CN1415976A - Laser range finding method of robot system for cutting and ruling profile steel - Google Patents
Laser range finding method of robot system for cutting and ruling profile steel Download PDFInfo
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- CN1415976A CN1415976A CN 02151077 CN02151077A CN1415976A CN 1415976 A CN1415976 A CN 1415976A CN 02151077 CN02151077 CN 02151077 CN 02151077 A CN02151077 A CN 02151077A CN 1415976 A CN1415976 A CN 1415976A
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- shaped steel
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- laser displacement
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Abstract
A method of laser spacing for formed steel robot cutting and marking system is to mount a sensor on the end axle of the robot arm and software makes program order according to work sequence to control the robot to move the laser shift sneos rvertical above the wing panel or web plane of the formed steel, the robot drives laser shift sensor along longitudinal, horizontal or angled direction of the formed steel, the computer gets the position coordinates of each detection point of the formed steel wing panel, length direction as that of formed steel width operation and execution primary coordinates for the robot marking and cutting.
Description
Technical field
What the present invention relates to is a kind of laser spacing method, and the laser spacing method of particularly a kind of shaped steel robot cutting and scoring system belongs to the robot engineering field.
Technical background
In the course of work of cutting of shaped steel robot and line, shaped steel crouches on worktable, and laser displacement sensor is contained on the terminal shaft of robot.Since robot cut automatically and the course of work of ruling in, cutting torch and line rifle must be according to the technological parameter situations, the workplace with shaped steel keeps certain distance all the time.But, the linearity of shaped steel and flatness are not high, promptly at X, Y, the Z direction has bigger deflection or wavy distortion, robot drive cutting torch or line rifle just can not be maintained fixed distance in the course of the work like this, cutting torch or line rifle cutting or line place variable in distance relatively can occur, cause scarfing and line degradation, the precision between the scarfing or between the mark line can not be controlled, can cause cutting torch or line rifle and shaped steel to touch short circuit when serious, perhaps cause the blow-out of cutting torch or line rifle.
" shipbuilding industry construction " 1998 the 1st phase P1-16 pages or leaves, having introduced the three-dimensional laser sensor that uses in a kind of external shaped steel automatic processing system in " exploitation of employing machine crowd's shaped steel automatic processing system " literary composition, also is to be used for determining the shaped steel preheating position.In case the initial manufacture position finding, robot sets out with this point coordinate, finishes cutting and line task in certain zone.Therefore, this method is very high to the linearity and the flatness requirement of shaped steel, and the linearity of the system requirements shaped steel that IMG company provides is ± 2mm/m that flatness is ± 2mm/m.And under practical condition, the linearity of shaped steel and flatness are far longer than this index.Therefore, shaped steel must carry out pre-service before entering this shaped steel automatic processing system, make it reach accuracy requirement.One complicated procedures of forming that this method is not only many also needs the longer working time.
Summary of the invention
The objective of the invention is to overcome deficiency of the prior art, the laser spacing method of a kind of shaped steel robot cutting and scoring system is provided, at actual production situation, for adapting to cutting and line under the not high situation of shaped steel accuracy requirement, propose with the non-contact laser displacement transducer as spacing, do not need to make it the shaped steel pre-service just can reach accuracy requirement, improved work efficiency.
The present invention is achieved by the following technical solutions: on robots arm's terminal shaft laser displacement sensor is installed, robot is according to the online detection instruction of section bar position shape, laser displacement sensor is moved to the vertical direction of shaped steel wing plate face, the light beam that laser displacement sensor produces is incident upon on the shaped steel wing plate face, laser displacement sensor is accepted the folded light beam on shaped steel surface then, record the distance signal of laser displacement sensor to surface of the work, when robot when the shaped steel longitudinal direction moves, the light beam that laser displacement sensor sends, scan along the shaped steel longitudinal direction, record the one group signal of laser displacement sensor to each check point distance of shaped steel surface, signal by the output of computing machine online acquisition sensor, through data processing and compensation operation, obtain the three-dimensional location coordinates of each check point of shaped steel wing plate in robot system, this group three-dimensional location coordinates is rule on the shaped steel Width as robot and the reference coordinate of executable operations when cutting work.
