CN110508906A - A kind of method that robotic laser displacement sensor seeks position - Google Patents
A kind of method that robotic laser displacement sensor seeks position Download PDFInfo
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- CN110508906A CN110508906A CN201910818685.3A CN201910818685A CN110508906A CN 110508906 A CN110508906 A CN 110508906A CN 201910818685 A CN201910818685 A CN 201910818685A CN 110508906 A CN110508906 A CN 110508906A
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- 238000000034 method Methods 0.000 title claims abstract description 37
- 238000006073 displacement reaction Methods 0.000 title claims abstract description 36
- 238000003466 welding Methods 0.000 claims abstract description 53
- 238000005476 soldering Methods 0.000 claims abstract description 4
- 239000011159 matrix material Substances 0.000 claims description 3
- 238000010586 diagram Methods 0.000 description 4
- 230000003044 adaptive effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 230000032258 transport Effects 0.000 description 1
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
- B23K9/00—Arc welding or cutting
- B23K9/12—Automatic feeding or moving of electrodes or work for spot or seam welding or cutting
- B23K9/127—Means for tracking lines during arc welding or cutting
- B23K9/1272—Geometry oriented, e.g. beam optical trading
- B23K9/1274—Using non-contact, optical means, e.g. laser means
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- Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- Optics & Photonics (AREA)
- Geometry (AREA)
- Plasma & Fusion (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
- Laser Beam Processing (AREA)
Abstract
The invention discloses a kind of methods that robotic laser displacement sensor seeks position, comprising: is scanned by point light source laser to workpiece surface with any angle to obtain image information, and image information is transmitted to laser controller；Laser controller converts image information into location information, and location information is transferred to robot control cabinet；Robot control cabinet carries out 2D modeling to workpiece surface according to location information and robot point, identifies the feature of workpiece and the position of workpiece；Robot control cabinet generates welding track according to the feature of workpiece and the position of workpiece, in conjunction with default soldering angle；Robot control cabinet control robot is moved according to welding track, and when robot motion is to welding position, robot control cabinet controls the source of welding current starting the arc or receives arc.Present invention point light source laser scans workpiece surface, acquisition workpiece surface weld width, area and position automatically generate welding procedure using preset angle of welding gun and welding procedure.
Description
Technical field
The present invention relates to a kind of methods that the technical field of welding more particularly to laser displacement sensor seek position.
Background technique
Conventional laser displacement sensor seek the working principle of position be operator using teaching machine to welding workpiece into
Row seeks a program teaching programming, and runs program and once demarcated.Then welding procedure is transferred to robot control.Machine
People's control cabinet controls the robot for being equipped with welding equipment, carries laser displacement sensor using robot and is moved, laser
When the distance between displacement sensor and workpiece reach reference position, laser displacement sensor gives robot signal, robot
Current coordinate value is recorded, and is compared with the position of calibration, weld seam spatial position is obtained.
Robot is carried out when seek using conventional laser displacement sensor only by the distance to body surface
Judgement, can not the feature to body surface carry out seeking position, be also unable to get the data of feature, for example, weld seam groove feature
Point, the sectional area and width of weld seam.Therefore it will cause technologic defect, or even will cause workpiece damage and equipment damage.
Summary of the invention
In view of this, the purpose of the present invention is to provide a kind of methods that robotic laser displacement sensor seeks position.
To achieve the goals above, the technical scheme adopted by the invention is as follows:
A kind of method that robotic laser displacement sensor seeks position, wherein include:
Step S1: workpiece surface is scanned with any angle by point light source laser to obtain image information, institute
Stating image information includes location information and characteristic information, and described image information is transmitted to laser controller；
Step S2: described image information is converted into location information by the laser controller, and by the location information
It is transferred to robot control cabinet；
Step S3: the robot control cabinet carries out 2D to workpiece surface with robot point according to the positional information and builds
Mould identifies the feature of workpiece and the position of workpiece；
Step S4: the robot control cabinet is raw in conjunction with default soldering angle according to the feature of workpiece and the position of workpiece
At welding track；
Step S5: robot control cabinet control robot is moved according to the welding track, when the robot transports
When moving to welding position, the robot control cabinet control source of welding current starting the arc or arc is received.
