CN109352211B - Workpiece material automatic identification method based on point laser ranging sensor - Google Patents
Workpiece material automatic identification method based on point laser ranging sensor Download PDFInfo
- Publication number
- CN109352211B CN109352211B CN201810706312.2A CN201810706312A CN109352211B CN 109352211 B CN109352211 B CN 109352211B CN 201810706312 A CN201810706312 A CN 201810706312A CN 109352211 B CN109352211 B CN 109352211B
- Authority
- CN
- China
- Prior art keywords
- characteristic
- workpiece
- locating
- point laser
- type
- 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.)
- Active
Links
Images
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
-
- 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
- B25J9/1679—Programme controls characterised by the tasks executed
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- Optics & Photonics (AREA)
- Robotics (AREA)
- Length Measuring Devices By Optical Means (AREA)
- Laser Beam Processing (AREA)
- Manipulator (AREA)
Abstract
A workpiece material automatic identification method based on a point laser ranging sensor comprises the following steps that (1) N kinds of workpieces are clamped and positioned on a clamp, and N is more than or equal to 1; (2) the robot starts workpiece type recognition; (3) Searching a characteristic edge and a line at a preset position 1, locating the characteristic edge based on point laser, and detecting a characteristic boundary in a specified locating range; (4) If the special characteristics of the A-type workpiece are the special characteristics, judging that the clamped part is the A-type workpiece, and calling the A-type program by a machine to perform automatic welding; if not, continuously searching the characteristic edge and line at the preset N, searching the position based on the point laser characteristic edge, and detecting the characteristic boundary in the appointed locating range; (5) If the characteristic is special for the N-type workpieces, judging that the clamped part is the N-type workpiece, and calling an N-type program by a machine to perform automatic welding; if not, the system reports errors and prompts the clamping errors of the workpiece. The invention can automatically and accurately identify the types of the workpieces to be welded.
Description
Technical Field
The invention relates to the technical field of automatic welding, in particular to a workpiece automatic identification method using a point laser ranging sensor.
Background
In the current industrial welding production, the application of robot automatic welding is wider and wider, and the robot welding has the characteristics of high efficiency, intellectualization, flexibility and the like. In a robot welding station (line) for collinear production of workpieces of multiple types, welding programs (tracks, parameters and the like) of the workpieces of each type are finished through teaching and programming in advance according to each standard sample, and after a workpiece of a certain type is clamped, the robot calls the programs of the workpieces of the certain type to perform automatic welding.
The type of the workpiece clamped on the clamp is identified, a command is usually sent to the robot manually through a button box or a touch screen, or a sensor is arranged on the clamp, different workpieces are clamped, and each sensor respectively gives out different I/O signal robots for the robots to realize the selection of welding programs. In the full-automatic production line without human participation, the workpieces are various in variety, the characteristic difference is not obvious, the installation direction, the space and the quantity of the sensors are limited, and the workpiece model identification scheme cannot meet the actual use requirements.
Disclosure of Invention
Therefore, the invention aims to provide the workpiece automatic identification method using the point laser ranging sensor, which can effectively solve the problem that the workpiece model identification scheme cannot meet the actual use requirement.
The invention provides a workpiece material automatic identification method based on a point laser ranging sensor, which comprises the following steps,
(1) Clamping and positioning N types of workpieces on a clamp, wherein N is more than or equal to 1;
(2) Presetting the areas near the unique characteristic edges of N types of workpieces as N scanning areas, and starting workpiece type identification by a robot;
(3) Searching a characteristic edge and a line according to a preset locating direction and a locating distance at a preset position 1, locating based on the point laser characteristic edge, and detecting a characteristic boundary in a specified locating range;
(4) If the special characteristics of the A-type workpiece are the special characteristics, judging that the clamped part is the A-type workpiece, and calling the A-type program by a machine to perform automatic welding; if not, continuously searching characteristic edges and lines at a preset N position according to the set locating direction and locating distance, locating based on the point laser characteristic edges, and detecting characteristic boundaries in a specified locating range;
(5) If the characteristic is special for the N-type workpieces, judging that the clamped part is the N-type workpiece, and calling an N-type program by a machine to perform automatic welding; if not, the system reports errors and prompts the clamping errors of the workpiece;
the method for locating the characteristic edge based on the point laser comprises the following steps:
s1, configuring a point laser ranging sensor, and installing the point laser ranging sensor beside a welding gun, wherein the irradiation direction of the point laser ranging sensor is approximately parallel to one direction of a flange coordinate system at the tail end of a robot body;
s2, acquiring a point near the characteristic edge of the workpiece, and ensuring that the irradiation direction of point laser is large to be perpendicular to a workpiece detection plane, wherein the distance between the detection point laser ranging sensor and the plane is the same;
and S3, taking the point as a starting point, enabling the robot to move along the direction perpendicular to the characteristic edge as a locating direction, continuously reading the detected distance value according to the set interval time, and when the difference value of two adjacent detection values reaches a certain threshold value, representing that the characteristic edge is detected and conforming to the characteristic characteristics of a certain workpiece.