On robots arm's terminal shaft, laser displacement sensor is installed, robot is according to the online detection instruction of section bar position shape, laser displacement sensor is moved to the vertical direction of shaped steel web face, the light beam that laser displacement sensor produces is incident upon on the shaped steel web face, laser displacement sensor is accepted the folded light beam of shaped steel web surface then, record the distance signal of laser displacement sensor to the shaped steel web surface, when robot when the shaped steel longitudinal direction moves, the light beam that laser displacement sensor sends, along shaped steel vertically and laterally the scanning of web, record the one group signal of laser displacement sensor to each check point distance of shaped steel web surface, signal by the output of computing machine online acquisition laser displacement sensor, through data processing and compensation operation, obtain the three-dimensional location coordinates of each check point of shaped steel web in robot system, this family's coordinate is rule on the shaped steel web as robot and the reference coordinate on the shaped steel short transverse when cutting.
By the repeatedly scanning of laser displacement sensor, obtain the data of shaped steel 3D shape position in the robot coordinate system, as the reference coordinate data of Computer Compensation computing and robot line cutting to shaped steel wing plate and each check point of web.The light beam that laser displacement sensor sends is an infrared beam.
The present invention has substantive distinguishing features and marked improvement, adopt the laser spacing method of shaped steel robot cutting of the present invention and scoring system, compare with tangent displacement sensor, because laser head and workpiece noncontact, measuring accuracy and speed have been improved, reduced to a great extent the requirement of shaped steel virgin state simultaneously, saved a large amount of auxiliary readiness times; By laser the high speed of shaped steel wing plate and web is measured, can obtain shaped steel variable quantity in the horizontal and vertical directions, pass through data processing, make up the coordinate data of the true form position of shaped steel in the robot coordinate system, thereby guarantee under the bad condition of shaped steel linearity, to realize high-precision cutting of robot and line processing.
Embodiment
At first, robot is according to the online detection instruction of section bar position shape, move to the vertical direction of shaped steel wing plate face with being contained in laser displacement sensor on robots arm's terminal shaft, the laser displacement sensor energising, produce a branch of rectangle infrared beam, be incident upon on the shaped steel wing plate face, laser displacement sensor is accepted the folded light beam on shaped steel surface, records the distance signal of laser displacement sensor to surface of the work.When robot when the shaped steel longitudinal direction moves, the infrared beam that laser displacement sensor sends along the scanning of shaped steel longitudinal direction, records the one group signal of laser displacement sensor to surperficial each the check point distance of shaped steel.By the signal of computing machine online acquisition laser displacement sensor output,, obtain three-dimensional (X, Y, the Z) position coordinates of each check point of shaped steel wing plate in robot system through data processing and compensation operation.This group coordinate rule on the shaped steel Width as robot and the reference coordinate of executable operations when cutting work, guarantee the precision of cutting and line.
According to job order, robot moves to laser displacement sensor the vertical direction of shaped steel web face, the infrared beam that laser displacement sensor produces is incident upon on the shaped steel web face, laser displacement sensor is accepted the folded light beam of shaped steel web surface, records the distance signal of laser displacement sensor to the shaped steel web surface.When robot when the shaped steel longitudinal direction moves, the infrared beam that laser displacement sensor sends along shaped steel vertically and laterally the scanning of web, records the gang signal of laser displacement sensor to each check point distance of shaped steel web surface.By the signal of computing machine online acquisition laser displacement sensor output,, obtain three-dimensional (X, Y, the Z) position coordinates of each check point of shaped steel web in robot system through data processing and compensation operation.This family's coordinate rule on the shaped steel web as robot and the reference coordinate on the shaped steel short transverse when cutting, guarantee the precision of cutting and line.