The method that above-mentioned robotic laser displacement sensor seeks position, wherein in the step S1, the characteristic information
Including several surface characteristics, the surface characteristics is plane, circle, ellipse or broken line.
The method that above-mentioned robotic laser displacement sensor seeks position, wherein in the step S2, the position is believed
Breath is transferred to robot control cabinet by way of EtherNet/IP, DeviceNet or analog quantity.
The method that above-mentioned robotic laser displacement sensor seeks position, wherein in the step S3, the robot control
Cabinet processed converts workpiece surface shape for the location information and the characteristic information by Eulerian angles matrix operation.
The method that above-mentioned robotic laser displacement sensor seeks position, wherein in the step S4, the robot control
Cabinet processed calculates position while welding, section of weld joint product and weld width and obtains the welding track.
The method that above-mentioned robotic laser displacement sensor seeks position, wherein in the step S5, the robot control
Cabinet processed is controlled the source of welding current starting the arc by way of DeviceNet or EtherNet or receives arc and connect.
Due to using above-mentioned technology, the good effect for being allowed to have compared with prior art is the present invention:
(1) present invention point light source laser scans workpiece surface, obtains workpiece surface weld width, area and position,
Using preset angle of welding gun and welding procedure, welding procedure is automatically generated.
(2) present invention no matter workpiece size variation or installation site variation, robot can weld in correct position always
Parameter when connecing and can be according to section of weld joint product or width change actual welding.
(3) present invention is applied widely, and the present invention can carry out different weld seams to seek position by switching recognizer.
Detailed description of the invention
Fig. 1 is the schematic device for the method that robotic laser displacement sensor of the invention seeks position.
Fig. 2 is the laser scanning track of the first workpiece of the method that robotic laser displacement sensor of the invention seeks position
Schematic diagram.
Fig. 3 is the welding track signal of the first workpiece of the method that robotic laser displacement sensor of the invention seeks position
Figure.
Fig. 4 is the welding track signal of second of workpiece of the method that robotic laser displacement sensor of the invention seeks position
Figure.
Fig. 5 is the welding track signal of second of workpiece of the method that robotic laser displacement sensor of the invention seeks position
Figure.
In attached drawing: 1, laser module；2, robot；3, control cabinet；4, welding machine module.
Specific embodiment
The present invention will be further explained below with reference to the attached drawings and specific examples, but not as the limitation of the invention.
Fig. 1 is the schematic device for the method that robotic laser displacement sensor of the invention seeks position, and Fig. 2 is of the invention
Robotic laser displacement sensor seeks the laser scanning trajectory of the first workpiece of the method for position, and Fig. 3 is of the invention
Robotic laser displacement sensor seeks the welding track schematic diagram of the first workpiece of the method for position, and Fig. 4 is machine of the invention
People's laser displacement sensor seeks the welding track schematic diagram of second of workpiece of the method for position, and Fig. 5 is that robot of the invention swashs
Optical displacement sensor seeks the welding track schematic diagram of second of workpiece of the method for position.
First embodiment
It is shown in Figure 1, the method that the robotic laser displacement sensor of the first preferred embodiment seeks position is shown,
Facility includes: laser module 1, robot 2, control cabinet 3 and welding machine module 4, wherein laser module 1 is set to robot 2
On, laser module 1 includes point light source laser and laser controller, and welding machine module 4 is set in robot 2, welding machine module 4
Including the source of welding current and welding gun.Control cabinet 3 is connect with laser module 1, robot 2 and 4 signal of welding machine module respectively.
Wherein, the method that robotic laser displacement sensor seeks position includes:
Step S1: being scanned workpiece surface with any angle by point light source laser to obtain image information, figure
As information includes location information and characteristic information, and image information is transmitted to laser controller；
Step S2: laser controller converts image information into location information, and location information is transferred to robot
Control cabinet；
Step S3: robot control cabinet 3 carries out 2D modeling, identification to workpiece surface according to location information and robot point
The feature of workpiece and the position of workpiece；
Step S4: robot control cabinet 3 is generated in conjunction with default soldering angle and is welded according to the feature of workpiece and the position of workpiece
Integrate with mark；
Step S5: robot control cabinet 3 controls robot 2 and is moved according to welding track, when robot 2 moves to welding position
When setting, robot control cabinet 3 controls the source of welding current starting the arc or receives arc.
