CN112338392A - Laser vision locating correction method for welding seam gap of industrial robot - Google Patents
Laser vision locating correction method for welding seam gap of industrial robot Download PDFInfo
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- CN112338392A CN112338392A CN202011016313.8A CN202011016313A CN112338392A CN 112338392 A CN112338392 A CN 112338392A CN 202011016313 A CN202011016313 A CN 202011016313A CN 112338392 A CN112338392 A CN 112338392A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K37/00—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups
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Abstract
The invention discloses a laser vision locating and correcting method for a welding seam gap of an industrial robot, which specifically comprises the following steps: the invention relates to the technical field of laser vision position finding correction, in particular to a method for detecting position information of S1 and S2 points on a first workpiece by using a sensor. Compared with the traditional laser vision welding seam locating system, the laser vision welding seam locating correction method for the welding seam gap of the industrial robot detects the welding seam gap on a workpiece by using the laser vision sensor, different subprograms are selected according to the size of the gap, and the welding process is carried out.
Description
Technical Field
The invention relates to the technical field of laser vision locating correction, in particular to a laser vision locating correction method for a welding seam gap of an industrial robot.
Background
The current industrial production has higher and higher requirements on automation, and the automation also becomes a trend of modern industrial production; the automation adopts the technical measures of automatically controlling, automatically adjusting, detecting and processing the machine equipment and instruments and automatically operating according to the specified programs or instructions, and aims to increase the yield, improve the quality, reduce the cost and the labor intensity, ensure the production safety and the like, and the automation degree becomes one of the important marks for measuring the development level of the scientific technology and the economy of the modern country.
In future welding processes, on one hand, new welding methods, welding equipment and welding materials are required to be developed so as to further improve the welding quality and the safety and reliability, such as improving the existing welding energy sources such as electric arcs, plasma arcs, electron beams, lasers and the like; the electronic technology and the control technology are applied, the process performance of the electric arc is improved, and a reliable and light welding seam tracking method is developed; on the other hand, the welding mechanization and automation level is required to be improved, such as the welding machine realizes program control and digital control; developing a special welding machine which can automate all processes from preparation process, welding to quality monitoring; on an automatic welding production line, a numerical control welding manipulator and a welding robot are popularized and expanded, so that the welding production level can be improved, and the welding sanitary and safe conditions are improved; the industrial robot is a multi-joint manipulator or multi-degree-of-freedom machine device facing the industrial field, can automatically execute work, is a machine which realizes various functions by self power and control capacity, can receive human commands and can operate according to a pre-programmed program, can perform actions according to principles formulated by artificial intelligence technology, can replace human beings to carry out high-risk operation, and is generally accepted at home and abroad.
Disclosure of Invention
Technical problem to be solved
Aiming at the defects of the prior art, the invention provides a laser vision locating and correcting method for a welding seam gap of an industrial robot, which solves the problem of welding defects caused by the change of the welding seam gap of a workpiece.
(II) technical scheme
In order to achieve the purpose, the invention is realized by the following technical scheme: a laser vision locating and correcting method for a welding seam gap of an industrial robot specifically comprises the following steps:
s1, detecting the position information of S1 and S2 points on the first workpiece by using a sensor respectively;
s2, calculating the distance between S1 and S2 according to the weld position information recorded by the sensor, wherein the distance between S1 and S2 is a weld gap value S;
s3, calculating a gap value S by using the detected position information of S1 and S2, judging the gap value S according to the calculated weld gap of S2, and judging whether the S is more than a distance A;
s4, if the gap value S is larger than A, calling a first welding process; and if the gap value S is less than A, calling a second welding process.
Preferably, in step S1, the sensor is a laser vision sensor, and the laser vision sensor is composed of a CCD and a laser.
