基于3D视觉的动车组车窗机器人玻璃安装与涂胶系统  

Robotic system for glass installation and gluing of EMU's window based on the 3D vision system

作　　者：魏京利[1] 齐立哲 孙笃玲[1] 

机构地区：[1]南车青岛四方机车车辆股份有限公司,山东青岛266111 [2]廊坊智通机器人系统有限公司,河北廊坊065001

出　　处：《山东理工大学学报（自然科学版）》2012年第6期41-43,48,共4页Journal of Shandong University of Technology:Natural Science Edition

摘　　要：介绍了一种机器人自动化动车车窗玻璃安装与涂胶系统,该系统主要包含机器人系统、三维视觉定位系统、玻璃吸盘及涂胶系统.采用三维视觉定位技术,无需设计机械定位装置,就能够保证机器人正确抓取、安装玻璃及保证涂胶轨迹;设计了实验系统并对相关问题进行了实验研究,验证了系统设计的有效性;采用此系统可以提高生产效率、降低人工劳动强度及保证生产质量.This paper introduces a kind of robotic glass installation and gluing system for train＇s window, which mainly includes the robot system, the 3D vision positioning system, the glass gripper and the gluing system. Using the 3D visual positioning technology, it is easy to ensure the robot＇s correct trajectory for glass holding, glass installation and gluing process without de- signing the mechanical positioning device. The experimental system is designed, the related prob- lems are studied, and it is proved that the system design is effective. Using this system, it can greatly improve the production efficiency, reduce the labor intensity and ensure the quality of pro- duction.

关 键 词：机器人 三维视觉定位 玻璃安装 涂胶 

分 类 号：TP242.2[自动化与计算机技术—检测技术与自动化装置]