CN114571073A - Laser welding visual positioning guiding method, system, device and medium - Google Patents
Laser welding visual positioning guiding method, system, device and medium Download PDFInfo
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- CN114571073A CN114571073A CN202210250847.XA CN202210250847A CN114571073A CN 114571073 A CN114571073 A CN 114571073A CN 202210250847 A CN202210250847 A CN 202210250847A CN 114571073 A CN114571073 A CN 114571073A
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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
- B23K26/00—Working by laser beam, e.g. welding, cutting or boring
- B23K26/20—Bonding
- B23K26/21—Bonding by welding
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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
- B23K26/00—Working by laser beam, e.g. welding, cutting or boring
- B23K26/70—Auxiliary operations or equipment
- B23K26/702—Auxiliary equipment
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Abstract
The invention belongs to the field of laser welding, and particularly relates to a laser welding visual positioning guiding method, a laser welding visual positioning guiding system, a laser welding visual positioning guiding device and a laser welding visual positioning guiding medium, which comprise the following steps: the method comprises the following steps: the product module is in place; step two: acquiring pole addressing data, and positioning coordinates by taking a camera shooting mark point by a servo; step three: the polar addressing data is converted into polar coordinates under the same-day camera coordinate system; step four: subtracting the welding coordinate of the robot from the coordinate of the pole to obtain the coordinate of the pole relative to the laser; step five: converting the relative coordinates into laser welding coordinates; step six: and the welding coordinate sending PLC guides laser welding. The invention solves the technical problem that the welding target in the prior art is exposed in the visual field range of the camera.
Description
Technical Field
The invention belongs to the field of laser welding, and particularly relates to a laser welding visual positioning guiding method, a laser welding visual positioning guiding system, a laser welding visual positioning guiding device and a laser welding visual positioning guiding medium.
Background
The traditional laser welding visual guidance positioning project is mainly characterized in that under the same system, a camera is used for photographing and positioning after a welded product is fixed, coordinate data are directly sent to guide laser welding after positioning is completed, and a welding target must be exposed in the field range of the camera. According to the technology, the welding position can be positioned at the last station in advance, the product flows to the welding station after being additionally provided with the cover plate, the welding position is calculated by positioning the whole position of the product through the camera, and the welding position is not required to be exposed under the camera vision during welding. In view of the above, the present invention provides a laser welding visual positioning guiding method, system, device and medium.
Disclosure of Invention
The invention aims to provide a laser welding visual positioning guiding method, a laser welding visual positioning guiding system, a laser welding visual positioning guiding device and a laser welding visual positioning guiding medium, which are used for solving the technical problem that a welding target in the prior art needs to be exposed in the visual field range of a camera.
In order to achieve the purpose, the invention specifically provides the following technical scheme: a laser welding visual positioning guiding method comprises the following steps:
the method comprises the following steps: the product module is in place; step two: acquiring pole addressing data, and positioning coordinates by taking a camera shooting mark point by a servo; step three: the polar addressing data is converted into polar coordinates under the same-day camera coordinate system; step four: subtracting the welding coordinate of the robot from the coordinate of the pole to obtain the coordinate of the pole relative to the laser; step five: converting the relative coordinates into laser welding coordinates; step six: and the welding coordinate sending PLC guides laser welding.
Further, the first step specifically comprises: the flow begins, and the module flows to welding station, and the spacing cylinder of jacking stretches out, fixes the module to operating position.
Further, the second step is specifically: and reading a file to obtain pole addressing data, moving the servo belt camera to a working position, photographing four marking points of the positioning module, and obtaining coordinate data of the marking points in a welding station camera coordinate system.
Further, the third step is specifically: and establishing a coordinate mapping relation through marking the addressing coordinate of the point pole column and the welding station coordinate, and converting the addressing coordinate value of the pole column into a value under a welding station coordinate system through the established mapping relation.
Further, the fourth step is specifically: and (3) converting the welding coordinate of the robot into a value in a camera coordinate system, enabling the welding coordinate and the polar coordinate to be unified in the same coordinate system, driving the laser welding head by the robot, and subtracting the robot coordinate from the polar coordinate to obtain the relative position of the polar and the laser head.
Further, the fifth step is specifically: and the relative position of the pole and the laser head is converted into a laser welding coordinate through the calibration relation between the camera and the laser.
Further, the sixth step is specifically: and sending the welding coordinate value of the pole to a PLC (programmable logic controller), and carrying out a welding process by a laser according to the coordinate.
A visual positioning and guiding system for laser welding comprises
A vision module: the polar column is addressed to record data;
a positioning module: the vision system is used for positioning four marking points of the module at the welding station and calculating the integral offset of the module through the four marking points; converting the polar column addressing data through an offset algorithm to obtain welding data;
welding the module: and welding by the laser according to the data of the visual positioning.
A visual positioning and guiding device for laser welding,
a vision module device: the polar column is addressed to record data;
positioning the module device: the vision system is used for positioning four marking points of the module at the welding station and calculating the integral deviation of the module through the four marking points; converting the polar column addressing data through an offset algorithm to obtain welding data;
welding the module device: and welding by the laser according to the data of the visual positioning.
A computer storage medium storing the laser welding visual positioning guidance method of any one of claims 1-7.
Compared with the prior art, the invention has the beneficial effects that: according to the invention, the welding position is positioned in the previous station in advance, the welding position flows to the welding station after the product is provided with the cover plate, the welding position is calculated by positioning the whole position of the product through the camera, and the welding position is not required to be exposed under the camera view during welding. The problem that a traditional laser welding visual guidance positioning project is mainly under the same system, a camera shoots a picture after a welded product is fixed for positioning, coordinate data are directly sent to guide laser welding after positioning is completed, and a welding target must be exposed in the field of view of the camera is solved.
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FIG. 1 is a schematic flow chart of the present invention.
Detailed Description
As shown in fig. 1, the invention discloses a laser welding visual positioning guiding method, comprising the following steps:
s101, a first step: the product module is in place;
s102, step two: acquiring pole addressing data, and positioning coordinates by taking a camera shooting mark point by a servo;
s103, step three: the polar addressing data is converted into polar coordinates under the same-day camera coordinate system; s104, step four: subtracting the welding coordinate of the robot from the coordinate of the pole to obtain the coordinate of the pole relative to the laser;
s105, step five: converting the relative coordinates into laser welding coordinates;
s106, step six: and the welding coordinate sending PLC guides laser welding.
S107, a seventh step: the welding is finished and the process is finished
Wherein, the first step is specifically as follows: the flow begins, and the module flows to welding station, and the spacing cylinder of jacking stretches out, fixes the module to operating position.
Wherein, the second step is specifically as follows: and reading a file to obtain pole addressing data, moving the servo belt camera to a working position, photographing four marking points of the positioning module, and obtaining coordinate data of the marking points in a welding station camera coordinate system.
Wherein the third step is specifically as follows: and establishing a coordinate mapping relation through marking the addressing coordinate of the point pole column and the welding station coordinate, and converting the addressing coordinate value of the pole column into a value under a welding station coordinate system through the established mapping relation.
Wherein, the fourth step is specifically as follows: and (3) converting the welding coordinate of the robot into a value in a camera coordinate system, enabling the welding coordinate and the polar coordinate to be unified in the same coordinate system, driving the laser welding head by the robot, and subtracting the robot coordinate from the polar coordinate to obtain the relative position of the polar and the laser head.
Wherein the fifth step is specifically: and the relative position of the pole and the laser head is converted into a laser welding coordinate through the calibration relation between the camera and the laser.
Wherein the sixth step specifically comprises: and sending the welding coordinate value of the pole to a PLC (programmable logic controller), and carrying out a welding process by a laser according to the coordinate.
The above method embodiment:
firstly, calibrating at a polar column addressing station, enabling the whole polar column plane of a product module to be in the same coordinate system, photographing and positioning the coordinates of all polar columns, positioning four marking points at four corners of the module, and storing all coordinate data into a file.
Secondly, the product module flows to the next station, a CCS cover plate is additionally arranged on the battery cell pole, and all the poles are covered; and detecting the CCS cover plate to align the poles of all the cells with the contact pieces on the CCS, wherein the red area is the contact part with the cell poles, and the cell poles are arranged below the red area as shown in the following figure
And thirdly, calibrating the Busbar station to enable the position coordinates of the robot and the laser to be in corresponding relation with the camera. The laser instrument is installed on the robot, and the robot takes the laser instrument to remove each position and welds electric core utmost point post in to the module.
And fourthly, the product module flows to a busbar welding station, four fixed cameras are used for respectively photographing and positioning the marking points on the four corners of the module, a new coordinate system is established, the data file stored in the polar addressing station is read, and the coordinate data of the four marking points are extracted. And establishing a mapping relation by using the front and rear groups of coordinate data of the marked points, and converting all other coordinates of the battery pole into coordinates under the current coordinate system through the mapping relation.
And fifthly, converting each welding position coordinate of the robot into coordinate data under a camera coordinate system, calculating a relative position coordinate between each pole and the laser through an algorithm, and converting the pole position coordinate into the welding coordinate of each pole through a calibration relation between the laser and the camera.
And sixthly, sending the welding coordinate of each pole obtained by the algorithm to a PLC (programmable logic controller), and finally carrying out welding work by the laser machine according to the received coordinate data.
A visual positioning and guiding system for laser welding,
a vision module: the polar column is addressed to record data;
a positioning module: the vision system is used for positioning four marking points of the module at the welding station and calculating the integral offset of the module through the four marking points; the polar addressing data is converted through an offset algorithm to obtain welding data;
welding the module: and welding by the laser according to the data of the visual positioning.
A visual positioning and guiding device for laser welding,
a vision module device: the polar column is addressed to record data;
positioning the module device: the vision system is used for positioning four marking points of the module at the welding station and calculating the integral offset of the module through the four marking points; converting the polar column addressing data through an offset algorithm to obtain welding data;
welding a module device: and the laser performs welding according to the data of the visual positioning.
A computer storage medium stores the laser welding visual positioning guiding method.
Claims (10)
1. A laser welding visual positioning guiding method is characterized by comprising the following steps: the method comprises the following steps: the product module is in place; step two: acquiring pole addressing data, and positioning coordinates by taking a camera shooting mark point by a servo; step three: the polar addressing data is converted into polar coordinates under the same-day camera coordinate system; step four: subtracting the welding coordinate of the robot from the coordinate of the pole to obtain the coordinate of the pole relative to the laser; step five: converting the relative coordinates into laser welding coordinates; step six: and the welding coordinate sending PLC guides laser welding.
2. The laser welding visual positioning guidance method according to claim 1, characterized in that: the first step is specifically as follows: the flow begins, and the module flows to welding station, and the spacing cylinder of jacking stretches out, fixes the module to operating position.
3. The laser welding visual positioning guidance method according to claim 1, characterized in that: the second step is specifically as follows: and reading a file to obtain polar addressing data, moving the servo band camera to a working position, photographing four marking points of the positioning module, and obtaining coordinate data of the marking points under a welding station camera coordinate system.
4. The laser welding visual positioning guidance method according to claim 1, characterized in that: the third step is specifically as follows: and establishing a coordinate mapping relation by marking the addressing coordinate of the point pole column and the welding station coordinate, and converting the addressing coordinate value of the pole column into a value in a welding station coordinate system through the established mapping relation.
5. The laser welding visual positioning guidance method according to claim 1, characterized in that: the fourth step is specifically as follows: and (3) converting the welding coordinate of the robot into a value in a camera coordinate system, enabling the welding coordinate and the polar coordinate to be unified in the same coordinate system, driving the laser welding head by the robot, and subtracting the robot coordinate from the polar coordinate to obtain the relative position of the polar and the laser head.
6. The laser welding visual positioning guidance method according to claim 1, characterized in that: the fifth step is specifically as follows: and the relative position of the pole and the laser head is converted into a laser welding coordinate through the calibration relation between the camera and the laser.
7. The laser welding visual positioning guidance method according to claim 1, characterized in that: the sixth step is specifically as follows: and sending the welding coordinate value of the pole to a PLC (programmable logic controller), and carrying out a welding process by a laser according to the coordinate.
8. A laser welding visual positioning guidance system, characterized by:
a vision module: the polar column is addressed to record data;
a positioning module: the vision system is used for positioning four marking points of the module at the welding station and calculating the integral offset of the module through the four marking points; converting the polar column addressing data through an offset algorithm to obtain welding data;
welding the module: and welding by the laser according to the data of the visual positioning.
