on the robot and is used to apply glue to the glue-coated surface of the workpiece;

[0029] The distance measuring module is arranged on the glue gun head and is used to measure the distance between the distance measuring module and the glue coating surface;

[0030] The robot is used to: after fixing the workpiece to be glued and fixing the posture of the glue gun head, teach the initial gluing position of the glue gun head, control the glue gun head to glue the glue coating surface of the workpiece along a predetermined gluing trajectory, and during the gluing process, obtain the distance measurement information between the distance measuring module and the glue coating surface of the workpiece in real time, and optimize the height of the glue gun head in real time according to the distance measurement information.

[0031] Furthermore, it also includes a glue coating machine and a glue coating pipeline. The glue coating machine, the glue coating pipeline and the glue gun head are connected in sequence. The glue coating machine is used to transport glue to the glue gun head through the glue coating pipeline.

[0032] Furthermore, the distance measuring module is a laser distance measuring device.

[0033] The beneficial technical effects of the present invention are: by optimizing the height of the glue gun head based on a dynamic path, the robot can be compensated for its position in real time and with high accuracy, thereby improving the accuracy of the gluing operation and ensuring the stability and consistency of the gluing quality; avoiding the risk of the gun head being damaged by contact with the gluing surface, thereby increasing the service life of the equipment and reducing the equipment maintenance cost; in addition, it also reduces the equipment debugging time and improves production efficiency; enables the robot to adapt to various complex gluing operation environments, enhances the adaptability and flexibility of the equipment, and at the same time reduces the waste of gluing, saves materials, and has a positive impact on environmental protection and energy conservation. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] Figure 1-3The present invention is a flowchart of the steps of a method for optimizing a robot's gluing trajectory based on a dynamic path.

[0035] Figure 4 The present invention is a schematic structural diagram of a system for optimizing the robot's gluing trajectory based on a dynamic path. DETAILED DESCRIPTION

[0036] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0037] It should be noted that, in the absence of conflict, the embodiments of the present invention and the features in the embodiments may be combined with each other.

[0038] The present invention will be further described below in conjunction with the accompanying drawings and specific embodiments, but they are not intended to limit the present invention.

[0039] See also Figure 1 The present invention provides a method for optimizing the gluing trajectory of a robot based on a dynamic path, wherein the robot is provided with a glue gun head for gluing a workpiece, and a distance measuring module is provided at the glue gun head. The method comprises the following steps:

[0040] Step A1, fixing the workpiece to be glued and fixing the posture of the glue gun head;

[0041] Step A2, teaching the initial gluing position of the glue gun head, controlling the glue gun head to glue the gluing surface of the workpiece along a predetermined gluing trajectory, and during the gluing process, obtaining the distance measurement information between the glue gun head and the gluing surface of the workpiece measured by the distance measurement module in real time, and optimizing the height of the glue gun head in real time according to the distance measurement information.

[0042] The height of the glue gun head refers to the height parameter in the direction perpendicular to the glue coating surface of the workpiece, that is, the height direction.

[0043] By optimizing the height of the glue gun head based on a dynamic path, the position of the robot glue gun head can be optimized in real time and with high accuracy, ensuring the distance from the glue gun head to the glue coating surface, improving the accuracy of the glue coating operation, and ensuring the stability and consistency of the glue coating quality; avoiding the risk of damage to the gun head due to contact with the glue coating surface, increasing the service life of the equipment, and reducing the equipment maintenance cost; in addition, the use of the ranging module also reduces the equipment debugging time and improves production efficiency; enabling the robot to adapt to various complex glue coating operation environments, enhancing the adaptability and flexibility of the equipment, while reducing the waste of glue coating, saving materials, and having a positive impact on environmental protection and energy conservation.

[0044] See also Figure 2 Further, in step A2, the distance measurement information between the distance measurement module and the glue coating surface of the workpiece is obtained in real time, and the height of the glue gun head is optimized in real time according to the distance measurement information, including:

[0045] Step A21, obtaining distance measurement information between the distance measurement module and the glue-coated surface of the workpiece;

[0046] Step A22, calculating a height compensation value according to the distance measurement information;

[0047] Step A23, optimizing the height of the glue gun head based on the height compensation value.

[0048] If the distance between the glue gun head and the glue coating surface is lower than the preset standard, the distance between the glue gun head and the glue coating surface is increased according to the height compensation value to prevent the glue gun head from damaging the workpiece. If the distance between the glue gun head and the glue coating surface is greater than the preset standard, the distance between the glue gun head and the glue coating surface is reduced according to the height compensation value to keep the distance between the glue coating surface and the glue gun head within a certain range, thereby ensuring the uniformity of the glue coating thickness, improving the accuracy of the glue coating operation, and ensuring the stability and consistency of the glue coating quality; avoiding the risk of the glue gun head contacting the glue coating surface and damaging the gun head and the workpiece.

