CN105598600B - A kind of box part weld seam independently seeks position and track automatic generation method - Google Patents
A kind of box part weld seam independently seeks position and track automatic generation method Download PDFInfo
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- CN105598600B CN105598600B CN201610072339.1A CN201610072339A CN105598600B CN 105598600 B CN105598600 B CN 105598600B CN 201610072339 A CN201610072339 A CN 201610072339A CN 105598600 B CN105598600 B CN 105598600B
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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
- B23K31/00—Processes relevant to this subclass, specially adapted for particular articles or purposes, but not covered by only one of the preceding main groups
- B23K31/02—Processes relevant to this subclass, specially adapted for particular articles or purposes, but not covered by only one of the preceding main groups relating to soldering or welding
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Abstract
The invention discloses a kind of box part weld seams independently to seek position and track automatic generation method by establishing the communication between vision system and robot controller, it obtains initial position and carries out laser detection and data processing, final production welding robot track is simultaneously automatically imported robot controller, is welded.The present invention can carry out weld seam to the box part that size differs and independently seek position and automatic welding, make rational planning for seam track, solve size not batch quantity-produced limitation.
Description
Technical field
The present invention relates to robotic technology fields more particularly to a kind of box part weld seam independently to seek position and track and automatically generate
Method.
Background technology
Ship welding technique is one of key technology in contemporary Chinese Shipbuilding Mode, in hull construction, during Welder
Account for about 30%-40% during hull construction chief engineer, welding cost accounts for about the 30%-50% of hull construction totle drilling cost.Advanced ship
Oceangoing ship welding technique has the cost of the performance of shipbuilding quotient raising product, the period that shortening is built and reduction product important
Effect.
In the engineer application of large ship welding, robot welding off-line programming technique is raw due to high degree of automation
Excellent in efficiency is produced, has and is widely applied very much prospect.But the structure of stringers and floor composition box that bottom is segmented in large ship,
There is a large amount of fillet weld to need to weld in construction, for single box piece, included 4 fillet weld in the flat positions and 4 vertical angles
Weld seam.Position is sought for the weld seam of this box part, for shipyard mainly using contact-sensing welding method, it is will be with electricity at present
The welding wire of pressure is moved to workpiece, and when welding wire and workpiece contact, the potential difference between welding wire and workpiece becomes zero, and is calculated by program
Go out physical location, so as to obtain seam track.But this method compliance is poor, when the part that replacement size difference is larger
When, the period that weld seam independently seeks position is long, high-volume continuous production is caused to have limitation, it is difficult to meet the personalization of client
Manufacture.
Invention content
For overcome the deficiencies in the prior art, a kind of box part weld seam of present invention offer is independently sought position and track and is automatically generated
Method generates robot off-line program by vision and laser scanning, realizes the contactless quick searching weld seam of robot system
Function, conventional contact sensing weld seam will be substantially reduced and seek time of position, so as to which shipyard of having determined is in face of different size box-shapeds
The problem of part automatic welding.
For this purpose, the present invention, which provides a kind of box part weld seam, independently seeks position and track automatic generation method, include the following steps：
Step 1：Establish the communication between camera, dot laser sensor, robot and industrial personal computer；
Step 2：Control camera is taken pictures, and the coordinate of box part is passed to robot；
Step 3：Dot laser sensor is scanned searching robot controller according to robot location's information of acquisition；
Step 4：Robot controller and industrial computer communication, after industrial personal computer signal is obtained, end movement to scan position；
Step 5：Dot laser sensor carries out ranging；
Step 6：Capture card obtain dot laser sensor adopt distance analog quantity, and pass to industrial personal computer；
Step 7：The analog quantity of distance is converted to digital quantity, and generate new point coordinates by coordinate conversion by industrial personal computer；
Step 8：Multiple scanning box part side wall, until scanning is completed；
Step 9：The point coordinates that scanning obtains is carried out that box part seam track is calculated；
Step 10：It generates offline robot program and is automatically imported robot controller；
Step 11：It is welded after carrying out seam track test；
Wherein：
In the step 9, the coordinate of same point is measured under the multiple and different positions of end effector of robot by controlling, is pushed away
Export spin matrix and translation matrix, you can obtain the trick relational matrix of dot laser sensor and actuator.
