视觉系统在喷涂机器人车身检测中的应用

Application of vision system in car body measurement for paint robots

在车身内表面机器人自动喷涂工作站,增加VMT视觉系统,测量车身误差,并将车身误差作为偏移量,补偿到机器人的跟踪坐标系中,实现了车身误差的整体补偿,提高了车身喷涂质量的稳定性。同时,针对开门机有一定概率无法关严车门,视觉系统识别车门是否关严,消除了车门未关严对喷涂线下一道工序的不良影响。

In order to measure car body position errors,a VMT vision system was newly added in a car body interior painting zone which painted automatically by robots.The stability of car body film quality was improved,after car position errors overall compensated,by offsetting robots’tracking coordinates with car position errors.Meanwhile,car doors could not be completely closed by openers with a certain probability,after paint finished.The vision system identified whether doors closed or not,to eliminate the bad influence of unclosed doors in next paint process.