9. The utility model provides a laser welding visual positioning guiding device which characterized in that:
a vision module device: the polar column is addressed to record data;
positioning the module device: the vision system is used for positioning four marking points of the module at the welding station and calculating the integral offset of the module through the four marking points; converting the polar column addressing data through an offset algorithm to obtain welding data;
welding the module device: and welding by the laser according to the data of the visual positioning.
10. A computer storage medium, characterized in that: the laser welding visual positioning guiding method of any one of claims 1-7 is stored.
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| CN202210250847.XA CN114571073A (en) | 2022-03-15 | 2022-03-15 | Laser welding visual positioning guiding method, system, device and medium |
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| CN202210250847.XA CN114571073A (en) | 2022-03-15 | 2022-03-15 | Laser welding visual positioning guiding method, system, device and medium |
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Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115027933A (en) * | 2022-06-15 | 2022-09-09 | 广州明珞装备股份有限公司 | Addressing mobile device before welding and conveying device |
| CN116060770A (en) * | 2023-03-02 | 2023-05-05 | 超音速人工智能科技股份有限公司 | Blade battery welding positioning method, device and storage medium |
| CN116673624A (en) * | 2023-07-07 | 2023-09-01 | 上海君屹工业自动化股份有限公司 | Self-adaptive laser welding equipment |
| CN116921854A (en) * | 2023-07-07 | 2023-10-24 | 上海君屹工业自动化股份有限公司 | Method for setting defocusing amount of BUSBAR welding |
| CN117001153A (en) * | 2023-10-08 | 2023-11-07 | 宁德时代新能源科技股份有限公司 | Welding method and system for battery pole |
| CN117020414A (en) * | 2023-10-08 | 2023-11-10 | 宁德时代新能源科技股份有限公司 | Pole welding method and pole welding system |
| CN117020501A (en) * | 2023-10-08 | 2023-11-10 | 宁德时代新能源科技股份有限公司 | Pole addressing method and addressing system |
| CN117020413A (en) * | 2023-10-08 | 2023-11-10 | 宁德时代新能源科技股份有限公司 | Polar column coordinate determination method, welding method and welding system |
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Cited By (14)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115027933A (en) * | 2022-06-15 | 2022-09-09 | 广州明珞装备股份有限公司 | Addressing mobile device before welding and conveying device |
| CN116060770A (en) * | 2023-03-02 | 2023-05-05 | 超音速人工智能科技股份有限公司 | Blade battery welding positioning method, device and storage medium |
| CN116673624A (en) * | 2023-07-07 | 2023-09-01 | 上海君屹工业自动化股份有限公司 | Self-adaptive laser welding equipment |
| CN116921854A (en) * | 2023-07-07 | 2023-10-24 | 上海君屹工业自动化股份有限公司 | Method for setting defocusing amount of BUSBAR welding |
| CN116673624B (en) * | 2023-07-07 | 2024-04-12 | 上海君屹工业自动化股份有限公司 | Self-adaptive laser welding equipment |
| CN116921854B (en) * | 2023-07-07 | 2024-03-29 | 上海君屹工业自动化股份有限公司 | Method for setting defocusing amount of BUSBAR welding |
| CN117020501A (en) * | 2023-10-08 | 2023-11-10 | 宁德时代新能源科技股份有限公司 | Pole addressing method and addressing system |
| CN117020413A (en) * | 2023-10-08 | 2023-11-10 | 宁德时代新能源科技股份有限公司 | Polar column coordinate determination method, welding method and welding system |
| CN117001153B (en) * | 2023-10-08 | 2024-02-06 | 宁德时代新能源科技股份有限公司 | Welding method and system for battery pole |
| CN117020414B (en) * | 2023-10-08 | 2024-02-06 | 宁德时代新能源科技股份有限公司 | Pole welding method and pole welding system |
| CN117020413B (en) * | 2023-10-08 | 2024-02-23 | 宁德时代新能源科技股份有限公司 | Polar column coordinate determination method, welding method and welding system |
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| CN117020414A (en) * | 2023-10-08 | 2023-11-10 | 宁德时代新能源科技股份有限公司 | Pole welding method and pole welding system |
| CN117001153A (en) * | 2023-10-08 | 2023-11-07 | 宁德时代新能源科技股份有限公司 | Welding method and system for battery pole |
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