S4, if the detection value is not shifted or the change value is small in the whole detection movement range, the detection value represents that no preset characteristic edge exists in the range. And the robot moves to the vicinity of another preset characteristic edge to acquire a distance value of a point, the running procedure in S3 is repeated, and whether the characteristic edge exists or not is detected.
Preferably, the automatic workpiece material identification method based on the point laser ranging sensor comprises the following steps,
(1) Clamping and positioning the three types of workpieces on a clamp;
(2) Presetting the areas near the unique characteristic edges of the three types of workpieces as 3 scanning areas, and starting the workpiece type recognition by a robot;
(3) Searching a characteristic edge and a line according to a preset locating direction and a locating distance at a preset position 1, locating based on the point laser characteristic edge, and detecting a characteristic boundary in a specified locating range;
(4) If the special characteristics of the A-type workpiece are the special characteristics, judging that the clamped part is the A-type workpiece, and calling the A-type workpiece program by a machine to perform automatic welding; if not, searching a characteristic edge and a line at the preset position 2 according to the set locating direction and locating distance, locating based on the point laser characteristic edge, and detecting a characteristic boundary in the appointed locating range;
(5) If the special characteristics of the B-type workpiece are the special characteristics, judging that the clamped part is the B-type workpiece, and calling a B-piece program by a machine to perform automatic welding; if not, searching a characteristic edge and a line at a preset position 3 according to the set locating direction and locating distance, locating based on the point laser characteristic edge, and detecting a characteristic boundary in a specified locating range;
(6) If the characteristic is special for the C-type workpiece, judging that the clamped part is the C-type workpiece, and calling an N-piece program by a machine to perform automatic welding; if not, the system reports errors and prompts the clamping errors of the workpiece.
Preferably, each of the workpieces may be multi-scanned to repeat the determination.
Compared with the prior art, the invention has the following beneficial effects: according to the workpiece material automatic identification method based on the point laser ranging sensor, the workpiece characteristic identification system based on the point laser ranging sensor is configured for the welding robot, and the preset special characteristics and contours of the workpiece are identified before welding, so that the model of the workpiece to be welded is automatically and accurately identified without manual participation, and then related welding programs are called for automatic welding.
Drawings
Fig. 1 is a schematic diagram of a welding gun and a point laser ranging sensor according to the present invention.
Fig. 2 is a schematic diagram of a scanning setting area of the spot laser ranging sensor according to the present invention.
FIG. 3 is a schematic flow chart of an automatic workpiece recognition method according to an embodiment of the invention.
Detailed Description
The invention will be further described with reference to the drawings and detailed description.
As shown in fig. 1-3, the technical scheme of the invention is as follows:
an automatic workpiece material identification method based on a point laser ranging sensor comprises the following steps,
(1) The N-type workpiece is clamped and positioned on the clamp, wherein N is more than or equal to 1, and 3-type workpieces are preferable in the embodiment;
(2) Presetting the areas near the unique characteristic edges of the three types of workpieces as 3 scanning areas, and starting the workpiece type recognition by a robot;
(3) Searching a characteristic edge and a line according to a preset locating direction and a locating distance at a preset position 1, locating based on the point laser characteristic edge, and detecting a characteristic boundary in a specified locating range;
(4) If the special characteristics of the A-type workpiece are the special characteristics, judging that the clamped part is the A-type workpiece, and calling the A-type workpiece program by a machine to perform automatic welding; if not, searching a characteristic edge and a line at the preset position 2 according to the set locating direction and locating distance, locating based on the point laser characteristic edge, and detecting a characteristic boundary in the appointed locating range;
(5) If the special characteristics of the B-type workpiece are the special characteristics, judging that the clamped part is the B-type workpiece, and calling a B-piece program by a machine to perform automatic welding; if not, searching a characteristic edge and a line at a preset position 3 according to the set locating direction and locating distance, locating based on the point laser characteristic edge, and detecting a characteristic boundary in a specified locating range;
(6) If the characteristic is special for the C-type workpiece, judging that the clamped part is the C-type workpiece, and calling an N-piece program by a machine to perform automatic welding; if not, the system reports errors and prompts the clamping errors of the workpiece.
