CN106975874A - The cutting robot control system of laser aiming - Google Patents
The cutting robot control system of laser aiming Download PDFInfo
- Publication number
- CN106975874A CN106975874A CN201710407915.8A CN201710407915A CN106975874A CN 106975874 A CN106975874 A CN 106975874A CN 201710407915 A CN201710407915 A CN 201710407915A CN 106975874 A CN106975874 A CN 106975874A
- Authority
- CN
- China
- Prior art keywords
- laser
- processor
- robot
- control system
- aiming
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K37/00—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups
- B23K37/02—Carriages for supporting the welding or cutting element
- B23K37/0252—Steering means
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
Abstract
The invention discloses the cutting robot control system of laser aiming, including robot, it is characterised in that also including the processor being connected with robot, and laser beam emitting device and laser locating apparatus are also associated with the processor；The control machine people by way of laser aiming of this programme is welded, it can be positioned by the position for determining laser beam emitting device and the angle for sending laser and the position of laser locating apparatus and the angle for receiving laser with butt welding contact, processor control machine people welds to the pad of positioning.It is an advantage of the invention that：Welded using laser aiming robot, control difficulty is low；With twin check module, reliability is high.
Description
Technical field
The present invention relates to a kind of robot control system, and in particular to the cutting robot control system of laser aiming.
Background technology
Welding robot is to be engaged in welding, the industrial robot of cutting and spraying.According to International Organization for standardization's industrial machine
Device Genus Homo is in the definition of standard welding robot, and industrial robot is that a kind of multiduty, repeatable programming automatically controls behaviour
Make machine, with three or more programmable axles, for industrial automation.In order to adapt to different purposes, robot is most
The mechanical interface of latter axle, typically one adpting flange, can be hinged with different instruments or end effector.Welding robot
In the last shaft flange attaching soldering turret or welding gun of industrial robot, make it to be welded, cutting or thermal spraying.
Existing cutting robot is typically controlled using rocking bar or default program, and control process is complex,
Reliability is relatively low.
The content of the invention
The technical problems to be solved by the invention are that existing cutting robot typically uses rocking bar or default program
It is controlled, control process is complex, reliability is relatively low, it is therefore intended that the cutting robot control system of laser aiming is provided
System, is solved existing cutting robot and is typically controlled using rocking bar or default program, control process is complex, can
By property it is relatively low the problem of.
The present invention is achieved through the following technical solutions：
The cutting robot control system of laser aiming, including robot, in addition to the processor being connected with robot, institute
State and laser beam emitting device and laser locating apparatus are also associated with processor；
Processor：Laser beam emitting device is controlled to field emission laser to be welded；Receive the positioning that laser locating apparatus is sent
Information, robot is sent control signals to according to location information；
Laser beam emitting device：Laser is launched on thing to be welded according to the control of processor；
Laser locating apparatus：The laser reflected on thing to be welded is received, pip is positioned according to the laser of reflection, will
Location information is sent to processor；
Robot：The control signal that reception processing device is sent is acted.The control by way of laser aiming of this programme
Robot processed is welded, by the position for determining laser beam emitting device and the angle and laser locating apparatus for sending laser
The angle of position and reception laser can be positioned with butt welding contact, and processor control machine people welds to the pad of positioning
Connect.
Laser correction verification module is also associated with the processor.Using including laser beam emitting device, laser locating apparatus
Laser calibration equipment, is verified to default welding track after welding, judges whether to complete welding.
Picture recognition module is also associated with the processor.Be identified to being left a trace after welding, judge whether with
Default welding track matching.
Signal input apparatus is also associated with the processor.
Module of warning is also associated with the processor.
The present invention compared with prior art, has the following advantages and advantages：
1st, the cutting robot control system of laser aiming of the present invention, is welded using laser aiming robot, control
Difficulty is low；
2nd, the cutting robot control system of laser aiming of the present invention, with twin check module, reliability is high.
Brief description of the drawings
Accompanying drawing described herein is used for providing further understanding the embodiment of the present invention, constitutes one of the application
Point, do not constitute the restriction to the embodiment of the present invention.In the accompanying drawings：
Fig. 1 is present system structural representation.
Embodiment
For the object, technical solutions and advantages of the present invention are more clearly understood, with reference to embodiment and accompanying drawing, to this
Invention is described in further detail, and exemplary embodiment and its explanation of the invention is only used for explaining the utility model, and
It is not as a limitation of the invention.
Embodiment
As shown in figure 1, the cutting robot control system of laser aiming of the present invention, including robot, in addition to and machine
Dorado CT-1-1 laser beam emitting devices and Dorado CT- are also associated with the iMX.8 processors of people's connection, the processor
1-1 laser locating apparatus；The control machine people by way of laser aiming of this programme is welded, by determining that laser is sent out
The position of injection device can be to welding with the angle for sending the angle of laser and the position of laser locating apparatus and reception laser
Point is positioned, and processor control machine people welds to the pad of positioning.Laser school is also associated with the processor
Test module.Using the laser calibration equipment including laser beam emitting device, laser locating apparatus, after welding to default welding rail
Mark is verified, and judges whether to complete welding.Picture recognition module is also associated with the processor.To being left a trace after welding
It is identified, judges whether to match with default welding track.Signal input apparatus is also associated with the processor.The place
Module of warning is also associated with reason device.
