CN109014677A - Welding robot bond pad locations teaching method based on laser ranging - Google Patents
Welding robot bond pad locations teaching method based on laser ranging Download PDFInfo
- Publication number
- CN109014677A CN109014677A CN201810963722.5A CN201810963722A CN109014677A CN 109014677 A CN109014677 A CN 109014677A CN 201810963722 A CN201810963722 A CN 201810963722A CN 109014677 A CN109014677 A CN 109014677A
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- galvanometer
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- 238000003466 welding Methods 0.000 title claims abstract description 42
- 238000000034 method Methods 0.000 title claims abstract description 18
- 238000005259 measurement Methods 0.000 claims abstract description 6
- 238000012545 processing Methods 0.000 claims description 8
- 230000008569 process Effects 0.000 claims description 4
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008901 benefit Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 229910000679 solder Inorganic materials 0.000 description 1
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
- B23K37/00—Auxiliary devices or processes, not specially adapted for a procedure covered by only one of the other main groups of this subclass
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0081—Programme-controlled manipulators with leader teach-in means
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- Optics & Photonics (AREA)
- Robotics (AREA)
- Laser Beam Processing (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of welding robot bond pad locations teaching method based on laser ranging comprising following steps: 1) laser range sensor of the laser welding head containing galvanometer, coaxial arrangement is provided；2) galvanometer is moved to the target point of welding teaching, and records the position coordinates (X of galvanometer at this time1, Y1, Z1)；3) laser range sensor measurement obtains galvanometer and workpiece surface distance L1；4) L is calculated1With the difference DELTA L=L-L of galvanometer focal length1, L is galvanometer focal length；5) it calculates compensated point and inserts taught point, the coordinate position of galvanometer is (X after compensation2, Y2, Z2), wherein ；Wherein, (α, beta, gamma) is galvanometer plane normal vector；6) step 2-5 is repeated, until completing all point teachings.The present invention uses laser range sensor, measures galvanometer to the distance of workpiece surface and is automatically performed the compensation of focusing, improves welding quality.
Description
[technical field]
The invention belongs to Technology of Welding Robot fields, weld more particularly to a kind of welding robot based on laser ranging
Point position focal length compensates teaching method automatically.
[background technique]
Being stepped up and welding process requirements being stepped up, robot weldering with traditional-handwork weldering cost of labor
It connects and gradually replaces manual welding.Especially the fast development of laser welding technology in recent years, robot welding demand will be more next
It is bigger.
Laser welding needs laser spot alignment pieces surface being just able to achieve the maximum of processing effect and processing speed
Change.Currently, robotic laser welding mainly carries out path planning using the method for point teaching, that is, by the road of welding
Diameter is decomposed into multiple points, these points are input in robot control system, realizes the path planning of robot.But this
Existing for kind of method one the biggest problems are that, be difficult to seriously affect focus to workpiece surface during teaching
The efficiency of teaching and the quality of processing.
Therefore, it is necessary to provide, one kind is new to be solved based on the welding robot bond pad locations teaching method of laser ranging
The above problem.
[summary of the invention]
The main purpose of the present invention is to provide a kind of welding robot bond pad locations teaching method based on laser ranging,
Using laser range sensor, galvanometer is measured to the distance of workpiece surface and is automatically performed the compensation of focusing, improves welding
Quality.
The present invention is achieved through the following technical solutions above-mentioned purpose: a kind of welding robot solder joint position based on laser ranging
Set teaching method comprising following steps:
1) provide a welding equipment, the welding equipment include a mechanical arm, be arranged on the mechanical arm and
Laser welding head containing galvanometer, laser ranging direction and the galvanometer planar process collinear vector laser range sensor；
2) mechanical arm drives the galvanometer to be moved to the target point of welding teaching, and records the vibration at this time
Position coordinates (the X of mirror1, Y1, Z1)；
3) laser range sensor starting being coaxially disposed, measurement obtain the galvanometer at a distance from workpiece surface
L1；
4) galvanometer is calculated to the actual range of workpiece surface and the difference DELTA L of the galvanometer focal length, wherein Δ L
=L-L1, L is galvanometer focal length；
5) the galvanometer focal position is compensated along the galvanometer plane normal direction, and compensated point will be calculated and filled out
Enter taught point, the coordinate position (X of the galvanometer after being compensated2, Y2, Z2), wherein
Wherein, (α, beta, gamma) is galvanometer plane normal vector, compensated (X2, Y2, Z2) it is position needed for welding processing
It sets, that is, completes the teaching and automatic compensation of the point；
6) step 2-5 is repeated, until completing all point teachings.