It is communicated between the camera, dot laser sensor, robot and industrial personal computer by Ethernet.
In step 9, if CLFor the coordinate system of laser sensor, CTFor robot end's coordinate system, CBFor robot basis coordinates
System；Ba、TaAnd LaRepresent that point is under robot base mark system, robot end's coordinate system and laser sensor coordinate system on spherical surface
Coordinate, wherein Ba=[bx,by,bz]T, Ta=[tx,ty,tz]T, La=[lx,ly,lz]T, the coordinate system C of laser sensorL
To robot end's coordinate system CTSpin matrix be Rl, translation matrix Tl；Robot end's coordinate system CTTo robot base
Mark system CBSpin matrix be Rt, translation matrix Tt, wherein spin matrix is 3 × 3 matrix of matrix, and translation matrix is 3 × 1 squares
Battle array；Matrix B is 4 × 4 homogeneous matrix, represents description robot end's coordinate system CTWith robot base mark system CBBetween contra
Position, by spin matrix RtWith translation matrix TtDescription；
Then：
Coordinate system CLTo CTBe converted to：
Ta=RlLa+Tl
Coordinate system CTTo CBBe converted to：
Ba=RtTa+Tt
So coordinate system CLTo CBBe converted to：
Ba=Rt(RlLa+Tl)+Tt
Being converted to homogeneous matrix has：
Matrix X is 4 × 4 homogeneous matrix, represents trick relational matrix, and matrix X is phase under robot any attitude
With, simultaneously set-point laser sensor institute's ranging is from being always 100mm for adjustment posture, then this is in the coordinate system of laser sensor
Under coordinate it is constant；Using 4 different poses：
(1)：
(2)：
(3)：
(4)：
Wherein, (2)-(1) obtains：
I.e.：
(3)-(1)：
(4)-(1)：
Simultaneous obtains：
Then：
It after obtaining the trick relational matrix of dot laser sensor and actuator carries out that box part seam track is calculated, so
Offline robot program is generated afterwards and is welded after being automatically imported robot controller.
The box part weld seam provided by the invention independently seeks position and track automatic generation method by establishing vision system
Communication between robot controller obtains initial position and carries out laser detection and data processing, final production bonding machine
Device people track is simultaneously automatically imported robot controller, is welded.The present invention can carry out the box part that size differs
Weld seam independently seeks position and automatic welding, makes rational planning for seam track, solves size not batch continuous production
Limitation.
Description of the drawings
Fig. 1 is independently sought in position and track automatic generation method for a kind of box part weld seam provided by the invention between each coordinate system
Transition diagram.
Specific embodiment
The embodiment of the present invention is described in detail below in conjunction with the accompanying drawings.
Referring to Fig. 1, the present invention, which provides a kind of box part weld seam, independently seeks position and track automatic generation method, including as follows
Step：
Step 1：Establish the communication between camera, dot laser sensor, robot and industrial personal computer；
Step 2：Control camera is taken pictures, and the coordinate of box part is passed to robot；
Step 3：Dot laser sensor is scanned searching robot controller according to robot location's information of acquisition；
Step 4：Robot controller and industrial computer communication, after industrial personal computer signal is obtained, end movement to scan position；
Step 5：Dot laser sensor carries out ranging；
Step 6：Capture card obtain dot laser sensor adopt distance analog quantity, and pass to industrial personal computer；
Step 7：The analog quantity of distance is converted to digital quantity, and generate new point coordinates by coordinate conversion by industrial personal computer；
Step 8：Multiple scanning box part side wall, until scanning is completed；
Step 9：The point coordinates that scanning obtains is carried out that box part seam track is calculated；
Step 10：It generates offline robot program and is automatically imported robot controller；
Step 11：It is welded after carrying out seam track test；
Wherein：
In the step 9, the coordinate of same point is measured under the multiple and different positions of end effector of robot by controlling, is pushed away
Export spin matrix and translation matrix, you can obtain the trick relational matrix of dot laser sensor and actuator.
