阅读说明：本技术 一种机器人激光位移传感器寻位的方法 (A kind of method that robotic laser displacement sensor seeks position ) 是由 高硕� 孔萌 张�杰 陈龙 于 2019-08-30 设计创作，主要内容包括：本发明公开了一种机器人激光位移传感器寻位的方法,包括：通过点光源激光器对工件表面以任意角度进行扫描以获取图像信息,并将图像信息传输至激光器控制器；激光器控制器将图像信息转换成位置信息,并将位置信息传输给机器人控制柜；机器人控制柜根据位置信息和机器人点位对工件表面进行2D建模,识别工件的特征和工件的位置；机器人控制柜根据工件的特征和工件的位置,结合预设焊接角度生成焊接轨迹；机器人控制柜控制机器人根据焊接轨迹运动,当机器人运动至焊接位置时,机器人控制柜控制焊接电源起弧或收弧。本发明用点光源激光器扫描工件表面,获得工件表面焊缝宽度,面积和位置,使用预先设定的焊枪角度和焊接工艺,自动生成焊接程序。(The invention discloses a kind of methods that robotic laser displacement sensor seeks position, comprising: is scanned by point light source laser to workpiece surface with any angle to obtain image information, and image information is transmitted to laser controller；Laser controller converts image information into location information, and location information is transferred to robot control cabinet；Robot control cabinet carries out 2D modeling to workpiece surface according to location information and robot point, identifies the feature of workpiece and the position of workpiece；Robot control cabinet generates welding track according to the feature of workpiece and the position of workpiece, in conjunction with default soldering angle；Robot control cabinet control robot is moved according to welding track, and when robot motion is to welding position, robot control cabinet controls the source of welding current starting the arc or receives arc.Present invention point light source laser scans workpiece surface, acquisition workpiece surface weld width, area and position automatically generate welding procedure using preset angle of welding gun and welding procedure.)

1. a kind of method that robotic laser displacement sensor seeks position characterized by comprising

Step S1: workpiece surface is scanned with any angle by point light source laser to obtain image information, the figure As information includes location information and characteristic information, and described image information is transmitted to laser controller；

Step S2: described image information is converted into location information by the laser controller, and the location information is transmitted To robot control cabinet；

Step S3: the robot control cabinet carries out 2D modeling to workpiece surface with robot point according to the positional information, Identify the feature of workpiece and the position of workpiece；

Step S4: the robot control cabinet is generated in conjunction with default soldering angle and is welded according to the feature of workpiece and the position of workpiece Integrate with mark；

Step S5: robot control cabinet control robot is moved according to the welding track, when the robot motion extremely When welding position, the robot control cabinet control source of welding current starting the arc or receipts arc.

2. the method that robotic laser displacement sensor according to claim 1 seeks position, which is characterized in that in the step In S1, the characteristic information includes several surface characteristics, and the surface characteristics is plane, circle, ellipse or broken line.

3. the method that robotic laser displacement sensor according to claim 1 seeks position, which is characterized in that in the step In S2, the location information is transferred to robot control by way of EtherNet/IP, DeviceNet or analog quantity Cabinet.

4. the method that robotic laser displacement sensor according to claim 1 seeks position, which is characterized in that in the step In S3, the robot control cabinet converts workpiece for the location information and the characteristic information by Eulerian angles matrix operation Surface shape.

5. the method that robotic laser displacement sensor according to claim 1 seeks position, which is characterized in that in the step In S4, the robot control cabinet calculates position while welding, section of weld joint product and weld width and obtains the welding track.

6. the method that robotic laser displacement sensor according to claim 1 seeks position, which is characterized in that in the step In S5, the robot control cabinet is controlled the source of welding current starting the arc by way of DeviceNet or EtherNet or receives arc and connect.

Technical field

The present invention relates to a kind of methods that the technical field of welding more particularly to laser displacement sensor seek position.

Background technique

Conventional laser displacement sensor seek the working principle of position be operator using teaching machine to welding workpiece into Row seeks a program teaching programming, and runs program and once demarcated.Then welding procedure is transferred to robot control.Machine People's control cabinet controls the robot for being equipped with welding equipment, carries laser displacement sensor using robot and is moved, laser When the distance between displacement sensor and workpiece reach reference position, laser displacement sensor gives robot signal, robot Current coordinate value is recorded, and is compared with the position of calibration, weld seam spatial position is obtained.

