基于协作机器人的车门密封条滚压系统  

Research on Rolling System of Sealing Strip Based on Cooperative Robot

作　　者：王贇皓 孙长江[1,2] 陈正涛[1,2] 王皓[1,2] WANG Yunhao;SUN Changjiang;CHEN Zhengtao;WANG Hao(Shanghai Key Laboratory of Digital Manufacture for Thin-walled Structures,Shanghai Jiao Tong University,Shanghai 200240,China;Fraunhofer Project Center for Smart Manufacturing at Shanghai Jiao Tong University,Shanghai 201306,China)

机构地区：[1]上海交通大学上海市复杂薄板数字化制造重点实验室,上海200240 [2]上海交通大学弗劳恩霍夫协会智能制造项目中心,上海201306

出　　处：《机械设计与研究》2021年第2期28-33,39,共7页Machine Design And Research

摘　　要：为解决汽车企业在车间智能化转型的过程中,采用机器人代替人工进行车门密封条滚压时,遇到车身过大、密封条缺少特征点难以准确定位、协作机器人预设路径偏离实际路径、末端执行器与路径配合不当造成的机械臂报警停止等问题,设计了一种基于视觉的协作机器人滚压系统。本文提出了一种基于光影法的识别定位方法,以解决黑色背景下的黑色密封条识别定位困难的问题。基于HALCON图像处理库进行图像识别,编写数据采集、机器人运动与IO控制的集成开发方案与代码。在某型号的车身上进行密封条滚压的模拟试验,滚压枪末端嵌入误差小于±1 mm满足定位要求,滚压过程中,末端各轴向受力小于60 N,所受最大扭矩小于10 N·m,满足机器人负载要求。结果表明,该系统方案对于工厂的复杂环境,有一定的可行性和适应性。In the process of intelligent transformation of an automobile company,the robots were used to substitute manual labor to roll and assemble door seals.The problems such as huge car bodies,difficult to accurately locate the sealing strips,deviation of the collaborative robot path,and improper coordination of the end effector with the path were encountered.Therefore,a vision-based collaborative robot assembly system is designed to solve these problems.This paper proposes a recognition and location method based on light and shadow method to solve the difficult problem of recognition and location of the black sealing strip under the black background.The image recognition based on HALCON image processing library is performed,and write the integrated development programs and codes for data acquisition,robot motion and IO control are written.The test is done on the system with a raw car body.The error at the end of the rolling gun is less than±1 mm which meets the assembly requirements.During the rolling process,the axial force at the end is less than 60 N,and the maximum torque is less than 10 N.m,which meets the robot load requirements.The results show that the system scheme has feasibility and adaptability to the complex environment of the factory.

关 键 词：车门密封条 协作机器人 图像识别 自动化装配 

分 类 号：TP29[自动化与计算机技术—检测技术与自动化装置]