CN107363424A - A kind of trailing type Scan orientation device and method for laser cutting head positioning - Google Patents
A kind of trailing type Scan orientation device and method for laser cutting head positioning Download PDFInfo
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- CN107363424A CN107363424A CN201710796682.5A CN201710796682A CN107363424A CN 107363424 A CN107363424 A CN 107363424A CN 201710796682 A CN201710796682 A CN 201710796682A CN 107363424 A CN107363424 A CN 107363424A
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- Prior art keywords
- cutting head
- laser cutting
- binocular vision
- workpiece
- position measuring
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- 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
- B23K26/00—Working by laser beam, e.g. welding, cutting or boring
- B23K26/70—Auxiliary operations or equipment
-
- 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
- B23K26/00—Working by laser beam, e.g. welding, cutting or boring
- B23K26/36—Removing material
- B23K26/38—Removing material by boring or cutting
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- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Optics & Photonics (AREA)
- Plasma & Fusion (AREA)
- Mechanical Engineering (AREA)
- Laser Beam Processing (AREA)
- Machine Tool Sensing Apparatuses (AREA)
Abstract
The present invention relates to machining technology field, the position fixing process suitable for lathe laser cutting head relative to workpiece.It includes cutting head positioning system, laser cutting head device and binocular vision position measuring system, the cutting head positioning system end is provided with mounting bracket, the laser cutting head device is fixedly mounted on cutting head positioning system end by mounting bracket, the mounting bracket sidepiece is provided with link, and the binocular vision position measuring system is fixedly mounted on laser cutting head device sidepiece by link.The advantage of the invention is that position and the attitude information of the workpiece space index point system relative to the representative location of workpiece of binocular vision position measuring system itself are automatically formed by using binocular vision position measuring system, resolving is overlapped by the machine tool control system position and attitude information relative to two, position and attitude information of the laser axis of laser cutting head relative to workpiece can be obtained indirectly.
Description
Technical field
The present invention relates to machining technology field, the position fixing process suitable for lathe laser cutting head relative to workpiece,
The machine tooling initial workpiece that is particularly suitable for use in positions, and it is fixed to particularly relate to a kind of trailing type scanning for laser cutting head positioning
Position device and method.
Background technology
When carrying out Laser cutting to stamping parts of automobile, first have to enter the position of the initial workpiece in batch machining workpiece
Row measuring and calculating, it is ensured that the machining locus initial point of laser cutting head is corresponding with the respective point position of workpiece, processed to be further ensured that
Journey forms predetermined cuts path according to predetermined machining locus on workpiece.Now at the beginning of the machining locus of the laser cutting head of lathe
The beginning localization method of position installs laser aligner generally by laser cutting cephalic region, then passes through manual operation lathe
Mechanical arm, make the initial point position of laser aligner alignment pieces, but due to laser aligner and the laser axis of laser cutting head
There is certain angle, thus during laser cutting head rises or falls, the laser axis of practical laser cutting head is not sent out
Changing and sensing of the laser aligner on workpiece are changes, and both can not overlap point of irradiation on workpiece, laser
Aligner can not guide laser cutting head to be accurate to up to specified location.
The content of the invention
The problem to be solved in the present invention be how overcome the deficiencies in the prior art, it is a kind of for laser cutting head positioning with
Dynamic formula Scan orientation device and method.
According to an aspect of the invention, it is proposed that a kind of trailing type Scan orientation device for laser cutting head positioning,
Including cutting head positioning system, laser cutting head device and binocular vision position measuring system, the cutting head positioning system end
Portion is provided with mounting bracket, and the laser cutting head device is fixedly mounted on cutting head positioning system end, the peace by mounting bracket
Shelve sidepiece and be provided with link, the binocular vision position measuring system is fixedly mounted on laser cutting head device by link
Measurement signal can be fed back to machine tool control system and cutting head is positioned with realizing by sidepiece, the binocular vision position measuring system
The motion correction of system.
Further, the cutting head positioning system is that mechanical arm carries positioner.
Further, the direction of observation of the binocular vision position measuring system be to laser cutting head device it is inclined tiltedly under
Direction.
According to another aspect of the invention, it is proposed that a kind of trailing type Scan orientation side for laser cutting head positioning
Method, including：Step S1, measurement is scanned to laser cutting head device by the binocular vision position measuring system, will
The laser axis of the laser cutting head device arrived is defeated relative to the position of the binocular vision position measuring system and attitude information
Enter machine tool control system；Step S2, the diverse location of workpiece to be processed is marked by index point, formation can represent workpiece
The space indicate point system of position；Step S3, the space indicate point system of workpiece is entered by binocular vision position measuring system
Row scanning survey, by position of the obtained workpiece space index point system relative to the binocular vision position measuring system and appearance
State information inputs machine tool control system；Step S4, by machine tool control system to the relative position that is obtained in step S1 and step S3
Put and be overlapped resolving with attitude information, obtain the laser axis of laser cutting head device indirectly relative to the relative position of workpiece
And attitude information.
