Weld seam location method, device, equipment and computer-readable storage medium

Abstract

The present invention discloses a weld seam positioning method, device, equipment, and computer-readable storage medium, relating to the technical field of welding robots. The method comprises: obtaining a welding teaching path and a reference positioning result, wherein the reference positioning result is a positioning result in a base guide rail coordinate system obtained by positioning a workpiece in a reference position by a welding robot according to a preset positioning detection path; positioning the workpiece in a welding position according to the preset positioning detection path to obtain a welding positioning result in a base guide rail coordinate system; calculating an offset of the welding positioning result relative to the reference positioning result; and offsetting the original posture of each teaching point in the welding teaching path according to the offset to obtain a target welding path required for welding the workpiece in the welding position. The present invention realizes laser weld seam positioning under the collaborative welding of the welding robot and the base guide rail, thereby improving the flexibility and adaptability of the welding robot.

Description

Technical Field

[0001] The present invention relates to the technical field of welding robots, and in particular to a weld positioning method, device, equipment and computer-readable storage medium. Background Art

[0002] The welding robot is installed on the base guide rail and can move on the base guide rail to extend and expand its welding range. In actual production, there are problems with welding path deviation caused by teaching errors and workpiece position errors. The laser weld positioning technology detects the actual position of the weld through a laser sensor installed on the welding gun and corrects the welding path to solve the above problems. In the application of existing laser weld positioning technology in welding robots with base guide rails for welding, it is often necessary for the welding robot to move into position on the base guide rail, keep the robot base still, and then perform laser positioning detection and welding. At this time, the welding robot and the base guide rail do not move in coordination. On the one hand, this reduces the range of laser positioning detection, and on the other hand, it results in the inability of the positioning result to correct the coordinated welding path, making it unable to adapt to scenarios requiring coordinated welding. Summary of the Invention

[0003] The main purpose of the present invention is to provide a weld positioning method, device, equipment and computer-readable storage medium, aiming to provide a base guide rail collaborative laser weld positioning solution, realize laser weld positioning under collaborative welding between the welding robot and the base guide rail, and improve the flexibility and adaptability of the welding robot.

[0004] To achieve the above object, the present invention provides a weld positioning method, the method comprising:

[0005] Obtaining a welding teaching path and a reference positioning result, wherein the reference positioning result is a positioning result in a base guide rail coordinate system obtained by the welding robot positioning the workpiece at the reference position according to a preset positioning detection path, and the welding teaching path is a path recorded by the welding robot when performing welding teaching on the workpiece at the reference position;

[0006] Positioning the workpiece at the welding position according to the preset positioning detection path to obtain a welding positioning result in the base guide rail coordinate system;

[0007] Calculating an offset of the welding positioning result relative to the reference positioning result;

[0008] The original posture of each teaching point in the welding teaching path is offset according to the offset amount to obtain a target welding path required for welding the workpiece at the welding position.

[0009] Optionally, the welding positioning result is second posture information corresponding to the target positioning coordinate system;

[0010] The step of positioning the workpiece at the welding position according to the preset positioning detection path to obtain the welding positioning result in the base guide rail coordinate system includes:

[0011] Positioning the workpiece at the welding position according to the preset positioning detection path to obtain first position information of multiple points to be welded on the workpiece at the welding position in a laser coordinate system;

[0012] Converting the first position information of the plurality of points to be welded into second position information in the base guide rail coordinate system;

[0013] The target positioning coordinate system is established according to the second position information of the multiple points to be welded, and the second posture information corresponding to the target positioning coordinate system is calculated.

[0014] Optionally, the step of converting the first position information of the plurality of points to be welded into second position information in the base guide rail coordinate system includes:

[0015] Convert the first position information of the plurality of points to be welded into third position information of the plurality of points to be welded in the base coordinate system according to a conversion relationship among a laser coordinate system, a welding gun tool coordinate system, and a base coordinate system of the welding robot;

[0016] According to the preset conversion relationship between the base coordinate system determined by the guide rail positions corresponding to the multiple points to be welded detected by positioning and the base guide rail coordinate system, the third position information of the multiple points to be welded is converted into the second position information under the base guide rail coordinate system, wherein the guide rail position is used to represent the position of the welding robot on the base guide rail.

[0017] Optionally, the step of performing offset processing on the original posture of each teaching point in the welding teaching path according to the offset amount to obtain a target welding path required for welding the workpiece at the welding position includes:

[0018] Converting the original pose of each teaching point in the welding teaching path into the first pose in the base guide rail coordinate system;

[0019] Performing an offset process on the first posture of each teaching point using the offset amount to obtain a second posture of each teaching point after the offset in the base guide rail coordinate system;

[0020] Converting each of the second postures to obtain a posture of each of the teaching points after shifting in the base coordinate system of the welding robot;

[0021] According to the offset posture of each teaching point in the base coordinate system and the guide rail position recorded corresponding to each teaching point in the welding teaching path, the target welding path required for welding the workpiece in the welding position is obtained, and the guide rail position is used to indicate the position of the welding robot on the base guide rail.

[0022] Optionally, the step of converting each of the second postures to obtain the offset posture of each of the teaching points in the base coordinate system of the robot includes:

[0023] According to the preset conversion relationship between the base coordinate system determined by the guide rail position corresponding to each teaching point in the welding teaching path and the base guide rail coordinate system, each second posture is converted to obtain the offset posture of each teaching point in the base coordinate system.

