CN108062550A - A kind of welding position calibration system and method - Google Patents
A kind of welding position calibration system and method Download PDFInfo
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Abstract
The present invention relates to calibration technique field more particularly to a kind of welding position calibration system and method, including：Three-dimensional movement platform includes platform base, first moving component and the second moving component, first moving component is slidably arranged on platform base, second moving component is slidably arranged on the first moving component, platform base, the setting direction of first moving component and the second moving component corresponds respectively to the X-axis under world coordinate system, Y-axis and Z axis, first moving component can be moved compared with platform base along the X-direction of world coordinate system, second moving component can be moved compared with the first moving component along the Y direction of world coordinate system and/or the Z-direction of world coordinate system；Laser vision sensor and welding gun are each attached on the second moving component；Workpiece to be welded is positioned over the lower section of laser vision sensor and welding gun.The welding position calibration system and method for the present invention can not only simplify calibration process, additionally it is possible to improve stated accuracy.
Description
Technical field
The present invention relates to calibration technique field more particularly to a kind of welding position calibration system and methods.
Background technology
During automatic welding, the rigging error due to workpiece and position while welding and size caused by welding thermal deformation
Variation, it is necessary to accurate position while welding scaling method is taken to carry out real-time compensation.
Prior art generally use hand and eye calibrating method is demarcated, and hand and eye calibrating method is limited to field device and laser video
Feel the mode of operation of sensor, performing a calibration process at least needs two people, and a people is responsible for operation, and a people is responsible for observation and swashs
Whether the measurement point of light vision sensor overlaps with the motor point of three-dimensional movement platform, and not only calibration process is complicated, but also demarcates
System accuracy is big by man's activity, there are precision it is low the problem of.
The content of the invention
In view of the above problems, it is proposed that the present invention overcomes the above problem in order to provide one kind or solves at least partly
State a kind of welding position calibration system and method for problem.
The embodiment of the present invention provides a kind of welding position calibration system, including three-dimensional movement platform, laser vision sensor,
Welding gun and workpiece to be welded；
The three-dimensional movement platform includes platform base, the first moving component and the second moving component, first movement
Component is slidably arranged on the platform base, and second moving component is slidably arranged on first moving component
On, wherein, the setting direction of the platform base, first moving component and second moving component corresponds respectively to generation
X-axis, Y-axis and Z axis under boundary's coordinate system, and, first moving component can be compared with the platform base along the world
The X-direction movement of coordinate system, second moving component can be compared with first moving components along the world coordinates
The Y direction of system and/or the movement of the Z-direction of the world coordinate system；
The laser vision sensor and the welding gun are each attached on second moving component；
The workpiece to be welded is positioned over the lower section of the laser vision sensor and the welding gun.
Preferably, the platform base includes the first straight rail and the second straight rail that are arranged in parallel；
First moving component distinguishes slideable and first straight rail by its both ends and second straight rail connects
It connects.
Preferably, first moving component includes U-shaped framework and the 3rd straight rail；
The U-shaped framework includes chassis body, the first frame arm and the second frame arm, first frame arm and described the
Two frame arms are separately positioned on the both ends of the chassis body, and, first frame arm and second frame arm point
It is not vertical with the chassis body；
3rd straight rail is fixed in the chassis body；
Second moving component is slideable to be connected with the 3rd straight rail.
Preferably, second moving component includes connecting sliding rail and the 4th straight rail；
4th straight rail is connected by the way that the connecting sliding rail is slideable with first moving component.
Preferably, the laser vision sensor is arranged in the movement direction of advance of the welding gun.
Preferably, the distance between the laser vision sensor and the welding gun are 20~100mm.
Preferably, the welding position calibration system further includes controller, and the controller moves respectively with described first
Component is connected with second moving component.
