工业机器人涂胶路径规划与仿真研究  

Research on Plan and Simulation of Industrial Robot Gluing Path

作　　者：温成卓[1] 刘红[1] 崔欢欢 刘栋[1] WEN Chengzhuo;LIU Hong;CUI Huanhuan;LIU Dong(Department of Mechanical Engineering,Yunnan Electromechanical Vocational and Technical College,Kunming 650203,China)

机构地区：[1]云南机电职业技术学院机械工程学院,云南昆明650203

出　　处：《新技术新工艺》2022年第1期1-4,共4页New Technology & New Process

基　　金：云南机电职业技术学院科研带头人及团队建设工程项目(2017TD02);云南机电职业技术学院青年骨干教师科研计划项目(2020QN02)。

摘　　要：工业机器人技术在智能制造业中的应用越来越广泛,在涂胶领域的应用,可以有效解决人工涂胶效率低、涂胶质量不高、涂胶过程有害气体对人体伤害等问题。以真实的车门涂胶过程为例,应用三维软件建立车门的仿真模型,利用RobotStudio中的“自动路径”功能生成涂胶路径,通过调整和优化点位位姿、轴参数配置方法、碰撞监测、轨迹运行仿真等技术手段优化涂胶路径生成运动轨迹。通过与传统的工业机器人现场示教点编程生成轨迹路径的方法相比较,采用虚拟仿真软件中“自动路径”功能优化后生成的路径轨迹与几何体曲面轮廓贴合度更好,涂胶厚度更加均匀,涂胶质量和效率更高。Industrial robot technology has been more and more widely used in intelligent manufacturing,and the application of industrial robot in the field of gluing could effectively solve the problems of low efficiency of manual gluing,low gluing quality,harmful gas for the human body in the gluing process and so on.We took practical gluing for car door for instance,built a simulation model of car door by three-dimensional software,and generated gluing path by using the automatic path function of RobotStudio.The gluing path was optimized and the motion trajectory was generated by adjusting and optimizing the point posture,axis parameters configuration method,collision monitoring,trajectory operation simulation and other technical means.Compared with the traditional method of generating paths by industrial robot local teaching points programming,the results showed that the generated path optimized by automatic path function of virtual simulation software had better fit with the contour of geometric surface,the gluing thickness was more uniform,and the gluing quality and efficiency were higher.

关 键 词：工业机器人 涂胶路径 仿真研究 RobotStudio 自动路径 位姿 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]