For guaranteeing that cutting and line normally the carrying out of shaped steel web face, eliminate the influence of web plane degree difference, keep the certain distance of cutting torch or the relative web of line rifle, the present invention adopts and above-mentioned same non-contact laser displacement transducer.By the repeatedly scanning of laser sensor, obtain the data of shaped steel true form position in the robot coordinate system to shaped steel wing plate and web check point.Reference coordinate data as Computer Compensation computing and robot line cutting.After the detection spacing is finished on the shaped steel length direction, press programming instruction, robot end's laser sensor moves to the vertical direction of shaped steel web face, and along shaped steel laterally or crosswise to moving, some somes distance signals that record in moving, being converted by computing machine obtains the position coordinates of check point, carries out the cutting torch and the precision elements of a fix of line rifle on the web face as robot.
Claims (4)
1. spacing method that is used for robot cutting and scoring system, it is characterized in that, on robots arm's terminal shaft, laser displacement sensor is installed, robot is according to the online detection instruction of section bar position shape, laser displacement sensor is moved to the vertical direction of shaped steel wing plate face, the light beam that laser displacement sensor produces is incident upon on the shaped steel wing plate face, laser displacement sensor is accepted the folded light beam on shaped steel surface then, record the distance signal of laser displacement sensor to surface of the work, when robot when the shaped steel longitudinal direction moves, the light beam that laser displacement sensor sends, scan along the shaped steel longitudinal direction, record the one group signal of laser displacement sensor to each check point distance of shaped steel surface, signal by the output of computing machine online acquisition sensor, through data processing and compensation operation, obtain the three-dimensional location coordinates of each check point of shaped steel wing plate in robot system, this group three-dimensional location coordinates is rule on the shaped steel Width as robot and the reference coordinate of executable operations when cutting work.
2. spacing method that is used for robot cutting and scoring system, it is characterized in that, on robots arm's terminal shaft, laser displacement sensor is installed, robot is according to the online detection instruction of section bar position shape, laser displacement sensor is moved to the vertical direction of shaped steel web face, the light beam that laser displacement sensor produces is incident upon on the shaped steel web face, laser displacement sensor is accepted the folded light beam of shaped steel web surface then, record the distance signal of laser displacement sensor to the shaped steel web surface, when robot when the shaped steel longitudinal direction moves, the light beam that laser displacement sensor sends, along shaped steel vertically and laterally the scanning of web, record the one group signal of laser displacement sensor to each check point distance of shaped steel web surface, signal by the output of computing machine online acquisition laser displacement sensor, through data processing and compensation operation, obtain the three-dimensional location coordinates of each check point of shaped steel web in robot system, this family's coordinate is rule on the shaped steel web as robot and the reference coordinate on the shaped steel short transverse when cutting.
3. the laser spacing method of this shaped steel robot cutting according to claim 1 and 2 and scoring system, it is characterized in that, by the repeatedly scanning of laser displacement sensor to shaped steel wing plate and each check point of web, obtain the data of shaped steel 3D shape position in the robot coordinate system, as the reference coordinate data of Computer Compensation computing and robot line cutting.