Preferably, in step S2, S1: (X1, Y1, Z1), S2: (X2, Y2, Z2), gap value
Preferably, in step S3, when the workpiece is workpiece one:
1): detecting two positions of L1 and L2 by using a laser vision sensor to detect the position information of a welding seam;
2): calculating a weld gap S;
3): and (3) judging a weld gap value S:
and when the gap value S is less than A, calling a first welding program and calling a first process parameter.
Preferably, in step S3, when the workpiece is a second workpiece:
4): detecting two positions of L1 'and L2' by using a laser vision sensor to detect the position information of a welding seam;
5): calculating the average value S ' of the gaps at L1 ' and L2 ';
6): and (3) judging the weld gap value S':
and when the gap value S is larger than A, calling a second welding program and calling a second process parameter.
Preferably, in step S4, when the gap value S is changed, the welding locus and the welding process are changed.
(III) advantageous effects
The invention provides a laser vision locating and correcting method for a welding seam gap of an industrial robot. Compared with the prior art, the method has the following beneficial effects:
the laser vision locating correction method for the welding seam gap of the industrial robot comprises the steps of respectively detecting position information of S1 and S2 points on a workpiece I by using a sensor, calculating the distance between S1 and S2 according to the position information of the welding seam recorded by the sensor, taking the distance between S1 and S2 as a seam gap value S, calculating the gap value S by using the detected position information of S1 and S2, judging the seam gap value S according to the seam gap calculated by the S2, judging whether the S is greater than a distance A or not, and calling a welding process I if the gap value S is greater than A; if the gap value S is less than A, calling a second welding process, S1: (X1, Y1, Z1), S2: (X2, Y2, Z2), gap value
Compared with the traditional laser vision welding seam locating system, the method can accurately confirm the position information of S1 and S2 on the workpiece by detecting the welding seam clearance on the workpiece by using the laser vision sensor, different subprograms are selected according to the size of the clearance, the welding process is carried out, and when the workpiece is a workpiece, the clearance value S isWhen the welding gap is smaller than A, the first welding program is called, the first process parameter is called, when the workpiece is the second workpiece, and the gap value S is larger than A, the second welding program is called, the second process parameter is called, the number of welding tracks and the number of layers can be automatically judged, the problem of welding defects caused by the change of the welding gap of the workpiece is solved, the production qualified rate can be effectively improved, and defective products are reduced.
Drawings
FIG. 1 is a schematic diagram of laser vision seek according to the present invention;
FIG. 2 is a schematic view of the variation of the weld gap according to the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Referring to fig. 1-2, an embodiment of the present invention provides a technical solution: a laser vision locating and correcting method for a welding seam gap of an industrial robot specifically comprises the following steps:
s1, detecting the position information of S1 and S2 points on the first workpiece by using a sensor respectively;
s2, calculating the distance between S1 and S2 according to the weld position information recorded by the sensor, wherein the distance between S1 and S2 is a weld gap value S;
s3, calculating a gap value S by using the detected position information of S1 and S2, judging the gap value S according to the calculated weld gap of S2, and judging whether the S is more than a distance A;
s4, if the gap value S is larger than A, calling a first welding process; and if the gap value S is less than A, calling a second welding process.
In the present invention, in step S1, the sensor is a laser vision sensor, and the laser vision sensor is composed of a CCD and a laser.
In the present invention, in step S2, S1: (X1, Y1, Z1), S2: (X2, Y2, Z2), gap value
In the present invention, in step S3, when the workpiece is workpiece one:
1): detecting two positions of L1 and L2 by using a laser vision sensor to detect the position information of a welding seam;
2): calculating a weld gap S;
3): and (3) judging a weld gap value S:
and when the gap value S is less than A, calling a first welding program and calling a first process parameter.
In the present invention, in step S3, when the workpiece is workpiece two:
4): detecting two positions of L1 'and L2' by using a laser vision sensor to detect the position information of a welding seam;
5): calculating the average value S ' of the gaps at L1 ' and L2 ';
6): and (3) judging the weld gap value S':
and when the gap value S is larger than A, calling a second welding program and calling a second process parameter.
In the present invention, in step S4, when the gap value S is changed, the welding locus and the welding process are changed.
By establishing a workpiece coordinate system in a system and teaching a welding track and a corresponding welding process on the basis of the workpiece coordinate system, after a laser vision sensor finishes acquiring the position information data of S1 and S2 on a workpiece I, the position information data of S1 and S2 are sent to a memory for storage, a display is arranged on external equipment, the gap value between the workpieces is displayed in real time through the display, the value of the distance A can be set through the external equipment, the external equipment and the inside of a robot carry out signal transmission through a data transmission module, after the workpiece deviates, the data transmission module realizes the transmission of gap detection signals between the external equipment and the robot, the laser vision sensor is connected with the inside of the robot body through a data line, and after the laser vision sensor finishes acquiring the position information data of S1 and S2 on the workpiece I, and sending a welding starting signal to the interior of the robot body.
If the spraying operation is carried out on the workpiece, the scheme can be used for changing the laser vision locating system into a robot contact sensing function, and the like.
And those not described in detail in this specification are well within the skill of those in the art.
It is noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus.
Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (6)
1. A laser vision locating and correcting method for a welding seam gap of an industrial robot is characterized by comprising the following steps: the method specifically comprises the following steps:
s1, detecting the position information of S1 and S2 points on the first workpiece by using a sensor respectively;
s2, calculating the distance between S1 and S2 according to the weld position information recorded by the sensor, wherein the distance between S1 and S2 is a weld gap value S;
s3, calculating a gap value S by using the detected position information of S1 and S2, judging the gap value S according to the calculated weld gap of S2, and judging whether the S is more than a distance A;
s4, if the gap value S is larger than A, calling a first welding process; and if the gap value S is less than A, calling a second welding process.
2. The laser vision locating and correcting method for the welding seam gap of the industrial robot according to claim 1 is characterized in that: in step S1, the sensor is a laser vision sensor, and the laser vision sensor is composed of a CCD and a laser.
3. The laser vision locating and correcting method for the welding seam gap of the industrial robot according to claim 1 is characterized in that: in the step S2, S1: (X1, Y1, Z1), S2: (X2, Y2, Z2), gap value
4. The laser vision locating and correcting method for the welding seam gap of the industrial robot according to claim 1 is characterized in that: in step S3, when the workpiece is workpiece one:
1): detecting two positions of L1 and L2 by using a laser vision sensor to detect the position information of a welding seam;
2): calculating a weld gap S;
3): and (3) judging a weld gap value S:
and when the gap value S is less than A, calling a first welding program and calling a first process parameter.
5. The laser vision locating and correcting method for the welding seam gap of the industrial robot according to claim 1 is characterized in that: in step S3, when the workpiece is workpiece two:
4): detecting two positions of L1 'and L2' by using a laser vision sensor to detect the position information of a welding seam;
5): calculating the average value S ' of the gaps at L1 ' and L2 ';
6): and (3) judging the weld gap value S':
and when the gap value S is larger than A, calling a second welding program and calling a second process parameter.
6. The laser vision locating and correcting method for the welding seam gap of the industrial robot according to claim 1 is characterized in that: in step S4, when the gap value S is changed, the welding locus and the welding process are changed.
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN114714029A (en) * | 2022-04-22 | 2022-07-08 | 奇瑞新能源汽车股份有限公司 | Automatic arc welding method and device for aluminium alloy |
| CN117506139A (en) * | 2024-01-04 | 2024-02-06 | 武汉瑞普汽车部件有限公司 | Welding device and method for vehicle door inner plate assembly |
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| CN117506139A (en) * | 2024-01-04 | 2024-02-06 | 武汉瑞普汽车部件有限公司 | Welding device and method for vehicle door inner plate assembly |
| CN117506139B (en) * | 2024-01-04 | 2024-03-29 | 武汉瑞普汽车部件有限公司 | Welding device and method for vehicle door inner plate assembly |
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