Processor：Laser beam emitting device is controlled to field emission laser to be welded；Receive the positioning that laser locating apparatus is sent
Information, robot is sent control signals to according to location information；
Laser beam emitting device：Laser is launched on thing to be welded according to the control of processor；
Laser locating apparatus：The laser reflected on thing to be welded is received, pip is positioned according to the laser of reflection, will
Location information is sent to processor；
Robot：The control signal that reception processing device is sent is acted.
Above-described embodiment, has been carried out further to the purpose of the present invention, technical scheme and beneficial effect
Describe in detail, should be understood that the embodiment that the foregoing is only the present invention, be not used to limit this practicality
New protection domain, within the spirit and principles of the invention, any modification, equivalent substitution and improvements done etc. all should
Within protection scope of the present invention.
Claims (5)
1. the cutting robot control system of laser aiming, including robot, it is characterised in that also including being connected with robot
Laser beam emitting device and laser locating apparatus are also associated with processor, the processor；
Processor：Laser beam emitting device is controlled to field emission laser to be welded；The location information that laser locating apparatus is sent is received,
Robot is sent control signals to according to location information；
Laser beam emitting device：Laser is launched on thing to be welded according to the control of processor；
Laser locating apparatus：The laser reflected on thing to be welded is received, pip is positioned according to the laser of reflection, will be positioned
Information is sent to processor；
Robot：The control signal that reception processing device is sent is acted.
2. the cutting robot control system of laser aiming according to claim 1, it is characterised in that on the processor
It is also associated with laser correction verification module.
3. the cutting robot control system of laser aiming according to claim 1, it is characterised in that on the processor
It is also associated with picture recognition module.
4. the cutting robot control system of laser aiming according to claim 1, it is characterised in that on the processor
It is also associated with signal input apparatus.
5. the cutting robot control system of laser aiming according to claim 1, it is characterised in that on the processor
It is also associated with module of warning.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710407915.8A CN106975874A (en) | 2017-06-02 | 2017-06-02 | The cutting robot control system of laser aiming |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710407915.8A CN106975874A (en) | 2017-06-02 | 2017-06-02 | The cutting robot control system of laser aiming |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106975874A true CN106975874A (en) | 2017-07-25 |
Family
ID=59343300
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710407915.8A Pending CN106975874A (en) | 2017-06-02 | 2017-06-02 | The cutting robot control system of laser aiming |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106975874A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107278119A (en) * | 2017-08-14 | 2017-10-20 | 常州汇邦电子有限公司 | Circuit board original paper inserts servicing unit and insertion method |
| CN107931898A (en) * | 2017-11-30 | 2018-04-20 | 成都科力夫科技有限公司 | Cutting robot control system based on UWB technology |
| CN108465905A (en) * | 2018-03-29 | 2018-08-31 | 江苏新时代造船有限公司 | Dual robot active light source intelligence centering double sides double arc connects method and apparatus |
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| CN103271784A (en) * | 2013-06-06 | 2013-09-04 | 山东科技大学 | Man-machine interactive manipulator control system and method based on binocular vision |
| CN104029207A (en) * | 2013-03-08 | 2014-09-10 | 科沃斯机器人科技(苏州)有限公司 | Laser-guided walking operation system for self-moving robot and control method for same |
| WO2016076467A1 (en) * | 2014-11-12 | 2016-05-19 | 한화테크윈 주식회사 | System and method for moving robot by using pointer |
| CN205766164U (en) * | 2016-05-20 | 2016-12-07 | 中国科学院上海高等研究院 | Cross laser assists in identifying alignment system and transfer robot |
| CN106573338A (en) * | 2014-09-15 | 2017-04-19 | 黑鸟机械人系统有限责任公司 | Device for remote laser machining having a sensor scanner apparatus |
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2017
- 2017-06-02 CN CN201710407915.8A patent/CN106975874A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN104029207A (en) * | 2013-03-08 | 2014-09-10 | 科沃斯机器人科技(苏州)有限公司 | Laser-guided walking operation system for self-moving robot and control method for same |
| CN103271784A (en) * | 2013-06-06 | 2013-09-04 | 山东科技大学 | Man-machine interactive manipulator control system and method based on binocular vision |
| CN106573338A (en) * | 2014-09-15 | 2017-04-19 | 黑鸟机械人系统有限责任公司 | Device for remote laser machining having a sensor scanner apparatus |
| WO2016076467A1 (en) * | 2014-11-12 | 2016-05-19 | 한화테크윈 주식회사 | System and method for moving robot by using pointer |
| CN205766164U (en) * | 2016-05-20 | 2016-12-07 | 中国科学院上海高等研究院 | Cross laser assists in identifying alignment system and transfer robot |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107278119A (en) * | 2017-08-14 | 2017-10-20 | 常州汇邦电子有限公司 | Circuit board original paper inserts servicing unit and insertion method |
| CN107931898A (en) * | 2017-11-30 | 2018-04-20 | 成都科力夫科技有限公司 | Cutting robot control system based on UWB technology |
| CN108465905A (en) * | 2018-03-29 | 2018-08-31 | 江苏新时代造船有限公司 | Dual robot active light source intelligence centering double sides double arc connects method and apparatus |
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| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20170725 |
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| RJ01 | Rejection of invention patent application after publication |