The embodiment of the present invention also provides a kind of welding position scaling method, and system is demarcated applied to foregoing welding position
System, the described method includes：
Controlling the laser vision sensor with stepwise motion path from default using the three-dimensional movement platform
During initial position moves to default final position, sequentially respectively in the original position, the stepwise motion
At each calibration point in path and at the final position, obtain inflection point one group of laser vision sensor coordinate data and
One group of three-dimensional movement platform coordinate data, and then obtain N group laser vision sensor coordinate datas and N groups three-dimensional movement platform seat
Data are marked, wherein, the laser vision sensor coordinate data is the coordinate of the coordinate system based on the laser vision sensor
Data, the three-dimensional movement platform coordinate data be the coordinate system based on the three-dimensional movement platform coordinate data, N be more than
Or the integer equal to 3；
By the 2nd group to N group laser vision sensors coordinate data respectively with the 1st group of laser vision sensor coordinate data
It carries out making difference operation, obtains N-1 group laser vision sensor coordinate difference datas；And the 2nd group to N group three-dimensional motions is put down
Platform coordinate data carries out making difference operation respectively with the 1st group of three-dimensional movement platform coordinate data, obtains N-1 groups three-dimensional movement platform and sits
Mark difference data；
Using the N-1 groups laser vision sensor coordinate difference data as independent variable, and by the N-1 groups three-dimensional motion
Platform coordinate difference data performs least-squares linear regression computing, obtains to characterize the laser vision as dependent variable
The first function relational expression of relative position relation between the coordinate system of sensor and the coordinate system of the three-dimensional movement platform；
Based on the coefficient of the first function relational expression, establish to characterize the coordinate system of the laser vision sensor,
The second function relational expression of relative position relation between the coordinate system of the welding gun and the coordinate system of the three-dimensional movement platform；
The auxiliary of welding track on the workpiece to be welded is being moved to using the three-dimensional movement platform control welding gun
After basic point, the coordinate data of the additional base point is obtained under the coordinate system of the welding gun；
After using the three-dimensional movement platform laser vision sensor being controlled to be moved to the additional base point, in institute
State the coordinate data that inflection point at the additional base point is obtained under the coordinate system of laser vision sensor；And utilizing described three
During the maintenance and operation moving platform control laser vision sensor is moved along the welding track, the welding rail is obtained respectively
In mark at each point to be calibrated inflection point coordinate data；
At coordinate data and the additional base point based on inflection point at the point to be calibrated between the coordinate data of inflection point
Difference data, the coordinate data of the additional base point and the second function relational expression obtain each point to be calibrated described three
Coordinate data under the coordinate system of maintenance and operation moving platform.
Preferably, the initial position, the final position and the stepwise motion path are right under the same coordinate system
Answer same X-coordinate.
Preferably, in the stepwise motion path, all moving step sizes moved along coordinate system Y direction are homogeneous
Together, all moving step sizes all sames moved along coordinate system Z-direction.
One or more of embodiment of the present invention technical solution, has at least the following technical effects or advantages：
The present invention provides a kind of welding position calibration system, which includes three-dimensional movement platform, swashs
Light vision sensor, welding gun and workpiece to be welded, three-dimensional movement platform include platform base, the first moving component and the second movement portion
Part, the first moving component are slidably arranged on platform base, and the second moving component is slidably arranged on the first moving component,
The setting direction of platform base, the first moving component and the second moving component corresponds respectively to X-axis, Y-axis under world coordinate system
And Z axis, the first moving component can be moved compared with platform base along the X-direction of world coordinate system, the second moving component energy
It is enough to be moved compared with the first moving component along the Y direction of world coordinate system and/or the Z-direction of world coordinate system, laser video
Feel that sensor and welding gun are each attached on the second moving component, workpiece to be welded is positioned under laser vision sensor and welding gun
Side, the first moving component in three-dimensional movement platform and under the movement of the second moving component can drive laser-vision sensing
Device movement is welded with realizing the calibration to welding position and welding gun being driven to treat welder's part, so as to not only simplify mark
Determine process, also improve stated accuracy.
Meanwhile the present invention provides a kind of welding position scaling method, in the welding position scaling method, is utilizing three-dimensional
Motion platform control laser vision sensor moves to default stop bit with stepwise motion path from default initial position
During putting, sequentially respectively at each calibration point in original position, stepwise motion path and at final position,
The one group of laser vision sensor coordinate data and one group of three-dimensional movement platform coordinate data of inflection point are obtained, and then obtains N groups and swashs
Light vision sensor coordinate data and N group three-dimensional movement platform coordinate datas, wherein, laser vision sensor coordinate data is base
In the coordinate data of the coordinate system of laser vision sensor, three-dimensional movement platform coordinate data is the seat based on three-dimensional movement platform
The coordinate data of system is marked, N is the integer more than or equal to 3, and the 2nd group to N group laser vision sensors coordinate data is distinguished
It carries out making difference operation with the 1st group of laser vision sensor coordinate data, obtains N-1 group laser vision sensor coordinate difference numbers
According to；And the 2nd group to N group three-dimensional movement platforms coordinate data is carried out respectively with the 1st group of three-dimensional movement platform coordinate data
Make difference operation, N-1 group three-dimensional movement platform coordinate difference datas are obtained, by N-1 group laser vision sensor coordinate difference datas
As independent variable, and using N-1 groups three-dimensional movement platform coordinate difference data as dependent variable, perform least-squares linear regression fortune
It calculates, obtains to characterize relative position relation between the coordinate system of laser vision sensor and the coordinate system of three-dimensional movement platform
First function relational expression based on the coefficient of first function relational expression, is established to characterize the coordinate system of laser vision sensor, weldering
The second function relational expression of relative position relation between the coordinate system of rifle and the coordinate system of three-dimensional movement platform is utilizing three maintenance and operations
Moving platform control welding gun is moved on workpiece to be welded after the additional base point of welding track, and auxiliary base is obtained under the coordinate system of welding gun
The coordinate data of point, after additional base point is moved to using three-dimensional movement platform control laser vision sensor, in laser vision
The coordinate data of inflection point at additional base point is obtained under the coordinate system of sensor；And controlling laser using three-dimensional movement platform
During visual sensor is moved along welding track, the number of coordinates of inflection point at each point to be calibrated in welding track is obtained respectively
According to difference data, auxiliary at coordinate data and additional base point based on inflection point at point to be calibrated between the coordinate data of inflection point
The coordinate data of basic point and second function relational expression obtain coordinate of each point to be calibrated under the coordinate system of three-dimensional movement platform
Data, it is achieved thereby that conversion of the coordinate data under three coordinate systems, further improves stated accuracy.