Robot is carried out when seek using conventional laser displacement sensor only by the distance to body surface Judgement, can not the feature to body surface carry out seeking position, be also unable to get the data of feature, for example, weld seam groove feature Point, the sectional area and width of weld seam.Therefore it will cause technologic defect, or even will cause workpiece damage and equipment damage.

Summary of the invention

In view of this, the purpose of the present invention is to provide a kind of methods that robotic laser displacement sensor seeks position.

To achieve the goals above, the technical scheme adopted by the invention is as follows:

A kind of method that robotic laser displacement sensor seeks position, wherein include:

Step S1: workpiece surface is scanned with any angle by point light source laser to obtain image information, institute Stating image information includes location information and characteristic information, and described image information is transmitted to laser controller；

Step S2: described image information is converted into location information by the laser controller, and by the location information It is transferred to robot control cabinet；

Step S3: the robot control cabinet carries out 2D to workpiece surface with robot point according to the positional information and builds Mould identifies the feature of workpiece and the position of workpiece；

Step S4: the robot control cabinet is raw in conjunction with default soldering angle according to the feature of workpiece and the position of workpiece At welding track；

Step S5: robot control cabinet control robot is moved according to the welding track, when the robot transports When moving to welding position, the robot control cabinet control source of welding current starting the arc or arc is received.

The method that above-mentioned robotic laser displacement sensor seeks position, wherein in the step S1, the characteristic information Including several surface characteristics, the surface characteristics is plane, circle, ellipse or broken line.

The method that above-mentioned robotic laser displacement sensor seeks position, wherein in the step S2, the position is believed Breath is transferred to robot control cabinet by way of EtherNet/IP, DeviceNet or analog quantity.

The method that above-mentioned robotic laser displacement sensor seeks position, wherein in the step S3, the robot control Cabinet processed converts workpiece surface shape for the location information and the characteristic information by Eulerian angles matrix operation.

The method that above-mentioned robotic laser displacement sensor seeks position, wherein in the step S4, the robot control Cabinet processed calculates position while welding, section of weld joint product and weld width and obtains the welding track.

The method that above-mentioned robotic laser displacement sensor seeks position, wherein in the step S5, the robot control Cabinet processed is controlled the source of welding current starting the arc by way of DeviceNet or EtherNet or receives arc and connect.

Due to using above-mentioned technology, the good effect for being allowed to have compared with prior art is the present invention:

(1) present invention point light source laser scans workpiece surface, obtains workpiece surface weld width, area and position, Using preset angle of welding gun and welding procedure, welding procedure is automatically generated.

(2) present invention no matter workpiece size variation or installation site variation, robot can weld in correct position always Parameter when connecing and can be according to section of weld joint product or width change actual welding.

(3) present invention is applied widely, and the present invention can carry out different weld seams to seek position by switching recognizer.

Detailed description of the invention

Fig. 1 is the schematic device for the method that robotic laser displacement sensor of the invention seeks position.

Fig. 2 is the laser scanning track of the first workpiece of the method that robotic laser displacement sensor of the invention seeks position Schematic diagram.

Fig. 3 is the welding track signal of the first workpiece of the method that robotic laser displacement sensor of the invention seeks position Figure.

Fig. 4 is the welding track signal of second of workpiece of the method that robotic laser displacement sensor of the invention seeks position Figure.

Fig. 5 is the welding track signal of second of workpiece of the method that robotic laser displacement sensor of the invention seeks position Figure.

In attached drawing: 1, laser module；2, robot；3, control cabinet；4, welding machine module.

Specific embodiment

The present invention will be further explained below with reference to the attached drawings and specific examples, but not as the limitation of the invention.

Fig. 1 is the schematic device for the method that robotic laser displacement sensor of the invention seeks position, and Fig. 2 is of the invention Robotic laser displacement sensor seeks the laser scanning trajectory of the first workpiece of the method for position, and Fig. 3 is of the invention Robotic laser displacement sensor seeks the welding track schematic diagram of the first workpiece of the method for position, and Fig. 4 is machine of the invention People's laser displacement sensor seeks the welding track schematic diagram of second of workpiece of the method for position, and Fig. 5 is that robot of the invention swashs Optical displacement sensor seeks the welding track schematic diagram of second of workpiece of the method for position.

