重型发动机机器人涂胶系统空间坐标系定位研究  

Study on Positioning of Spatial Coordinate System of Heavy-Duty Engine Industrial Robot Glue System

作　　者：李欲晓 孙吉利 吕玮[1,2] LI Yuxiao;SUN Jili;LYU Wei(Wuxi Diesel Engine Factory,FAW Jiefang Automotive Co.,Ltd.,Wuxi 214026,China;FAW Jiefang Engine Business Division,Wuxi 214026,China)

机构地区：[1]一汽解放汽车有限公司无锡柴油机厂,江苏无锡214026 [2]一汽解放发动机事业部,江苏无锡214026

出　　处：《现代车用动力》2021年第1期44-47,共4页Modern Vehicle Power

摘　　要：针对重型发动机机器人涂胶系统在正常工作模式下与工件碰撞问题,通过分析碰撞产生原因、增加定位传感器、建立空间坐标等措施,减少了机器人涂胶碰撞问题的发生,通过进一步优化扫描点及扫描方式,最终杜绝了此类问题的发生。The collision problem between industrial robot and work piece is discussed in the normal working mode of heavy-duty engine robot glue system. By analyzing the cause of collision,positioning sensor was added,and the spatial coordinate system process was established. The robot collision problem is reduced. By further optimizing the scanning points and scanning methods,the robot collision problems are finally figured out.

关 键 词：机器人 光电传感器 定位 坐标系 

分 类 号：U464.172[机械工程—车辆工程]