Further, the step S3 also includes different spatial mark of the binocular vision position measuring system to workpiece
Will point carries out point by point scanning and repeatedly approximant measurement and forms the process of opposite piece coordinate system.
The advantage of the invention is that automatically formed by using binocular vision position measuring system relative to binocular vision position
Put position and the attitude information of the workpiece space index point system of the representative location of workpiece of measuring system itself, and binocular vision
The relative position and posture of the laser axis of position measuring system and laser cutting head are changeless, the relative positions of the fixation
Put to input with attitude information and preset value is used as in machine tool control system, pass through the machine tool control system position appearance relative to two
State information is overlapped resolving, can obtain position and attitude information of the laser axis of laser cutting head relative to workpiece indirectly,
So as to judge whether the laser axis of laser cutting head has reached the work piece cut specified point position rapidly before processing.The present invention
Based on binocular vision position measurement algorithmic technique, measurement apparatus follows machine tool motion, and relative position appearance is obtained by indirect measuring
State information, it is precisely reliable, can before processing the phase increase substantially machine finish.
Brief description of the drawings
The embodiment of the present invention is described in further detail below in conjunction with the accompanying drawings, wherein：
Fig. 1 is the overall structure diagram of the present invention.
Embodiment
Shown in Fig. 1, according to an aspect of the invention, it is proposed that a kind of trailing type scanning for laser cutting head positioning is fixed
Position device, including cutting head positioning system 1, laser cutting head device 2 and binocular vision position measuring system 3, the cutting head
The end of alignment system 1 is provided with mounting bracket 11, and the laser cutting head device 2 is fixedly mounted on cutting head by mounting bracket 11 and positioned
The end of system 1, the sidepiece of mounting bracket 11 are provided with link 111, and the binocular vision position measuring system 3 passes through link
111 are fixedly mounted on the sidepiece of laser cutting head device 2, and the binocular vision position measuring system 3 can feed back to measurement signal
Machine tool control system is rectified a deviation with realizing to the motion for cutting head positioning system 1.The cutting head positioning system 1 is carried for mechanical arm
Positioner, it is controlled by motion of the machine tool control system to mechanical arm, laser cutting head device 2 can be made to be placed in finger
Fixed locus, and form certain machining posture.The direction of observation of the binocular vision position measuring system 3 is to laser
2 inclined obliquely downward of cutter head device is in actual installation, the installation of the binocular vision position measuring system 3 is wanted can
It is set to observe lower workpiece and adjacent laser cutting head device 2.
According to another aspect of the invention, it is proposed that a kind of trailing type Scan orientation side for laser cutting head positioning
Method, including：Step S1, measurement is scanned to laser cutting head device 2 by the binocular vision position measuring system 3, will
The laser axis of obtained laser cutting head device 2 is believed relative to the position of the binocular vision position measuring system 3 and posture
Breath input machine tool control system；
Step S2, the diverse location of workpiece to be processed 4 is marked by index point 41, formation can represent workpiece 4
The system of space indicate point 41 put；
Step S3, survey is scanned to the system of space indicate point 41 of workpiece 4 by binocular vision position measuring system 3
Amount, the obtained system of 4 space indicate point of workpiece 41 is believed relative to the position of the binocular vision position measuring system 3 and posture
Breath input machine tool control system；
Step S4, the relative position and attitude information that are obtained in step S1 and step S3 are carried out by machine tool control system
Superposition resolves, and obtains the laser axis of laser cutting head device 2 indirectly relative to the relative position and attitude information of workpiece 4.
Wherein, in step sl, in order to obtain the laser axis of laser cutting head device 2 relative to the binocular vision position
Position and the attitude information of measuring system 3 are put, also can be by outside independent binocular vision scanning and measuring apparatus to both phases
Position and posture are calculated, and the information after measuring and calculating is input in machine tool control system as fixed value, as below
The laser axis of laser cutting head device 2 is resolved relative to the relative position of workpiece 4 and the initial data parameter of attitude information.Profit
Cross Cheng Qian with the scanning survey of binocular vision position measuring system 3, be all need to set on the object of scanning survey it is multiple
Index point 41, to generation can represent the sky of scanning survey object in binocular vision position measuring system 3 after scanning survey
Between the digital coordinates system of position and posture, i.e., be also required to set related index point 41 on laser cutting head device 2, as double
Visually feel that position measuring system 3 is being scanned the preliminary preparation of measurement to laser cutting head device 2.
Wherein, the step S3 also includes the binocular vision position measuring system 3 to the different spatial of workpiece 4
Index point 41 carries out point by point scanning and repeatedly approximant measurement and forms the process of the coordinate system of opposite piece 4.Carried out to workpiece 4
During scanning survey, the system of 4 space indicate point of workpiece 41 obtained by the process is relative to the binocular vision position measuring system 3
Position and attitude information be that formation is scanned by multiple spot one by one, and the resulting system of 4 space indicate point of workpiece 41 is logical
The coordinate system of workpiece 4 sign that overscanning is formed.The present invention is based on binocular vision position measurement algorithmic technique, and measurement apparatus follows
Machine tool motion, relative position and attitude information is obtained by indirect measuring, it is precisely reliable, can before processing the phase increase substantially lathe
Machining accuracy.