Each of the workpieces described above may be multi-point scanned to repeat the determination. When multiple types of workpieces are identified, the automatic workpiece material identification method is consistent with the three types of workpiece identification methods.
The method for locating the characteristic edge based on the point laser comprises the following steps:
s1, a spot laser ranging sensor 8 is arranged on the welding robot 3 and is arranged beside a welding gun 7, and as shown in FIG. 1, the irradiation direction of the spot laser ranging sensor is approximately parallel to one direction of a flange coordinate system at the tail end of the robot body;
s2, acquiring a point near the characteristic edge of the workpiece, and ensuring that the irradiation direction of point laser is approximately perpendicular to a workpiece detection plane, wherein the distance between the detection point laser ranging sensor and the plane is the same;
s3, taking the point as a starting point, enabling the robot to move along the direction perpendicular to the characteristic edge as a locating direction, continuously reading the detected distance value according to the set interval time, and when the difference value of two adjacent detection values reaches a certain threshold value, representing that the characteristic edge is detected and conforming to the characteristic of a certain workpiece;
s4, if the detection value is not shifted or the change value is small in the whole detection movement range, the detection value represents that no preset characteristic edge exists in the range. And the robot moves to the vicinity of another preset characteristic edge to acquire a distance value of a point, the running procedure in S3 is repeated, and whether the characteristic edge exists or not is detected.
The point laser ranging sensor 8 is connected with a laser controller, the laser controller is connected with a robot control cabinet, the point laser ranging sensor 8 is used for scanning a set area and outputting whether the set area has characteristic side 10 information, the laser controller is used for outputting workpiece category information according to whether the set area has the characteristic side 10 information or replacing the set area to continue scanning information, and the robot control cabinet is used for calling a preset welding program according to the workpiece category information.
The working principle of the invention is as follows: firstly, setting scanning areas near the unique characteristic edges 10 of various workpieces by combining the structural (outline, characteristic edges 10, hole sites and the like) differences of the workpieces, setting the set scanning areas and scanning distance according to the characteristics of the workpieces, and repeatedly judging one workpiece by multi-point scanning;
the workpiece is clamped and positioned on the clamp, the welding robot searches for the characteristic edge 10 in one scanning area, and the welding robot performs characteristic edge 10 locating based on point laser: a first step of configuring a point laser ranging sensor 8 which is arranged beside a welding gun, wherein the irradiation direction of the point laser ranging sensor is approximately parallel to one direction of a flange 5 coordinate system at the tail end of a robot body, a second step of acquiring a point near a workpiece characteristic edge 10, ensuring that the irradiation direction of point laser is large to be vertical to a workpiece detection plane, detecting the distance between the point laser ranging sensor 8 and the plane, a third step of taking the point as a starting point 9, moving the robot along the direction vertical to the characteristic edge 10 as a locating direction, continuously reading the detected distance value according to a set interval time, and if the difference between two adjacent detection values reaches a certain threshold value, the detected characteristic edge 10 is represented to meet the characteristic characteristics of a certain workpiece, and a fourth step of acquiring a distance value near another preset characteristic edge 10 if the detection value is not shifted or changed very little within the whole detection range, repeating the operation procedure in the third step, and detecting whether the characteristic edge 10 exists;
if the welding robot detects the characteristic edge 10 in the scanning area, performing the next step, if the welding robot does not detect the characteristic edge 10, replacing another scanning area to scan the characteristic edge 10, repeating the step until the characteristic edge 10 is found to perform the next step, or if the characteristic edge 10 is not detected in all the scanning areas after scanning, prompting the clamping error;
and the next step is to judge the type of the workpiece through the scanning area and the characteristic edge and call a corresponding welding program to weld.