Description of the drawings
By reading the detailed description of hereafter preferred embodiment, it is various other the advantages of and benefit it is common for this field
Technical staff will be apparent understanding.Attached drawing is only used for showing the purpose of preferred embodiment, and is not considered as to the present invention
Limitation.And throughout the drawings, identical component is represented with identical reference pattern.In the accompanying drawings：
Fig. 1 shows the welding position calibration system in first embodiment of the invention；
Fig. 2 shows the structure diagram of the U-shaped framework in first embodiment of the invention；
Fig. 3 shows the flow chart of the welding position scaling method in second embodiment of the invention；
Fig. 4 shows the schematic diagram of the inflection point in second embodiment of the invention.
Wherein, 11 be the first straight rail, and 12 be the second straight rail, and 2 be the first moving component, and 21 be the first frame arm, and 22 be frame
Frame body, 23 be the second frame arm, and 3 be the second moving component, and 4 be laser vision sensor, and 5 be welding gun, and 6 be workpiece to be welded.
Specific embodiment
The exemplary embodiment of the disclosure is more fully described below with reference to accompanying drawings.Although the disclosure is shown in attached drawing
Exemplary embodiment, it being understood, however, that may be realized in various forms the disclosure without should be by embodiments set forth here
It is limited.On the contrary, these embodiments are provided to facilitate a more thoroughly understanding of the present invention, and can be by the scope of the present disclosure
Completely it is communicated to those skilled in the art.
First embodiment of the invention provides a kind of welding position calibration system, as shown in Figure 1, including three-dimensional movement platform,
Laser vision sensor 4, welding gun 5 and workpiece to be welded 6.Three-dimensional movement platform includes platform base, the first moving component 2 and second
Moving component 3, the first moving component 2 are slidably arranged on platform base, and the second moving component 3 is slidably arranged on the first fortune
On dynamic component 2, wherein, the setting direction of platform base, the first moving component 2 and the second moving component 3 corresponds respectively to the world
X-axis, Y-axis and Z axis under coordinate system, and, the first moving component 2 can be compared with X-axis side of the platform base along world coordinate system
To movement, the second moving component 3 can be compared with Y direction and/or world coordinates of first moving component 2 along world coordinate system
The Z-direction movement of system.Laser vision sensor 4 and welding gun 5 are each attached on the second moving component 3, in the second moving component 3
Drive under, laser vision sensor 4 and welding gun 5 can move.Workpiece 6 to be welded is positioned over laser vision sensor 4 and welding gun 5
Lower section, for carrying out laser positioning, welding gun 5 is welded laser vision sensor 4 for treating welder's part 6.
Further, in this application, platform base includes the first straight rail 11 and the second straight rail 12 that are arranged in parallel, the first fortune
Dynamic component 2 by its both ends distinguish it is slideable be connected with the first straight rail 11 and the second straight rail 12, the first moving component 2 can be
It is moved on the platform base being made of the first straight rail 11 and the second straight rail 12 along the X-direction of world coordinate system, as shown in Figure 1.
Further, in this application, the first moving component 2 includes U-shaped framework and the 3rd straight rail (not shown), U-shaped framework
Including chassis body 22, the first frame arm 21 and the second frame arm 23, as shown in Fig. 2, the first frame arm 21 and the second frame arm
23 are separately positioned on the both ends of chassis body 22, and, the first frame arm 21 and the second frame arm 23 are hung down respectively with chassis body 22
Directly, the 3rd straight rail is laid in chassis body 22, and the second moving component 3 is slideable to be connected with the 3rd straight rail, so as to by the
Three straight rails, the second moving component 3 can be moved compared with the first moving component 2 along the Y direction of world coordinate system.Wherein, exist
In the application, gantry can also be used as U-shaped framework.
