Research And Implementation Of Automatic Programming Technology For Glass Curtain Wall Glue Coating Robo

As one of the main forms of building exterior wall,glass curtain wall is widely used in various buildings because of its light weight,good lighting and unique appearance.As the world ’s largest producer and user of glass curtain walls,China ’s demand for glass curtain walls is increasing,and the requirements for the efficiency and quality of gluing robots are also gradually increasing.Traditional gluing robots are difficult to adapt to the processing of large glass curtain walls due to structural and system limitations.In order to meet the requirements of glass curtain wall gluing process,it is necessary to improve the intelligent level of gluing robots and promote the development of the glass curtain wall industry.This thesis takes the glass curtain wall gluing robot as the object,and the intelligent level of the robot is improved by studying the automatic programming technology.A variety of visual positioning methods are used to obtain the gluing path points of different glass curtain wall edges,and the G-code program is generated by combining the gluing trajectory planning,so as to realize the automatic programming of the gluing robot and improve the efficiency and quality of the robot glue.The main research work of this thesis is as follows :(1)According to the requirements of large glass curtain wall and gluing process,starting from the demand analysis of automatic programming system,methods such as visual positioning and trajectory planning are introduced to obtain the gluing trajectory of glass curtain wall gluing robots.On this basis,the architecture of the automatic programming system is designed,and specific research is conducted on the key modules of the automatic programming system.(2)Identify the surface marker plate features of glass curtain walls through image processing technology,and determine the type of edge trajectory of glass curtain walls.Due to the inconsistent types of reflective edges on glass curtain walls,different detection algorithms are used to obtain the plane position information of the reflective edges,combined with the height value measured by laser sensors,to obtain the spatial information of automatically programmed adhesive path points.(3)The mathematical model of the six-degree-of-freedom gluing robot was established,and the minematic analysis of the robot was analyzed by MDH method and the positive and reverse solution was obtained.According to the needs of the glass curtain wall gluing process,the end nozzle is planned for pose.At the same time,considering the inconsistency of glue coating area in actual production,the forward planning method of glue coating speed is adopted to solve the problem of uneven and insufficient glue coating of robots,and complete the gluing trajectory planning in the automatic programming system.(4)Build a system test platform to realize automatic programming technology,and automatically generate G code by obtaining glue path points for gluing trajectory planning.After field test and comparison,the accuracy of the glue path point acquisition method and the effectiveness of the glue trajectory planning are verified,which improves the glue efficiency and quality of the robot,and saves the cost of manpower and materials.The automatic programming technology studied in this paper effectively improves the intelligent level of glass curtain wall gluing robot,realizes no tooling positioning requirements and fully automatic and convenient operation,and provides a reference solution for the glass curtain wall gluing process.