某车型密封胶车底机器人涂胶轨迹设计与示教  

The Designing and Teaching of UBS Robot Seam Sealing Trajectory

作　　者：田孟辙 王占宏 TIAN Meng-zhe;WANG Zhan-hong(Beijing Benz Automotive Co..Ltd.,Beijing 100176,China)

机构地区：[1]北京奔驰汽车有限公司,北京100176

出　　处：《现代涂料与涂装》2021年第9期32-35,38,共5页Modern Paint & Finishing

摘　　要：详细介绍了新车型上线的基本流程以及自动涂胶程序持续优化改进、减少人工刷胶点的过程.通过视觉成像系统(VMT)对调试车身在世界坐标系中的位置进行确定,得到车身的工件坐标原点在世界坐标系中的位置.通过对视觉成像系统的照片模板和学习库进行优化,根据计算结果得到调试车身相对于零位车身在世界坐标系内的位置偏差并将此偏差值补偿给机器人.应用相关软件对机器人涂胶轨迹进行离线编写和在线示教,对涂胶参数进行设定并实现自动喷涂.最后结合手工刷胶人员的工作量对机器人涂胶产生的刷胶点进行优化,减少刷胶的位置和刷胶点的数量.整个项目由该公司生产和维修工程师完成,节省第三方劳务费约150万元.The formal process of new types of carbodies loaded online specifically and the continuousoptimization of automatic robot program trajectory and manual brush points reduction were introduced.From VMT system,the position of the commissioning carbody in world coordinate were calculatedl,then throughmathematic transform,the zero position of the carbody in world coordinate were got.From the optimization ofthe picture model and storage in VMT system,the compensation value between commissioning carbody andstandard carbody in world coordinate by calculation were got.Using special software to edit offline programand teach pendant to optimize program online,the robot application parameter was set and robot sprayautomatically was made at last.'The location and amount of manual brush points to balance the work load ofmanual operators were reduced.The whole project was done by the engineers of production andmaintenance,saved ¥1500000 cost of the third party.

关 键 词：密封胶 VMT 涂胶轨迹 示教 刷胶 

分 类 号：TQ639[化学工程—精细化工]