Further, in this application, the second moving component 3 includes connecting sliding rail and the 4th straight rail, and the 4th straight rail passes through company
Connect that slide is slideable to be connected with the first moving component 2.Specifically, it is straight to be arranged on the 4th for laser vision sensor 4 and welding gun 5
One end of rail, the 4th straight rail are connected by slideable the 3rd straight rail with the first moving component 2 of connecting sliding rail, so as to second
Moving component 3 can not only be moved compared with the first moving component 2 along the Y direction of world coordinate system, and can be compared with
Second moving component 3 is moved along the Z-direction of world coordinate system.
In addition, the second moving component 3 can also be cross slid platform, so as to which the first moving component 2 is rotating moving part, into
And rotating moving part is located at the surface of cross slid platform, by the rotation of rotating moving part workpiece 6 to be welded can be driven to revolve
Turn, to generate angular displacement, workpiece 6 to be welded can be the barrel-shaped or circular symmetrical work pieces such as pipeline.
Further, in this application, laser vision sensor 4 can be arranged in the movement direction of advance of welding gun 5, together
When, the distance between laser vision sensor 4 and welding gun 5 can be 20~100mm.
The welding position calibration system of the application further includes controller, controller respectively with the first moving component 2 and second
Moving component 3 connects, and controller is for the first moving component 2 of control compared with X-direction of the platform base along world coordinate system
Movement, controller are additionally operable to the second moving component 3 of control and are transported compared with the first moving component 2 along the Y direction of world coordinate system
Dynamic, controller is additionally operable to the second moving component 3 of control and is moved compared with the first moving component 2 along the Z-direction of world coordinate system.
Second embodiment of the invention provides a kind of welding position scaling method, which can apply
In welding position calibration system described in first embodiment of the invention, as shown in figure 3, the welding position scaling method includes：
Step 101：Using three-dimensional movement platform control laser vision sensor with stepwise motion path from default
During initial position moves to default final position, sequentially respectively in original position, stepwise motion path
At each calibration point and at final position, obtain inflection point one group of laser vision sensor coordinate data and one group of three-dimensional motion
Platform coordinate data, and then N group laser vision sensor coordinate datas and N group three-dimensional movement platform coordinate datas are obtained, wherein,
Laser vision sensor coordinate data be the coordinate system based on laser vision sensor coordinate data, three-dimensional movement platform coordinate
Data are the coordinate data of the coordinate system based on three-dimensional movement platform, and N is the integer more than or equal to 3.
Specifically, in a step 101, for three-dimensional movement platform, in order to ensure that laser vision sensor carries out
It is effectively detected, pre-sets a valid analysing range, which includes default initial position and default end
Stop bit is put, wherein, default initial position and default final position can be two regions or two points.
Further, three-dimensional movement platform control laser vision sensor with stepwise motion path from default initial position
Default final position is moved to, wherein, in a preferred embodiment, initial position, final position and staged fortune
Dynamic path corresponds to same X-coordinate under the same coordinate system, and stepwise motion path is：It is moved along coordinate system Y direction all
Moving step sizes all same, and, all moving step sizes all sames moved along coordinate system Z-direction specifically, can be set in advance
A Y-direction moving step sizes and a Z-direction moving step sizes are put, wherein, Y-direction moving step sizes can be the coordinate system along laser vision sensor
Y direction moving step sizes, Z-direction moving step sizes can be along laser vision sensor coordinate system Z-direction movement
Step-length, so as to, laser vision sensor with the Y-direction moving step sizes and the Z-direction moving step sizes from default initial position rank
Ladder type moves to default final position, i.e. and laser vision sensor first can move a Y-direction moving step sizes along Y direction,
A Z-direction moving step sizes are moved along Z-direction again, then continues to move a Y-direction moving step sizes along Y direction, be further continued for along Z
Direction of principal axis moves a Z-direction moving step sizes, and so on, until moving to default final position.
Further, control laser vision sensor with stepwise motion path from default start bit in three-dimensional movement platform
It puts during moving to default final position, sequentially each mark in original position, stepwise motion path respectively
At fixed point and at final position, the one group of laser vision sensor coordinate data and one group of three-dimensional movement platform that obtain inflection point are sat
Data are marked, and then obtain N group laser vision sensor coordinate datas and N group three-dimensional movement platform coordinate datas, N is to be more than or wait
In 2 integer.