It is communicated between the camera, dot laser sensor, robot and industrial personal computer by Ethernet.
Fig. 1 is please referred to, in step 9, if CLFor the coordinate system of laser sensor, CTFor robot end's coordinate system, CBFor machine
Device people's basis coordinates system；Ba、TaAnd LaRepresent that point is in robot base mark system, robot end's coordinate system and laser sensing on spherical surface
Coordinate under device coordinate system, wherein Ba=[bx,by,bz]T, Ta=[tx,ty,tz]T, La=[lx,ly,lz]T, laser sensor
Coordinate system CLTo robot end's coordinate system CTSpin matrix be Rl, translation matrix Tl；Robot end's coordinate system CTIt arrives
Robot basis coordinates system CBSpin matrix be Rt, translation matrix Tt, wherein spin matrix is 3 × 3 matrix of matrix, translates square
Battle array is 3 × 1 matrixes；Matrix B is 4 × 4 homogeneous matrix, represents description robot end's coordinate system CTWith robot base mark system CB
Between relative bearing, by spin matrix RtWith translation matrix TtDescription；
Then：
Coordinate system CLTo CTBe converted to：
Ta=RlLa+Tl
Coordinate system CTTo CBBe converted to：
Ba=RtTa+Tt
So coordinate system CLTo CBBe converted to：
Ba=Rt(RlLa+Tl)+Tt
Being converted to homogeneous matrix has：
Matrix X is 4 × 4 homogeneous matrix, represents trick relational matrix, and matrix X is phase under robot any attitude
With, simultaneously set-point laser sensor institute's ranging is from being always 100mm for adjustment posture, then this is in the coordinate system of laser sensor
Under coordinate it is constant；Using 4 different poses：
(1)：
(2)：
(3)：
(4)：
Wherein, (2)-(1) obtains：
I.e.：
(3)-(1)：
(4)-(1)：
Simultaneous obtains：
Then：
It after obtaining the trick relational matrix of dot laser sensor and actuator carries out that box part seam track is calculated, so
Offline robot program is generated afterwards and is welded after being automatically imported robot controller.
The box part weld seam provided by the invention independently seeks position and track automatic generation method by establishing vision system
Communication between robot controller obtains initial position and carries out laser detection and data processing, final production bonding machine
Device people track is simultaneously automatically imported robot controller, is welded.The present invention can carry out the box part that size differs
Weld seam independently seeks position and automatic welding, makes rational planning for seam track, solves size not batch continuous production
Limitation.
The foregoing is only a preferred embodiment of the present invention, but protection scope of the present invention be not limited thereto,
Any one skilled in the art in the technical scope disclosed by the present invention, according to the technique and scheme of the present invention and its
Inventive concept is subject to equivalent substitution or change, should be covered by the protection scope of the present invention.
Claims (4)
1. a kind of box part weld seam independently seeks position and track automatic generation method, which is characterized in that includes the following steps：
Step 1：Establish the communication between camera, dot laser sensor, robot and industrial personal computer；
Step 2：Control camera is taken pictures, and the coordinate of box part is passed to robot；
Step 3：Dot laser sensor is scanned searching robot controller according to robot location's information of acquisition；
Step 4：Robot controller and industrial computer communication, after industrial personal computer signal is obtained, end movement to scan position；
Step 5：Dot laser sensor carries out ranging；
Step 6：Capture card obtain dot laser sensor adopt distance analog quantity, and pass to industrial personal computer；
Step 7：The analog quantity of distance is converted to digital quantity, and generate new point coordinates by coordinate conversion by industrial personal computer；
Step 8：Multiple scanning box part side wall, until scanning is completed；
Step 9：The point coordinates that scanning obtains is carried out that box part seam track is calculated；
Step 10：It generates offline robot program and is automatically imported robot controller；
Step 11：It is welded after carrying out seam track test；
Wherein：
In the step 9, the coordinate of same point is measured under the multiple and different positions of end effector of robot by controlling, is derived
Spin matrix and translation matrix, you can obtain the trick relational matrix of dot laser sensor and actuator.