Above-described embodiment is in the art the purpose is to be to allow simply to illustrate that the technical concepts and features of the present invention
Those of ordinary skill can understand present disclosure and implement according to this, and it is not intended to limit the scope of the present invention.It is all
It is the equivalent change or modification according to made by the essence of present invention, should all covers within the scope of the present invention.
Claims (5)
- A kind of 1. trailing type Scan orientation device for laser cutting head positioning, it is characterised in that：Positioned including cutting head and be System, laser cutting head device and binocular vision position measuring system, the cutting head positioning system end is provided with mounting bracket, described Laser cutting head device is fixedly mounted on cutting head positioning system end by mounting bracket, and the mounting bracket sidepiece is provided with connection Frame, the binocular vision position measuring system are fixedly mounted on laser cutting head device sidepiece, the binocular vision by link Measurement signal can be fed back to machine tool control system to realize the motion correction to cutting head positioning system by feeling position measuring system.
- 2. a kind of trailing type Scan orientation device for laser cutting head positioning according to claim 1, its feature exist In：The cutting head positioning system is that mechanical arm carries positioner.
- 3. a kind of trailing type Scan orientation device for laser cutting head positioning according to claim 1, its feature exist In：The direction of observation of the binocular vision position measuring system be to the inclined obliquely downward of laser cutting head device to.
- A kind of 4. trailing type Scan orientation method for laser cutting head positioning, it is characterised in that：IncludingStep S1, measurement is scanned to laser cutting head device by the binocular vision position measuring system, by what is obtained The laser axis of laser cutting head device inputs machine relative to the position of the binocular vision position measuring system and attitude information Bed control system；Step S2, the diverse location of workpiece to be processed is marked by index point, forms the space that can represent the location of workpiece Index point system；Step S3, measurement is scanned to the space indicate point system of workpiece by binocular vision position measuring system, will be obtained Workpiece space index point system input lathe control relative to the position of the binocular vision position measuring system and attitude information System processed；Step S4, the relative position and attitude information that are obtained in step S1 and step S3 are overlapped by machine tool control system Resolve, obtain the laser axis of laser cutting head device indirectly relative to the relative position and attitude information of workpiece.
- 5. a kind of trailing type Scan orientation method for laser cutting head positioning according to claim 4, its feature exist In：The step S3 also includes the binocular vision position measuring system to be carried out point by point to the different spatial index point of workpiece Scan and repeatedly it is approximant measure and form the process of opposite piece coordinate system.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710796682.5A CN107363424A (en) | 2017-09-06 | 2017-09-06 | A kind of trailing type Scan orientation device and method for laser cutting head positioning |
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| CN201710796682.5A CN107363424A (en) | 2017-09-06 | 2017-09-06 | A kind of trailing type Scan orientation device and method for laser cutting head positioning |
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| CN201710796682.5A Pending CN107363424A (en) | 2017-09-06 | 2017-09-06 | A kind of trailing type Scan orientation device and method for laser cutting head positioning |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN108723616A (en) * | 2018-06-22 | 2018-11-02 | 齐鲁理工学院 | A kind of technique using laser cutting machining square tube irregularly-shaped hole |
| CN109048082A (en) * | 2018-09-18 | 2018-12-21 | 大族激光科技产业集团股份有限公司 | A kind of distance controlling method based on Kalman filtering |
| CN109129480A (en) * | 2018-08-24 | 2019-01-04 | 上海理工大学 | A kind of mechanical arm system of processing based on binocular 3D positioning |
| CN109822575A (en) * | 2019-03-25 | 2019-05-31 | 华中科技大学 | A kind of robot system and method carrying out mobile processing using projection properties image |
| CN109834384A (en) * | 2017-11-28 | 2019-06-04 | 发那科株式会社 | Use the laser machine of flying body |
| CN114985972A (en) * | 2022-06-13 | 2022-09-02 | 江苏涯角智能装备有限公司 | Laser cutting equipment with out of focus adjustment corrects structure |
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Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109834384A (en) * | 2017-11-28 | 2019-06-04 | 发那科株式会社 | Use the laser machine of flying body |
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| CN108723616A (en) * | 2018-06-22 | 2018-11-02 | 齐鲁理工学院 | A kind of technique using laser cutting machining square tube irregularly-shaped hole |
| CN109129480A (en) * | 2018-08-24 | 2019-01-04 | 上海理工大学 | A kind of mechanical arm system of processing based on binocular 3D positioning |
| CN109048082A (en) * | 2018-09-18 | 2018-12-21 | 大族激光科技产业集团股份有限公司 | A kind of distance controlling method based on Kalman filtering |
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| CN109822575B (en) * | 2019-03-25 | 2020-12-08 | 华中科技大学 | Robot system and method for performing mobile processing by using projection characteristic image |
| CN114985972A (en) * | 2022-06-13 | 2022-09-02 | 江苏涯角智能装备有限公司 | Laser cutting equipment with out of focus adjustment corrects structure |
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Application publication date: 20171121 |