Wherein, laser vision sensor often moves step-length and forms a calibration point, for example, from default initial position
Start, laser vision sensor moves a Y-direction moving step sizes along Y direction, then forms a calibration point, then, laser video
Feel that sensor moves a Z-direction moving step sizes along Z-direction, then form a calibration point again, and so on.
Further, the beam of laser line that laser vision sensor is emitted at each position is irradiated to be treated with bending
On welder's part, due to two planes of height of workpiece bending part to be welded formation so that there are one inflection points, such as Fig. 4 for laser imaging tool
Shown, the C points in Fig. 4 are inflection point.For example, reaching final position after two calibration points are undergone from initial position, then, obtain
The one group of laser vision sensor coordinate data and one group of three-dimensional movement platform of first inflection point of the laser imaging of original position
Coordinate data is first group of laser vision sensor coordinate data and first group of three-dimensional movement platform coordinate data, obtains the
One group of laser vision sensor coordinate data of the Second Inflexion Point of the laser imaging at one calibration point and one group of three-dimensional motion are put down
Platform coordinate data is second group of laser vision sensor coordinate data and second group of three-dimensional movement platform coordinate data, obtains
One group of laser vision sensor coordinate data of the 3rd inflection point of the laser imaging at second calibration point and one group of three-dimensional motion
Platform coordinate data are the 3rd group of laser vision sensor coordinate data and the 3rd group of three-dimensional movement platform coordinate data, obtain
The one group of laser vision sensor coordinate data and one group of three-dimensional motion for taking the 4th inflection point of the laser imaging at final position are put down
Platform coordinate data is the 4th group of laser vision sensor coordinate data and the 4th group of three-dimensional movement platform coordinate data.
Wherein, the Y that one group of laser vision sensor coordinate data is included under the coordinate system of laser vision sensor is sat
Scale value and a corresponding Z coordinate value, one group of three-dimensional movement platform coordinate data are included under the coordinate system of three-dimensional movement platform
One Y-coordinate value and a corresponding Z coordinate value, N group laser vision sensor coordinate datas and N group three-dimensional movement platform coordinates
Data can be as shown in following table one：
Table one
After step 101 is completed, step 102 is performed：By the 2nd group to N group laser vision sensors coordinate data point
It does not carry out making difference operation with the 1st group of laser vision sensor coordinate data, obtains N-1 group laser vision sensor coordinate difference numbers
According to；And the 2nd group to N group three-dimensional movement platforms coordinate data is carried out respectively with the 1st group of three-dimensional movement platform coordinate data
Make difference operation, obtain N-1 group three-dimensional movement platform coordinate difference datas.
For example, after 4 groups of laser vision sensor coordinate datas and 4 groups of three-dimensional movement platform coordinate datas are obtained, by the
It is poor that two groups of laser vision sensor coordinate datas are made with first group of laser vision sensor coordinate data, obtains first group of laser video
Sensor coordinates difference data is felt, by the 3rd group of laser vision sensor coordinate data and first group of laser vision sensor coordinate
It is poor that data are made, and second group of laser vision sensor coordinate difference data is obtained, by the 4th group of laser vision sensor coordinate data
It is poor to make with first group of laser vision sensor coordinate data, obtains the 3rd group of laser vision sensor coordinate difference data；By
It is poor that two groups of three-dimensional movement platform coordinate datas are made with first group of three-dimensional movement platform coordinate data, obtains first group of three-dimensional motion and puts down
Platform coordinate difference data, the 3rd group of three-dimensional movement platform coordinate data and first group of three-dimensional movement platform coordinate data work is poor,
Second group of three-dimensional movement platform coordinate difference data is obtained, by the 4th group of three-dimensional movement platform coordinate data and first group of three maintenance and operation
It is poor that moving platform coordinate data is made, and obtains the 3rd group of three-dimensional movement platform coordinate difference data.
Wherein, it is corresponding with one group of laser vision sensor coordinate data, one group of laser vision sensor coordinate difference number
According to a Y-coordinate difference under the coordinate system comprising laser vision sensor and a corresponding Z coordinate difference；It is three-dimensional with one group
Motion platform coordinate data is corresponding, and one group of three-dimensional movement platform coordinate difference data includes the coordinate system of three-dimensional movement platform
Under a Y-coordinate difference and a corresponding Z coordinate difference, N-1 groups laser vision sensor coordinate difference data and N-1 groups
Three-dimensional movement platform coordinate difference data can be as shown in following table two：
Table two
After step 102 is completed, step 103 is performed：The N-1 groups laser vision sensor coordinate difference data is made
For independent variable, and using the N-1 groups three-dimensional movement platform coordinate difference data as dependent variable, perform least-squares linear regression
Computing obtains to characterize opposite between the coordinate system of the laser vision sensor and the coordinate system of the three-dimensional movement platform
The first function relational expression of position relationship.