2. a kind of box part weld seam according to claim 1 independently seeks position and track automatic generation method, which is characterized in that
It is communicated between the camera, dot laser sensor, robot and industrial personal computer by Ethernet.
3. a kind of box part weld seam according to claim 1 independently seeks position and track automatic generation method, which is characterized in that
If CLFor the coordinate system of laser sensor, CTFor robot end's coordinate system, CBFor robot basis coordinates system；Ba、TaAnd LaIt represents
Coordinate of the point under robot base mark system, robot end's coordinate system and laser sensor coordinate system, wherein B on spherical surfacea=
[bx,by,bz]T, Ta=[tx,ty,tz]T, La=[lx,ly,lz]T, the coordinate system C of laser sensorLTo robot end's coordinate
It is CTSpin matrix be Rl, translation matrix Tl；Robot end's coordinate system CTTo robot basis coordinates system CBSpin matrix
For Rt, translation matrix Tt, wherein spin matrix is 3 × 3 matrix of matrix, and translation matrix is 3 × 1 matrixes；Matrix B is neat for 4 × 4
Submatrix represents description robot end's coordinate system CTWith robot base mark system CBBetween relative bearing, by spin matrix RtWith
Translation matrix TtDescription；
Then：
Coordinate system CLTo CTBe converted to：
Ta=RlLa+Tl
Coordinate system CTTo CBBe converted to：
Ba=RtTa+Tt
So coordinate system CLTo CBBe converted to：
Ba=Rt(Rl La+Tl)+Tt
Being converted to homogeneous matrix has：
4. a kind of box part weld seam according to claim 1 independently seeks position and track automatic generation method, which is characterized in that
Matrix X is 4 × 4 homogeneous matrix, represents trick relational matrix, and matrix X is identical, adjustment under robot any attitude
Posture and set-point laser sensor institute's ranging are from being always 100mm, then coordinate of this under the coordinate system of laser sensor
Constant；Using 4 different poses：
(1)：
(2)：
(3)：
(4)：
Wherein, (2)-(1) obtains：
I.e.：
(3)-(1)：
(4)-(1)：
Simultaneous obtains：
Then：
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| CN106113049B (en) * | 2016-08-30 | 2018-12-25 | 江苏北人机器人系统股份有限公司 | A kind of welding system and pose method of adjustment of pose adaptive robot |
| CN107322597A (en) * | 2017-07-13 | 2017-11-07 | 上海理工大学 | A kind of fillet weld seam track detection apparatus and method based on laser ranging |
| CN108581260B (en) * | 2018-05-15 | 2020-07-14 | 山东泰开箱变有限公司 | Robot full-automatic welding process method for corrugated wall of distribution transformer oil tank |
| CN109927074A (en) * | 2019-04-22 | 2019-06-25 | 上海交通大学 | Position and tracking visual sensor are sought in robot welding |
| CN110245599A (en) * | 2019-06-10 | 2019-09-17 | 深圳市超准视觉科技有限公司 | A kind of intelligent three-dimensional weld seam Auto-searching track method |
| CN110842918B (en) * | 2019-10-24 | 2020-12-08 | 华中科技大学 | An autonomous positioning method for robot mobile processing based on point cloud servo |
| CN111390335B (en) * | 2020-03-31 | 2021-12-24 | 绍兴汉立工业自动化科技有限公司 | Automatic welding process for plate splicing welding of container |
| CN112355439A (en) * | 2020-10-13 | 2021-02-12 | 绍兴汉立工业自动化科技有限公司 | Special machine automatic welding process for container corrugated welding |
| CN112404772B (en) * | 2020-11-19 | 2022-06-14 | 北京创想智控科技有限公司 | Carriage plate welding control method and device |
| CN118305445A (en) * | 2024-05-09 | 2024-07-09 | 广东瑞浦兰钧能源有限公司 | Laser welding method and device based on CCD visual detection |
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