In step sl, characteristic information includes several surface characteristics, and surface characteristics is plane, circle, ellipse or broken line.
In step s 2, location information is transferred to machine by way of EtherNet/IP, DeviceNet or analog quantity
Device people control cabinet 3.
In step s3, robot control cabinet 3 is converted location information and characteristic information to by Eulerian angles matrix operation
Workpiece surface shape.
In step s 4, robot control cabinet 3 calculates position while welding, section of weld joint product and weld width and obtains welding rail
Mark.
In step s 5, robot control cabinet 3 controls the source of welding current starting the arc by way of DeviceNet or EtherNet
Or it receives arc and connects.
Workpiece is scanned with any angle by the point light source laser installed in robot 2, obtains the contoured position of institute
Information, after being transferred to robot control cabinet 3, robot control cabinet 3 is obtained according to 2 data of robot and point light source laser data
The location of workpiece, face of weld feature cooperate angle of welding gun, and that realizes weld seam seeks position and adaptive welding.
Second embodiment
It refers to shown in Fig. 2, Fig. 3, the robotic laser displacement sensor for showing second of preferred embodiment seeks the side of position
Method, comprising: workpiece size is inputted into robot control cabinet 3, using parametric programming, robot 2 carries point light source laser pair
Column foot weld seam is scanned, scanning the step of as shown in Fig. 2, robot carry point light source laser press respectively S1, S2, S3,
Track shown in S4, S5 and S6 is scanned, and robot control cabinet 3 proposes the data that robot 2 provides and point light source laser
The data of confession carry out processing calculating, and are generated obtained weld seam point actual such as Fig. 3 institute according to the workpiece size of input
The welding track shown, and welded according to the welding track of W1, W2, W3.
3rd embodiment
It is shown in Figure 4, the method that the robotic laser displacement sensor of the third preferred embodiment seeks position is shown, is wrapped
It includes: workpiece size is inputted into robot control cabinet 3, using parametric programming, robot 2 carries point light source laser to cross key
Weld seam is scanned, and robot control cabinet 3 handles the data that robot 2 provides and the data that point light source laser provides
Calculate, and scanning track generated according to the workpiece size of input, the step of scanning as shown in figure 4, show point P1, P2, P3,
P4, wherein current potential P1, P2 constitute track S1, and point P3, P4 constitutes track S2, and robot 2 carries point light source laser point
It is not scanned by track shown in S1 and S2, robot control cabinet 3 proposes the data that robot 2 provides and point light source laser
The data of confession carry out processing calculating, and are generated obtained weld seam point actual such as Fig. 5 institute according to the workpiece size of input
The welding track shown, and welded according to the welding track of W1, W2, W3.
The foregoing is merely preferred embodiments of the present invention, are not intended to limit embodiments of the present invention and protection model
It encloses, to those skilled in the art, should can appreciate that all with made by description of the invention and diagramatic content
Equivalent replacement and obviously change obtained scheme, should all be included within the scope of the present invention.
Claims (6)
1. a kind of method that robotic laser displacement sensor seeks position characterized by comprising
Step S1: workpiece surface is scanned with any angle by point light source laser to obtain image information, the figure
As information includes location information and characteristic information, and described image information is transmitted to laser controller；
Step S2: described image information is converted into location information by the laser controller, and the location information is transmitted
To robot control cabinet；
Step S3: the robot control cabinet carries out 2D modeling to workpiece surface with robot point according to the positional information,
Identify the feature of workpiece and the position of workpiece；
Step S4: the robot control cabinet is generated in conjunction with default soldering angle and is welded according to the feature of workpiece and the position of workpiece
Integrate with mark；
Step S5: robot control cabinet control robot is moved according to the welding track, when the robot motion extremely
When welding position, the robot control cabinet control source of welding current starting the arc or receipts arc.