For upper table one and table two, in step 103, respectively using sdY and sdZ as independent variable x, using rdY and rdZ as
Dependent variable f (x) carries out least-squares linear regression computing, obtains first function relational expression, i.e. f (x)=a0+a1*x+a2*
x2...+an*xn, wherein, a0、a1、a2...anFor the coefficient of first function relational expression.
After step 103 is completed, step 104 is performed：Based on the coefficient of the first function relational expression, establish for table
Levy phase between the coordinate system of the coordinate system of the laser vision sensor, the coordinate system of the welding gun and the three-dimensional movement platform
To the second function relational expression of position relationship.
Specifically, the coefficient that the first function relation obtained in step 104 is is more, then is set up by these coefficients
The relative position relation precision that second function relational expression is characterized is higher, and in order to reduce the complexity of calculating, in this application,
A can be obtained0、a1And a2, and utilize a0、a1And a2Establish second function relational expression.Second function relational expression includes：
RtX=sX
X=rtx+D
Y=a0+a1*sdY+a2*sdY2+rtY
Z=a0+a1*sdZ+a2*sdZ2+rtZ
Wherein, rtX, rtY and rtZ be respectively welding gun coordinate system under additional base point X-coordinate, Y-coordinate and Z coordinate, sX,
SdY and sdZ be respectively laser vision sensor coordinate system under at point to be calibrated inflection point X-coordinate, Y-coordinate difference and Z coordinate
Difference, X, Y and Z are respectively X-coordinate, Y-coordinate and Z coordinate under the coordinate system of three-dimensional movement platform, and D is along X-axis translation distance.
After completing step 104, step 105 is performed：Using the three-dimensional movement platform welding gun is being controlled to move
On to the workpiece to be welded after the additional base point of welding track, the seat of the additional base point is obtained under the coordinate system of the welding gun
Mark data.Wherein it is possible to using the starting point of welding track on workpiece to be welded as additional base point.
After step 105 is completed, step 106 is performed：The laser vision is being controlled using the three-dimensional movement platform
After sensor is moved to the additional base point, obtains under the coordinate system of the laser vision sensor and turned at the additional base point
The coordinate data of point；And the laser vision sensor is being controlled along the welding track using the three-dimensional movement platform
During movement, the coordinate data of inflection point at each point to be calibrated in the welding track is obtained respectively.
After step 106 is completed, step 107 is performed：Coordinate data based on inflection point at the point to be calibrated with it is described
The coordinate data of difference data, the additional base point at additional base point between the coordinate data of inflection point and the second function are closed
It is formula, obtains coordinate data of each point to be calibrated under the coordinate system of the three-dimensional movement platform.
Specifically, after laser vision sensor is moved to additional base point, the coordinate of inflection point at additional base point is obtained
Data, also, during laser vision sensor is moved along welding track, in being moved respectively by way of each wait to mark
The coordinate data of inflection point at fixed point, for example, being treated successively by first during laser vision sensor is moved along welding track
Calibration point and the second point to be calibrated then, after laser vision sensor is moved to the first point to be calibrated, obtain the first point to be calibrated
Locate the coordinate data of inflection point, then, by the number of coordinates of inflection point at the coordinate data of inflection point at the first point to be calibrated and additional base point
It is poor according to making, by the difference between the coordinate data of inflection point at the coordinate data of inflection point at the first point to be calibrated and additional base point, with
And the coordinate data of additional base point substitutes into above-mentioned second function relational expression, then can obtain the first point to be calibrated and be put down in three-dimensional motion
Coordinate data under the coordinate system of platform；After laser vision sensor is moved to the second point to be calibrated, the second point to be calibrated is obtained
Locate the coordinate data of inflection point, then, by the number of coordinates of inflection point at the coordinate data of inflection point at the second point to be calibrated and additional base point
It is poor according to making, by the difference between the coordinate data of inflection point at the coordinate data of inflection point at the second point to be calibrated and additional base point, with
And the coordinate data of additional base point substitutes into above-mentioned second function relational expression, then can obtain the second point to be calibrated and be put down in three-dimensional motion
Coordinate data under the coordinate system of platform, it is achieved thereby that conversion of the coordinate data under three coordinate systems.