First embodiment

It is shown in Figure 1, the method that the robotic laser displacement sensor of the first preferred embodiment seeks position is shown, Facility includes: laser module 1, robot 2, control cabinet 3 and welding machine module 4, wherein laser module 1 is set to robot 2 On, laser module 1 includes point light source laser and laser controller, and welding machine module 4 is set in robot 2, welding machine module 4 Including the source of welding current and welding gun.Control cabinet 3 is connect with laser module 1, robot 2 and 4 signal of welding machine module respectively.

Wherein, the method that robotic laser displacement sensor seeks position includes:

Step S1: being scanned workpiece surface with any angle by point light source laser to obtain image information, figure As information includes location information and characteristic information, and image information is transmitted to laser controller；

Step S2: laser controller converts image information into location information, and location information is transferred to robot Control cabinet；

Step S3: robot control cabinet 3 carries out 2D modeling, identification to workpiece surface according to location information and robot point The feature of workpiece and the position of workpiece；

Step S4: robot control cabinet 3 is generated in conjunction with default soldering angle and is welded according to the feature of workpiece and the position of workpiece Integrate with mark；

Step S5: robot control cabinet 3 controls robot 2 and is moved according to welding track, when robot 2 moves to welding position When setting, robot control cabinet 3 controls the source of welding current starting the arc or receives arc.

In step sl, characteristic information includes several surface characteristics, and surface characteristics is plane, circle, ellipse or broken line.

In step s 2, location information is transferred to machine by way of EtherNet/IP, DeviceNet or analog quantity Device people control cabinet 3.

In step s3, robot control cabinet 3 is converted location information and characteristic information to by Eulerian angles matrix operation Workpiece surface shape.

In step s 4, robot control cabinet 3 calculates position while welding, section of weld joint product and weld width and obtains welding rail Mark.

In step s 5, robot control cabinet 3 controls the source of welding current starting the arc by way of DeviceNet or EtherNet Or it receives arc and connects.

Workpiece is scanned with any angle by the point light source laser installed in robot 2, obtains the contoured position of institute Information, after being transferred to robot control cabinet 3, robot control cabinet 3 is obtained according to 2 data of robot and point light source laser data The location of workpiece, face of weld feature cooperate angle of welding gun, and that realizes weld seam seeks position and adaptive welding.

Second embodiment

It refers to shown in Fig. 2, Fig. 3, the robotic laser displacement sensor for showing second of preferred embodiment seeks the side of position Method, comprising: workpiece size is inputted into robot control cabinet 3, using parametric programming, robot 2 carries point light source laser pair Column foot weld seam is scanned, scanning the step of as shown in Fig. 2, robot carry point light source laser press respectively S1, S2, S3, Track shown in S4, S5 and S6 is scanned, and robot control cabinet 3 proposes the data that robot 2 provides and point light source laser The data of confession carry out processing calculating, and are generated obtained weld seam point actual such as Fig. 3 institute according to the workpiece size of input The welding track shown, and welded according to the welding track of W1, W2, W3.

3rd embodiment

It is shown in Figure 4, the method that the robotic laser displacement sensor of the third preferred embodiment seeks position is shown, is wrapped It includes: workpiece size is inputted into robot control cabinet 3, using parametric programming, robot 2 carries point light source laser to cross key Weld seam is scanned, and robot control cabinet 3 handles the data that robot 2 provides and the data that point light source laser provides Calculate, and scanning track generated according to the workpiece size of input, the step of scanning as shown in figure 4, show point P1, P2, P3, P4, wherein current potential P1, P2 constitute track S1, and point P3, P4 constitutes track S2, and robot 2 carries point light source laser point It is not scanned by track shown in S1 and S2, robot control cabinet 3 proposes the data that robot 2 provides and point light source laser The data of confession carry out processing calculating, and are generated obtained weld seam point actual such as Fig. 5 institute according to the workpiece size of input The welding track shown, and welded according to the welding track of W1, W2, W3.

The foregoing is merely preferred embodiments of the present invention, are not intended to limit embodiments of the present invention and protection model It encloses, to those skilled in the art, should can appreciate that all with made by description of the invention and diagramatic content Equivalent replacement and obviously change obtained scheme, should all be included within the scope of the present invention.