[0024] Optionally, after the step of performing offset processing on the original posture of each teaching point on the welding teaching path according to the offset amount to obtain a target welding path required for welding the workpiece at the welding position, the method further includes:

[0025] Control the welding robot's welding gun end point to move to the offset posture corresponding to the teaching point, and control the welding robot to move to the guide rail position recorded corresponding to the teaching point to weld the workpiece in the welding position.

[0026] Optionally, the step of obtaining the welding teaching path includes:

[0027] In the teaching mode, the welding robot is controlled to move to the position where welding is required in response to the teaching control instruction, and the position of the welding gun end point of the welding robot and the guide rail position of the welding robot are recorded. The welding teaching path is obtained according to the recorded position of the welding gun end point and the guide rail position, wherein the guide rail position is used to indicate the position of the welding robot on the base guide rail.

[0028] To achieve the above object, the present invention further provides a weld locating device, comprising:

[0029] an acquisition module, configured to acquire a welding teaching path and a reference positioning result, wherein the reference positioning result is a positioning result in a base guide rail coordinate system obtained by the welding robot positioning the workpiece at the reference position according to a preset positioning detection path, and the welding teaching path is a path recorded by the welding robot when performing welding teaching on the workpiece at the reference position;

[0030] A positioning module, configured to position the workpiece at the welding position according to the preset positioning detection path, and obtain a welding positioning result in the base guide rail coordinate system;

[0031] A calculation module, configured to calculate an offset of the welding positioning result relative to the reference positioning result;

[0032] The correction module is used to perform offset processing on the original posture of each teaching point in the welding teaching path according to the offset amount, so as to obtain the target welding path required for welding the workpiece at the welding position.

[0033] To achieve the above-mentioned objectives, the present invention also provides a weld locating device, which includes: a memory, a processor, and a weld locating program stored in the memory and runnable on the processor. When the weld locating program is executed by the processor, the steps of the weld locating method described above are implemented.

[0034] In addition, to achieve the above objectives, the present invention also proposes a computer-readable storage medium, on which a weld locating program is stored. When the weld locating program is executed by a processor, the steps of the weld locating method described above are implemented.

[0035] An embodiment of the present invention provides a base guide rail collaborative laser weld positioning solution. By positioning the workpiece at the reference position and the workpiece at the welding position separately under the same positioning detection path, and converting the reference positioning result and the welding positioning result in the base guide rail coordinate system, calculating the offset between the two positioning results, and correcting the welding teaching path according to the offset, it is possible to support the welding robot to perform positioning detection at different positions on the base guide rail, thereby increasing the range of laser positioning detection, and also realizing that the positioning results can be used to correct the collaborative welding path, realizing laser weld positioning under the collaborative welding of the welding robot and the base guide rail, and improving the flexibility and adaptability of the welding robot. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] Figure 1 A schematic diagram of the hardware operating environment involved in an embodiment of the present invention;

[0037] Figure 2 This is a schematic flow chart of a first embodiment of a weld seam locating method according to the present invention;

[0038] Figure 3 This is a flow chart of a second embodiment of the weld locating method of the present invention;

[0039] Figure 4 This is a schematic flow chart of a third embodiment of a weld locating method according to the present invention;

[0040] Figure 5 This is a schematic diagram of the functional modules of a preferred embodiment of the weld locating device of the present invention.

[0041] The purpose, features and advantages of the present invention will be further described with reference to the accompanying drawings and in conjunction with the embodiments. DETAILED DESCRIPTION

[0042] It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention.

[0043] like Figure 1 As shown, Figure 1 It is a schematic diagram of the device structure of the hardware operating environment involved in the embodiment of the present invention.

[0044] It should be noted that the weld locating device in the embodiment of the present invention may be a welding robot, an industrial computer, a personal computer, a server or other equipment, and is not specifically limited here.

[0045] like Figure 1 As shown, the weld locating device may include: a processor 1001, such as a CPU, a network interface 1004, a user interface 1003, a memory 1005, and a communication bus 1002. The communication bus 1002 is used to realize the connection and communication between these components. The user interface 1003 may include a display screen (Display), an input unit such as a keyboard (Keyboard), and the user interface 1003 may also include a standard wired interface and a wireless interface. The network interface 1004 may optionally include a standard wired interface and a wireless interface (such as a WI-FI interface). The memory 1005 may be a high-speed RAM memory or a stable memory (non-volatile memory), such as a disk memory. The memory 1005 may also be a storage device independent of the aforementioned processor 1001.

[0046] Those skilled in the art will understand that Figure 1 The device structure shown in the figure does not constitute a limitation to the weld locating device, and may include more or fewer components than shown in the figure, or combine certain components, or arrange the components differently.

[0047] like Figure 1 As shown, the memory 1005 as a computer storage medium may include an operating system, a network communication module, a user interface module, and a weld location program. The operating system is a program that manages and controls the hardware and software resources of the device and supports the operation of the weld location program and other software or programs. Figure 1In the device shown, the user interface 1003 is mainly used for data communication with the client; the network interface 1004 is mainly used for establishing a communication connection with the server; and the processor 1001 can be used to call the weld location program stored in the memory 1005 and perform the following operations:

[0048] Obtaining a welding teaching path and a reference positioning result, wherein the reference positioning result is a positioning result in a base guide rail coordinate system obtained by the welding robot positioning the workpiece at the reference position according to a preset positioning detection path, and the welding teaching path is a path recorded by the welding robot when performing welding teaching on the workpiece at the reference position;

[0049] Positioning the workpiece at the welding position according to the preset positioning detection path to obtain a welding positioning result in the base guide rail coordinate system;

[0050] Calculating an offset of the welding positioning result relative to the reference positioning result;

[0051] The original posture of each teaching point in the welding teaching path is offset according to the offset amount to obtain a target welding path required for welding the workpiece at the welding position.