One or more of embodiment of the present invention technical solution, has at least the following technical effects or advantages：
The present invention provides a kind of welding position calibration system, which includes three-dimensional movement platform, swashs
Light vision sensor, welding gun and workpiece to be welded, three-dimensional movement platform include platform base, the first moving component and the second movement portion
Part, the first moving component are slidably arranged on platform base, and the second moving component is slidably arranged on the first moving component,
The setting direction of platform base, the first moving component and the second moving component corresponds respectively to X-axis, Y-axis under world coordinate system
And Z axis, the first moving component can be moved compared with platform base along the X-direction of world coordinate system, the second moving component energy
It is enough to be moved compared with the first moving component along the Y direction of world coordinate system and/or the Z-direction of world coordinate system, laser video
Feel that sensor and welding gun are each attached on the second moving component, workpiece to be welded is positioned under laser vision sensor and welding gun
Side, the first moving component in three-dimensional movement platform and under the movement of the second moving component can drive laser-vision sensing
Device movement is welded with realizing the calibration to welding position and welding gun being driven to treat welder's part, so as to not only simplify mark
Determine process, also improve stated accuracy.
Meanwhile the present invention provides a kind of welding position scaling method, in the welding position scaling method, is utilizing three-dimensional
Motion platform control laser vision sensor moves to default stop bit with stepwise motion path from default initial position
During putting, sequentially respectively at each calibration point in original position, stepwise motion path and at final position,
The one group of laser vision sensor coordinate data and one group of three-dimensional movement platform coordinate data of inflection point are obtained, and then obtains N groups and swashs
Light vision sensor coordinate data and N group three-dimensional movement platform coordinate datas, wherein, laser vision sensor coordinate data is base
In the coordinate data of the coordinate system of laser vision sensor, three-dimensional movement platform coordinate data is the seat based on three-dimensional movement platform
The coordinate data of system is marked, N is the integer more than or equal to 3, and the 2nd group to N group laser vision sensors coordinate data is distinguished
It carries out making difference operation with the 1st group of laser vision sensor coordinate data, obtains N-1 group laser vision sensor coordinate difference numbers
According to；And the 2nd group to N group three-dimensional movement platforms coordinate data is carried out respectively with the 1st group of three-dimensional movement platform coordinate data
Make difference operation, N-1 group three-dimensional movement platform coordinate difference datas are obtained, by N-1 group laser vision sensor coordinate difference datas
As independent variable, and using N-1 groups three-dimensional movement platform coordinate difference data as dependent variable, perform least-squares linear regression fortune
It calculates, obtains to characterize relative position relation between the coordinate system of laser vision sensor and the coordinate system of three-dimensional movement platform
First function relational expression based on the coefficient of first function relational expression, is established to characterize the coordinate system of laser vision sensor, weldering
The second function relational expression of relative position relation between the coordinate system of rifle and the coordinate system of three-dimensional movement platform is utilizing three maintenance and operations
Moving platform control welding gun is moved on workpiece to be welded after the additional base point of welding track, and auxiliary base is obtained under the coordinate system of welding gun
The coordinate data of point, after additional base point is moved to using three-dimensional movement platform control laser vision sensor, in laser vision
The coordinate data of inflection point at additional base point is obtained under the coordinate system of sensor；And controlling laser using three-dimensional movement platform
During visual sensor is moved along welding track, the number of coordinates of inflection point at each point to be calibrated in welding track is obtained respectively
According to difference data, auxiliary at coordinate data and additional base point based on inflection point at point to be calibrated between the coordinate data of inflection point
The coordinate data of basic point and second function relational expression obtain coordinate of each point to be calibrated under the coordinate system of three-dimensional movement platform
Data, it is achieved thereby that conversion of the coordinate data under three coordinate systems, further improves stated accuracy.
Although preferred embodiments of the present invention have been described, but those skilled in the art once know basic creation
Property concept, then can make these embodiments other change and modification.So appended claims be intended to be construed to include it is excellent
It selects embodiment and falls into all change and modification of the scope of the invention.
Obviously, various changes and modifications can be made to the invention without departing from essence of the invention by those skilled in the art
God and scope.In this way, if these modifications and changes of the present invention belongs to the scope of the claims in the present invention and its equivalent technologies
Within, then the present invention is also intended to comprising including these modification and variations.
Claims (10)
1. a kind of welding position calibration system, which is characterized in that including three-dimensional movement platform, laser vision sensor, welding gun and
Workpiece to be welded；
The three-dimensional movement platform includes platform base, the first moving component and the second moving component, first moving component
It being slidably arranged on the platform base, second moving component is slidably arranged on first moving component,
In, the setting direction of the platform base, first moving component and second moving component corresponds respectively to world's seat
X-axis, Y-axis and Z axis under mark system, and, first moving component can be compared with the platform base along the world coordinates
The X-direction movement of system, second moving component can be compared with Y of first moving component along the world coordinate system
The Z-direction of direction of principal axis and/or the world coordinate system moves；
The laser vision sensor and the welding gun are each attached on second moving component；
The workpiece to be welded is positioned over the lower section of the laser vision sensor and the welding gun.