4. the laser spacing method of this shaped steel robot cutting according to claim 1 and 2 and scoring system is characterized in that the light beam that laser displacement sensor sends is an infrared beam.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 02151077 CN1415976A (en) | 2002-12-05 | 2002-12-05 | Laser range finding method of robot system for cutting and ruling profile steel |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 02151077 CN1415976A (en) | 2002-12-05 | 2002-12-05 | Laser range finding method of robot system for cutting and ruling profile steel |
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| CN1415976A true CN1415976A (en) | 2003-05-07 |
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| CN 02151077 Pending CN1415976A (en) | 2002-12-05 | 2002-12-05 | Laser range finding method of robot system for cutting and ruling profile steel |
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Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1321329C (en) * | 2004-04-20 | 2007-06-13 | 张周新 | Non-contact sensor of robot |
| CN101715379A (en) * | 2007-06-14 | 2010-05-26 | 通快机床两合公司 | Be used for during the board-like material cutting procedure, surveying the method for process light and the device that is used to implement this method |
| CN101526811B (en) * | 2009-04-24 | 2010-08-04 | 清华大学 | Computer-assisted forming method of I-shaped section steel arch with web openings |
| CN101526810B (en) * | 2009-04-24 | 2010-09-01 | 清华大学 | Computer-assisted forming method of steel arch with wave webs |
| CN102003953B (en) * | 2009-09-03 | 2012-03-28 | 成都远景数控设备实业有限公司 | Method for measuring form and position deformation of H-shape steel using measuring device |
| CN102463570A (en) * | 2011-09-29 | 2012-05-23 | 浙江吉利汽车研究院有限公司 | Marking device for pedestrian protection test |
| CN102699483A (en) * | 2012-06-21 | 2012-10-03 | 洪峰 | Automatic laser deviation rectifying system of flame chamfering robot |
| CN102837368A (en) * | 2012-08-29 | 2012-12-26 | 环球石材（山东）有限公司 | Method for machining three-dimensional special-shaped stones |
| CN103586584A (en) * | 2012-08-17 | 2014-02-19 | 微劲科技股份有限公司 | Scribing apparatus |
| CN106226736A (en) * | 2016-08-29 | 2016-12-14 | 湖南镭目科技有限公司 | A kind of steel billet position finding and detection method and detecting system |
| CN112882463A (en) * | 2021-01-11 | 2021-06-01 | 成都海瑞斯轨道交通设备有限公司 | Cutting robot system for overhauling wagon body of railway wagon |
| CN112935675A (en) * | 2021-03-15 | 2021-06-11 | 成都焊研威达科技股份有限公司 | Special angle steel camber forming spot welding machine for web angle steel assembly |
-
2002
- 2002-12-05 CN CN 02151077 patent/CN1415976A/en active Pending
Cited By (15)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1321329C (en) * | 2004-04-20 | 2007-06-13 | 张周新 | Non-contact sensor of robot |
| CN101715379B (en) * | 2007-06-14 | 2013-08-14 | 通快机床两合公司 | Method for detecting process light during separation process in sheet material and device for carrying out the method |
| CN101715379A (en) * | 2007-06-14 | 2010-05-26 | 通快机床两合公司 | Be used for during the board-like material cutting procedure, surveying the method for process light and the device that is used to implement this method |
| CN101526811B (en) * | 2009-04-24 | 2010-08-04 | 清华大学 | Computer-assisted forming method of I-shaped section steel arch with web openings |
| CN101526810B (en) * | 2009-04-24 | 2010-09-01 | 清华大学 | Computer-assisted forming method of steel arch with wave webs |
| CN102003953B (en) * | 2009-09-03 | 2012-03-28 | 成都远景数控设备实业有限公司 | Method for measuring form and position deformation of H-shape steel using measuring device |
| CN102463570A (en) * | 2011-09-29 | 2012-05-23 | 浙江吉利汽车研究院有限公司 | Marking device for pedestrian protection test |
| CN102463570B (en) * | 2011-09-29 | 2014-09-10 | 浙江吉利汽车研究院有限公司 | Marking device for pedestrian protection test |
| CN102699483A (en) * | 2012-06-21 | 2012-10-03 | 洪峰 | Automatic laser deviation rectifying system of flame chamfering robot |
| CN103586584A (en) * | 2012-08-17 | 2014-02-19 | 微劲科技股份有限公司 | Scribing apparatus |
| CN102837368A (en) * | 2012-08-29 | 2012-12-26 | 环球石材（山东）有限公司 | Method for machining three-dimensional special-shaped stones |
| CN106226736A (en) * | 2016-08-29 | 2016-12-14 | 湖南镭目科技有限公司 | A kind of steel billet position finding and detection method and detecting system |
| CN106226736B (en) * | 2016-08-29 | 2019-05-21 | 湖南镭目科技有限公司 | A kind of steel billet position finding and detection method and detection system |
| CN112882463A (en) * | 2021-01-11 | 2021-06-01 | 成都海瑞斯轨道交通设备有限公司 | Cutting robot system for overhauling wagon body of railway wagon |
| CN112935675A (en) * | 2021-03-15 | 2021-06-11 | 成都焊研威达科技股份有限公司 | Special angle steel camber forming spot welding machine for web angle steel assembly |
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