Research On Key Technologies Of Roof Weld Gluing Robot System Based On Linear Structured Light

Coating sealant on the welding seam of automobile roof cover is an indispensable process in the manufacture of automobile body-in-white.The sealant quality of welding seam of automobile roof cover is directly related to the safety and service life of the whole automobile.At present,there are few automatic gluing equipments used in automotive roof welding seam gluing process in China,and some of them are based on teaching programming to obtain gluing track.This method needs a lot of time to program,and the bodywork positioning requirements are higher.Therefore,a vision system based on line structured light for gluing robot for roof welding is presented.The system mainly focuses on machine vision.It integrates optical technology,image processing technology,computer technology and robot control technology.Firstly,this paper introduces the research status of vision system of roof seam gluing robot,analyzes the measuring principle of linear structured light sensor,determines the key parameters of the system,and then designs and realizes the hardware system of roof seam gluing robot based on linear structured light.At the same time,the software design of the system is completed.The system gets the pixel coordinates of the feature points of the roof weld by processing the images of the roof weld taken by the camera,and then transforms them into the robot coordinate system,so as to guide the robot end glue gun to move along the roof weld track and complete the automatic gluing task.Secondly,according to the experimental environment and system accuracy requirements,a visual system experimental platform for roof welding seam gluing robot was designed.The calibration method of robot vision system based on line structured light is studied and the conversion relationship between the characteristic points of the top weld and the coordinate systems is obtained..By analyzing the shape characteristics of roof weld,an image processing algorithm is designed to extract the feature information of roof weld.According to the forward kinematics equation of industrial robot and the solution formula of rotation transformation,the complete path of roof welding seam gluing robot is obtained.Finally,the software system of roof welding seam gluing robot is designed,which integrates the SDK of DaHeng camera and HuaShu robot,and the verification experiment of the system is designed.Experiments show that the system can be used to guide the robot for gluing the roof weld seam.The system calibration error is 0.064 mm.