2. welding position calibration system as described in claim 1, which is characterized in that the platform base includes what is be arranged in parallel
First straight rail and the second straight rail；
First moving component is connected by the way that its both ends difference is slideable with first straight rail and second straight rail.
3. welding position calibration system as described in claim 1, which is characterized in that first moving component includes U-shaped frame
Frame and the 3rd straight rail；
The U-shaped framework includes chassis body, the first frame arm and the second frame arm, first frame arm and second frame
Boom is separately positioned on the both ends of the chassis body, and, first frame arm and second frame arm respectively with
The chassis body is vertical；
3rd straight rail is fixed in the chassis body；
Second moving component is slideable to be connected with the 3rd straight rail.
4. welding position calibration system as described in claim 1, which is characterized in that second moving component includes connection and slides
Rail and the 4th straight rail；
4th straight rail is connected by the way that the connecting sliding rail is slideable with first moving component.
5. welding position calibration system as described in claim 1, which is characterized in that the laser vision sensor is arranged on institute
It states in the movement direction of advance of welding gun.
6. welding position calibration system as claimed in claim 5, which is characterized in that the laser vision sensor and the weldering
The distance between rifle is 20~100mm.
7. welding position calibration system as described in claim 1, which is characterized in that the welding position calibration system further includes
Controller, the controller are connected respectively with first moving component and second moving component.
8. a kind of welding position scaling method, which is characterized in that applied to as described in any claim in claim 1-7
Welding position calibration system, the described method includes：
Controlling the laser vision sensor with stepwise motion path from default starting using the three-dimensional movement platform
During position moves to default final position, sequentially respectively in the original position, the stepwise motion path
In each calibration point at and the final position at, obtain inflection point one group of laser vision sensor coordinate data and one group
Three-dimensional movement platform coordinate data, and then obtain N group laser vision sensor coordinate datas and N group three-dimensional movement platform number of coordinates
According to, wherein, the laser vision sensor coordinate data is the coordinate data of the coordinate system based on the laser vision sensor,
The three-dimensional movement platform coordinate data is the coordinate data of the coordinate system based on the three-dimensional movement platform, and N is to be more than or wait
In 3 integer；
2nd group to N group laser vision sensors coordinate data is carried out respectively with the 1st group of laser vision sensor coordinate data
Make difference operation, obtain N-1 group laser vision sensor coordinate difference datas；And the 2nd group to N groups three-dimensional movement platform is sat
Mark data carry out making difference operation respectively with the 1st group of three-dimensional movement platform coordinate data, obtain N-1 group three-dimensional movement platform coordinate differences
Value Data；
Using the N-1 groups laser vision sensor coordinate difference data as independent variable, and by the N-1 groups three-dimensional movement platform
Coordinate difference data performs least-squares linear regression computing, obtains to characterize the laser-vision sensing as dependent variable
The first function relational expression of relative position relation between the coordinate system of device and the coordinate system of the three-dimensional movement platform；
Based on the coefficient of the first function relational expression, establish to characterize the coordinate system of the laser vision sensor, described
The second function relational expression of relative position relation between the coordinate system of welding gun and the coordinate system of the three-dimensional movement platform；
The additional base point of welding track on the workpiece to be welded is being moved to using the three-dimensional movement platform control welding gun
Afterwards, the coordinate data of the additional base point is obtained under the coordinate system of the welding gun；
After using the three-dimensional movement platform laser vision sensor being controlled to be moved to the additional base point, swash described
The coordinate data of inflection point at the additional base point is obtained under the coordinate system of light vision sensor；And utilizing three maintenance and operation
During the moving platform control laser vision sensor is moved along the welding track, obtain respectively in the welding track
The coordinate data of inflection point at each point to be calibrated；
Difference at coordinate data and the additional base point based on inflection point at the point to be calibrated between the coordinate data of inflection point
Data, the coordinate data of the additional base point and the second function relational expression obtain each point to be calibrated in three maintenance and operation
Coordinate data under the coordinate system of moving platform.
9. welding position scaling method as claimed in claim 8, which is characterized in that the initial position, the final position
Same X-coordinate is corresponded under the same coordinate system with the stepwise motion path.
10. welding position scaling method as claimed in claim 9, which is characterized in that in the stepwise motion path, edge
All moving step sizes all sames of coordinate system Y direction movement, all moving step sizes moved along coordinate system Z-direction are homogeneous
Together.
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