Enterprise needs: gluing solutions
Challenges:
1. In the gluing process, the large attitude change rate of the robot will lead to the instability of the glue shape;
2. In the gluing process, the inertia force generated by the shaking of the hose will cause the deviation of the gluing position.
Solution:
In order to solve the common problems in the process of flexible assembly, a scheme of JAKA Zu 3 collaborative robot and motion planning was proposed. The specific scheme is as follows:
1. At the corner of gluing, the rotation angle of the glue gun in the arc section is reduced through advanced treatment or hysteresis treatment, so that the robot movement trajectory is smooth and stable;
2. In the arc section, the swing angle of the robot is reduced, the movement speed of the robot is slowed down, and the stability of the system is improved through advanced processing or hysteresis processing;
3. At the end and end of the gluing joint, through advanced treatment, the gradual method is adopted to complete the change of the robot's attitude before closing the glue gun, so that the movement of the robot is stable and a better forming effect is achieved;
4. Try to ensure that the action is simplified and single, and the smooth action of the robot is realized.
Project Results:
1. In the process of operation, the consistency of gluing quality is ensured by implementing different motion planning strategies for gluing corners, arc sections, and end and end joints;
2. Replace manual labor and improve the level of automation.
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