The above-described embodiments are only preferred embodiments of the present invention and should not be construed as limiting the scope of the invention, and thus, modifications, equivalent variations, improvements, etc. made in accordance with the claims of the present invention still fall within the scope of the invention.
Claims (3)
1. A workpiece material automatic identification method based on a point laser ranging sensor is characterized in that: comprises the steps of,
clamping and positioning N types of workpieces on a clamp, wherein N is more than or equal to 1;
presetting the areas near the unique characteristic edges of N types of workpieces as N scanning areas, and starting workpiece type identification by a robot;
searching a characteristic edge and a line according to a preset locating direction and a locating distance at a preset position 1, locating based on the point laser characteristic edge, and detecting a characteristic boundary in a specified locating range;
if the special characteristic edges of the A-type workpiece are the same, judging that the clamped part is the A-type workpiece, and calling an A-piece program by a machine to perform automatic welding; if not, continuously searching characteristic edges and lines at a preset N position according to the set locating direction and locating distance, locating based on the point laser characteristic edges, and detecting characteristic boundaries in a specified locating range;
if the N-type workpiece is the unique characteristic edge, judging that the clamped part is the N-type workpiece, and calling an N-type program by a machine to perform automatic welding; if not, the system reports errors and prompts the clamping errors of the workpiece;
the method for locating the characteristic edge based on the point laser comprises the following steps:
s1, configuring a point laser ranging sensor, and installing the point laser ranging sensor beside a welding gun, wherein the irradiation direction of the point laser ranging sensor is approximately parallel to one direction of a flange coordinate system at the tail end of a robot body;
s2, acquiring a point near the characteristic edge of the workpiece, and ensuring that the irradiation direction of point laser is approximately perpendicular to a workpiece detection plane, wherein the distance between the detection point laser ranging sensor and the plane is the same;
s3, taking the point as a starting point, enabling the robot to move along the direction perpendicular to the characteristic edge as a locating direction, continuously reading the detected distance value according to the set interval time, and when the difference value of two adjacent detection values reaches a certain threshold value, representing that the characteristic edge is detected and conforming to the characteristic of a certain workpiece;
s4, if the detection value is not shifted or the change value is small in the whole detection movement range, the detection value represents that no preset characteristic edge exists in the range;
and the robot moves to the vicinity of another preset characteristic edge to acquire a distance value of a point, the running procedure in S3 is repeated, and whether the characteristic edge exists or not is detected.
2. The automatic workpiece material identification method based on the point laser ranging sensor as set forth in claim 1, wherein the method comprises the following steps: comprises the steps of,
(1) Clamping and positioning the three types of workpieces on a clamp;
(2) Presetting the areas near the unique characteristic edges of the three types of workpieces as 3 scanning areas, and starting the workpiece type recognition by a robot;
(3) Searching a characteristic edge and a line according to a preset locating direction and a locating distance at a preset position 1, locating based on the point laser characteristic edge, and detecting a characteristic boundary in a specified locating range;
(4) If the special characteristic edges of the A-class workpiece are the same, judging that the clamped part is the A-class workpiece, and calling an A-class program by a machine to perform automatic welding; if not, searching a characteristic edge and a line at the preset position 2 according to the set locating direction and locating distance, locating based on the point laser characteristic edge, and detecting a characteristic boundary in the appointed locating range;
(5) If the special characteristic edges of the B-type workpiece are the same, judging that the clamped part is the B-type workpiece, and calling a B-piece program by a machine to perform automatic welding; if not, searching a characteristic edge and a line at a preset position 3 according to the set locating direction and locating distance, locating based on the point laser characteristic edge, and detecting a characteristic boundary in a specified locating range;
(6) If the special characteristic edges of the C-type workpiece are the same, judging that the clamped part is the C-type workpiece, and calling an N-piece program by a machine to perform automatic welding; if not, the system reports errors and prompts the clamping errors of the workpiece.