2. the method that robotic laser displacement sensor according to claim 1 seeks position, which is characterized in that in the step
In S1, the characteristic information includes several surface characteristics, and the surface characteristics is plane, circle, ellipse or broken line.
3. the method that robotic laser displacement sensor according to claim 1 seeks position, which is characterized in that in the step
In S2, the location information is transferred to robot control by way of EtherNet/IP, DeviceNet or analog quantity
Cabinet.
4. the method that robotic laser displacement sensor according to claim 1 seeks position, which is characterized in that in the step
In S3, the robot control cabinet converts workpiece for the location information and the characteristic information by Eulerian angles matrix operation
Surface shape.
5. the method that robotic laser displacement sensor according to claim 1 seeks position, which is characterized in that in the step
In S4, the robot control cabinet calculates position while welding, section of weld joint product and weld width and obtains the welding track.
6. the method that robotic laser displacement sensor according to claim 1 seeks position, which is characterized in that in the step
In S5, the robot control cabinet is controlled the source of welding current starting the arc by way of DeviceNet or EtherNet or receives arc and connect.
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Cited By (7)
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| CN110899976A (en) * | 2019-12-20 | 2020-03-24 | 新宝机器人科技(南通)有限公司 | Welding workstation for automatic laser position-finding ultrahigh high-precision robot |
| CN112355439A (en) * | 2020-10-13 | 2021-02-12 | 绍兴汉立工业自动化科技有限公司 | Special machine automatic welding process for container corrugated welding |
| CN112658520A (en) * | 2021-01-07 | 2021-04-16 | 成都卡诺普自动化控制技术有限公司 | Ship-shaped welding implementation method for iron tower foot, computer equipment and storage medium |
| CN112658521A (en) * | 2021-01-07 | 2021-04-16 | 成都卡诺普自动化控制技术有限公司 | Parameterized teaching-free welding method for iron tower legs, computer equipment and storage medium |
| CN112958973A (en) * | 2021-02-08 | 2021-06-15 | 西安知象光电科技有限公司 | Welding vision locating device of medium plate robot based on structured light three-dimensional vision |
| CN113001052A (en) * | 2021-04-28 | 2021-06-22 | 四川纽赛特工业机器人制造有限公司 | Automatic repair welding device and system thereof |
| CN114043045A (en) * | 2021-11-29 | 2022-02-15 | 苏州全视智能光电有限公司 | Round hole automatic plug welding method and device based on laser vision |
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Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110899976A (en) * | 2019-12-20 | 2020-03-24 | 新宝机器人科技(南通)有限公司 | Welding workstation for automatic laser position-finding ultrahigh high-precision robot |
| CN112355439A (en) * | 2020-10-13 | 2021-02-12 | 绍兴汉立工业自动化科技有限公司 | Special machine automatic welding process for container corrugated welding |
| CN112658520A (en) * | 2021-01-07 | 2021-04-16 | 成都卡诺普自动化控制技术有限公司 | Ship-shaped welding implementation method for iron tower foot, computer equipment and storage medium |
| CN112658521A (en) * | 2021-01-07 | 2021-04-16 | 成都卡诺普自动化控制技术有限公司 | Parameterized teaching-free welding method for iron tower legs, computer equipment and storage medium |
| CN112658520B (en) * | 2021-01-07 | 2022-04-29 | 成都卡诺普机器人技术股份有限公司 | Ship-shaped welding implementation method for iron tower foot, computer equipment and storage medium |
| CN112658521B (en) * | 2021-01-07 | 2022-04-29 | 成都卡诺普机器人技术股份有限公司 | Parameterized teaching-free welding method for iron tower legs, computer equipment and storage medium |
| CN112958973A (en) * | 2021-02-08 | 2021-06-15 | 西安知象光电科技有限公司 | Welding vision locating device of medium plate robot based on structured light three-dimensional vision |
| CN113001052A (en) * | 2021-04-28 | 2021-06-22 | 四川纽赛特工业机器人制造有限公司 | Automatic repair welding device and system thereof |
| CN114043045A (en) * | 2021-11-29 | 2022-02-15 | 苏州全视智能光电有限公司 | Round hole automatic plug welding method and device based on laser vision |
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Application publication date: 20191129 |