[0052] In a feasible implementation manner, the welding positioning result is second posture information corresponding to the target positioning coordinate system;

[0053] The operation of positioning the workpiece at the welding position according to the preset positioning detection path to obtain the welding positioning result in the base guide rail coordinate system includes:

[0054] Positioning the workpiece at the welding position according to the preset positioning detection path to obtain first position information of multiple points to be welded on the workpiece at the welding position in a laser coordinate system;

[0055] Converting the first position information of the plurality of points to be welded into second position information in the base guide rail coordinate system;

[0056] The target positioning coordinate system is established according to the second position information of the multiple points to be welded, and the second posture information corresponding to the target positioning coordinate system is calculated.

[0057] In one feasible implementation manner, the operation of converting the first position information of the plurality of points to be welded into second position information in the base guide rail coordinate system includes:

[0058] Convert the first position information of the plurality of points to be welded into third position information of the plurality of points to be welded in the base coordinate system according to a conversion relationship among a laser coordinate system, a welding gun tool coordinate system, and a base coordinate system of the welding robot;

[0059] According to the preset conversion relationship between the base coordinate system determined by the guide rail positions corresponding to the multiple points to be welded detected by positioning and the base guide rail coordinate system, the third position information of the multiple points to be welded is converted into the second position information under the base guide rail coordinate system, wherein the guide rail position is used to represent the position of the welding robot on the base guide rail.

[0060] In one feasible embodiment, the operation of offsetting the original posture of each teaching point in the welding teaching path according to the offset amount to obtain the target welding path required for welding the workpiece at the welding position includes:

[0061] Converting the original pose of each teaching point in the welding teaching path into the first pose in the base guide rail coordinate system;

[0062] Performing an offset process on the first posture of each teaching point using the offset amount to obtain a second posture of each teaching point after the offset in the base guide rail coordinate system;

[0063] Converting each of the second postures to obtain a posture of each of the teaching points after shifting in the base coordinate system of the welding robot;

[0064] According to the offset posture of each teaching point in the base coordinate system and the guide rail position recorded corresponding to each teaching point in the welding teaching path, the target welding path required for welding the workpiece in the welding position is obtained, and the guide rail position is used to indicate the position of the welding robot on the base guide rail.

[0065] In one feasible implementation, the operation of converting each of the second postures to obtain the offset posture of each of the teaching points in the base coordinate system of the robot includes:

[0066] According to the preset conversion relationship between the base coordinate system determined by the guide rail position corresponding to each teaching point in the welding teaching path and the base guide rail coordinate system, each second posture is converted to obtain the offset posture of each teaching point in the base coordinate system.

[0067] In one feasible embodiment, after performing the offset processing on the original pose of each teaching point on the welding teaching path according to the offset amount to obtain the target welding path required for welding the workpiece at the welding position, the processor 1001 can also be used to call the weld positioning program stored in the memory 1005 to perform the following operations:

[0068] Control the welding robot's welding gun end point to move to the offset posture corresponding to the teaching point, and control the welding robot to move to the guide rail position recorded corresponding to the teaching point to weld the workpiece in the welding position.

[0069] In one feasible implementation, the operation of obtaining the welding teaching path includes:

[0070] In the teaching mode, the welding robot is controlled to move to the position where welding is required in response to the teaching control instruction, and the position of the welding gun end point of the welding robot and the guide rail position of the welding robot are recorded. The welding teaching path is obtained according to the recorded position of the welding gun end point and the guide rail position, wherein the guide rail position is used to indicate the position of the welding robot on the base guide rail.

[0071] Based on the above structure, various embodiments of the weld positioning method are proposed.

[0072] The welding robot is mounted on a base rail and can move on the rail, thereby extending and expanding its welding range. In actual production, there is a problem of welding path deviation caused by teaching errors and workpiece position errors. Laser weld seam positioning technology uses a laser sensor installed on the welding gun to detect the actual position of the weld seam and correct the welding path, thereby solving the above problem. In the application of existing laser weld seam positioning technology in welding robots with base rails, it is often necessary to move the welding robot into position on the base rail, keep the robot base stationary, and then perform laser positioning detection and welding. At this time, the welding robot and the base rail do not move in coordination. On the one hand, this reduces the range of laser positioning detection, and on the other hand, it results in the positioning results being unable to correct the coordinated welding path, making it unsuitable for scenarios requiring coordinated welding. In order to overcome the problem that the existing technology cannot perform laser weld positioning when the welding robot and the base rail are coordinated, the embodiments of the present invention propose a base rail coordinated laser weld seam positioning technology to achieve welding path correction in coordinated welding scenarios, thereby improving the flexibility and welding quality of the welding robot. The following describes various embodiments of the weld seam positioning method of the present invention.

[0073] Reference Figure 2 , Figure 2 Schematic diagram of the flow chart of the first embodiment of the weld locating method of the present invention.

