CN112719583A - Laser sensing intelligent welding robot and welding gun zeroing calculation method thereof - Google Patents
Laser sensing intelligent welding robot and welding gun zeroing calculation method thereof Download PDFInfo
- Publication number
- CN112719583A CN112719583A CN202011435426.1A CN202011435426A CN112719583A CN 112719583 A CN112719583 A CN 112719583A CN 202011435426 A CN202011435426 A CN 202011435426A CN 112719583 A CN112719583 A CN 112719583A
- Authority
- CN
- China
- Prior art keywords
- welding gun
- value
- initial position
- laser beam
- welding
- 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.)
- Pending
Links
- 238000003466 welding Methods 0.000 title claims abstract description 349
- 238000004364 calculation method Methods 0.000 title claims abstract description 92
- 238000004590 computer program Methods 0.000 claims description 17
- 230000002159 abnormal effect Effects 0.000 claims description 7
- 238000000034 method Methods 0.000 abstract description 16
- XAGFODPZIPBFFR-UHFFFAOYSA-N aluminium Chemical compound [Al] XAGFODPZIPBFFR-UHFFFAOYSA-N 0.000 description 11
- 229910052782 aluminium Inorganic materials 0.000 description 11
- 238000003860 storage Methods 0.000 description 4
- 238000004422 calculation algorithm Methods 0.000 description 3
- 230000006870 function Effects 0.000 description 3
- 239000004411 aluminium Substances 0.000 description 2
- 238000010276 construction Methods 0.000 description 2
- AZDRQVAHHNSJOQ-UHFFFAOYSA-N alumane Chemical group [AlH3] AZDRQVAHHNSJOQ-UHFFFAOYSA-N 0.000 description 1
- 238000013500 data storage Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
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
- B23K26/00—Working by laser beam, e.g. welding, cutting or boring
- B23K26/20—Bonding
- B23K26/21—Bonding by welding
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K26/00—Working by laser beam, e.g. welding, cutting or boring
- B23K26/08—Devices involving relative movement between laser beam and workpiece
- B23K26/0869—Devices involving movement of the laser head in at least one axial direction
- B23K26/0876—Devices involving movement of the laser head in at least one axial direction in at least two axial directions
- B23K26/0884—Devices involving movement of the laser head in at least one axial direction in at least two axial directions in at least in three axial directions, e.g. manipulators, robots
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K26/00—Working by laser beam, e.g. welding, cutting or boring
- B23K26/70—Auxiliary operations or equipment
- B23K26/702—Auxiliary equipment
Abstract
The invention provides a laser sensing intelligent welding robot and a welding gun zeroing calculation method thereof, wherein the method comprises the steps of driving two laser transmitters to emit a first laser beam and a second laser beam which are perpendicular to each other; driving a welding gun of the laser sensing intelligent welding robot to move, enabling the tail end of the welding gun to move to a position intersected with the first laser beam, judging whether a difference value between an actual distance value and an initial value of the welding gun in the first direction is larger than a first threshold value or not, and if yes, correcting the initial position of the welding gun in the first direction; and driving the welding gun to move, moving the tail end of the welding gun to a position intersected with the second laser beam, judging whether the difference value between the actual distance value and the initial value of the welding gun in the second direction is larger than a first threshold value, and if so, correcting the initial position of the welding gun in the second direction. The invention also provides a laser sensing intelligent welding robot for realizing the method. The invention can reduce the cost of the welding gun zeroing calculation and improve the efficiency of the welding gun zeroing calculation.
Description
Technical Field
The invention relates to the technical field of intelligent welding, in particular to a laser sensing intelligent welding robot and a welding gun zeroing calculation method thereof.
Background
The construction industry uses aluminium template to carry out the construction in a large number, and current aluminium template is formed by bottom plate and polylith curb plate, baffle welding usually. If manual welding is used, on one hand, the welding quality cannot be guaranteed, and on the other hand, the manufacturing time of the aluminum template is long due to low manual welding efficiency, so that the processing efficiency of the template is influenced. Therefore, it is considered to use automated equipment to weld the aluminum forms, such as an automated welding machine. For example, chinese patent application CN110961778A discloses a welding device for automatically welding aluminum templates and a welding method of the welding device. The welding equipment is a laser sensing intelligent welding robot which is provided with a color camera and a welding gun, the color camera shoots the shape of an aluminum template to be welded and identifies the area to be welded, then the movement track of the welding gun is calculated, and the welding gun moves according to the calculated movement track and welds the aluminum template. Therefore, such welding equipment requires the position of the welding torch to be very precise to ensure the welding quality of the aluminum mold plate.
After the welding equipment works for a period of time, the position of the welding gun can be changed, or after the welding gun is replaced, the position of the welding gun can be changed, and at the moment, the position of the welding gun needs to be corrected. If the manual correction mode is adopted, the accuracy of welding gun correction is influenced, and manpower is consumed. For this reason, it is considered to correct the initial position of the welding gun in an automated manner. For example, chinese patent application publication No. CN111347136A discloses an on-line rapid calibration method for a coordinate system of an arc welding robot tool, which is applied to a calibration system including a robot control cabinet, an industrial robot equipped with a welding gun, and a TCP calibration device, where the TCP calibration device includes a support, a device body, and two-dimensional laser sensors, the device body has two inner side walls perpendicular to each other, the two-dimensional laser sensors are respectively and fixedly mounted on the two inner side walls, the coordinate systems of the two-dimensional laser sensors are located on the same plane, and central axes of laser ranges emitted by the two-dimensional laser sensors are perpendicular to each other. When calibrating the welding gun, the welding gun needs to be driven to move along the vertical direction, and the position of the tail end of the welding gun in the welding gun area is calculated. However, the scheme needs to use two-position two-dimensional laser sensors, so that the cost is high, the calculation amount of the position calculation of the welding gun is large, the correction algorithm is complex, and the efficiency of the position correction of the welding gun is influenced.
Disclosure of Invention
The first purpose of the invention is to provide a welding gun zeroing calculation method of the laser sensing intelligent welding robot, which is low in cost and small in calculation amount.
The second purpose of the invention is to provide a laser sensing intelligent welding robot for realizing the welding gun zeroing calculation method.
In order to achieve the first object of the invention, the welding gun zeroing calculation method provided by the invention comprises the steps of driving a first laser emitter of a laser sensing intelligent welding robot to emit a first laser beam and driving a second laser emitter to emit a second laser beam, wherein the first laser beam and the second laser beam are perpendicular to each other; driving a welding gun of the laser sensing intelligent welding robot to move, enabling the tail end of the welding gun to move to a position intersected with the first laser beam, judging whether a difference value between an actual distance value and an initial value of the welding gun in the first direction is larger than a first threshold value or not, and if yes, correcting the initial position of the welding gun in the first direction; and driving the welding gun to move, moving the tail end of the welding gun to a position intersected with the second laser beam, judging whether the difference value between the actual distance value and the initial value of the welding gun in the second direction is larger than a first threshold value, and if so, correcting the initial position of the welding gun in the second direction.
According to the scheme, when the zero-resetting calculation is carried out on the welding gun, only two laser transmitters are used for emitting two one-dimensional laser beams, the position of the welding gun is judged by driving the welding gun to move, namely when the position of the tail end of the welding gun in contact with the laser beams is judged, whether the position reading of the welding gun is close to an initial value or not is judged, and if the difference value between the actual distance value and the initial value of the welding gun is larger than a first threshold value, the initial position of the welding gun is corrected.
Therefore, the invention does not need to arrange two-dimensional laser sensors, has lower cost, simpler algorithm for carrying out the zeroing calculation on the position of the welding gun, small operand and improves the efficiency of the zeroing calculation of the welding gun.
Preferably, the correcting the initial position of the welding gun in the first direction includes: and when the tail end of the welding gun moves to a position intersected with the first laser beam, judging whether the difference value between the actual distance value of the welding gun in the first direction and the initial value is smaller than a second threshold value, if so, taking the current position of the welding gun as the initial position in the first direction, executing initial position correction calculation for a first preset number of times after moving the welding gun, and if so, updating the initial position of the welding gun in the first direction.
It can be seen that when the tip of the welding gun is moved to intersect with the first laser beam, if the position reading of the welding gun is far from the initial value, the welding gun needs to be corrected many times, and the corrected position is used as the initial position of the welding gun.
And if so, taking the current position of the welding gun as the initial position in the first direction, and performing initial position correction calculation for a second preset number of times after moving the welding gun, and if so, updating the initial position of the welding gun in the first direction.
Because the position of the welding gun is changed greatly after replacement, the accuracy of welding gun position correction can be improved by performing initial position correction calculation on the welding gun for many times and updating the initial position.
Further, the performing of the initial position correction calculation includes: and moving the tail end of the welding gun to a position intersected with the first laser beam, and judging whether the difference value between the relative distance value of the welding gun in the first direction and the initial value is smaller than a fourth threshold value, if so, confirming that the initial position correction calculation is passed.
Therefore, when the welding gun is intersected with the first laser beam again after moving, the difference value between the actual distance value and the initial value of the welding gun is calculated, so that whether the currently set initial position is accurate or not is judged, and the correction accuracy of the welding gun can be improved.
Further, if the initial position correction calculation is not passed, an abnormal prompt message is sent out. Like this, can let operating personnel know welder's position correction abnormal conditions, need adjust the welder.
Further, the first laser beam intersects the second laser beam; and simultaneously carrying out calculation for judging whether the difference value between the actual distance value of the welding gun in the first direction and the initial value is larger than a first threshold value and judging whether the difference value between the actual distance value of the welding gun in the second direction and the initial value is larger than the first threshold value.
Therefore, the initial positions in the two mutually perpendicular directions are corrected simultaneously, the time for correcting the position of the welding gun can be saved, and the efficiency for correcting the position of the welding gun is improved.
Further, after the initial position of the welding gun in the first direction is corrected, the following steps are also executed: driving the welding gun to move along a third direction, wherein the third direction is perpendicular to the first direction and is perpendicular to the second direction; and when the tail end of the welding gun moves to the position intersected with the first laser beam, judging whether the difference value between the actual distance value and the initial value of the welding gun in the third direction is larger than a first threshold value, and if so, correcting the initial position of the welding gun in the third direction.
Therefore, for the position correction in the vertical direction, the first laser beam is still used for correction, for example, when the welding gun moves along the third direction, the intersection between the tail end of the welding gun and the first laser beam can be determined when the welding gun does not shield the first laser beam and the position shielding the first laser beam, and at the moment, the height of the tail end of the welding gun can be determined according to the height of the first laser beam in the vertical direction, so that the initial position calculation in the third direction is realized.
Further, the correcting the initial position of the welding gun in the third direction includes: and when the tail end of the welding gun moves to a position intersected with the first laser beam, judging whether the difference value between the actual distance value of the welding gun in the third direction and the initial value is smaller than a second threshold value, if so, taking the current position of the welding gun as the initial position in the third direction, executing initial position correction calculation for a first preset number of times after moving the welding gun, and if so, updating the initial position of the welding gun in the third direction.
Therefore, whether the initial position of the welding gun after adjustment is accurate or not is judged by moving the welding gun for multiple times, and the accuracy of correcting the initial position of the welding gun can be improved.
The method comprises the following steps of judging whether a welding gun is replaced or not, if so, judging whether a difference value between an actual distance value and an initial value of the welding gun in a third direction is smaller than a third threshold value when the welding gun is moved to a position intersected with a first laser beam for the first time after being replaced, if so, taking the current position of the welding gun as the initial position in the third direction, executing initial position correction calculation for a second preset number of times after the welding gun is moved, and if so, updating the initial position of the welding gun in the third direction.
Therefore, after the welding gun is replaced, the initial position of the welding gun in the third direction is also corrected, namely after the welding gun is replaced, the initial positions of the welding gun in X, Y, Z three directions are all corrected, the initial positions of the welding gun in the three-dimensional directions are all corrected, and the welding quality of the aluminum template is ensured.
In order to achieve the second object, the present invention provides a laser sensing intelligent welding robot, which includes a processor and a memory, wherein the memory stores a computer program, and the computer program is executed by the processor to implement the steps of the welding gun zeroing calculation method.
Drawings
Fig. 1 is a structural view of an embodiment of the laser sensing smart welding robot of the present invention.
Fig. 2 is a structural view of a hidden part of a housing of an embodiment of the laser sensing smart welding robot of the present invention.
Fig. 3 is a partially enlarged view of a portion a in fig. 2.
Fig. 4 is a partially enlarged view at B in fig. 2.
FIG. 5 is a flow chart of a method of calculating a weld gun zeroing of the present invention.
Fig. 6 is a first portion of a flowchart illustrating calibration of the position of the weld gun in a first direction in an embodiment of the weld gun zeroing calculation method of the present invention.
Fig. 7 is a second portion of a flowchart illustrating calibration of the position of the weld gun in the first direction in an embodiment of the weld gun zeroing calculation method of the present invention.
FIG. 8 is a schematic illustration of a welding gun and a first laser beam in an embodiment of a method of calculating a weld gun zeroing of the present invention.
The invention is further explained with reference to the drawings and the embodiments.
Detailed Description
The welding gun zeroing calculation method is applied to a laser sensing intelligent welding robot, the robot is provided with at least one welding gun, and the welding gun zeroing calculation method is used for correcting the initial position of the welding gun. Preferably, the laser sensing intelligent welding robot is provided with a processor and a memory, the memory is stored with a computer program, and the processor implements the welding gun zeroing calculation method by executing the computer program.
Laser sensing intelligence welding robot embodiment:
referring to fig. 1, the laser sensing intelligent welding robot includes a frame 1, and a plurality of guide rails, for example, guide rails 11 and 12, are disposed on the frame 1, and are parallel to each other. The guide rails 11 and 12 extend in the longitudinal direction of the laser-sensing smart welding robot. A tray 21 is placed on the guide rail, and the aluminum mold plate 10 can be placed on the tray 21 and welded. A hood 6 is arranged above the rack 1, referring to fig. 2, three portal frames are arranged in the hood 6, one portal frame 43 is provided with a scanner 41, the other 2 portal frames 52 are provided with welding guns 51, referring to fig. 3, the tail ends 511 of the welding guns 51 are cylinders, and the welding guns need to be in contact with the aluminum template 10 and realize welding of the aluminum template 10 during welding.
In this embodiment, the gantry 43 and the gantry 52 can move along the length direction of the laser sensing intelligent welding robot, and the welding torch 51 can move along the vertical direction and the width direction of the laser sensing intelligent welding robot relative to the gantry 52, so that the welding torch 51 can move in three mutually perpendicular directions.
In order to correct the position of the welding gun 51, i.e. to perform a zeroing calculation, the present embodiment provides two sets of laser sensors on the gantry 1, see fig. 4, a first set of laser sensors comprising a first laser transmitter 71 and a first laser receiver 72, and a second set of laser sensors comprising a second laser transmitter 73 and a second laser receiver 74. The first laser beam emitted by the first laser transmitter 71 may be received by a first laser receiver 72 and the second laser beam emitted by the second laser transmitter 73 may be received by a second laser receiver 74. In this embodiment, the first laser beam and the second laser beam are perpendicular to each other, and therefore, a line connecting the first laser transmitter 71 and the first laser receiver 72 is perpendicular to a line connecting the second laser transmitter 73 and the second laser receiver 74.
Preferably, the heights of the first laser transmitter 71, the first laser receiver 72, the second laser transmitter 73 and the second laser receiver 74 are equal in the vertical direction, i.e., the Z-axis direction, so that the heights of the first laser beam and the second laser beam are also equal in the vertical direction, i.e., the first laser beam and the second laser beam intersect.
As can be seen from fig. 4, a first laser transmitter 71 and a first laser receiver 72 are located at both ends of the machine frame 1, respectively, while a second laser transmitter 73 and a second laser receiver 74 are located between the guide rail 11 and the guide rail 12.
In order to control the operation of the welding torch 51 and to control the position correction of the welding torch 51, a processor and a memory are provided in the laser sensing smart welding robot, a computer program operable on the processor is stored in the memory, and the processor implements the respective steps of the welding torch zero calculation method when executing the computer program.
For example, a computer program may be partitioned into one or more modules that are stored in a memory and executed by a processor to implement the modules of the present invention. One or more of the modules may be a series of computer program instruction segments capable of performing certain functions, which are used to describe the execution of the computer program in the terminal device.
The Processor may be a Central Processing Unit (CPU), or may be other general-purpose Processor, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), an off-the-shelf Programmable Gate Array (FPGA) or other Programmable logic device, a discrete Gate or transistor logic device, a discrete hardware component, or the like. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.
The memory may be used to store computer programs and/or modules, and the processor may implement various functions of the terminal device by running or executing the computer programs and/or modules stored in the memory and invoking data stored in the memory. The memory may mainly include a program storage area and a data storage area, wherein the program storage area may store an operating system, an application program required for at least one function, and the like. In addition, the memory may include high speed random access memory, and may also include non-volatile memory, such as a hard disk, a memory, a plug-in hard disk, a Smart Media Card (SMC), a Secure Digital (SD) Card, a Flash memory Card (Flash Card), at least one magnetic disk storage device, a Flash memory device, or other volatile solid state storage device.
In addition, the above-described computer program, if implemented in the form of a software functional unit and sold or used as a separate product, may be stored in a computer-readable storage medium. Based on such understanding, all or part of the processes in the method according to the above embodiments may be implemented by a computer program, which may be stored in a computer readable storage medium and executed by a processor, so as to implement the steps of the welding gun return-to-zero calculation method.
Wherein the computer program comprises computer program code, which may be in the form of source code, object code, an executable file or some intermediate form, etc. The computer readable medium may include: any entity or device capable of carrying computer program code, recording medium, U.S. disk, removable hard disk, magnetic disk, optical disk, computer Memory, Read-Only Memory (ROM), Random Access Memory (RAM), electrical carrier wave signals, telecommunications signals, software distribution media, and the like.
The embodiment of the welding gun zeroing calculation method comprises the following steps:
referring to fig. 5, when performing the zeroing calculation for the welding gun, step S1 is first executed to drive two laser emitters to emit laser beams, that is, the first laser emitter is driven to emit a first laser beam, and the second laser emitter is driven to emit a second laser beam, where the two laser beams are perpendicular to each other. Preferably, the two laser beams are equal in height, i.e. the two laser beams intersect.
Then, step S2 is executed to drive the welding gun to move in the horizontal direction and perform a zeroing calculation on the initial position of the welding gun in the first direction and the second direction. In this embodiment, both the first laser beam and the second laser beam extend in the horizontal direction, and therefore, the initial position of the welding torch in the horizontal direction, that is, the X-axis direction and the Y-axis direction, can be corrected by the first laser beam and the second laser beam. The following describes the correction of the initial position in the first direction in detail as an example.
Referring to fig. 6, step S11 is first performed to drive the welding gun to move in the first direction to a position to intersect the first laser beam. In this embodiment, the first direction is along the X-axis direction, that is, along the length direction of the laser sensing smart welding robot. As can be seen from fig. 4, the first laser beam is emitted by the first laser emitter 71 and received by the first laser receiver 72, when the welding gun does not move to the position intersecting with the first laser beam, the first laser beam emitted by the first laser emitter 71 is received by the first laser receiver 72, and when the welding gun moves to the position intersecting with the first laser beam, the welding gun blocks the first laser beam, so that the first laser receiver 72 does not receive the first laser beam, and therefore, whether the welding gun moves to the position intersecting with the first laser beam can be determined by determining whether the first laser receiver 72 receives the first laser beam.
For the position correction in the horizontal direction, that is, for the position correction in the X-axis direction and the Y-axis direction, referring to fig. 8, the first laser transmitter 71 emits the first laser beam 80 and is received by the first laser receiver 72, and when the welding gun 51 moves in the arrow direction shown in the figure, the first laser beam 80 is received by the first laser receiver 72 when the welding gun 51 does not block the first laser beam 80, and it is considered that the welding gun 51 has not moved to the position intersecting the first laser beam. Once the torch 51 blocks the first laser beam 80, it is assumed that the torch 51 has not moved to a position intersecting the first laser beam.
For the position correction in the vertical direction, that is, for the position correction in the Z-axis direction, the opposite is adopted when it is judged whether or not the welding gun 51 intersects the first laser beam 80. Specifically, the welding gun 51 blocks the first laser beam 80 first, and the first laser receiver 72 cannot receive the first laser beam 80. As the welding gun 51 is gradually raised in the Z-axis direction, the first laser receiver 72 receives the first laser beam 80 when the welding gun 51 does not block the first laser beam 80, and at this time, it is considered that the welding gun 51 is moved to a position intersecting the first laser beam.
After the welding gun moves to the position intersecting the first laser beam, step S12 is executed to read the actual distance value of the welding gun tip in the first direction at this time. Since the movement of the welding torch in the X-axis direction is actually driven by the gantry 23, and the gantry 23 is driven by the stepping motor or the servo motor, when the welding torch moves in the first direction, the processor of the laser sensing smart welding robot records the position of the welding torch end, for example, the position in the X-axis direction, and calculates the moving distance of the gantry 23 according to the number of turns of the motor, for example, so as to determine the actual distance value of the welding torch end in the first direction. Optionally, the processor records a reading of the torch in the first direction, which is a reading of 0 points at a reference point, preferably the line along which the first laser beam is located. Thus, the actual distance value of the welding gun tip in the first direction is the value recorded by the processor, and the value can be obtained by calculating the stroke of the welding gun in the first direction through the number of turns of the motor.
After acquiring the actual distance value of the welding torch tip in the first direction, step S13 is executed to determine whether the welding torch is replaced, that is, whether the operation of replacing the welding torch is performed before the welding torch is driven to move. For example, since a contact switch is provided at a mounting position of a welding gun and a state of the contact switch is changed once when the welding gun is replaced, whether the welding gun is replaced before the initial position of the welding gun is corrected is determined by determining whether the state of the contact switch is changed. In practice, step S13 is to determine whether the current initial position correction of the welding torch is the first initial position correction after the welding torch is replaced, if the initial position correction has been performed once after the welding torch is replaced, the determination result of step S13 is no, and if the current operation is the first initial position correction of the welding torch after the welding torch is replaced, the determination result of step S13 is yes.
If the welding gun is not replaced, it indicates that the current correction operation is the correction of the welding gun position after the welding gun is operated for a period of time, and at this time, step S14 is executed to determine whether the difference between the actual distance value of the welding gun recorded by the processor and the initial value is greater than the first threshold value. In this embodiment, the straight line where the first laser beam is located is used as the initial position of the welding torch tip in the first direction, and therefore, when the welding torch tip moves to the position where the welding torch tip intersects with the first laser beam, the actual distance value of the welding torch should be 0 theoretically, and therefore, the initial value is 0. When the actual distance value of the welding gun is not 0, the position reading of the welding gun is deviated, and correction is needed. In this embodiment, if the deviation between the actual distance value of the welding gun recorded by the processor and the initial value is large, for example, the difference between the two values is greater than the first threshold value, the initial position correction calculation is performed. The first threshold value is a predetermined value, for example, 1 mm.
If the deviation between the actual distance value of the welding torch and the initial value is small, the initial position of the welding torch may not be corrected, that is, if the determination result of step S14 is no, the initial position correction process of the welding torch in the first direction is ended. Of course, the initial position of the welding torch may be corrected when the deviation between the actual distance value of the welding torch and the initial value is small, for example, the initial position of the welding torch is updated, that is, the current position of the welding torch is recorded as the initial position, and at this time, the relative distance value of the welding torch is set to 0.
If the determination result of the step S14 is yes, step S15 is executed to determine whether the difference between the actual distance value and the initial value is smaller than a second threshold value, wherein the second threshold value is larger than the first threshold value, for example, the second threshold value is 3 mm. If the difference between the actual distance value of the welding gun and the initial value is large, for example, exceeds 3 mm, the judgment result in the step S15 is no, and the step S19 is executed to send out abnormal prompt information, that is, to prompt that the current actual distance value of the welding gun has too large deviation and needs to be manually adjusted.
If the determination result of step S15 is yes, it indicates that the difference between the actual distance value and the initial value of the welding gun is smaller than the second threshold, and at this time, the initial position of the welding gun may be corrected through a plurality of initial position correction calculations. For example, step S16 is executed to perform the initial position correction calculation for a first preset number of times, which may be 5 or 8 times in this embodiment. Before the initial position correction calculation is performed, the position where the welding torch intersects with the first laser beam is first set as an initial position, that is, the relative distance value of the welding torch is set to 0, that is, the relative distance value is set as an initial value.
When the initial position correction calculation is executed every time, the welding gun is required to be moved along the first direction, the welding gun is moved to a position where the welding gun does not want to intersect with the first laser beam, then the welding gun is driven to slowly move towards the direction of the first laser beam until the welding gun intersects with the first laser beam, and at the moment, the difference value between the relative distance value of the welding gun and the initial value is judged. Since the initial position has been corrected before the initial position correction calculation is performed, theoretically, when the welding torch intersects the first laser beam, the relative distance value of the welding torch should be an initial value, and of course, a certain difference between the relative distance value and the initial value is allowed in consideration of an actual error, for example, when the difference between the relative distance value of the welding torch and the initial value is smaller than a fourth threshold value, for example, 1 mm, the initial position correction calculation is considered to be passed.
Then, the initial position correction calculation is repeatedly performed a plurality of times, that is, the welding torch is moved again in the first direction and is moved again in the direction of the first laser beam, and the relative distance value and the initial value of the welding torch are read again. And if the result of each initial position correction calculation is passed, namely the difference value between the relative distance value of the welding gun and the initial value is smaller than a fourth threshold value in each initial position correction calculation, the welding gun is considered to pass the initial position correction calculation. Therefore, it is necessary to perform step S17 to determine whether the initial position correction calculation is passed, and if so, to perform step S18 to update the initial position of the welding torch in the first direction, i.e., the processor records the position where the welding torch intersects with the first laser beam as the initial position, and records the actual distance value corresponding to the relative distance value of 0 at this time. If the difference between the relative distance value and the initial value is greater than the fourth threshold value in the multiple initial position correction calculation processes, the judgment result in the step S17 is no, which indicates that the calculation of the initial position correction is not passed, and the step S19 is executed to send out abnormal prompt information.
If the determination result in the step S13 is yes, indicating that the current operation is to correct the initial position of the welding gun for the first time after the welding gun is replaced, referring to fig. 7, step S21 is executed to determine whether the difference between the actual distance value and the initial value of the welding gun is smaller than a third threshold, in this embodiment, the third threshold is larger than the second threshold, for example, the third threshold is 10 mm. If the difference value between the actual distance value and the initial value is large, the position of the welding gun needs to be manually adjusted, for example, prompt information that the position of the welding gun needs to be manually adjusted is sent. If the judgment result of the step S21 is yes, step S22 is executed to set the relative distance value in the first direction to 0, taking the current position initial position of the welding gun, i.e., the position where the welding gun tip intersects with the first laser beam, as the initial position of the welding gun in the first direction.
Then, step S23 is executed, and the initial position correction calculation is executed a second preset number of times, which may be 5 times or 8 times. Preferably, the second preset number is equal to the first preset number, or the second preset number is greater than the first preset number. The process of performing the initial position correction calculation once of step S23 is the same as the process of performing the initial position correction calculation of step S16, i.e., each time the welding torch is moved in the first direction, and when the welding torch is moved again to the position intersecting the first laser beam, the difference between the relative distance value of the welding torch and the initial value is judged, and if the difference is smaller than the fourth threshold, it is considered that the initial position correction calculation is passed, otherwise, it is considered that the initial position correction calculation is not passed. Therefore, it is necessary to perform step S24 to determine whether the initial position correction calculation is passed, and if so, to perform step S25 to update the initial position of the welding torch in the first direction, i.e., the processor records the position where the welding torch intersects with the first laser beam as the initial position, and records the actual distance value corresponding to the relative distance value of 0 at this time. If the difference between the relative distance value and the initial value is greater than the fourth threshold value in the multiple initial position correction calculation processes, the judgment result in the step S24 is no, which indicates that the calculation of the initial position correction is not passed, and the step S25 is executed to send out abnormal prompt information.
At this point, the zeroing calculation of the welding gun in the first direction is completed. The zeroing calculation of the welding gun in the second direction can be realized by the same method, and the zeroing calculation of the second direction is that the welding gun moves along the second direction, for example, the width direction of the laser sensing intelligent welding robot, and the position of the tail end of the welding gun intersected with the second laser beam is used as the initial position of the welding gun in the second direction. Since the zeroing calculation of the welding gun in the second direction is basically the same as the zeroing calculation in the first direction, the details are not repeated.
Preferably, the first laser beam intersects the second laser beam, so that the position where the welding gun end intersects the first laser beam and the second laser beam is the initial position of the welding gun on the XOY plane, i.e. the origin of the XOY coordinate system. Further, with respect to the step S14 of determining whether the difference between the actual distance value of the welding torch in the first direction and the initial value is greater than the first threshold, and the step S of determining whether the difference between the actual distance value of the welding torch in the second direction and the initial value is greater than the first threshold, the two steps may be performed simultaneously, thereby improving the efficiency of the welding torch initial position correction.
The welding gun completes the zeroing calculation in the first direction and the second direction, i.e., completes the initial position correction in the XOY plane, i.e., along the horizontal plane, and the embodiment further performs step S3 to perform the zeroing calculation on the initial position of the welding gun in the third direction, i.e., correct the initial position of the welding gun along the Z-axis direction. To reduce the number of laser emitters used, the present embodiment uses the first laser beam to calculate the initial position of the welding gun in the third direction.
Specifically, after the welding gun completes the initial position correction in the first direction and/or the second direction, the position of the welding gun in the third direction is corrected. And at the moment, driving the welding gun to move along the third direction, so that the welding gun slowly moves from a position where the welding gun does not shield the first laser beam to a position where the welding gun shields the first laser beam, namely, a position where the tail end of the welding gun is intersected with the first laser beam, judging a difference value between an actual distance value and an initial value of the welding gun, wherein if the difference value is smaller than a first threshold value, the initial position of the welding gun in the third direction does not need to be updated, and if the difference value is larger than the first threshold value and smaller than a second threshold value, the initial position correction calculation of a first preset number of. And taking the current position of the welding gun as an initial position, driving the welding gun to move along a third direction, judging the difference value between the relative distance value of the welding gun and the initial value when the tail end of the welding gun is intersected with the first laser beam each time, if the difference value is smaller than a fourth threshold value, determining that the initial position is corrected and calculated, and otherwise, determining that the initial position is not passed, and sending abnormal prompt information. And updating the initial position of the welding gun after the initial position correction calculation passes for multiple times.
And if the correction calculation of the initial position of the welding gun in the third direction is performed for the first time after the welding gun is replaced, when the difference value between the actual distance value of the welding gun and the initial value is smaller than a third threshold value, performing the correction calculation of the initial position for a second preset number of times, and updating the initial position of the welding gun in the third direction after the correction calculation of the initial position for the second preset number of times is passed.
It can be seen that, in this embodiment, a two-dimensional laser sensor is not required to be arranged, and only two mutually perpendicular laser beams are used to realize the initial position correction of the welding gun in the three directions of XYZ, that is, the zeroing calculation of the welding gun is realized. In the calculation process, a complex algorithm is not needed, only the actual distance value/relative distance value of the welding gun is compared with the initial value, and corresponding operation is carried out according to the comparison result. In addition, the initial position correction in each direction is realized through multiple initial position correction calculations, and the accuracy of the initial position correction of the welding gun can be improved.
Finally, it should be emphasized that the present invention is not limited to the above-mentioned embodiments, such as the change of the setting positions of the laser transmitter and the laser receiver, or the change of the specific values of the plurality of threshold values and the preset times, and such changes should be included in the protection scope of the present invention.
Claims (10)
1. A welding gun zeroing calculation method of a laser sensing intelligent welding robot is characterized by comprising the following steps:
driving a first laser transmitter of the laser sensing intelligent welding robot to transmit a first laser beam, and driving a second laser transmitter to transmit a second laser beam, wherein the first laser beam and the second laser beam are vertical to each other;
driving a welding gun of the laser sensing intelligent welding robot to move, enabling the tail end of the welding gun to move to a position intersected with the first laser beam, judging whether a difference value between an actual distance value and an initial value of the welding gun in the first direction is larger than a first threshold value or not, and if yes, correcting the initial position of the welding gun in the first direction;
and driving the welding gun to move, moving the tail end of the welding gun to a position intersected with the second laser beam, judging whether the difference value between the actual distance value of the welding gun in the second direction and the initial value is larger than the first threshold value, and if so, correcting the initial position of the welding gun in the second direction.
2. The welding gun zeroing calculation method according to claim 1, characterized in that:
correcting the initial position of the welding gun in the first direction includes: and when the tail end of the welding gun moves to a position intersected with the first laser beam, judging whether the difference value between the actual distance value of the welding gun in the first direction and the initial value is smaller than a second threshold value, if so, taking the current position of the welding gun as the initial position in the first direction, executing initial position correction calculation for a first preset number of times after moving the welding gun, and if so, updating the initial position of the welding gun in the first direction.
3. The welding gun zeroing calculation method according to claim 2, characterized in that:
and judging whether the welding gun is replaced, if so, judging whether the difference value between the actual distance value of the welding gun in the first direction and the initial value is smaller than a third threshold value when the welding gun is moved to the position intersected with the first laser beam for the first time after being replaced, if so, taking the current position of the welding gun as the initial position in the first direction, executing initial position correction calculation for a second preset number of times after the welding gun is moved, and if so, updating the initial position of the welding gun in the first direction.
4. The welding gun zeroing calculation method according to claim 2 or 3, characterized in that:
performing an initial position correction calculation once includes: and moving the tail end of the welding gun to a position intersected with the first laser beam, and judging whether the difference value between the relative distance value of the welding gun in the first direction and the initial value is smaller than a fourth threshold value, if so, confirming that the initial position correction calculation is passed.
5. The welding gun zeroing calculation method according to claim 4, characterized in that:
and if the initial position correction calculation is not passed, sending out abnormal prompt information.
6. The welding gun zeroing calculation method according to any one of claims 1 to 3, characterized in that:
the first laser beam intersects the second laser beam;
and simultaneously carrying out calculation for judging whether the difference value between the actual distance value of the welding gun in the first direction and the initial value is larger than a first threshold value and judging whether the difference value between the actual distance value of the welding gun in the second direction and the initial value is larger than the first threshold value.
7. The welding gun zeroing calculation method according to any one of claims 1 to 3, characterized in that:
after the initial position of the welding gun in the first direction is corrected, the following steps are also executed: driving the welding gun to move along a third direction, wherein the third direction is perpendicular to the first direction, and the third direction is perpendicular to the second direction;
and when the tail end of the welding gun moves to a position intersected with the first laser beam, judging whether the difference value between the actual distance value and the initial value of the welding gun in the third direction is larger than the first threshold value, and if so, correcting the initial position of the welding gun in the third direction.
8. The welding gun zeroing calculation method according to claim 7, characterized in that:
correcting the initial position of the welding gun in the third direction includes: and when the tail end of the welding gun moves to a position intersected with the first laser beam, judging whether the difference value between the actual distance value of the welding gun in the third direction and the initial value is smaller than a second threshold value, if so, taking the current position of the welding gun as the initial position in the third direction, executing initial position correction calculation for a first preset number of times after moving the welding gun, and if so, updating the initial position of the welding gun in the third direction.
9. The welding gun zeroing calculation method according to claim 7, characterized in that:
and judging whether the welding gun is replaced, if so, judging whether the difference value between the actual distance value and the initial value of the welding gun in the third direction is smaller than a third threshold value when the welding gun is moved to the position intersected with the first laser beam for the first time after being replaced, if so, taking the current position of the welding gun as the initial position in the third direction, executing initial position correction calculation for a second preset number of times after the welding gun is moved, and if so, updating the initial position of the welding gun in the third direction.
10. Laser sensing intelligent welding robot, characterized in that it comprises a processor and a memory, said memory storing a computer program which, when executed by the processor, implements the steps of the welding gun zeroing calculation method according to any one of claims 1 to 9.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011435426.1A CN112719583A (en) | 2020-12-10 | 2020-12-10 | Laser sensing intelligent welding robot and welding gun zeroing calculation method thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011435426.1A CN112719583A (en) | 2020-12-10 | 2020-12-10 | Laser sensing intelligent welding robot and welding gun zeroing calculation method thereof |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN112719583A true CN112719583A (en) | 2021-04-30 |
Family
ID=75598823
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202011435426.1A Pending CN112719583A (en) | 2020-12-10 | 2020-12-10 | Laser sensing intelligent welding robot and welding gun zeroing calculation method thereof |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN112719583A (en) |
Citations (15)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4166543A (en) * | 1976-08-13 | 1979-09-04 | Asea Aktiebolag | Method and means for controlling an industrial robot |
| US4453085A (en) * | 1981-05-11 | 1984-06-05 | Diffracto Ltd. | Electro-optical systems for control of robots, manipulator arms and co-ordinate measuring machines |
| WO2000000784A1 (en) * | 1998-06-30 | 2000-01-06 | Optodyne, Inc. | Vector measurement for coordinate measuring machine |
| US20020038855A1 (en) * | 2000-09-29 | 2002-04-04 | Woo-Dong Hwang | Method for compensating position of robot using laser measuring instrument |
| JP2008132525A (en) * | 2006-11-29 | 2008-06-12 | Nachi Fujikoshi Corp | Teaching-position correcting system of welding-robot and teaching-position correcting method of welding-robot |
| WO2010003289A1 (en) * | 2008-07-11 | 2010-01-14 | 中国科学院沈阳自动化研究所 | Apparatus and method for robots tracking appointed path with high precision |
| CN103101060A (en) * | 2011-11-11 | 2013-05-15 | 鸿富锦精密工业（深圳）有限公司 | Sensing calibration method for robot tool center point |
| US20150088311A1 (en) * | 2013-09-26 | 2015-03-26 | Canon Kabushiki Kaisha | Robot calibrating apparatus and robot calibrating method, and robot apparatus and method of controlling robot apparatus |
| CN105945948A (en) * | 2016-05-25 | 2016-09-21 | 南京工程学院 | TCP online quick calibration method and device applied to industrial robot |
| US20190077017A1 (en) * | 2017-09-11 | 2019-03-14 | Seiko Epson Corporation | Robot and offset correction device for force sensor |
| CN109514549A (en) * | 2018-10-17 | 2019-03-26 | 南京工程学院 | A kind of online quick calibrating method of TCP and device of achievable six degree of freedom |
| CN110114191A (en) * | 2017-03-09 | 2019-08-09 | 三菱电机株式会社 | Robot controller and calibration method |
| CN111267092A (en) * | 2019-08-27 | 2020-06-12 | 上海飞机制造有限公司 | Method and system for calibrating robot tool coordinate system |
| CN111421541A (en) * | 2020-04-01 | 2020-07-17 | 无锡市创凯电气控制设备有限公司 | TCP robot tool tail end 3D and 5D deviation rectifying system and deviation rectifying method thereof |
| CN111805548A (en) * | 2020-07-22 | 2020-10-23 | 江苏亚威创科源激光装备有限公司 | TCP error calibration method of industrial robot |
-
2020
- 2020-12-10 CN CN202011435426.1A patent/CN112719583A/en active Pending
Patent Citations (15)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4166543A (en) * | 1976-08-13 | 1979-09-04 | Asea Aktiebolag | Method and means for controlling an industrial robot |
| US4453085A (en) * | 1981-05-11 | 1984-06-05 | Diffracto Ltd. | Electro-optical systems for control of robots, manipulator arms and co-ordinate measuring machines |
| WO2000000784A1 (en) * | 1998-06-30 | 2000-01-06 | Optodyne, Inc. | Vector measurement for coordinate measuring machine |
| US20020038855A1 (en) * | 2000-09-29 | 2002-04-04 | Woo-Dong Hwang | Method for compensating position of robot using laser measuring instrument |
| JP2008132525A (en) * | 2006-11-29 | 2008-06-12 | Nachi Fujikoshi Corp | Teaching-position correcting system of welding-robot and teaching-position correcting method of welding-robot |
| WO2010003289A1 (en) * | 2008-07-11 | 2010-01-14 | 中国科学院沈阳自动化研究所 | Apparatus and method for robots tracking appointed path with high precision |
| CN103101060A (en) * | 2011-11-11 | 2013-05-15 | 鸿富锦精密工业（深圳）有限公司 | Sensing calibration method for robot tool center point |
| US20150088311A1 (en) * | 2013-09-26 | 2015-03-26 | Canon Kabushiki Kaisha | Robot calibrating apparatus and robot calibrating method, and robot apparatus and method of controlling robot apparatus |
| CN105945948A (en) * | 2016-05-25 | 2016-09-21 | 南京工程学院 | TCP online quick calibration method and device applied to industrial robot |
| CN110114191A (en) * | 2017-03-09 | 2019-08-09 | 三菱电机株式会社 | Robot controller and calibration method |
| US20190077017A1 (en) * | 2017-09-11 | 2019-03-14 | Seiko Epson Corporation | Robot and offset correction device for force sensor |
| CN109514549A (en) * | 2018-10-17 | 2019-03-26 | 南京工程学院 | A kind of online quick calibrating method of TCP and device of achievable six degree of freedom |
| CN111267092A (en) * | 2019-08-27 | 2020-06-12 | 上海飞机制造有限公司 | Method and system for calibrating robot tool coordinate system |
| CN111421541A (en) * | 2020-04-01 | 2020-07-17 | 无锡市创凯电气控制设备有限公司 | TCP robot tool tail end 3D and 5D deviation rectifying system and deviation rectifying method thereof |
| CN111805548A (en) * | 2020-07-22 | 2020-10-23 | 江苏亚威创科源激光装备有限公司 | TCP error calibration method of industrial robot |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN106994684B (en) | Method for controlling a robot tool | |
| US9050728B2 (en) | Apparatus and method for measuring tool center point position of robot | |
| CN103019154B (en) | Controller having display function for trajectory of tool | |
| CN204470838U (en) | A kind of welding robot control system | |
| US20050143861A1 (en) | Processing system | |
| CN114474041A (en) | Welding automation intelligent guiding method and system based on cooperative robot | |
| CN212329961U (en) | Unmanned wall welding robot that climbs based on vision measurement | |
| CN109719714B (en) | Robot, robot system, and robot coordinate system setting method | |
| DE102019211028A1 (en) | Robot system and calibration procedure | |
| CN112719583A (en) | Laser sensing intelligent welding robot and welding gun zeroing calculation method thereof | |
| CN101850471A (en) | Laser processing device and laser processing | |
| CN112620926B (en) | Welding spot tracking method and device and storage medium | |
| CN110893525B (en) | Method for identifying welding area of welding workpiece, computer device and computer readable storage medium | |
| CN111761577A (en) | Self-positioning type high-precision intelligent engraving machine and control method thereof | |
| CN116060783A (en) | Laser cutting compensation method, device, equipment and storage medium | |
| CN112809130B (en) | Intelligent welding seam detection and trajectory planning method and system | |
| WO2023095338A1 (en) | Additive manufacturing system, additive manufacturing apparatus, information processing device, and additive manufacturing method | |
| CN110961778B (en) | Method for automatically identifying welding area of welding workpiece, computer device and computer-readable storage medium | |
| CN109909646B (en) | Method and device for correcting working point of robot welding gun and electronic equipment | |
| CN114918526A (en) | Numerical control machine tool welding track correction system and method based on line laser scanning | |
| JP6705173B2 (en) | Welding method and welding equipment | |
| JP2006334731A (en) | Product transport carriage, robot position measuring system and its measuring method | |
| JPS6111815A (en) | Compensating system of positional shift of robot | |
| CN114290334B (en) | Calibration method | |
| CN116571852B (en) | Automatic welding method and system for robot stud |
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 | ||
| RJ01 | Rejection of invention patent application after publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20210430 |