CN113478502B - A new method for acquiring target points using line laser as a robot tool - Google Patents
A new method for acquiring target points using line laser as a robot tool Download PDFInfo
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- CN113478502B CN113478502B CN202110804666.2A CN202110804666A CN113478502B CN 113478502 B CN113478502 B CN 113478502B CN 202110804666 A CN202110804666 A CN 202110804666A CN 113478502 B CN113478502 B CN 113478502B
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- 230000005540 biological transmission Effects 0.000 claims description 30
- 230000009467 reduction Effects 0.000 claims description 19
- 238000005192 partition Methods 0.000 claims description 18
- 238000009434 installation Methods 0.000 claims description 15
- 238000001816 cooling Methods 0.000 claims description 14
- 230000036544 posture Effects 0.000 claims description 13
- 239000012530 fluid Substances 0.000 claims description 12
- 239000011159 matrix material Substances 0.000 claims description 12
- 238000000605 extraction Methods 0.000 claims description 3
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- 230000017525 heat dissipation Effects 0.000 abstract description 11
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/005—Manipulators for mechanical processing tasks
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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
- B23K26/02—Positioning or observing the workpiece, e.g. with respect to the point of impact; Aligning, aiming or focusing the laser beam
- B23K26/04—Automatically aligning, aiming or focusing the laser beam, e.g. using the back-scattered light
- B23K26/044—Seam tracking
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1612—Programme controls characterised by the hand, wrist, grip control
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
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Abstract
The invention provides a novel method for acquiring a target point by taking line laser as a robot tool, and relates to the technical field of line laser point acquisition. The novel method for acquiring the target point by using the line laser as a robot tool comprises the following steps of S1, preinstallation: the line laser is movably arranged on a first robot arm holder, and the welding gun is movably arranged on a second robot arm holder; s2, scanning the profile: and sending a command through the upper computer, and receiving an instruction by the lower computer. The novel method for acquiring the target point by using the line laser as a robot tool is characterized in that the line laser is used as an independent tool for calibration, the hand-eye calibration is not needed with a welding gun, the actual position of a target welding line is calculated by combining the set geometric topological point relation, the method is suitable for complex components, the virtual tail end TCP point of the line laser is slightly beyond the tail end TCP of the welding gun during calibration, the probability of touching surrounding structures by the welding gun in the scanning process is reduced, and the aim of heat dissipation is achieved through airflow circulation.
Description
Technical Field
The invention relates to the technical field of line laser point taking, in particular to a novel method for taking line laser as a robot tool to obtain a target point.
Background
The robot laser positioning method and device in the prior art have the following problems:
The method is too dependent on the point taking function provided by the hardware, has the problem that the point taking with complex outline is invalid or excessively deviates, is only suitable for laser tracking welding, the structure of a welding position cannot be complicated, the high temperature of the wall of a welding gun in the long-time welding process can influence the tracking precision of the line laser, the welding requirements of non-standard components, short welding lines and narrow spaces cannot be met, the welding gun tool changes or recalibrates each time, the hand and eye calibration is carried out again, the auxiliary time is long, the line laser is used for tracking and can be arranged at the lower position of the tail end of the welding gun, the action of the welding gun is influenced, the construction posture is fixed, and the flexibility is lacking;
Secondly, the line laser positioning device of the prior art is too complicated to the positioning mechanism of laser and welding gun, and has the problems of difficult operation due to multi-axis linkage, meanwhile, the air flow of the fan of the laser and welding gun heat dissipation device of the prior art is linear, only one line of air can be taken away, the heat dissipation efficiency is low, other heat dissipation devices are complex to install, the cost is high, and the use is inconvenient.
In order to solve the problems, the inventor provides a novel method for acquiring a target point by taking line laser as a robot tool, the line laser is used as a single tool for calibration, hand-eye calibration is not needed to be carried out with a welding gun, the actual position of a target welding seam is calculated by combining a set geometric topological point relation, the method is suitable for complex components, the virtual tail end TCP point of the line laser is slightly beyond the tail end TCP of the welding gun in calibration, the probability of the welding gun touching surrounding structures in the scanning process is reduced, and the aim of heat dissipation is achieved through airflow circulation.
Disclosure of Invention
Aiming at the defects of the prior art, the invention provides a novel method for acquiring a target point by taking line laser as a robot tool, which has the advantages of high practicability, high reliability and high convenience, and solves the problems of low practicability, low reliability and low convenience.
In order to achieve the purposes of high practicability, high reliability and high convenience, the invention is realized by the following technical scheme: a new method for acquiring a target point by using a line laser as a robot tool, comprising the following steps:
s1, pre-installation: the line laser is movably arranged on a first robot arm holder, and the welding gun is movably arranged on a second robot arm holder;
S2, scanning the profile: transmitting a command through an upper computer, receiving the command by a lower computer, rotating a mechanical arm holder I to enable a laser to emit laser, irradiating the laser on the surface of a small object with a sharp outline (such as a small section of angle steel), reading outline point cloud data of a target object scanned by line laser in real time through a laser secondary development function interface, transmitting data to the lower computer through the laser secondary development function interface to convert digital signals, converting the digital quantity into analog quantity, copying the analog data to an upper computer receiving buffer area in an interrupted mode, processing the copied analog data, drawing an outline and direction in a window so as to be convenient for identifying the outline and the direction, and writing the data into a file;
s3, determining a calibration tool TCP point: according to real-time point cloud data, the recognized outline and direction are determined, the coordinate value deviation amount of the X axis and the Z axis is determined, so that outline identification point data X=0, Z=the set virtual tool length, namely the length of a welding gun, position data corresponding to the identification point at the moment is the TCP point of the current calibration tool, a parameter reading instruction is sent to a lower computer through an upper computer, the lower computer receives the parameter reading instruction, and a second robot arm clamp holder is operated to move, so that the direction of the welding gun is primarily overlapped with the TCP point of the calibration tool;
S4, determining virtual TCP points: the virtual point is still calibrated according to a 6-point method provided by a robot control system, namely, a very accurate fixed point is found in the action range of a robot welding gun device, namely, the TCP point of a current calibration tool, the central point of a welding gun is determined to be a reference point, the welding gun is moved by an upper computer operation device and just contacts with the fixed point in four different directions and postures, the fifth point is that the central point of the welding gun moves from the fixed point to the X direction of a TCP point of the calibration tool to be set, the sixth point is that the central point of the welding gun moves from the fixed point to the Z direction of the TCP point of the calibration tool to be set, the position of the virtual TCP point can be calculated by the position data of the first four points, the posture of the virtual TCP point can be determined by the last two points, the TCP point parameter values calibrated in the steps S3 and S4 are stored in the set robot tool number, the laser angle and the position are adjusted by the posture of the virtual TCP point, the upper computer sends a parameter reading instruction to the lower computer, the lower computer receives the parameter reading instruction, and operates a machine arm to move once the arm of the machine moves, so that the direction of the laser coincides with the posture of the virtual point to the TCP point in the Z direction, and the TCP point is required to touch the virtual point beyond the target point when the TCP point needs to be scanned by the initial touch of a TCP point;
S5, fitting virtual TCP point values of the line laser target points: the robot is operated to move, the line laser scans the outline for the position of the target point, and as the target point is not necessarily a regular boundary, characteristic fitting is required to be carried out on the cloud data of the target outline point, the line laser is emitted by the lasers on two sides, and the intersection point is obtained by the two straight lines, so that the robot is suitable for the intersection point of the outer boundary and the intersection point of the inner boundary;
S6, reflection interference: in the step S5, the line laser scans the local area of the contour with reflection interference on the position of the target point, reads the reflection intensity through an upper computer, extracts point cloud data, filters the extracted point cloud data, filters out point cloud data with high reflection intensity and low reflection intensity, and completes the extraction of a key line segment by performing characteristic fitting on the reflection point cloud data and the target contour point cloud data;
s7, calculating a target intersection point: the method comprises the steps of obtaining a waveform diagram through target contour point cloud data, defining a convolution matrix and a threshold value, carrying out convolution operation on the convolution matrix and the point cloud data, comparing an operation result with the threshold value to obtain a new matrix, carrying out image restoration after median filtering operation to obtain a target image, fitting a clear boundary of a contour, and then calculating a target point value according to a point taking characteristic;
S8, calculating a line laser target point to a robot coordinate system: the method comprises the steps of scanning a target position through a laser, calculating a target intersection point according to point cloud data, calculating a relative coordinate value of a target point under a current line laser tool coordinate system, representing the relative coordinate value by P (dx, dz), obtaining a current virtual tool TCP pose value, multiplying the target point by a current TCP matrix to obtain a machine coordinate system pose value of the target point, wherein the calculated target point pose value is a value based on a robot base coordinate system, and enabling a robot arm clamp holder II to move a welding gun to the calculated target point pose value through a lower computer.
The utility model provides a line laser is as robot utensil device of acquireing target point, includes angle control mechanism, angle control mechanism is including screw rod one, screw rod one's bottom transmission is connected with reduction gear, reduction gear's inside transmission is connected with transmission shaft one, transmission shaft one's bottom fixedly connected with spheroid, the outside sliding connection of spheroid has connection shell one, the inside fixedly connected with control block of connection shell one, the outside of control block is provided with the electrode, the outside fixedly connected with of electrode connects shell two, the outside of control block is provided with electromagnetic means, consequently, through control block control electrode through the electric current, through the characteristic of electrorheological fluid, can make spheroid drive connection shell one and laser apparatus rotate, carries out spiral scanning, the same can use the location with welder instrument.
Preferably, the cooling mechanism comprises a screw II, the middle part of the screw II is meshed with a screw III, the middle part of the screw III is in transmission connection with an impeller, the outer side of the impeller is movably connected with a partition plate, the lower side of the partition plate is provided with a spherical seal, and the spherical seal is internally movably connected with a laser device, so that the air is opposite through an air ejection port at the lower side of the tubular partition plate, hot air is driven to rise, and the air is circulated through the application of Bernoulli principle, so that the aim of efficient heat dissipation is achieved.
Preferably, the first screw is in transmission connection with the motor, the reduction gears are not less than two, the spheroids are in sliding connection with the second connecting shell, the control block is electrically connected with the electrode and the electromagnetic device, and the second connecting shell is internally provided with electrorheological fluid, so that the control is convenient to carry out by the other row of electrorheological fluid, the first screw is in mutual engagement with the second screw, the partition plate is in a tubular shape, the pipe diameter of the bottom end of the partition plate is smaller than the pipe diameter of the top end of the partition plate, and the first connecting shell is fixedly connected with the laser device.
Preferably, the welding gun comprises a welding gun body, and is characterized by further comprising a laser mounting arm, wherein an angle control mechanism is movably connected inside the laser mounting arm, a cooling mechanism is movably connected inside the laser mounting arm, a tool mounting arm is movably mounted on the side surface of the laser mounting arm, and a welding gun tool is movably mounted inside the tool mounting arm.
Preferably, the inside swing joint of instrument installation arm has angle control mechanism, the inside swing joint of instrument installation arm has cooling mechanism, the inside and the magnetic path fixed connection of laser installation arm, spherical seal and welder instrument swing joint, consequently, play sealed effect.
Advantageous effects
Compared with the prior art, the invention provides a novel method for acquiring the target point by taking the line laser as a robot tool, which has the following beneficial effects:
1. The novel method for acquiring the target point by using the line laser as a robot tool is characterized in that the line laser is used as a single tool for calibration, the hand-eye calibration is not needed with a welding gun, the influence of TCP adjustment at the tail end of the welding gun on the use of the line laser is reduced, an upper computer is used as a general control means, the point of a welding line at the target position is firstly acquired before welding, the actual position of the target welding line is calculated by combining the set geometric topological point relation, the welding process parameter of a target welding line path is directly processed and then sent to the welding gun for welding, the method is suitable for complex component environments, and very good welding effect and precision can be obtained after the overlong welding line is processed in a segmented mode.
2. The line laser is used as a novel method for acquiring the target point by a robot tool, the line laser equipment is arranged at a higher position of a welding gun holder or on a robot tail end body, so that the welding gun can do complex gestures, the influence of temperature difference change of the wall of the welding gun on the point acquisition precision of the line laser is reduced, the virtual tail end TCP point of the line laser is slightly beyond the tail end TCP of the welding gun in the calibration process, and the probability of touching surrounding structures by the welding gun in the scanning process is reduced.
3. The device for acquiring the target point by using the line laser as a robot tool enables the spheroid to drive the first connecting shell and the laser device to rotate through the characteristics of electrorheological fluid, performs spiral scanning, can be positioned with a welding gun tool in the same way, has a simple structure, enables air convection to drive hot air to rise through the pipe diameter of the bottom end of the partition plate being smaller than the pipe diameter of the top end of the partition plate and the application of Bernoulli principle, and enables air circulation to achieve the purpose of efficient heat dissipation.
Drawings
FIG. 1 is a schematic diagram of the overall structure of the device of the present invention;
FIG. 2 is a schematic cross-sectional view of a laser mounting arm of the present invention;
FIG. 3 is a schematic view of the angle control mechanism of the present invention;
FIG. 4 is a schematic cross-sectional view of the tool mounting arm of the present invention;
FIG. 5 is a schematic view of a spherical seal configuration of the present invention;
FIG. 6 is a schematic view of a TCP point structure according to the present invention;
FIG. 7 is a schematic diagram of a line laser calibration structure according to the present invention;
FIG. 8 is a diagram of a line laser target point value fitting structure according to the present invention;
fig. 9 is a schematic diagram of the calculation structure from the line laser target point to the robot coordinate system according to the present invention.
In the figure: 1. a laser mounting arm; 2. an angle control mechanism; 21. a first screw; 22. a reduction gear; 23. a transmission shaft I; 24. a spheroid; 25. a first connecting shell; 26. a control block; 27. an electrode; 28. a second connecting shell; 29. an electromagnetic device; 3. a cooling mechanism; 31. a second screw; 32. a screw III; 33. an impeller; 34. a partition plate; 35. spherical sealing; 36. a laser device; 4. a tool mounting arm; 5. a welding gun tool.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
The invention is further described by way of examples below:
Embodiment one:
Referring to fig. 6-9, a new method for acquiring a target point by using a line laser as a robot tool includes the following steps:
s1, pre-installation: the line laser is movably arranged on a first robot arm holder, and the welding gun is movably arranged on a second robot arm holder;
S2, scanning the profile: transmitting a command through an upper computer, receiving the command by a lower computer, rotating a mechanical arm holder I to enable a laser to emit laser, irradiating the laser on the surface of a small object with a sharp outline (such as a small section of angle steel), reading outline point cloud data of a target object scanned by line laser in real time through a laser secondary development function interface, transmitting data to the lower computer through the laser secondary development function interface to convert digital signals, converting the digital quantity into analog quantity, copying the analog data to an upper computer receiving buffer area in an interrupted mode, processing the copied analog data, drawing an outline and direction in a window so as to be convenient for identifying the outline and the direction, and writing the data into a file;
s3, determining a calibration tool TCP point: according to real-time point cloud data, the recognized outline and direction are determined, the coordinate value deviation amount of the X axis and the Z axis is determined, so that outline identification point data X=0, Z=the set virtual tool length, namely the length of a welding gun, position data corresponding to the identification point at the moment is the TCP point of the current calibration tool, a parameter reading instruction is sent to a lower computer through an upper computer, the lower computer receives the parameter reading instruction, and a second robot arm clamp holder is operated to move, so that the direction of the welding gun is primarily overlapped with the TCP point of the calibration tool;
S4, determining virtual TCP points: the virtual point is still calibrated according to a 6-point method provided by a robot control system, namely, a very accurate fixed point is found in the action range of a robot welding gun device, namely, the TCP point of a current calibration tool, the central point of a welding gun is determined to be a reference point, the welding gun is moved by an upper computer operation device and just contacts with the fixed point in four different directions and postures, the fifth point is that the central point of the welding gun moves from the fixed point to the X direction of a TCP point of the calibration tool to be set, the sixth point is that the central point of the welding gun moves from the fixed point to the Z direction of the TCP point of the calibration tool to be set, the position of the virtual TCP point can be calculated by the position data of the first four points, the posture of the virtual TCP point can be determined by the last two points, the TCP point parameter values calibrated in the steps S3 and S4 are stored in the set robot tool number, the laser angle and the position are adjusted by the posture of the virtual TCP point, the upper computer sends a parameter reading instruction to the lower computer, the lower computer receives the parameter reading instruction, and operates a machine arm to move once the arm of the machine moves, so that the direction of the laser coincides with the posture of the virtual point to the TCP point in the Z direction, and the TCP point is required to touch the virtual point beyond the target point when the TCP point needs to be scanned by the initial touch of a TCP point;
S5, fitting virtual TCP point values of the line laser target points: the robot is operated to move, the line laser scans the outline for the position of the target point, and as the target point is not necessarily a regular boundary, characteristic fitting is required to be carried out on the cloud data of the target outline point, the line laser is emitted by the lasers on two sides, and the intersection point is obtained by the two straight lines, so that the robot is suitable for the intersection point of the outer boundary and the intersection point of the inner boundary;
S6, reflection interference: in the step S5, the line laser scans the local area of the contour with reflection interference on the position of the target point, reads the reflection intensity through an upper computer, extracts point cloud data, filters the extracted point cloud data, filters out point cloud data with high reflection intensity and low reflection intensity, and completes the extraction of a key line segment by performing characteristic fitting on the reflection point cloud data and the target contour point cloud data;
s7, calculating a target intersection point: the method comprises the steps of obtaining a waveform diagram through target contour point cloud data, defining a convolution matrix and a threshold value, carrying out convolution operation on the convolution matrix and the point cloud data, comparing an operation result with the threshold value to obtain a new matrix, carrying out image restoration after median filtering operation to obtain a target image, fitting a clear boundary of a contour, and then calculating a target point value according to a point taking characteristic;
S8, calculating a line laser target point to a robot coordinate system: the method comprises the steps of scanning a target position through a laser, calculating a target intersection point according to point cloud data, calculating a relative coordinate value of a target point under a current line laser tool coordinate system, representing the relative coordinate value by P (dx, dz), obtaining a current virtual tool TCP pose value, multiplying the target point by a current TCP matrix to obtain a machine coordinate system pose value of the target point, wherein the calculated target point pose value is a value based on a robot base coordinate system, and enabling a robot arm clamp holder II to move a welding gun to the calculated target point pose value through a lower computer.
Embodiment two:
Referring to fig. 1-5, a device for obtaining a target point by using a line laser as a robot tool includes an angle control mechanism 2, wherein the angle control mechanism 2 includes a first screw 21, a reduction gear 22 is connected to a bottom end transmission of the first screw 21, a first transmission shaft 23 is connected to an inner transmission of the reduction gear 22, a ball 24 is fixedly connected to a bottom end of the first transmission shaft 23, a first connection shell 25 is slidably connected to an outer side of the ball 24, a control block 26 is fixedly connected to an inner side of the first connection shell 25, an electrode 27 is arranged on an outer side of the control block 26, a second connection shell 28 is fixedly connected to an outer side of the electrode 27, and an electromagnetic device 29 is arranged on an outer side of the control block 26, so that the first connection shell 25 and a laser device 36 are driven to rotate by the control block 26 through current, spiral scanning can be performed by the characteristics of the current, the first screw 21 is connected to the motor transmission, the reduction gear 22 is not less than two, the ball 24 is slidably connected to the second connection shell 28, the control block 26 is electrically connected to the electrode 27, and the electromagnetic device 29, and the inner side of the second connection shell 28 is provided with an electromagnetic device, so that the current is convenient to control the current and the current is changed.
Embodiment III:
Referring to fig. 1-5, a device for acquiring a target point by using a line laser as a robot tool comprises an angle control mechanism 2, wherein the angle control mechanism 2 comprises a first screw rod 21, a reduction gear 22 is connected at the bottom end of the first screw rod 21 in a transmission way, a first transmission shaft 23 is connected at the inner part of the reduction gear 22 in a transmission way, a spherical body 24 is fixedly connected at the bottom end of the first transmission shaft 23, a first connecting shell 25 is slidingly connected at the outer side of the spherical body 24, a control block 26 is fixedly connected at the inner part of the first connecting shell 25, an electrode 27 is arranged at the outer side of the control block 26, a second connecting shell 28 is fixedly connected at the outer side of the electrode 27, an electromagnetic device 29 is arranged at the outer side of the control block 26, therefore, the first connecting shell 25 and a laser device 36 are driven to rotate by the spherical body 24 through the characteristics of electric current through the control of the control block 26, the same principle can be applied to the positioning of the welding gun tool 5, the screw one 21 is in transmission connection with a motor, the reduction gear 22 is not less than two, the spheroid 24 is in sliding connection with the connecting shell two 28, the control block 26 is electrically connected with the electrode 27 and the electromagnetic device 29, the interior of the connecting shell two 28 is provided with electrorheological fluid, therefore, the control is convenient by the other row of electrorheological fluid, the welding gun tool also comprises a cooling mechanism 3, the cooling mechanism 3 comprises a screw two 31, the middle part of the screw two 31 is meshed with a screw three 32, the middle part of the screw three 32 is in transmission connection with an impeller 33, the outer side of the impeller 33 is movably connected with a baffle 34, the lower side of the baffle 34 is provided with a spherical seal 35, the interior of the spherical seal 35 is movably connected with a laser device 36, therefore, the air convection is realized through the air ejection outlet at the lower side of the tubular baffle 34, the hot air is driven to rise, and the application of the Bernoulli principle is realized, the air flow is circulated, so that the purpose of efficient heat dissipation is achieved.
Embodiment four:
Referring to fig. 1-5, a device for acquiring a target point by using a line laser as a robot tool comprises an angle control mechanism 2, wherein the angle control mechanism 2 comprises a first screw rod 21, a reduction gear 22 is connected at the bottom end of the first screw rod 21 in a transmission way, a first transmission shaft 23 is connected at the inner part of the reduction gear 22 in a transmission way, a spherical body 24 is fixedly connected at the bottom end of the first transmission shaft 23, a first connecting shell 25 is slidingly connected at the outer side of the spherical body 24, a control block 26 is fixedly connected at the inner part of the first connecting shell 25, an electrode 27 is arranged at the outer side of the control block 26, a second connecting shell 28 is fixedly connected at the outer side of the electrode 27, an electromagnetic device 29 is arranged at the outer side of the control block 26, therefore, the first connecting shell 25 and a laser device 36 are driven to rotate by the spherical body 24 through the characteristics of electric current through the control of the control block 26, the same principle can be applied to the positioning of the welding gun tool 5, the screw one 21 is in transmission connection with a motor, the reduction gear 22 is not less than two, the spheroid 24 is in sliding connection with the connecting shell two 28, the control block 26 is electrically connected with the electrode 27 and the electromagnetic device 29, the interior of the connecting shell two 28 is provided with electrorheological fluid, therefore, the control is convenient by the other row of electrorheological fluid, the welding gun tool also comprises a cooling mechanism 3, the cooling mechanism 3 comprises a screw two 31, the middle part of the screw two 31 is meshed with a screw three 32, the middle part of the screw three 32 is in transmission connection with an impeller 33, the outer side of the impeller 33 is movably connected with a baffle 34, the lower side of the baffle 34 is provided with a spherical seal 35, the interior of the spherical seal 35 is movably connected with a laser device 36, therefore, the air convection is realized through the air ejection outlet at the lower side of the tubular baffle 34, the hot air is driven to rise, and the application of the Bernoulli principle is realized, the air flow is circulated, thereby the purpose of high-efficient heat dissipation is achieved, screw one 21 and screw two 31 intermesh, baffle 34 is tubulose, the bottom pipe diameter of baffle 34 is less than the pipe diameter on top, coupling shell one 25 and laser device 36 fixed connection, still including laser installation arm 1, the inside swing joint of laser installation arm 1 has angle control mechanism 2, the inside swing joint of laser installation arm 1 has cooling mechanism 3, the side movable mounting of laser installation arm 1 has instrument installation arm 4, the inside movable mounting of instrument installation arm 4 has welder instrument 5, the inside swing joint of instrument installation arm 4 has angle control mechanism 2, the inside swing joint of instrument installation arm 4 has cooling mechanism 3, the inside and the magnetic path fixed connection of laser installation arm, spherical seal 35 and welder instrument 5 swing joint, consequently, play sealed effect.
When the welding gun tool is used, the laser device 36 is arranged in the spherical seal 35, so that the ball 24 is clamped into the second connecting shell 28, electrorheological fluid is injected, after sealing is finished, the first screw 21 is driven by the motor to rotate, the first screw 21 is driven by the reduction gears 22 to rotate, the reduction gears 22 are decelerated by different transmission ratios of the two reduction gears 22, the first transmission shaft 23 is rotated, the first transmission shaft 23 is driven by the ball 24 to rotate, the electromagnetic device 29 is controlled to be opened by the control block 26, the magnetic block is moved by an induction magnetic field, the first connecting shell 25 is rotated by an angle, so that the laser device 36 is rotated in the spherical seal 35, the electrode 27 is controlled by current by the control block 26, the ball 24 and the second connecting shell 28 are fixedly connected by the characteristics of electrorheological fluid, the ball 24 is driven by the first connecting shell 25 and the laser device 36 to rotate, and spiral scanning is performed, and the positioning of the welding gun tool 5 can be applied in the same way;
The first screw 21 and the second screw 31 are meshed with each other, the first screw 21 drives the second screw 31 to rotate, the second screw 31 drives the third screw 32 to rotate through meshing, the impeller 33 rotates, the impeller 33 blows air into the partition plate 34, the bottom pipe diameter of the partition plate 34 is smaller than the pipe diameter of the top end, the Bernoulli principle shows that the pressure at the place with large flow velocity is small, the pressure at the place with small flow velocity is strong, the flow rate of the air can be regarded as a constant, the formula Q=v is adopted, Q is the flow rate, v is the flow velocity, A is the cross-sectional area, the flow rate at the place with large pipe cross-sectional area is small, the flow rate at the place with small pipe cross-sectional area is large, the air at the upper side is continuously sucked in through the lower side of the tubular partition plate 34, the air jet ports at the lower side of the tubular partition plate are opposite, the air is caused to flow, the hot air is driven to rise, and the air is caused to circulate, and the purpose of high-efficiency heat dissipation is achieved.
In summary, the novel method for acquiring the target point by using the line laser as the robot tool uses the line laser as a single tool for calibration, does not need to perform hand-eye calibration with the welding gun, reduces the influence of TCP adjustment at the tail end of the welding gun on the use of the line laser, uses the upper computer as a general control means, performs point acquisition on the welding line at the target position before welding, calculates the actual position of the target welding line by combining the set geometric topological point relation, directly processes the welding technological parameters of the target welding line path, and sends the processed welding line path to the welding gun for welding, so that the welding method is suitable for complex component environments, and can obtain good welding effect and precision after the overlong welding line is subjected to sectional processing.
The line laser is used as a novel method for acquiring the target point by a robot tool, the line laser equipment is arranged at a higher position of a welding gun holder or on a robot tail end body, so that the welding gun can do complex gestures, the influence of temperature difference change of the wall of the welding gun on the point acquisition precision of the line laser is reduced, the virtual tail end TCP point of the line laser is slightly beyond the tail end TCP of the welding gun in the calibration process, and the probability of touching surrounding structures by the welding gun in the scanning process is reduced.
The line laser is used as a device for acquiring a target point of a robot tool, the bulb 24 drives the first connecting shell 25 and the laser device 36 to rotate through the characteristics of electrorheological fluid, spiral scanning is performed, positioning with the welding gun tool 5 can be applied similarly, the structure is simple, air convection is realized through the fact that the pipe diameter of the bottom end of the partition plate 34 is smaller than that of the top end, and the Bernoulli principle is applied, hot air is driven to rise, and air circulation is realized, so that the aim of efficient heat dissipation is achieved.
Although embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made therein without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
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