[0074] The embodiments of the present invention provide embodiments of the weld seam location method. It should be noted that although the logical order is shown in the flowchart, in some cases, the steps shown or described can be performed in a different order than here. In this embodiment, the execution subject of the weld seam location method can be a welding robot, an industrial computer, a personal computer, a server and other devices, which are not limited in this embodiment. For the sake of convenience, the following description of each embodiment is omitted. In this embodiment, the weld seam location method includes steps S10 to S40:

[0075] Step S10, obtaining the welding teaching path and the reference positioning result, wherein the reference positioning result is the positioning result in the base guide rail coordinate system obtained by the welding robot positioning the workpiece in the reference position according to the preset positioning detection path, and the welding teaching path is the path recorded by the welding robot when teaching welding on the workpiece in the reference position.

[0076] When a welding robot is used to weld a workpiece, the workpiece is placed in a certain position (for example, in a fixed slot), and the end point of the welding gun of the welding robot is moved to the position of the weld point on the workpiece, and the weld point is welded. In this embodiment, the position where the workpiece is placed during welding teaching is referred to as the reference position, and the position where the workpiece is placed during actual welding is referred to as the welding position, for the purpose of distinction. Generally, after the welding teaching is completed, the workpiece is replaced and the actual welding is performed on the replaced workpiece. Ideally, the reference position and the welding position are the same. In this way, the welding teaching path can be used to weld the workpiece in the welding position. However, in actual situations, there may be deviations between the welding position and the reference position. At this time, if the workpiece in the welding position is still welded according to the welding teaching path, the welding position on the workpiece will be inaccurate, that is, the weld is not accurately welded at the weld position. Therefore, the welding teaching path needs to be corrected.

[0077] The welding teaching path may be a path recorded in advance by the welding robot when teaching welding to a workpiece in a reference position. The welding teaching path may include the postures of multiple teaching points recorded by the welding robot (hereinafter referred to as original postures for distinction). It should be noted that during welding, the end point of the welding gun of the welding robot moves to the position of the point to be welded on the workpiece, so the original posture of the teaching point may actually be the posture of the end point of the welding gun when the end point of the welding gun moves to the position of the teaching point. The original posture may be a posture in the base coordinate system of the welding robot, or it may be a posture in other coordinate systems, such as the workpiece coordinate system, the user coordinate system, etc. Since the postures in various coordinate systems can be converted to each other, in actual application scenarios, the posture in which coordinate system the original posture adopts can be selected according to needs. In one feasible embodiment, the welding teaching path may also include the guide rail positions corresponding to each teaching point. That is, in actual application scenarios, the weld to be welded on the workpiece may be long. In this case, the welding robot needs to move its position on the guide rail to complete the welding of the long weld. Therefore, the welding robot can simultaneously record the guide rail positions corresponding to each teaching point, that is, the position of the welding robot on the guide rail.

[0078] In one feasible embodiment, the step of obtaining a welding teaching path may include: in a teaching mode, controlling the welding robot to move to a desired welding position in response to a teaching control instruction, recording the position of the welding robot's welding gun end point and the position of the welding robot's guide rail, and obtaining the welding teaching path based on the recorded position of the welding gun end point and the guide rail position, wherein the guide rail position represents the position of the welding robot on the base rail. The preset frequency can be pre-set as needed and is not limited in this embodiment. The teaching control instruction can be triggered by a user using a teaching tool. For example, if a straight line is to be welded, the user can use the teaching tool to control the welding robot to move to the first and last points of the line, which are the two teaching points. The welding robot records the position of the welding gun end point and the position of the welding robot's guide rail when moving to the first and last teaching points, and obtains the welding teaching path based on the recorded position of the welding gun end point and the guide rail position.

[0079] The welding robot positions the workpiece in the reference position in advance according to the preset positioning detection path, and converts the positioning result into the positioning result in the base guide rail coordinate system (called the reference positioning result for distinction). The preset positioning detection path can be the path recorded by the welding robot in advance when teaching the positioning detection of the workpiece in the reference position. The preset positioning detection path is used to guide the welding robot to move to the corresponding detection position for positioning detection, and its specific data form is not limited in this embodiment. For example, in a feasible implementation, the preset positioning detection path may include the posture of multiple detection points recorded by the welding robot, and the posture actually refers to the posture to which the end point of the welding gun needs to move during the positioning detection, that is, the posture of the end point of the welding gun of the welding robot moves to the detection point during the positioning detection, and the weld on the workpiece is positioned by the laser sensor of the welding robot. The posture of the detection point can be the posture in the base coordinate system of the welding robot, or it can also be the posture in other coordinate systems, such as the workpiece coordinate system, the user coordinate system, etc. Since the postures in various coordinate systems can be converted into each other, in actual application scenarios, the posture of the detection point can be selected according to the needs of which coordinate system. In one feasible embodiment, the preset positioning detection path can also include the guide rail position recorded corresponding to each detection point. That is, in actual application scenarios, the weld that needs to be positioned on the workpiece may be long. In this case, the welding robot needs to move its position on the guide rail to complete the positioning of the long weld. Therefore, the welding robot can simultaneously record the guide rail position corresponding to each detection point, that is, the position of the welding robot on the guide rail.

[0080] In one feasible implementation, before welding a batch of workpieces of the same model, a welding teaching process can be performed. The welding robot records the welding teaching path and then positions the workpiece in a reference position to obtain a reference positioning result. The batch of workpieces can then be welded sequentially according to the welding teaching path and reference positioning result. The pre-recorded welding teaching path and reference positioning result can be retrieved each time a workpiece is replaced or its position is changed.

[0081] Step S20 , positioning the workpiece at the welding position according to the preset positioning detection path, and obtaining a welding positioning result in the base guide rail coordinate system.