Compared with prior art, a kind of welding robot bond pad locations teaching method based on laser ranging of the invention has
Beneficial effect is: using laser ranging in conjunction with galvanometer, the distance for measuring galvanometer to workpiece surface is automatically performed the benefit of focusing
It repays, is coaxially disposed by the two, prevent measurement compensation from error occur, improve the accuracy of compensation；Precision of focusing is compared to artificial
Focusing precision is increased substantially, and then improves processing quality；The efficiency of welding point teaching is greatly improved.
[Detailed description of the invention]
Fig. 1 is the welding equipment in the embodiment of the present invention；
Fig. 2 is the step explanatory diagram of the embodiment of the present invention；
Fig. 3 is that galvanometer position focal length compensates mathematical modeling principles figure automatically in the embodiment of the present invention.
[specific embodiment]
Embodiment:
Fig. 1-Fig. 3 is please referred to, the present embodiment is the welding robot bond pad locations teaching method based on laser ranging, packet
Include following steps:
1) welding equipment 100 is provided, the welding equipment 100 includes a mechanical arm 1, is arranged on mechanical arm 1
And laser welding head 3, laser ranging direction and 2 planar process collinear vector of galvanometer containing galvanometer 2 laser range sensor
4；Mechanical arm 1 is mainly used for clamping the position that galvanometer 2 is moved to welding needs；Galvanometer 2 is mainly used for controlling the movement of laser
Direction increases machined surface；Laser range sensor 4 is mainly used for measuring galvanometer to the distance of workpiece surface, mentions for focal length compensation
For specific offset；
2) mechanical arm 1 drives galvanometer 2 to be moved to the target point of welding teaching, and records the position of galvanometer 2 at this time
Coordinate (X1, Y1, Z1)；
3) coaxial laser distance measuring sensor 4 starts, and measurement obtains galvanometer 2 and workpiece surface distance L1；
4) galvanometer 2 is calculated and arrives the actual range of workpiece surface and the difference DELTA L of 2 focal length of galvanometer, wherein Δ L=L-
L1, L is galvanometer focal length；
5) 2 focal position of galvanometer is compensated along 2 plane normal direction of galvanometer, and compensated point filling teaching will be calculated
Point, the coordinate position (X of galvanometer 2 after being compensated2, Y2, Z2), wherein
Wherein, (α, beta, gamma) is galvanometer plane normal vector, compensated (X2, Y2, Z2) it is position needed for welding processing
It sets, that is, completes the teaching and automatic compensation of the point.
6) step 2-5 is repeated, until completing all point teachings.
In the present embodiment, the starting point of laser range sensor 4 is consistent with the position coordinates of galvanometer 2.In other embodiments
In, if the starting point of laser range sensor 4 and the position coordinates of galvanometer 2 are inconsistent, need to mend this partial distance
It repays, i.e., adds the distance in difference DELTA L.
Welding robot bond pad locations teaching method of the present embodiment based on laser ranging, using laser ranging and galvanometer knot
It closes, the distance for measuring galvanometer to workpiece surface is automatically performed the compensation of focusing, is coaxially disposed by the two, prevents measurement from compensating
There is error, improves the accuracy of compensation；Focusing precision is increased substantially compared to artificial focusing precision, and then is promoted
Processing quality；The efficiency of welding point teaching is greatly improved.
Above-described is only some embodiments of the present invention.For those of ordinary skill in the art, not
Under the premise of being detached from the invention design, various modifications and improvements can be made, these belong to protection model of the invention
It encloses.
Claims (1)
1. a kind of welding robot bond pad locations teaching method based on laser ranging, it is characterised in that: itself the following steps are included:
1) provide a welding equipment, the welding equipment include a mechanical arm, be arranged on the mechanical arm and contain
The laser welding head of galvanometer, laser ranging direction and the galvanometer planar process collinear vector laser range sensor；
2) mechanical arm drives the galvanometer to be moved to the target point of welding teaching, and records the galvanometer at this time
Position coordinates (X1, Y1, Z1)；
3) laser range sensor starting being coaxially disposed, measurement obtain the galvanometer and workpiece surface distance L1；
4) galvanometer is calculated to the actual range of workpiece surface and the difference DELTA L of the galvanometer focal length, wherein Δ L=L-
L1, L is galvanometer focal length；
5) the galvanometer focal position is compensated along the galvanometer plane normal direction, and compensated point filling will be calculated and shown
Teach point, the coordinate position (X of the galvanometer after being compensated2, Y2, Z2), wherein
Wherein, (α, beta, gamma) is galvanometer plane normal vector, compensated (X2, Y2, Z2) it is welding processing desired position, i.e.,
Complete the teaching and automatic compensation of the point；
6) step 2-5 is repeated, until completing all point teachings.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810963722.5A CN109014677A (en) | 2018-08-23 | 2018-08-23 | Welding robot bond pad locations teaching method based on laser ranging |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810963722.5A CN109014677A (en) | 2018-08-23 | 2018-08-23 | Welding robot bond pad locations teaching method based on laser ranging |
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| Publication Number | Publication Date |
|---|---|
| CN109014677A true CN109014677A (en) | 2018-12-18 |
Family
ID=64628075
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| CN201810963722.5A Pending CN109014677A (en) | 2018-08-23 | 2018-08-23 | Welding robot bond pad locations teaching method based on laser ranging |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109702718A (en) * | 2019-02-28 | 2019-05-03 | 江苏集萃微纳自动化系统与装备技术研究所有限公司 | Semi-automatic teaching method of the industrial robot without teaching machine |
| CN112008758A (en) * | 2020-07-11 | 2020-12-01 | 埃华路（芜湖）机器人工程有限公司 | Intelligent detection method for tray grabbing height of industrial robot |
| CN113634961A (en) * | 2021-10-18 | 2021-11-12 | 武汉逸飞激光股份有限公司 | Method and device for obtaining welding focal length compensation value, electronic equipment and storage medium |
| CN115255626A (en) * | 2022-07-14 | 2022-11-01 | 武汉逸飞激光股份有限公司 | Method and device for adjusting welding plane to welding focal distance in real time |
| CN115716160A (en) * | 2022-11-14 | 2023-02-28 | 新代科技(苏州)有限公司 | An integrated swing laser welding robot control system and control method |
| CN115741641A (en) * | 2022-11-17 | 2023-03-07 | 遨博（江苏）机器人有限公司 | Robot teaching method and device based on laser ranging device |
| CN116571903A (en) * | 2023-05-15 | 2023-08-11 | 伯朗特机器人股份有限公司 | A method to realize distance measurement compensation for robot laser welding |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109702718A (en) * | 2019-02-28 | 2019-05-03 | 江苏集萃微纳自动化系统与装备技术研究所有限公司 | Semi-automatic teaching method of the industrial robot without teaching machine |
| CN112008758A (en) * | 2020-07-11 | 2020-12-01 | 埃华路（芜湖）机器人工程有限公司 | Intelligent detection method for tray grabbing height of industrial robot |
| CN112008758B (en) * | 2020-07-11 | 2024-03-26 | 埃华路（芜湖）机器人工程有限公司 | Intelligent detection method for grabbing height of industrial robot tray |
| CN113634961A (en) * | 2021-10-18 | 2021-11-12 | 武汉逸飞激光股份有限公司 | Method and device for obtaining welding focal length compensation value, electronic equipment and storage medium |
| CN113634961B (en) * | 2021-10-18 | 2021-12-28 | 武汉逸飞激光股份有限公司 | Method and device for obtaining welding focal length compensation value, electronic equipment and storage medium |
| CN115255626A (en) * | 2022-07-14 | 2022-11-01 | 武汉逸飞激光股份有限公司 | Method and device for adjusting welding plane to welding focal distance in real time |
| CN115716160A (en) * | 2022-11-14 | 2023-02-28 | 新代科技(苏州)有限公司 | An integrated swing laser welding robot control system and control method |
| CN115741641A (en) * | 2022-11-17 | 2023-03-07 | 遨博（江苏）机器人有限公司 | Robot teaching method and device based on laser ranging device |
| CN115741641B (en) * | 2022-11-17 | 2025-03-04 | 遨博（江苏）机器人有限公司 | Robot teaching method and device based on laser ranging device |
| CN116571903A (en) * | 2023-05-15 | 2023-08-11 | 伯朗特机器人股份有限公司 | A method to realize distance measurement compensation for robot laser welding |
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| PB01 | Publication | ||
| PB01 | Publication | ||
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| CB02 | Change of applicant information | ||
| CB02 | Change of applicant information |
Address after: 215000 Chunhui Road, Suzhou Industrial Park, Jiangsu Province Applicant after: New Generation Science and Technology (Suzhou) Co., Ltd. Address before: 215000 Chunhui Road, Suzhou Industrial Park, Jiangsu Province Applicant before: Suzhou Xindai Numerical Control Equipment Co., Ltd. |
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| RJ01 | Rejection of invention patent application after publication | ||
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Application publication date: 20181218 |