[0049] See also Figure 3 , further, in step A1, fixing the workpiece includes determining a user coordinate system plane of a glue coating surface of the workpiece, and the height of the glue gun head refers to the height of the glue gun head in the user coordinate system;

[0050] Step A22 includes:

[0051] Step A221, calculating the actual height of the glue gun head relative to the distance measurement information according to the fitting relationship between the height of the glue gun head and the distance measurement information;

[0052] Step A222, calculating the offset between the actual height of the glue gun head and the preset height to obtain a height compensation value.

[0053] In actual use, the distance measurement direction of the ranging module deviates slightly from the height direction in the user coordinate system, and it is impossible to achieve 100% parallelism. Therefore, the distance measured in the ranging direction needs to be converted into the distance in the height direction of the user coordinate system, and the conversion relationship between them needs to be fitted in advance. In step A1, the user coordinate system plane of the glue coating surface of the workpiece is determined by plugging.

[0054] As a way, the workpiece is fixed to ensure that there is no displacement in the subsequent process, and the plug is used to determine the user coordinate system plane. The plug is inserted between the glue coating surface and the glue gun head. It will not slip easily and will not cause strong plugging. That is, an accurate user coordinate system plane is determined. As another way, after the workpiece is fixed, according to the origin O defined by the glue gun head, move a distance from the origin along the X axis to obtain the height value of the glue gun head, and move a distance from the origin to the Y axis to obtain the height value of the glue gun head. If the height values ​​of the two are basically the same, a relatively accurate user coordinate system plane is obtained. If they are not the same, it indicates that the user coordinate system plane has not been determined. As another way, after the workpiece is fixed, the origin, X direction point, and Y direction point are selected and recorded. If the distance height information given to the three points by the ranging module is basically the same, it indicates that the three points are at the same height and the three points are in the same plane. The plane is parallel to the glue coating surface; otherwise, it indicates that the user coordinate system plane has not been determined. It should be noted that the height direction is the Z direction perpendicular to the XOY plane of the user coordinate system.

[0055] Furthermore, the robot is a six-axis robot.

[0056] Furthermore, the workpiece is a cylinder head.

[0057] Furthermore, in step A1, after fixing the workpiece to be glued and fixing the posture of the glue gun head, a process of obtaining a fitting relationship between the height of the glue gun head and the distance measurement information is also included, specifically including:

[0058] Step A11, controlling the glue gun head to move in the height direction, and recording the height of the glue gun head and the distance information to the glue coating surface measured by the distance measuring module at each movement;

[0059] Step A12, performing fitting based on the height and distance measurement information of the series of glue gun heads obtained in step A11 to obtain a fitting relationship.

[0060] By raising the height by a certain distance each time along the height direction, the height of the glue gun head in the user coordinate system and the corresponding distance measurement information are obtained, and then this series of heights in the user coordinate system and the corresponding distance measurement information are fitted to obtain the fitting relationship between the height of the glue gun head and the distance measurement information.

[0061] In the actual gluing process, the surface of the gluing surface is uneven. The distance measurement information is obtained according to the distance measurement module. Combined with the fitting relationship, the longitudinal intercept, that is, the current actual height of the glue gun head, is obtained. The actual height is compared with the reference height to obtain the height compensation value. If the actual height is greater than the reference height, the height of the glue gun head is lowered. If it is lower than the reference height, the height of the glue gun head is increased. In this way, the glue gun head and the gluing surface are kept at an appropriate distance in real time, neither too far nor too low, which improves the gluing quality and avoids damage to the glue gun head.

[0062] Furthermore, the distance measuring module is a laser distance measuring device.

[0063] Furthermore, in step A2, the distance measuring module obtains an electrical signal during distance measurement and converts the electrical signal into a distance analog quantity as distance measurement information, which is then sent to the robot.

[0064] Furthermore, in step A2, the distance measuring module obtains an electrical signal during distance measurement and sends it to the robot, and the robot converts the electrical signal into a distance analog value as distance measurement information.

[0065] See also Figure 4 The present invention also provides a system for optimizing the robot's gluing trajectory based on a dynamic path, which is used to implement the aforementioned method for optimizing the robot's gluing trajectory based on a dynamic path, comprising:

[0066] A robot (4), the robot (4) being provided with a glue gun head (2) for applying glue to a workpiece;

[0067] A glue gun head (2) is arranged on the robot (4) and is used to apply glue to the glue-coating surface (1) of the workpiece;

[0068] A distance measuring module (3) is arranged on the glue gun head (2) and is used to measure the distance between the distance measuring module (3) and the glue coating surface;

[0069] The robot (4) is used to: after fixing the workpiece to be glued and fixing the posture of the glue gun head (2), teach the glue gun head (2) the initial glue coating position, control the glue gun head (2) to glue the glue coating surface (1) of the workpiece along a predetermined glue coating trajectory, and during the glue coating process, obtain the distance measurement information between the distance measurement module (3) and the glue coating surface (1) of the workpiece in real time, and optimize the height of the glue gun head (2) in real time according to the distance measurement information.

[0070] Furthermore, the robot (4) is a six-axis robot.

[0071] Furthermore, it also includes a glue coating machine (5) and a glue coating pipeline (6), wherein the glue coating machine (5), the glue coating pipeline (6) and the glue gun head (2) are connected in sequence, and the glue coating machine (5) is used to transport glue to the glue gun head (2) through the glue coating pipeline (6).

[0072] Furthermore, the distance measuring module (3) is a laser distance measuring device.

[0073] The above are only preferred embodiments of the present invention, and are not intended to limit the implementation methods and protection scope of the present invention. Those skilled in the art should be aware that all solutions obtained by equivalent substitutions and obvious changes made using the description and illustrations of the present invention should be included in the protection scope of the present invention.

Claims

1. A method for optimizing robot gluing trajectory based on dynamic path, characterized in that: The robot is provided with a glue gun head for applying glue to the workpiece, and a distance measuring module is provided at the glue gun head. The method comprises the following steps: Step A1, fixing the workpiece to be glued and fixing the posture of the glue gun head; Step A2, teaching the initial gluing position of the glue gun head, controlling the glue gun head to glue the gluing surface of the workpiece along a predetermined gluing trajectory, and during the gluing process, obtaining the distance measurement information between the glue gun head and the gluing surface of the workpiece measured by the ranging module in real time, and optimizing the height of the glue gun head in real time according to the distance measurement information.

2. A method for optimizing robot gluing trajectory based on dynamic path as claimed in claim 1, characterized in that: In the step A2, obtaining the distance measurement information between the distance measuring module and the glue coating surface of the workpiece in real time, and optimizing the height of the glue gun head in real time according to the distance measurement information includes: Step A21, obtaining distance measurement information between the distance measurement module and the glue-coated surface of the workpiece; Step A22, calculating a height compensation value according to the distance measurement information; Step A23, optimizing the height of the glue gun head based on the height compensation value.

3. A method for optimizing robot gluing trajectory based on dynamic path as claimed in claim 2, characterized in that: In the step A1, fixing the workpiece includes determining a user coordinate system plane of the glue coating surface of the workpiece, and the height of the glue gun head refers to the height of the glue gun head in the user coordinate system; The step A22 comprises: Step A221, calculating the actual height of the glue gun head relative to the distance measurement information according to the fitting relationship between the height of the glue gun head and the distance measurement information; Step A222, calculating the offset between the actual height of the glue gun head and the preset height to obtain the height compensation value.

4. A method for optimizing robot gluing trajectory based on dynamic path as claimed in claim 3, characterized in that: In the step A1, after fixing the workpiece to be glued and fixing the posture of the glue gun head, a process of obtaining a fitting relationship between the height of the glue gun head and the distance measurement information is further included, which specifically includes: Step A11, controlling the glue gun head to move in the height direction, and recording the height of the glue gun head and the distance information to the glue coating surface measured by the distance measuring module at each movement; Step A12, performing fitting based on the series of glue gun head heights and the distance measurement information obtained in step A11 to obtain the fitting relationship.

5. The method for optimizing the robot gluing trajectory based on dynamic path according to claim 1, characterized in that: The distance measuring module is a laser distance measuring device.

6. The method for optimizing the robot gluing trajectory based on dynamic path according to claim 1, characterized in that: In step A2, the distance measurement module obtains an electrical signal during distance measurement and converts the electrical signal into a distance analog quantity as the distance measurement information, which is then sent to the robot.

7. The method for optimizing the robot gluing trajectory based on dynamic path according to claim 1, characterized in that: In the step A2, the distance measurement module obtains an electrical signal during distance measurement and sends it to the robot, and the robot converts the electrical signal into a distance analog quantity as the distance measurement information.

8. A system for optimizing robot gluing trajectory based on dynamic path, characterized in that: A method for implementing a robot gluing trajectory based on dynamic path optimization as described in any one of claims 1 to 7, comprising: A robot, wherein the robot is provided with a glue gun head for applying glue to the workpiece; A glue gun head, arranged on the robot, for applying glue to the glue-coated surface of the workpiece; A distance measuring module is arranged on the glue gun head and is used to measure the distance between the distance measuring module and the glue coating surface; The robot is used to: after fixing the workpiece to be glued and fixing the posture of the glue gun head, teach the initial gluing position of the glue gun head, control the glue gun head to glue the glue coating surface of the workpiece along a predetermined gluing trajectory, and during the gluing process, obtain the distance measurement information between the ranging module and the glue coating surface of the workpiece in real time, and optimize the height of the glue gun head in real time according to the distance measurement information.

9. A system for optimizing robot gluing trajectory based on dynamic path as claimed in claim 8, characterized in that: It also includes a glue coating machine and a glue coating pipeline. The glue coating machine, the glue coating pipeline and the glue gun head are connected in sequence. The glue coating machine is used to transport glue to the glue gun head through the glue coating pipeline.

10. The system for optimizing robot gluing trajectory based on dynamic path as claimed in claim 8, characterized in that: The distance measuring module is a laser distance measuring device.

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