[0082] Before welding the workpiece at the welding position, the workpiece at the welding position is first positioned according to a preset positioning detection path, and the positioning result is converted into a positioning result in the base guide rail coordinate system (called welding positioning result for distinction).

[0083] Step S30: calculating the offset of the welding positioning result relative to the reference positioning result.

[0084] The positioning results in the base rail coordinate system refer to the position, posture, and other information in the positioning results relative to the base rail coordinate system. In this embodiment, the data format of the reference positioning results and the welding positioning results is not limited; any positioning result that can be used to calculate the offset can be used, for example, a posture matrix. The offset is caused by the deviation of the welding position from the reference position.

[0085] For example, in one feasible implementation, step S30 may include step S301: calculating the offset of the second pose matrix relative to the first pose matrix. When the reference positioning result is the first pose matrix corresponding to the reference positioning coordinate system, and the welding positioning result is the second pose matrix corresponding to the target positioning coordinate system, the offset is the offset of the second pose matrix relative to the first pose matrix. The pose matrix T corresponding to the offset can be calculated using the following formula: s :

[0086] T s =T a (T b ) -1

[0087] Among them, T a represents the second pose matrix, T b represents the first pose matrix.

[0088] Step S40 , performing an offset process on the original posture of each teaching point in the welding teaching path according to the offset amount, so as to obtain a target welding path required for welding the workpiece at the welding position.

[0089] After the offset is calculated, the offset can be used to offset the original posture of each teaching point in the welding teaching path, thereby correcting the original welding path and obtaining the correct welding path required for welding the workpiece in the welding position (called the target welding path for distinction), and then the workpiece in the welding position can be welded according to the target welding path.

[0090] It should be noted that the data format of the offset is different, and the specific calculation method for offsetting the original posture of the teaching point according to the offset will be different. In this embodiment, the specific calculation method is not limited.

[0091] In a feasible implementation, when the welding teaching path also includes the guide rail positions recorded corresponding to each teaching point, the offset-processed posture corresponding to each teaching point and the guide rail positions recorded corresponding to each teaching point in the welding teaching path can be determined as the target welding path. That is, in addition to the offset-processed posture corresponding to each teaching point, the target welding path also includes the guide rail positions recorded corresponding to each teaching point. Then, when welding is performed according to the posture of a teaching point in the target welding path and the corresponding guide rail position, it is necessary to control the welding robot to move to the corresponding position on the base rail according to the guide rail position, control the end point of the welding robot's welding gun to move to the posture, and then perform welding.

[0092] In this embodiment, by obtaining a welding teaching path and a reference positioning result, wherein the reference positioning result is the positioning result in the base guide rail coordinate system obtained by the welding robot positioning the workpiece in the reference position according to a preset positioning detection path, and the welding teaching path is the path recorded by the welding robot when teaching welding to the workpiece in the reference position; positioning the workpiece in the welding position according to the preset positioning detection path to obtain the welding positioning result in the base guide rail coordinate system; calculating the offset of the welding positioning result relative to the reference positioning result; and offsetting the original position of each teaching point in the welding teaching path according to the offset to obtain the target welding path required for welding the workpiece in the welding position. In this way, this embodiment provides a base guide rail collaborative laser weld positioning solution. By positioning the workpiece at the reference position and the workpiece at the welding position respectively under the same positioning detection path, and converting the reference positioning result and the welding positioning result in the base guide rail coordinate system, calculating the offset between the two positioning results, and correcting the welding teaching path according to the offset, it is possible to support the welding robot to perform positioning detection at different positions on the base guide rail, thereby increasing the range of laser positioning detection, and also realizing that the positioning results can be used to correct the collaborative welding path, realizing the laser weld positioning under the collaborative welding of the welding robot and the base guide rail, and improving the flexibility and adaptability of the welding robot.

[0093] Based on the above first embodiment, a second embodiment of the weld positioning method of the present invention is proposed. In this embodiment, referring to Figure 3 , the step S20 includes S201 to S203:

[0094] In step S201 , the workpiece at the welding position is positioned according to the preset positioning detection path to obtain first position information of a plurality of points to be welded on the workpiece at the welding position in a laser coordinate system.

[0095] In this embodiment, the welding positioning result can be the second pose information corresponding to the target positioning coordinate system, and correspondingly, the reference positioning result can be the first pose information corresponding to the reference positioning coordinate system, and the offset is the offset of the second pose information relative to the first pose information. In a specific embodiment, the first pose information and the second pose information can be specifically represented in matrix form, so the first pose information can be a first pose matrix, and the second pose information can be a second pose matrix.

[0096] The welding robot can be controlled to move to a corresponding detection position according to a preset positioning detection path, and a laser sensor can be used to perform positioning detection on a workpiece in the welding position, thereby obtaining position information of multiple points to be welded on the workpiece in a laser coordinate system (referred to as first position information for distinction). The first position information can be a position vector of the point to be welded.

[0097] In one feasible embodiment, the preset positioning detection path includes the postures corresponding to multiple detection points and the guide rail positions corresponding to the multiple detection points. The guide rail position is the position of the welding robot on the base guide rail. For each detection point, the welding robot can be controlled to move to the guide rail position corresponding to the detection point, and the end point of the welding robot's welding gun can be controlled to move to the posture corresponding to the detection point. The weld seam on the workpiece in the welding position is located using a laser sensor to obtain the first position information of at least one point to be welded on the workpiece in the laser coordinate system. Positioning according to the preset positioning detection path can obtain the first position information of multiple points to be welded in the laser coordinate system.

[0098] Step S202: converting the first position information of the plurality of points to be welded into second position information in the base guide rail coordinate system.

[0099] The laser coordinate system is a coordinate system centered on the laser sensor. A conversion relationship between the laser coordinate system and the base rail coordinate system can be pre-set. This conversion relationship converts the first position information of multiple weld points in the laser coordinate system into the second position information in the base rail coordinate system.

[0100] Step S203: establishing the target positioning coordinate system according to the second position information of the plurality of points to be welded, and calculating and obtaining the second posture information corresponding to the target positioning coordinate system.

[0101] There are many ways to establish a coordinate system (hereinafter referred to as the target positioning coordinate system for distinction) based on the second position information of multiple weld points, and this is not limited in this embodiment. For example, in one feasible embodiment, the target positioning coordinate system can be established using methods such as the "three-point method", the "four-point method", and the "circle method". The second pose information corresponding to the target positioning coordinate system is calculated, and then the offset is calculated based on the second pose information and the first pose information.

[0102] It should be noted that the method for establishing the reference positioning coordinate system is similar to the method for establishing the target positioning coordinate system, and will not be described in detail here.

[0103] In one feasible implementation, step S202 includes S2021 to S2022:

[0104] Step S2021: According to the conversion relationship between the laser coordinate system, the welding gun tool coordinate system and the base coordinate system of the welding robot, the first position information of the multiple points to be welded is converted into the third position information of the multiple points to be welded in the base coordinate system.

[0105] For example, in one feasible implementation, the conversion relationship corresponding to the following formula can be used to convert the first position information of the welding point in the laser coordinate system into position information in the base coordinate system (hereinafter referred to as the third position information for distinction).

[0106]

[0107] in is the transformation matrix of the welding gun tool coordinate system relative to the base coordinate system, is the transformation matrix of the laser sensor coordinates relative to the welding gun tool coordinate system, is the transformation matrix of the welding robot base coordinate system relative to the base guide rail coordinate system, P l is the position vector of the welding point in the laser coordinate system, P rweld It is the position vector of the point to be welded in the base rail coordinate system.

[0108] Step S2022, according to the preset conversion relationship between the base coordinate system determined by the guide rail positions corresponding to the multiple points to be welded detected by positioning and the base guide rail coordinate system, the third position information of the multiple points to be welded is converted into the second position information under the base guide rail coordinate system, wherein the guide rail position is used to represent the position of the welding robot on the base guide rail.

[0109] The conversion relationship between the base coordinate system and the base rail coordinate system varies depending on the welding robot's position on the base rail. This conversion relationship can be pre-set for different rail positions. When converting the third position information of the weld point in the base coordinate system to the base rail coordinate system, the conversion relationship between the base coordinate system and the base rail coordinate system is determined based on the recorded rail position corresponding to the weld point in the preset positioning detection path. This conversion relationship is then used to convert the third position information into the second position information in the base rail coordinate system.

[0110] Based on the above-mentioned first and / or second embodiments, a third embodiment of the weld positioning method of the present invention is proposed. In this embodiment, referring to Figure 4 , the step S40 includes S401 to S404:

[0111] Step S401: converting the original posture of each teaching point in the welding teaching path into the first posture in the base guide rail coordinate system.

[0112] The original pose of each teaching point in the welding teaching path may not be relative to the base guide rail coordinate system. For example, it may be relative to the base coordinate system. In this case, the original pose can be converted to the base guide rail coordinate system first, and the converted pose is called the first pose to distinguish it.

[0113] Step S402 : performing an offset process on the first posture of each teaching point using the offset amount to obtain a second posture of each teaching point after the offset in the base guide rail coordinate system.

[0114] In one feasible implementation, the first pose can be offset according to the following formula to obtain the offset pose of each teaching point in the base guide rail coordinate system (called the second pose for distinction).

[0115] T t2 =T s T t1

[0116] Among them, T s Represents the pose matrix corresponding to the offset, T t1 Represents the pose matrix corresponding to the first pose of each teaching point, T t2 Represents the pose matrix corresponding to the second pose of each teaching point.

[0117] Step S403: converting each of the second postures to obtain the offset posture of each of the teaching points in the base coordinate system of the welding robot.

[0118] Then, each second pose is converted to the base coordinate system to obtain the offset pose of each teaching point in the base coordinate system.

[0119] Step S404, according to the offset posture of each teaching point in the base coordinate system, and the guide rail position corresponding to each teaching point in the welding teaching path, obtain the target welding path required for welding the workpiece in the welding position, wherein the guide rail position is used to indicate the position of the welding robot on the base guide rail.

[0120] The offset posture of each teaching point in the base coordinate system and the guide rail position recorded corresponding to each teaching point in the welding teaching path can be used as the target welding path required for welding the workpiece at the welding position, and then the workpiece can be welded according to the target welding path.

[0121] In one feasible implementation, step S403 includes:

[0122] Step S4031, according to the preset conversion relationship between the base coordinate system determined by the guide rail position corresponding to each teaching point in the welding teaching path and the base guide rail coordinate system, each second posture is converted to obtain the offset posture of each teaching point in the base coordinate system.

[0123] The conversion relationship between the base coordinate system and the base rail coordinate system varies depending on the welding robot's position on the base rail. This conversion relationship can be pre-set for different rail positions. When converting the second pose of the teaching point in the base rail coordinate system to the base coordinate system, the conversion relationship between the base coordinate system and the base rail coordinate system is determined based on the recorded rail position corresponding to the teaching point in the welding teaching path. This conversion relationship is then used to convert the second pose to the offset pose in the base coordinate system.

[0124] In one feasible implementation, the second posture in the base rail coordinate system may be transformed according to the following matrix relationship to obtain the offset posture in the base coordinate system.

[0125]

[0126] Where T bend is the pose matrix in the base coordinate system. is the transformation matrix of the base coordinate system relative to the base guide rail coordinate system, T rweld is the pose matrix in the base rail coordinate system.

[0127] In a feasible implementation manner, after step S40, the method further includes:

[0128] Step S50, controlling the end point of the welding gun of the welding robot to move to the offset posture corresponding to the teaching point, and controlling the welding robot to move to the guide rail position recorded corresponding to the teaching point, so as to weld the workpiece at the welding position.

[0129] After obtaining the offset posture of each teaching point and the guide rail position recorded corresponding to each teaching point, each teaching point can be welded in sequence according to the welding order of each teaching point. For each teaching point, the welding gun end point of the welding robot is controlled to move to the offset posture corresponding to the teaching point, and the welding robot is controlled to move to the guide rail position recorded corresponding to the teaching point, and welding is performed on the teaching point. After completing the welding of each teaching point, the welding of the workpiece in the welding position is completed.

[0130] In addition, the embodiment of the present invention also provides a weld positioning device, referring to Figure 5 , the weld locating device comprises:

[0131] An acquisition module 10 is configured to acquire a welding teaching path and a reference positioning result, wherein the reference positioning result is a positioning result in a base guide rail coordinate system obtained by the welding robot positioning the workpiece at the reference position according to a preset positioning detection path, and the welding teaching path is a path recorded by the welding robot when performing welding teaching on the workpiece at the reference position;

[0132] A positioning module 20 is used to position the workpiece at the welding position according to the preset positioning detection path, and obtain a welding positioning result in the base guide rail coordinate system;

[0133] A calculation module 30, configured to calculate an offset of the welding positioning result relative to the reference positioning result;

[0134] The correction module 40 is used to perform an offset process on the original posture of each teaching point in the welding teaching path according to the offset amount, so as to obtain a target welding path required for welding the workpiece at the welding position.

[0135] In a feasible implementation manner, the welding positioning result is second posture information corresponding to the target positioning coordinate system;

[0136] The positioning module 20 is also used for:

[0137] Positioning the workpiece at the welding position according to the preset positioning detection path to obtain first position information of multiple points to be welded on the workpiece at the welding position in a laser coordinate system;

[0138] Converting the first position information of the plurality of points to be welded into second position information in the base guide rail coordinate system;

[0139] The target positioning coordinate system is established according to the second position information of the multiple points to be welded, and the second posture information corresponding to the target positioning coordinate system is calculated.

[0140] In one feasible implementation, the positioning module 20 is further configured to:

[0141] Convert the first position information of the plurality of points to be welded into third position information of the plurality of points to be welded in the base coordinate system according to a conversion relationship among a laser coordinate system, a welding gun tool coordinate system, and a base coordinate system of the welding robot;

[0142] According to the preset conversion relationship between the base coordinate system determined by the guide rail positions corresponding to the multiple points to be welded detected by positioning and the base guide rail coordinate system, the third position information of the multiple points to be welded is converted into the second position information under the base guide rail coordinate system, wherein the guide rail position is used to represent the position of the welding robot on the base guide rail.

[0143] In one feasible implementation, the correction module 40 is further configured to:

[0144] Converting the original pose of each teaching point in the welding teaching path into the first pose in the base guide rail coordinate system;

[0145] Performing an offset process on the first posture of each teaching point using the offset amount to obtain a second posture of each teaching point after the offset in the base guide rail coordinate system;

[0146] Converting each of the second postures to obtain a posture of each of the teaching points after shifting in the base coordinate system of the welding robot;

[0147] According to the offset posture of each teaching point in the base coordinate system and the guide rail position recorded corresponding to each teaching point in the welding teaching path, the target welding path required for welding the workpiece in the welding position is obtained, and the guide rail position is used to indicate the position of the welding robot on the base guide rail.

[0148] In one feasible implementation, the correction module 40 is further configured to:

[0149] According to the preset conversion relationship between the base coordinate system determined by the guide rail position corresponding to each teaching point in the welding teaching path and the base guide rail coordinate system, each second posture is converted to obtain the offset posture of each teaching point in the base coordinate system.

[0150] In one possible embodiment, the device further includes:

[0151] The welding module is used to control the end point of the welding gun of the welding robot to move to the offset posture corresponding to the teaching point, and to control the welding robot to move to the guide rail position recorded corresponding to the teaching point, so as to weld the workpiece in the welding position.

[0152] In one feasible implementation, the acquisition module 10 is further configured to:

[0153] In the teaching mode, the welding robot is controlled to move to the position where welding is required in response to the teaching control instruction, and the position of the welding gun end point of the welding robot and the guide rail position of the welding robot are recorded. The welding teaching path is obtained according to the recorded position of the welding gun end point and the guide rail position, wherein the guide rail position is used to indicate the position of the welding robot on the base guide rail.

[0154] The expanded content of the specific implementation of the weld locating device of the present invention is basically the same as the various embodiments of the weld locating method described above, and will not be elaborated here.

[0155] In addition, an embodiment of the present invention further provides a computer-readable storage medium, on which a weld locating program is stored. When the weld locating program is executed by a processor, the steps of the weld locating method described below are implemented.

[0156] The various embodiments of the weld locating device and the computer-readable storage medium of the present invention may refer to the various embodiments of the weld locating method of the present invention, and will not be described in detail here.

[0157] It should be noted that, in this document, the terms "comprises," "includes," or any other variations thereof are intended to encompass non-exclusive inclusion, such that a process, method, article, or apparatus comprising a series of elements includes not only those elements but also other elements not explicitly listed, or elements inherent to such process, method, article, or apparatus. In the absence of further limitations, an element defined by the phrase "comprising a ..." does not exclude the presence of other identical elements in the process, method, article, or apparatus comprising the element.

[0158] The serial numbers of the above embodiments of the present invention are for description only and do not represent the advantages or disadvantages of the embodiments.

[0159] Through the description of the above embodiments, those skilled in the art can clearly understand that the above-mentioned embodiment methods can be implemented by means of software plus the necessary general hardware platform, and of course can also be implemented by hardware, but in many cases the former is a better embodiment. Based on this understanding, the technical solution of the present invention, or the part that contributes to the prior art, can be embodied in the form of a software product, which is stored in a storage medium (such as ROM / RAM, magnetic disk, optical disk), and includes a number of instructions for enabling a terminal device (which can be a mobile phone, computer, server, air conditioner, or network device, etc.) to execute the methods described in each embodiment of the present invention.

[0160] The above are only preferred embodiments of the present invention and are not intended to limit the patent scope of the present invention. Any equivalent structure or equivalent process transformation made using the contents of the present invention description and drawings, or directly or indirectly applied in other related technical fields, are also included in the patent protection scope of the present invention.

Claims

1. A weld positioning method, characterized in that: The weld seam locating method comprises the following steps: Obtaining a welding teaching path and a reference positioning result, wherein the reference positioning result is a positioning result in a base guide rail coordinate system obtained by the welding robot positioning the workpiece at the reference position according to a preset positioning detection path, and the welding teaching path is a path recorded by the welding robot when performing welding teaching on the workpiece at the reference position; Positioning the workpiece at the welding position according to the preset positioning detection path to obtain a welding positioning result in the base guide rail coordinate system; Calculating an offset of the welding positioning result relative to the reference positioning result; The original posture of each teaching point in the welding teaching path is offset according to the offset amount to obtain the target welding path required for welding the workpiece in the welding position, and the steps include: converting the original posture of each teaching point in the welding teaching path into the first posture in the base guide rail coordinate system; offsetting the first posture of each teaching point using the offset amount to obtain the second posture of each teaching point after offset in the base guide rail coordinate system; converting each second posture according to the preset conversion relationship between the base coordinate system determined by the guide rail position corresponding to each teaching point in the welding teaching path and the base guide rail coordinate system to obtain the second posture of each teaching point in the base guide rail coordinate system. The method comprises the following steps: controlling the offset posture of each teaching point in the base coordinate system; obtaining a target welding path required for welding the workpiece in the welding position according to the offset posture of each teaching point in the base coordinate system and the guide rail position recorded corresponding to each teaching point in the welding teaching path; controlling the welding gun end point of the welding robot to move to the offset posture corresponding to the teaching point, and controlling the welding robot to move to the guide rail position recorded corresponding to the teaching point, so as to weld the workpiece in the welding position; wherein, the preset positioning detection path includes postures corresponding to multiple detection points and guide rail positions recorded corresponding to multiple detection points, and the guide rail position is used to indicate the position of the welding robot on the base guide rail.

2. The weld seam positioning method according to claim 1, wherein: The step of obtaining the welding teaching path includes: In the teaching mode, the welding robot is controlled to move to the position where welding is required in response to the teaching control instruction, and the position of the welding gun end point of the welding robot and the guide rail position of the welding robot are recorded, and the welding teaching path is obtained according to the recorded position of the welding gun end point and the guide rail position.

3. A weld locating device for implementing the steps of the weld locating method according to claim 1 or 2, characterized in that: The weld seam locating device comprises: an acquisition module, configured to acquire a welding teaching path and a reference positioning result, wherein the reference positioning result is a positioning result in a base guide rail coordinate system obtained by the welding robot positioning the workpiece at the reference position according to a preset positioning detection path, and the welding teaching path is a path recorded by the welding robot when performing welding teaching on the workpiece at the reference position; A positioning module, configured to position the workpiece at the welding position according to the preset positioning detection path, and obtain a welding positioning result in the base guide rail coordinate system; A calculation module, configured to calculate an offset of the welding positioning result relative to the reference positioning result; a correction module, configured to perform an offset process on the original posture of each teaching point in the welding teaching path according to the offset amount, so as to obtain a target welding path required for welding the workpiece at the welding position; The welding module is used to control the end point of the welding gun of the welding robot to move to the offset posture corresponding to the teaching point, and to control the welding robot to move to the guide rail position recorded corresponding to the teaching point, so as to weld the workpiece in the welding position.

4. A weld seam positioning device, characterized in that: The weld locating device includes: a memory, a processor, and a weld locating program stored in the memory and executable on the processor. When the weld locating program is executed by the processor, the steps of the weld locating method according to any one of claims 1 to 2 are implemented.

5. A computer-readable storage medium, characterized in that The computer-readable storage medium stores a weld locating program, which, when executed by a processor, implements the steps of the weld locating method according to any one of claims 1 to 2.

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