3. The automatic workpiece material identification method based on the point laser ranging sensor according to claim 1 or 2, wherein the method comprises the following steps: each of the workpieces may be multi-point scanned to repeat the determination.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810706312.2A CN109352211B (en) | 2018-06-29 | 2018-06-29 | Workpiece material automatic identification method based on point laser ranging sensor |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810706312.2A CN109352211B (en) | 2018-06-29 | 2018-06-29 | Workpiece material automatic identification method based on point laser ranging sensor |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109352211A CN109352211A (en) | 2019-02-19 |
| CN109352211B true CN109352211B (en) | 2023-04-25 |
Family
ID=65349646
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810706312.2A Active CN109352211B (en) | 2018-06-29 | 2018-06-29 | Workpiece material automatic identification method based on point laser ranging sensor |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109352211B (en) |
Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110788536B (en) * | 2019-10-16 | 2021-10-22 | 深圳市佳士机器人科技有限公司 | Welding industrial robot |
| CN112692471B (en) * | 2020-12-18 | 2022-06-14 | 盐城耀晖人防防护设备科技有限公司 | Robot-based robot symmetry overturning fixture civil air defense door welding workstation |
| CN113253671B (en) * | 2021-06-09 | 2023-11-14 | 曹智军 | Parameterized programming method for gusset seam welding robot of main girder of double-girder crane |
Family Cites Families (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP3436289B2 (en) * | 1995-10-30 | 2003-08-11 | 日本電信電話株式会社 | Shim feature point position detection method |
| CN103317213B (en) * | 2013-06-26 | 2015-09-23 | 昆山华恒工程技术中心有限公司 | The sheet lap weld seam method for position-finding of Non-contact robot |
| CN106826001A (en) * | 2015-12-03 | 2017-06-13 | 成都九十度工业产品设计有限公司 | A kind of welding control system and its control method |
| CN107457513A (en) * | 2017-04-07 | 2017-12-12 | 四川希思特智能科技有限公司 | A kind of weld seam automatic localization device using two-dimensional laser displacement transducer |
| CN107262953A (en) * | 2017-07-24 | 2017-10-20 | 江门市固创科技有限公司 | It is a kind of can caller automatically welding method |
-
2018
- 2018-06-29 CN CN201810706312.2A patent/CN109352211B/en active Active
Also Published As
| Publication number | Publication date |
|---|---|
| CN109352211A (en) | 2019-02-19 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN109352211B (en) | Workpiece material automatic identification method based on point laser ranging sensor | |
| CN111390915B (en) | Automatic weld path identification method based on AI | |
| US8706300B2 (en) | Method of controlling a robotic tool | |
| CN111014879B (en) | Automatic welding method for corrugated plate of robot based on laser weld seam tracking | |
| CN104985289A (en) | Laser sensor-based welding seam automatic tracking test device and test method thereof | |
| CN109175841B (en) | Multi-vehicle type clamp switching control method | |
| EP3630404B1 (en) | An apparatus and a method for automated seam welding of a work piece comprising a base plate with a pattern of upstanding profiles | |
| CN104858575A (en) | Container top reinforced plate automatic welding device with three dimensional weld recognition | |
| CN205043322U (en) | Automatic weld system based on movable thick plate | |
| CN111687515A (en) | Intelligent welding guide system for large steel structure | |
| CN114619123B (en) | Narrow gap welding method, device and system | |
| CN204725027U (en) | A kind of container top stiffener automatic welding device with three-dimensional weld seam recognition | |
| CN107131829B (en) | Dimension tolerance detection device and dimension tolerance detection method | |
| CN108747041B (en) | Reference correction method for three-dimensional laser cutting plate | |
| CN112620926B (en) | Welding spot tracking method and device and storage medium | |
| CN204248310U (en) | A kind of for auto panel fixture | |
| EP4169675A1 (en) | Bumper facia punching/welding system and method | |
| KR100253132B1 (en) | A seam finding method with laser vision sensors and sensor cameras | |
| JP2004268220A (en) | Electric discharge machine | |
| CN112834505B (en) | Three-dimensional visual detection positioning device and method for pasted welding line of pipeline workpiece | |
| CN210664334U (en) | Sealing strip size detection equipment based on visual identification | |
| CN210678715U (en) | Frock is rectified to crater offset | |
| CN107618342B (en) | Deviation detection and correction method for automobile door panel | |
| CN209578588U (en) | A kind of welding fixture mechanism for spot welding | |
| KR20200020496A (en) | Method for recognizing absent welding bid of shipbuilding block |
Legal Events
| 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 | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |