Robot point laser locating method and device, computer equipment and storage medium

Abstract

The invention discloses a robot point laser locating method and device, computer equipment and a storage medium, and the method comprises the steps: carrying out the TCP calibration of a robot welding gun and point laser according to a robot TCP calibration principle; the robot system establishes a locating coordinate system along the welding seam direction; the robot sequentially moves and searches along the Z-axis, Y-axis and X-axis directions of the searching coordinate system until the point laser signal is triggered; the robot records the position component of the point laser TCP in the locating direction when the point laser signal is triggered and assigns the position component to the position component of the welding gun TCP in the locating direction; and the robot system converts the position of the welding gun TCP in the locating coordinate system into the position of the welding gun TCP in the world coordinate system. By means of the scheme, accurate locating of the curved surface weld target point with the included angle between the target weld and the robot world coordinate system and the included angle between the plates forming the weld can be achieved.

Description

Technical Field

[0001] The present invention relates to the field of industrial robot visual recognition and positioning technology, in particular to robot point laser positioning technology, and more particularly to a robot point laser positioning method, device, computer equipment and storage medium for curved surface angle weld welding. Background Art

[0002] With the continuous development of science and technology, industrial robot technology has been widely used. The laser positioning and tracking sensor based on laser ranging is used with welding robots, which is equivalent to equipping the robot with eyes, and can correctly guide the robot to perform welding positioning. Currently, there are two types of commonly used laser positioning sensors: line laser and point laser. Line laser positioning has a wide field of view and high efficiency, but line laser sensors are large in size, have high requirements for installation position and positioning posture, and have serious interference when entering narrow and complex structure spaces. At the same time, due to the high price, its promotion and application scope is limited. Point laser sensors are small in size, have a long installation distance, and are cheap. Using point laser positioning is an efficient and economical positioning solution.

[0003] At present, point laser positioning is mainly applicable to the positioning of right-angle fillet welds of plane type. The robot moves along the X / Y / Z axis direction of the world coordinate system from the positioning starting point to position, and the workpiece and weld direction are required to be parallel or perpendicular to the world coordinate system. The positioning process has high requirements on the position range of the positioning starting point. If the range is exceeded, the robot will not be able to find the actual position. For the positioning of fillet welds, the fillet weld must be a right-angle fillet weld, which is not suitable for the positioning of curved surface types and non-right-angle fillet welds. Summary of the invention

[0004] In view of the above problems, the present invention provides a robot point laser positioning method, which can meet the requirements of the positioning method of the start and end points of the welds when the target weld is at an angle to the robot world coordinate system and the plates constituting the weld are at an angle. This can be achieved through the following technical solutions:

[0005] On the one hand, a robot point laser positioning method is provided, the method comprising:

[0006] According to the robot TCP calibration principle, TCP calibration is performed on the robot welding gun and point laser;

[0007] The robot system establishes a positioning coordinate system along the weld orientation;

[0008] The robot moves and locates along the Z-axis, Y-axis, and X-axis directions of the positioning coordinate system in sequence until the point laser signal is triggered;

[0009] The robot records the position components of the point laser TCP in the positioning direction when the point laser signal is triggered and assigns the position components of the welding gun TCP in the positioning direction;

[0010] The robot system converts the position of the welding gun TCP in the positioning coordinate system into the position of the welding gun TCP in the world coordinate system.

[0011] In one embodiment, the robot system establishes a positioning coordinate system along the weld orientation, including:

[0012] The starting point of the weld is used as the target point for locating, and the angle between the tangent line of the target point for locating and the world coordinate system is obtained;

[0013] A new positioning coordinate system is created, the origin of the positioning coordinate system coincides with the origin of the world coordinate system, and the positioning coordinate system is obtained by rotating the tangent direction of the positioning target point in the world coordinate system by an angle corresponding to the azimuth rotation.

[0014] In one embodiment, before the robot system establishes a positioning coordinate system along the weld position, the method further includes:

[0015] The method of setting the starting point of laser positioning is:

[0016] The distance between the point laser sensor position and each plate constituting the weld meets the following conditions: the point laser measurement value is greater than the point laser sensor TCP setting value; the component of the point laser measurement value in the positioning direction is less than the sum of the component of the point laser sensor TCP setting value in the positioning direction and the positioning length;

[0017] The point laser path is located on the angle bisector of each plate constituting the weld, with a deviation of ±10°;

[0018] The robot posture ensures that the Z-axis direction and Y-axis direction of the welding gun and the point laser point to the starting point of the weld, and the X-axis direction is not limited;

[0019] The positioning safety point is used as the starting point of the point laser positioning, that is, the positioning starting point in the Z-axis direction.

[0020] In one embodiment, the robot moves and locates in sequence along the Z-axis, Y-axis, and X-axis directions of the positioning coordinate system until a point laser signal is triggered, including:

[0021] The robot is set to search along the Z axis, Y axis, and X axis in the search coordinate system, wherein the search lengths in the Z axis, Y axis, and X axis directions are set to a first length;

[0022] The robot is set to point the welding gun and the spot laser to the starting point of the weld as the Z-axis direction or the Y-axis direction in the positioning coordinate system, and the X-axis direction is determined according to the set parameters.

[0023] In one embodiment, the robot moves and locates in sequence along the Z-axis, Y-axis, and X-axis directions of the positioning coordinate system until a point laser signal is triggered, and further includes:

[0024] During the process of the robot positioning along the Z-axis, Y-axis and X-axis directions of the positioning coordinate system, a welding gun contact sensor signal is activated, and a collision signal is activated when the welding gun contacts a workpiece to prevent the welding gun from colliding.

[0025] In one embodiment, the robot moves and locates in sequence along the Z-axis, Y-axis, and X-axis directions of the positioning coordinate system until a point laser signal is triggered, and further includes:

[0026] During the process of the robot searching along the Z-axis, Y-axis and X-axis directions of the searching coordinate system, when there is no search result when the robot moves the maximum searching length, the robot system adjusts the position of the searching starting point along the current searching direction to reduce the distance between the searching starting point and the searching target point, and each adjustment amount is set to the second length.

[0027] In one embodiment, the robot system converts the position of the welding gun TCP in the positioning coordinate system into the position of the welding gun TCP in the world coordinate system, including:

[0028] The robot system calculates the coordinates of the positioning target point in the positioning coordinate system according to the positioning results along the Z-axis, Y-axis and X-axis directions of the positioning coordinate system;

[0029] The positioning result is corrected according to the positioning accuracy. When it is a double-sided fillet weld, the Y-axis direction is set to be negatively corrected along the positioning direction, and the correction value in the X-axis direction or the Z-axis direction is set to zero;

[0030] The corrected positioning result in the positioning coordinate system is converted into a result in the world coordinate system through a coordinate conversion function in the robot system.

[0031] On the other hand, a robot point laser positioning device is provided, the device comprising:

[0032] TCP calibration module, used to perform TCP calibration on robot welding guns and spot lasers according to robot TCP calibration principles;

[0033] A positioning coordinate system module is established, which is used for the robot system to establish a positioning coordinate system along the weld orientation;

[0034] A positioning control module is used for the robot to move and position in sequence along the Z-axis, Y-axis, and X-axis directions of the positioning coordinate system until a point laser signal is triggered;

[0035] A component setting module, which is used by the robot to record the position components of the point laser TCP in the positioning direction when the point laser signal is triggered and assign the position components of the welding gun TCP in the positioning direction;

[0036] The coordinate system conversion module is used by the robot system to convert the position of the welding gun TCP in the positioning coordinate system into the position of the welding gun TCP in the world coordinate system.

[0037] In another aspect, a computer device is provided, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the computer program, the following steps are implemented:

[0038] According to the robot TCP calibration principle, TCP calibration is performed on the robot welding gun and point laser;

[0039] The robot system establishes a positioning coordinate system along the weld orientation;

[0040] The robot moves and locates along the Z-axis, Y-axis, and X-axis directions of the positioning coordinate system in sequence until the point laser signal is triggered;

[0041] The robot records the position components of the point laser TCP in the positioning direction when the point laser signal is triggered and assigns the position components of the welding gun TCP in the positioning direction;

[0042] The robot system converts the position of the welding gun TCP in the positioning coordinate system into the position of the welding gun TCP in the world coordinate system.

[0043] In another aspect, a computer-readable storage medium is provided, on which a computer program is stored, and when the computer program is executed by a processor, the following steps are implemented:

[0044] According to the robot TCP calibration principle, TCP calibration is performed on the robot welding gun and point laser;

[0045] The robot system establishes a positioning coordinate system along the weld orientation;

[0046] The robot moves and locates along the Z-axis, Y-axis, and X-axis directions of the positioning coordinate system in sequence until the point laser signal is triggered;

[0047] The robot records the position components of the point laser TCP in the positioning direction when the point laser signal is triggered and assigns the position components of the welding gun TCP in the positioning direction;

[0048] The robot system converts the position of the welding gun TCP in the positioning coordinate system into the position of the welding gun TCP in the world coordinate system.

[0049] Compared with the prior art, the present invention has the following advantages: 1) The point laser positioning method of the present invention is not limited by the placement of the workpiece. The workpiece can be parallel or perpendicular to the world coordinate system, or it can be at a certain angle to the world coordinate system; 2) The point laser positioning method of the present invention can be applied to the positioning of right-angle fillet welds as well as the positioning of non-right-angle fillet welds. It can weld curved angle welds and accurately locate the starting point of the positioning. BRIEF DESCRIPTION OF THE DRAWINGS

[0050] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0051] Figure 1 It is a schematic diagram of the angle between the curved surface weld and the world coordinate system of the present invention.

[0052] Figure 2 This is a schematic diagram of the point laser positioning path of the present invention.

[0053] Figure 3 It is a schematic diagram of the combination of the welding gun and the point laser sensor of the present invention.

[0054] Figure 4 A schematic diagram is established for the positioning coordinate system of the present invention.

[0055] Figure 5 The figure is a flow chart of the robot point laser positioning method of the present invention.

[0056] Figure 6 This is a structural block diagram of the robot point laser positioning device of this application.

[0057] Figure 7 This is a diagram of the internal structure of the computer device of this application.

[0058] The markings in the figure are as follows: 1—workpiece, 2—point laser sensor, 3—welding gun assembly. DETAILED DESCRIPTION

[0059] The specific embodiments of the present invention are described in detail below in conjunction with the accompanying drawings so that those skilled in the art can more clearly understand how to practice the present invention. Although the present invention is described in conjunction with its preferred specific embodiments, these embodiments are only illustrative, rather than limiting the scope of the present invention.

[0060] Example 1

[0061] See also Figure 1-Figure 4 In Example 1 of the present application, a robot point laser positioning method is provided, and the detailed implementation steps are as follows:

[0062] (1) Robot system TCP calibration

[0063] According to the robot TCP calibration method, calibrate the robot welding gun TCP and point laser TCP in turn;

[0064] (2) The welding gun reaches the starting point of the positioning (the point in the world coordinate system)

[0065] In order to avoid the robot automatically adjusting too many times during the laser point search process due to an inappropriate starting point, the starting point rules for laser point search are as follows:

[0066] 1) The distance between the point laser sensor and each plate that makes up the weld must meet the following conditions:

[0067] The point laser measurement value is greater than the point laser sensor TCP setting value;

[0068] The component of the point laser measurement value in the locating direction is less than the sum of the component of the point laser sensor TCP setting value in the locating direction and the locating length.

[0069] 2) The point laser path is located on the angular bisector of each plate that constitutes the weld, with a deviation of ±10°;

[0070] 3) The robot posture ensures that the Z-axis and Y-axis directions of the welding gun (spot laser) point to the starting point of the weld, and the X-axis direction is not limited;

[0071] 4) The positioning safety point is also used as the starting point of the point laser positioning, that is, the positioning starting point in the Z-axis direction;

[0072] (3) Establishing a positioning coordinate system

[0073] According to the offline program or on-site measurement, the angle between the tangent of the positioning target point and the world coordinate system is obtained, where the angle between the tangent and the horizontal plane is ∠α, and the angle between the projection of the tangent on the horizontal plane and the X+ direction of the world coordinate system is ∠β. Create a new positioning coordinate system, the origin of the positioning coordinate system coincides with the origin of the world coordinate system, and the positioning coordinate system rotates the corresponding angle along the angle between the positioning target point and the world coordinate system. The rotation order is as follows:

[0074] 1) Rotate along the Z axis of the world coordinate system;

[0075] 2) Rotate along the Y-axis of the positioning coordinate system;

[0076] (4) Calculation and setting of positioning direction

[0077] The Z-axis direction and Y-axis direction of the robot in the positioning coordinate system are automatically determined by the positioning program, which are the directions in which the welding gun (spot laser) points to the starting point of the weld (positioning target point). The X-axis direction is manually specified in the parameters of the positioning program, and the positioning is performed along the "X+" or "X-" direction.

[0078] (5) Positioning along the Z-axis direction of the positioning coordinate system

[0079] 1) The robot searches along the Z-axis in the search coordinate system.

[0080] Under normal circumstances, that is, when the starting point of the search meets the requirements of the rules:

[0081] The point laser searches along the Z axis until the point laser search positive signal is triggered;

[0082] When the laser path value is less than the point laser TCP setting distance:

[0083] a. Since the switch point laser cannot be predicted, the point laser also performs the point laser positioning action along the Z axis until the welding gun touches the workpiece to trigger the welding gun contact signal;

[0084] b. The welding gun (spot laser) returns to the starting point of the positioning and retreats 100mm along the "Z-" direction of the spot laser tool coordinate system. The system also uses the retreated point as the starting point of the positioning in the Z-axis direction;

[0085] c. The point laser repeats the above positioning process of a and b until the point laser positioning forward signal is triggered. The robot obtains the current position of the point laser TCP in the positioning coordinate system and pauses the movement (automatic program control) (the system repeats up to four times. If there is still no trigger point laser signal after four times, the system reports an error and stops);

[0086] When the component of the laser path value in the positioning direction is greater than the sum of the component of the point laser TCP setting value in the positioning direction and the positioning search length:

[0087] a. Since the switch point laser cannot be predicted, the point laser also performs the point laser positioning action along the Z axis until the search is completed, and there is no search signal error;

[0088] b. The program automatically handles the error, the laser returns to the starting point of the positioning, and moves forward 100mm in the positioning direction;

[0089] c. The point laser repeats the positioning process of a and b above until the point laser positioning positive signal is triggered. The robot obtains the current position of the point laser TCP in the positioning coordinate system and pauses the movement (automatic control by the program).

[0090] At any stage of the positioning process, when the search begins and the forward signal of the spot laser is just in the trigger state, the spot laser moves 20mm in the reverse direction of the positioning search and re-executes the search process.

[0091] 2) After the Z-axis direction position finding laser positioning signal is triggered, the robot records the current position of the point laser in the positioning coordinate system, and the point laser moves 5mm in the opposite direction of the Z-axis direction.

[0092] (6) Positioning along the Y-axis direction of the positioning coordinate system

[0093] The steps for finding the position in the Y-axis direction are as follows:

[0094] 1) When the Z-axis position search is completed, the laser spot moves 5mm in the opposite direction of the Z-axis position search, and then the laser spot searches in the Y-axis search direction;

[0095] 2) The Y-axis search process and error handling are the same as the Z-axis search process;

[0096] 3) When the Y-axis positioning positive signal is triggered, the robot records the current position of the point laser in the positioning coordinate system.

[0097] 4) When the positioning type is a two-sided fillet weld, the point laser moves 5mm in the positioning direction; when the positioning type is a three-sided fillet weld, the point laser moves 5mm in the opposite direction of the positioning;

[0098] (7) Positioning along the X-axis direction of the positioning coordinate system

[0099] The steps for finding the position in the X-axis direction are as follows:

[0100] 1) When the Y-axis direction positioning is completed, the point laser moves 5mm along the Z-axis direction according to the positioning type, and then the point laser searches along the X-axis direction;

[0101] 2) The search process and error handling in the X-axis direction are the same as the positioning handling method in the Y-axis direction;

[0102] 3) When the positioning type is a two-sided fillet weld, the X-axis direction positioning trigger signal is reversely processed; when the positioning type is a three-sided fillet weld, the X-axis direction positioning trigger signal is forward triggered; after the point laser positioning signal is triggered, the robot records the current position of the point laser in the positioning coordinate system.

[0103] 4) The robot returns to the starting point.

[0104] (8) Calculation, correction and conversion of positioning results

[0105] 1) The robot system calculates the coordinates of the target point in the positioning coordinate system based on the X / Y / Z search results;

[0106] 2) According to the positioning accuracy requirements, the positioning results are corrected. Generally, when it is a two-sided fillet weld,

[0107] The Y-axis direction generally needs to be negatively corrected along the positioning direction, and the default correction value for the X / Z-axis direction is zero;

[0108] 3) The correction result in the positioning coordinate system is converted into the result in the world coordinate system through the robot system coordinate conversion function;

[0109] The above scheme can realize accurate positioning of the target point of the curved surface weld where the target weld is at an angle to the robot world coordinate system and the plates constituting the weld are at an angle.

[0110] Example 2

[0111] Taking the weld of the curved segmented rib of a ship as an example, the weld is located in the XZ plane, the angle between the tangent line at the starting point of the curved rib weld and the horizontal plane is 30°, and the angle between the rib and the curved plate is 90°. Figure 1 In the figure, the world coordinate system is Wobj0(X1Y1Z1), and the position-finding coordinate system is Wobj1(XYZ). According to the method of the present invention, the accurate position of the starting point of the weld can be found.

[0112] The specific steps are as follows:

[0113] 1) According to the robot TCP calibration method, calibrate the robot welding gun TCP and point laser TCP in turn;

[0114] 2) According to the 3D model or on-site measurement, the angle between the tangent line of the curved weld location target point and the horizontal plane is ∠α=30°, and the angle between the projection of the tangent line on the horizontal plane and the X+ direction of the world coordinate system is ∠β

[0115] =0°;

[0116] 3) Create a new workpiece coordinate system Wobj1 (XYZ). The origin of the workpiece coordinate system coincides with the world coordinate system. After the workpiece coordinate system rotates by ∠β along the Z axis of the world coordinate system, it rotates along the Y axis of its own coordinate system.

[0117] ∠α;

[0118] 4) After the robot reaches the safe position, it uses the point laser as a tool to search the weld boundary along the Z-axis, Y-axis and X-axis directions of Wobj1 to obtain the weld starting point (or end point)

[0119] That is, the position coordinates of the point laser TCP in the workpiece coordinate system Wobj1;

[0120] 5) The position coordinates of the point laser TCP in Wobj1 obtained in step 4 are converted into the position coordinates of the point laser TCP in the world coordinate system through the robot system coordinate conversion function;

[0121] 6) Assign the position coordinates of the laser TCP in the world coordinate system in step 5 to the TCP of the welding gun.

[0122] This guides the welding gun TCP to the actual position of the weld in the world coordinate system.

[0123] Example 3

[0124] Taking the weld of the curved segmented rib of a ship as an example, the weld is located in the XY plane, the angle between the tangent line at the starting point of the curved rib weld and the horizontal plane is 0°, and the angle between the rib and the curved plate is 80°. Figure 2 According to the scheme of the present invention, the exact position of the starting point of the weld can be found.

[0125] The specific steps are as follows:

[0126] 1) According to the robot TCP calibration method, calibrate the robot welding gun TCP and point laser TCP in turn;

[0127] 2) According to the 3D model or on-site measurement, the angle between the tangent line of the curved weld location target point and the horizontal plane is ∠α=0°, and the angle between the projection of the tangent line on the horizontal plane and the X+ direction of the world coordinate system is ∠β

[0128] =0°;

[0129] 3) Create a new workpiece coordinate system Wobj1 (XYZ). The origin of the workpiece coordinate system coincides with the world coordinate system. After the workpiece coordinate system rotates by ∠β along the Z axis of the world coordinate system, it rotates along the Y axis of its own coordinate system.

[0130] ∠α; (Since ∠α and ∠β are both zero, the positioning coordinate system coincides with the world coordinate system);

[0131] 4) After the robot reaches the safe position, it uses the point laser as a tool to search the weld boundary along the Z-axis, Y-axis and X-axis directions of Wobj1 to obtain the weld starting point (or end point)

[0132] That is, the position coordinates of the point laser TCP in the workpiece coordinate system Wobj1;

[0133] 5) The position coordinates of the point laser TCP in Wobj1 obtained in step 4 are converted into the position coordinates of the point laser TCP in the world coordinate system through the robot system coordinate conversion function;

[0134] 6) Assign the position coordinates of the laser TCP in the world coordinate system in step 5 to the TCP of the welding gun.

[0135] This guides the welding gun TCP to the actual position of the weld in the world coordinate system.

[0136] Example 4

[0137] In Example 4, Figure 5 As shown, a robot point laser positioning method is provided, comprising the following steps:

[0138] Step S1, according to the robot TCP calibration principle, TCP calibration is performed on the robot welding gun and point laser;

[0139] Step S2, the robot system establishes a positioning coordinate system along the weld orientation;

[0140] Step S3, the robot moves and locates along the Z-axis, Y-axis, and X-axis directions of the positioning coordinate system in sequence until the point laser signal is triggered;

[0141] Step S4, the robot respectively records the position components of the point laser TCP in the positioning direction when the point laser signal is triggered and assigns them to the position components of the welding gun TCP in the positioning direction;

[0142] Step S5, the robot system converts the position of the welding gun TCP in the positioning coordinate system into the position of the welding gun TCP in the world coordinate system.

[0143] Among them, TCP (Total Convolutional Profile) refers to the mapping relationship between the pixel coordinate system of the surface of a three-dimensional object and the world coordinate system. Generally, in a three-dimensional space, there is a one-to-one correspondence between the pixel coordinates of the surface of an object and the coordinates in the world coordinate system.

[0144] The TCP calibration method is to obtain the pixel coordinates of the object surface through image processing algorithms in three-dimensional space and convert the pixel coordinates into pixel values ​​in the world coordinate system. The TCP calibration method has the characteristics of simple calculation and high accuracy.

[0145] There are two core steps in the TCP calibration method: one is to extract feature points from the image, and the other is to map the feature points to the world coordinate system.

[0146] In this embodiment, the robot system establishes a positioning coordinate system along the weld orientation, including:

[0147] The starting point of the weld is used as the target point for locating, and the angle between the tangent line of the target point for locating and the world coordinate system is obtained;

[0148] A new positioning coordinate system is created, the origin of the positioning coordinate system coincides with the origin of the world coordinate system, and the positioning coordinate system is obtained by rotating the tangent direction of the positioning target point in the world coordinate system by an angle corresponding to the azimuth rotation.

[0149] In this embodiment, before the robot system establishes a positioning coordinate system along the weld orientation, the method further includes:

[0150] The method of setting the starting point of laser positioning is:

[0151] The distance between the point laser sensor position and each plate constituting the weld meets the following conditions: the point laser measurement value is greater than the point laser sensor TCP setting value; the component of the point laser measurement value in the positioning direction is less than the sum of the component of the point laser sensor TCP setting value in the positioning direction and the positioning length;

[0152] The point laser path is located on the angle bisector of each plate constituting the weld, with a deviation of ±10°;

[0153] The robot posture ensures that the Z-axis direction and Y-axis direction of the welding gun and the point laser point to the starting point of the weld, and the X-axis direction is not limited;

[0154] The positioning safety point is used as the starting point of the point laser positioning, that is, the positioning starting point in the Z-axis direction.

[0155] In this embodiment, the robot moves and locates in sequence along the Z-axis, Y-axis, and X-axis directions of the positioning coordinate system until a point laser signal is triggered, including:

[0156] The robot is set to search along the Z axis, Y axis, and X axis in the search coordinate system, wherein the search lengths in the Z axis, Y axis, and X axis directions are set to a first length;

[0157] The robot is set to point the welding gun and the spot laser to the starting point of the weld as the Z-axis direction or the Y-axis direction in the positioning coordinate system, and the X-axis direction is determined according to the set parameters.

[0158] In this embodiment, the robot moves and locates in sequence along the Z-axis, Y-axis, and X-axis directions of the positioning coordinate system until the point laser signal is triggered, and further includes:

[0159] During the process of the robot positioning along the Z-axis, Y-axis and X-axis directions of the positioning coordinate system, a welding gun contact sensor signal is activated, and a collision signal is activated when the welding gun contacts a workpiece to prevent the welding gun from colliding.

[0160] In this embodiment, the robot moves and locates in sequence along the Z-axis, Y-axis, and X-axis directions of the positioning coordinate system until the point laser signal is triggered, and further includes:

[0161] During the process of the robot searching along the Z-axis, Y-axis and X-axis directions of the searching coordinate system, when there is no search result when the robot moves the maximum searching length, the robot system adjusts the position of the searching starting point along the current searching direction to reduce the distance between the searching starting point and the searching target point, and each adjustment amount is set to the second length.

[0162] In this embodiment, the robot system converts the position of the welding gun TCP in the positioning coordinate system into the position of the welding gun TCP in the world coordinate system, including:

[0163] The robot system calculates the coordinates of the positioning target point in the positioning coordinate system according to the positioning results along the Z-axis, Y-axis and X-axis directions of the positioning coordinate system;

[0164] The positioning result is corrected according to the positioning accuracy. When it is a double-sided fillet weld, the Y-axis direction is set to be negatively corrected along the positioning direction, and the correction value in the X-axis direction or the Z-axis direction is set to zero;

[0165] The corrected positioning result in the positioning coordinate system is converted into a result in the world coordinate system through a coordinate conversion function in the robot system.

[0166] In the above-mentioned robot point laser positioning method, compared with the prior art, the present invention has the following advantages: 1) The point laser positioning method of the present invention is not limited by the placement of the workpiece. The workpiece can be parallel or perpendicular to the world coordinate system, or it can be at a certain angle to the world coordinate system; 2) The point laser positioning of the present invention can be applied to the positioning of right-angle fillet welds as well as the positioning of non-right-angle fillet welds. It can weld curved angle welds and accurately locate the position of the positioning starting point; 3) When the position of the positioning starting point of the point laser positioning of the present invention does not meet the rules and causes the target point to be not found in one positioning, the program automatically adjusts the positioning starting point according to the feedback result of one positioning, so that the positioning starting point is close to or away from the positioning target point; 4) The point laser positioning of the present invention activates the welding gun contact sensor signal at the beginning of positioning. When the welding gun touches the workpiece, the collision sensor signal is automatically activated, and then the robot automatically adjusts the position of the positioning starting point to re-position, which can effectively avoid welding gun collision.

[0167] Example 5

[0168] In one embodiment 5, Figure 6 As shown, a robot point laser positioning device 10 is provided, including: a TCP calibration module 1, a positioning coordinate system establishment module 2, a positioning control module 3, a component setting module 4, and a coordinate system conversion module 5.

[0169] The TCP calibration module 1 is used to perform TCP calibration on the robot welding gun and the spot laser according to the robot TCP calibration principle.

[0170] The module 2 for establishing a positioning coordinate system is used by the robot system to establish a positioning coordinate system along the weld orientation.

[0171] The positioning control module 3 is used for the robot to move and position in sequence along the Z-axis, Y-axis, and X-axis directions of the positioning coordinate system until a point laser signal is triggered.

[0172] The component setting module 4 is used by the robot to respectively record the position components of the point laser TCP in the positioning direction when the point laser signal is triggered and assign the position components of the welding gun TCP in the positioning direction.

[0173] The coordinate system conversion module 5 is used by the robot system to convert the position of the welding gun TCP in the positioning coordinate system into the position of the welding gun TCP in the world coordinate system.

[0174] In this embodiment, the robot system establishes a positioning coordinate system along the weld orientation, including:

[0175] The starting point of the weld is used as the target point for locating, and the angle between the tangent line of the target point for locating and the world coordinate system is obtained;

[0176] A new positioning coordinate system is created, the origin of the positioning coordinate system coincides with the origin of the world coordinate system, and the positioning coordinate system is obtained by rotating the tangent direction of the positioning target point in the world coordinate system by an angle corresponding to the azimuth rotation.

[0177] In this embodiment, before the robot system establishes a positioning coordinate system along the weld orientation, the method further includes:

[0178] The method of setting the starting point of laser positioning is:

[0179] The distance between the point laser sensor position and each plate constituting the weld meets the following conditions: the point laser measurement value is greater than the point laser sensor TCP setting value; the component of the point laser measurement value in the positioning direction is less than the sum of the component of the point laser sensor TCP setting value in the positioning direction and the positioning length;

[0180] The point laser path is located on the angle bisector of each plate constituting the weld, with a deviation of ±10°;

[0181] The robot posture ensures that the Z-axis direction and Y-axis direction of the welding gun and the point laser point to the starting point of the weld, and the X-axis direction is not limited;

[0182] The positioning safety point is used as the starting point of the point laser positioning, that is, the positioning starting point in the Z-axis direction.

[0183] In this embodiment, the robot moves and locates in sequence along the Z-axis, Y-axis, and X-axis directions of the positioning coordinate system until a point laser signal is triggered, including:

[0184] The robot is set to search along the Z axis, Y axis, and X axis in the search coordinate system, wherein the search lengths in the Z axis, Y axis, and X axis directions are set to a first length;

[0185] The robot is set to point the welding gun and the spot laser to the starting point of the weld as the Z-axis direction or the Y-axis direction in the positioning coordinate system, and the X-axis direction is determined according to the set parameters.

[0186] In this embodiment, the robot moves and locates in sequence along the Z-axis, Y-axis, and X-axis directions of the positioning coordinate system until the point laser signal is triggered, and further includes:

[0187] During the process of the robot positioning along the Z-axis, Y-axis and X-axis directions of the positioning coordinate system, a welding gun contact sensor signal is activated, and a collision signal is activated when the welding gun contacts a workpiece to prevent the welding gun from colliding.

[0188] In this embodiment, the robot moves and locates in sequence along the Z-axis, Y-axis, and X-axis directions of the positioning coordinate system until the point laser signal is triggered, and further includes:

[0189] During the process of the robot searching along the Z-axis, Y-axis and X-axis directions of the searching coordinate system, when there is no search result when the robot moves the maximum searching length, the robot system adjusts the position of the searching starting point along the current searching direction to reduce the distance between the searching starting point and the searching target point, and each adjustment amount is set to the second length.

[0190] In this embodiment, the robot system converts the position of the welding gun TCP in the positioning coordinate system into the position of the welding gun TCP in the world coordinate system, including:

[0191] The robot system calculates the coordinates of the positioning target point in the positioning coordinate system according to the positioning results along the Z-axis, Y-axis and X-axis directions of the positioning coordinate system;

[0192] The positioning result is corrected according to the positioning accuracy. When it is a double-sided fillet weld, the Y-axis direction is set to be negatively corrected along the positioning direction, and the correction value in the X-axis direction or the Z-axis direction is set to zero;

[0193] The corrected positioning result in the positioning coordinate system is converted into a result in the world coordinate system through a coordinate conversion function in the robot system.

[0194] In the above-mentioned robot point laser positioning device, compared with the prior art, the present invention has the following advantages: 1) The point laser positioning method of the present invention is not limited by the placement of the workpiece. The workpiece can be parallel or perpendicular to the world coordinate system, or it can be at a certain angle to the world coordinate system; 2) The point laser positioning of the present invention can be applied to the positioning of right-angle fillet welds as well as the positioning of non-right-angle fillet welds. It can weld curved angle welds and accurately locate the position of the positioning starting point; 3) When the position of the positioning starting point of the point laser positioning of the present invention does not meet the rules and causes the target point to be not found in one positioning, the program automatically adjusts the positioning starting point according to the feedback result of one positioning, so that the positioning starting point is close to or away from the positioning target point; 4) The point laser positioning of the present invention activates the welding gun contact sensor signal at the beginning of positioning. When the welding gun touches the workpiece, the collision sensor signal is automatically activated, and then the robot automatically adjusts the position of the positioning starting point to re-position, which can effectively avoid welding gun collision.

[0195] The specific definition of the robot point laser positioning device can be found in the definition of the robot point laser positioning method above, which will not be repeated here. Each module in the above-mentioned robot point laser positioning device can be implemented in whole or in part by software, hardware and a combination thereof. The above-mentioned modules can be embedded in or independent of the processor in the computer device in the form of hardware, or can be stored in the memory of the computer device in the form of software, so that the processor can call and execute the operations corresponding to the above modules.

[0196] Example 6

[0197] In embodiment 6, a computer program product is provided, including a computer program, which, when executed by a processor, implements the following steps:

[0198] According to the robot TCP calibration principle, TCP calibration is performed on the robot welding gun and point laser;

[0199] The robot system establishes a positioning coordinate system along the weld orientation;

[0200] The robot moves and locates along the Z-axis, Y-axis, and X-axis directions of the positioning coordinate system in sequence until the point laser signal is triggered;

[0201] The robot records the position components of the point laser TCP in the positioning direction when the point laser signal is triggered and assigns the position components of the welding gun TCP in the positioning direction;

[0202] The robot system converts the position of the welding gun TCP in the positioning coordinate system into the position of the welding gun TCP in the world coordinate system.

[0203] In one embodiment, the computer program further implements the following steps when executed by a processor:

[0204] The robot system establishes a positioning coordinate system along the weld orientation, including:

[0205] The starting point of the weld is used as the target point for locating, and the angle between the tangent line of the target point for locating and the world coordinate system is obtained;

[0206] A new positioning coordinate system is created, the origin of the positioning coordinate system coincides with the origin of the world coordinate system, and the positioning coordinate system is obtained by rotating the tangent direction of the positioning target point in the world coordinate system by an angle corresponding to the azimuth rotation.

[0207] In one embodiment, when the computer program is executed by a processor, the following steps are also implemented:

[0208] Before the robot system establishes a positioning coordinate system along the weld orientation, the method further includes:

[0209] The method of setting the starting point of laser positioning is:

[0210] The distance between the point laser sensor position and each plate constituting the weld meets the following conditions: the point laser measurement value is greater than the point laser sensor TCP setting value; the component of the point laser measurement value in the positioning direction is less than the sum of the component of the point laser sensor TCP setting value in the positioning direction and the positioning length;

[0211] The point laser path is located on the angle bisector of each plate constituting the weld, with a deviation of ±10°;

[0212] The robot posture ensures that the Z-axis direction and Y-axis direction of the welding gun and the point laser point to the starting point of the weld, and the X-axis direction is not limited;

[0213] The positioning safety point is used as the starting point of the point laser positioning, that is, the positioning starting point in the Z-axis direction.

[0214] In one embodiment, when the computer program is executed by a processor, the following steps are also implemented:

[0215] The robot moves and locates in sequence along the Z-axis, Y-axis, and X-axis directions of the positioning coordinate system until a point laser signal is triggered, including:

[0216] The robot is set to search along the Z axis, Y axis, and X axis in the search coordinate system, wherein the search lengths in the Z axis, Y axis, and X axis directions are set to a first length;

[0217] The robot is set to point the welding gun and the spot laser to the starting point of the weld as the Z-axis direction or the Y-axis direction in the positioning coordinate system, and the X-axis direction is determined according to the set parameters.

[0218] In one embodiment, when the computer program is executed by a processor, the following steps are also implemented:

[0219] The robot moves and locates in sequence along the Z-axis, Y-axis, and X-axis directions of the positioning coordinate system until the point laser signal is triggered, and further includes:

[0220] During the process of the robot positioning along the Z-axis, Y-axis and X-axis directions of the positioning coordinate system, a welding gun contact sensor signal is activated, and a collision signal is activated when the welding gun contacts a workpiece to prevent the welding gun from colliding.

[0221] In one embodiment, when the computer program is executed by a processor, the following steps are also implemented:

[0222] The robot moves and locates in sequence along the Z-axis, Y-axis, and X-axis directions of the positioning coordinate system until the point laser signal is triggered, and further includes:

[0223] During the process of the robot searching along the Z-axis, Y-axis and X-axis directions of the searching coordinate system, when there is no search result when the robot moves the maximum searching length, the robot system adjusts the position of the searching starting point along the current searching direction to reduce the distance between the searching starting point and the searching target point, and each adjustment amount is set to the second length.

[0224] In one embodiment, when the computer program is executed by a processor, the following steps are also implemented:

[0225] The robot system converts the position of the welding gun TCP in the positioning coordinate system into the position of the welding gun TCP in the world coordinate system, including:

[0226] The robot system calculates the coordinates of the positioning target point in the positioning coordinate system according to the positioning results along the Z-axis, Y-axis and X-axis directions of the positioning coordinate system;

[0227] The positioning result is corrected according to the positioning accuracy. When it is a double-sided fillet weld, the Y-axis direction is set to be negatively corrected along the positioning direction, and the correction value in the X-axis direction or the Z-axis direction is set to zero;

[0228] The corrected positioning result in the positioning coordinate system is converted into a result in the world coordinate system through a coordinate conversion function in the robot system.

[0229] For the specific limitations on the steps implemented when the computer program is executed by the processor, please refer to the limitations on the robot point laser positioning method mentioned above, which will not be repeated here.

[0230] Example 7

[0231] In embodiment 7, a computer device is provided. The computer device may be a server, and its internal structure diagram may be as shown in FIG. Figure 7As shown. The computer device includes a processor, a memory, a network interface and a database connected through a system bus. Among them, the processor of the computer device is used to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system, a computer program and a database. The internal memory provides an environment for the operation of the operating system and the computer program in the non-volatile storage medium. The database of the computer device is used to store robot point laser positioning data. The network interface of the computer device is used to communicate with an external terminal through a network connection. When the computer program is executed by the processor, a robot point laser positioning method is implemented.

[0232] Those skilled in the art will understand that Figure 7 The structure shown in the figure is only a block diagram of a part of the structure related to the solution of the present application, and does not constitute a limitation on the computer device to which the solution of the present application is applied. The specific computer device may include more or fewer components than those shown in the figure, or combine certain components, or have a different arrangement of components.

[0233] In one embodiment, a computer device is provided, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the following steps when executing the computer program:

[0234] According to the robot TCP calibration principle, TCP calibration is performed on the robot welding gun and point laser;

[0235] The robot system establishes a positioning coordinate system along the weld orientation;

[0236] The robot moves and locates along the Z-axis, Y-axis, and X-axis directions of the positioning coordinate system in sequence until the point laser signal is triggered;

[0237] The robot records the position components of the point laser TCP in the positioning direction when the point laser signal is triggered and assigns the position components of the welding gun TCP in the positioning direction;

[0238] The robot system converts the position of the welding gun TCP in the positioning coordinate system into the position of the welding gun TCP in the world coordinate system.

[0239] In one embodiment, when the processor executes the computer program, the processor further implements the following steps:

[0240] The robot system establishes a positioning coordinate system along the weld orientation, including:

[0241] The starting point of the weld is used as the target point for locating, and the angle between the tangent line of the target point for locating and the world coordinate system is obtained;

[0242] A new positioning coordinate system is created, the origin of the positioning coordinate system coincides with the origin of the world coordinate system, and the positioning coordinate system is obtained by rotating the tangent direction of the positioning target point in the world coordinate system by an angle corresponding to the azimuth rotation.

[0243] In one embodiment, when the processor executes the computer program, the processor further implements the following steps:

[0244] Before the robot system establishes a positioning coordinate system along the weld orientation, the method further includes:

[0245] The method of setting the starting point of laser positioning is:

[0246] The distance between the point laser sensor position and each plate constituting the weld meets the following conditions: the point laser measurement value is greater than the point laser sensor TCP setting value; the component of the point laser measurement value in the positioning direction is less than the sum of the component of the point laser sensor TCP setting value in the positioning direction and the positioning length;

[0247] The point laser path is located on the angle bisector of each plate constituting the weld, with a deviation of ±10°;

[0248] The robot posture ensures that the Z-axis direction and Y-axis direction of the welding gun and the point laser point to the starting point of the weld, and the X-axis direction is not limited;

[0249] The positioning safety point is used as the starting point of the point laser positioning, that is, the positioning starting point in the Z-axis direction.

[0250] In one embodiment, when the processor executes the computer program, the processor further implements the following steps:

[0251] The robot moves and locates in sequence along the Z-axis, Y-axis, and X-axis directions of the positioning coordinate system until a point laser signal is triggered, including:

[0252] The robot is set to search along the Z axis, Y axis, and X axis in the search coordinate system, wherein the search lengths in the Z axis, Y axis, and X axis directions are set to a first length;

[0253] The robot is set to point the welding gun and the spot laser to the starting point of the weld as the Z-axis direction or the Y-axis direction in the positioning coordinate system, and the X-axis direction is determined according to the set parameters.

[0254] In one embodiment, when the processor executes the computer program, the processor further implements the following steps:

[0255] The robot moves and locates in sequence along the Z-axis, Y-axis, and X-axis directions of the positioning coordinate system until the point laser signal is triggered, and further includes:

[0256] During the process of the robot positioning along the Z-axis, Y-axis and X-axis directions of the positioning coordinate system, a welding gun contact sensor signal is activated, and a collision signal is activated when the welding gun contacts a workpiece to prevent the welding gun from colliding.

[0257] In one embodiment, when the processor executes the computer program, the processor further implements the following steps:

[0258] The robot moves and locates in sequence along the Z-axis, Y-axis, and X-axis directions of the positioning coordinate system until the point laser signal is triggered, and further includes:

[0259] During the process of the robot searching along the Z-axis, Y-axis and X-axis directions of the searching coordinate system, when there is no search result when the robot moves the maximum searching length, the robot system adjusts the position of the searching starting point along the current searching direction to reduce the distance between the searching starting point and the searching target point, and each adjustment amount is set to the second length.

[0260] In one embodiment, when the processor executes the computer program, the processor further implements the following steps:

[0261] The robot system converts the position of the welding gun TCP in the positioning coordinate system into the position of the welding gun TCP in the world coordinate system, including:

[0262] The robot system calculates the coordinates of the positioning target point in the positioning coordinate system according to the positioning results along the Z-axis, Y-axis and X-axis directions of the positioning coordinate system;

[0263] The positioning result is corrected according to the positioning accuracy. When it is a double-sided fillet weld, the Y-axis direction is set to be negatively corrected along the positioning direction, and the correction value in the X-axis direction or the Z-axis direction is set to zero;

[0264] The corrected positioning result in the positioning coordinate system is converted into a result in the world coordinate system through a coordinate conversion function in the robot system.

[0265] For the specific limitations on the steps implemented when the processor executes the computer program, please refer to the limitations on the robot point laser positioning method mentioned above, which will not be repeated here.

[0266] Example 8

[0267] In embodiment 8, a computer-readable storage medium is provided, on which a computer program is stored, and when the computer program is executed by a processor, the following steps are implemented:

[0268] According to the robot TCP calibration principle, TCP calibration is performed on the robot welding gun and point laser;

[0269] The robot system establishes a positioning coordinate system along the weld orientation;

[0270] The robot moves and locates along the Z-axis, Y-axis, and X-axis directions of the positioning coordinate system in sequence until the point laser signal is triggered;

[0271] The robot records the position components of the point laser TCP in the positioning direction when the point laser signal is triggered and assigns the position components of the welding gun TCP in the positioning direction;

[0272] The robot system converts the position of the welding gun TCP in the positioning coordinate system into the position of the welding gun TCP in the world coordinate system.

[0273] In one embodiment, when the computer program is executed by a processor, the following steps are also implemented:

[0274] The robot system establishes a positioning coordinate system along the weld orientation, including:

[0275] The starting point of the weld is used as the target point for locating, and the angle between the tangent line of the target point for locating and the world coordinate system is obtained;

[0276] A new positioning coordinate system is created, the origin of the positioning coordinate system coincides with the origin of the world coordinate system, and the positioning coordinate system is obtained by rotating the tangent direction of the positioning target point in the world coordinate system by an angle corresponding to the azimuth rotation.

[0277] In one embodiment, when the computer program is executed by a processor, the following steps are also implemented:

[0278] Before the robot system establishes a positioning coordinate system along the weld orientation, the method further includes:

[0279] The method of setting the starting point of laser positioning is:

[0280] The distance between the point laser sensor position and each plate constituting the weld meets the following conditions: the point laser measurement value is greater than the point laser sensor TCP setting value; the component of the point laser measurement value in the positioning direction is less than the sum of the component of the point laser sensor TCP setting value in the positioning direction and the positioning length;

[0281] The point laser path is located on the angle bisector of each plate constituting the weld, with a deviation of ±10°;

[0282] The robot posture ensures that the Z-axis direction and Y-axis direction of the welding gun and the point laser point to the starting point of the weld, and the X-axis direction is not limited;

[0283] The positioning safety point is used as the starting point of the point laser positioning, that is, the positioning starting point in the Z-axis direction.

[0284] In one embodiment, when the computer program is executed by a processor, the following steps are also implemented:

[0285] The robot moves and locates in sequence along the Z-axis, Y-axis, and X-axis directions of the positioning coordinate system until a point laser signal is triggered, including:

[0286] The robot is set to search along the Z axis, Y axis, and X axis in the search coordinate system, wherein the search lengths in the Z axis, Y axis, and X axis directions are set to a first length;

[0287] The robot is set to point the welding gun and the spot laser to the starting point of the weld as the Z-axis direction or the Y-axis direction in the positioning coordinate system, and the X-axis direction is determined according to the set parameters.

[0288] In one embodiment, when the computer program is executed by a processor, the following steps are also implemented:

[0289] The robot moves and locates in sequence along the Z-axis, Y-axis, and X-axis directions of the positioning coordinate system until the point laser signal is triggered, and further includes:

[0290] During the process of the robot positioning along the Z-axis, Y-axis and X-axis directions of the positioning coordinate system, a welding gun contact sensor signal is activated, and a collision signal is activated when the welding gun contacts a workpiece to prevent the welding gun from colliding.

[0291] In one embodiment, when the computer program is executed by a processor, the following steps are also implemented:

[0292] The robot moves and locates in sequence along the Z-axis, Y-axis, and X-axis directions of the positioning coordinate system until the point laser signal is triggered, and further includes:

[0293] During the process of the robot searching along the Z-axis, Y-axis and X-axis directions of the searching coordinate system, when there is no search result when the robot moves the maximum searching length, the robot system adjusts the position of the searching starting point along the current searching direction to reduce the distance between the searching starting point and the searching target point, and each adjustment amount is set to the second length.

[0294] In one embodiment, when the computer program is executed by a processor, the following steps are also implemented:

[0295] The robot system converts the position of the welding gun TCP in the positioning coordinate system into the position of the welding gun TCP in the world coordinate system, including:

[0296] The robot system calculates the coordinates of the positioning target point in the positioning coordinate system according to the positioning results along the Z-axis, Y-axis and X-axis directions of the positioning coordinate system;

[0297] The positioning result is corrected according to the positioning accuracy. When it is a double-sided fillet weld, the Y-axis direction is set to be negatively corrected along the positioning direction, and the correction value in the X-axis direction or the Z-axis direction is set to zero;

[0298] The corrected positioning result in the positioning coordinate system is converted into a result in the world coordinate system through a coordinate conversion function in the robot system.

[0299] For the specific limitations on the steps implemented when the computer program is executed by the processor, please refer to the limitations on the robot point laser positioning method mentioned above, which will not be repeated here.

[0300] Those skilled in the art can understand that all or part of the processes in the above-mentioned embodiment methods can be completed by instructing the relevant hardware through a computer program, and the computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above-mentioned methods. Among them, any reference to memory, storage, database or other media used in the embodiments provided in this application can include non-volatile and / or volatile memory. Non-volatile memory can include read-only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM) or flash memory. Volatile memory can include random access memory (RAM) or external cache memory. As an illustration and not limitation, RAM is available in many forms, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double data rate SDRAM (DDRSDRAM), enhanced SDRAM (ESDRAM), synchronous link (Synchlink) DRAM (SLDRAM), memory bus (Rambus) direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM).

[0301] It should be noted that the fully described invention may also have a variety of variations and modifications, and is not limited to the specific embodiments of the above embodiments. The above embodiments are only intended to illustrate the invention, not to limit the invention. In short, the scope of protection of the present invention should include those obvious variations or substitutions and modifications to those of ordinary skill in the art, and the attached claims shall prevail.

Claims

1. A robot point laser positioning method, It is characterized in that Used for welding curved surface angle welds, the method comprises the steps of: According to the robot TCP calibration principle, TCP calibration is performed on the robot welding gun and point laser; The robot system establishes a positioning coordinate system along the weld orientation; The robot moves and locates along the Z-axis, Y-axis, and X-axis directions of the positioning coordinate system in sequence until the point laser signal is triggered; The robot records the position components of the point laser TCP in the positioning direction when the point laser signal is triggered and assigns the position components of the welding gun TCP in the positioning direction; The robot system converts the position of the welding gun TCP in the positioning coordinate system into the position of the welding gun TCP in the world coordinate system.

2. A robot point laser positioning method according to claim 1, It is characterized in that The robot system establishes a positioning coordinate system along the weld orientation, including: The starting point of the weld is used as the target point for locating, and the angle between the tangent line of the target point for locating and the world coordinate system is obtained; A new positioning coordinate system is created, the origin of the positioning coordinate system coincides with the origin of the world coordinate system, and the positioning coordinate system is obtained by rotating the tangent direction of the positioning target point in the world coordinate system by an angle corresponding to the azimuth rotation.

3. A robot point laser positioning method according to claim 1, It is characterized in that Before the robot system establishes a positioning coordinate system along the weld orientation, the method further includes: The method of setting the starting point of laser positioning is: The distance between the point laser sensor position and each plate constituting the weld meets the following conditions: the point laser measurement value is greater than the point laser sensor TCP setting value; the component of the point laser measurement value in the positioning direction is less than the sum of the component of the point laser sensor TCP setting value in the positioning direction and the positioning length; The point laser path is located on the angle bisector of each plate constituting the weld, with a deviation of ±10°; The robot posture ensures that the Z-axis direction and Y-axis direction of the welding gun and the point laser point to the starting point of the weld, and the X-axis direction is not limited; The positioning safety point is used as the starting point of the point laser positioning, that is, the positioning starting point in the Z-axis direction.

4. A robot point laser positioning method according to claim 1, It is characterized in that The robot moves and locates in sequence along the Z-axis, Y-axis, and X-axis directions of the positioning coordinate system until a point laser signal is triggered, including: The robot is set to search along the Z axis, Y axis, and X axis in the search coordinate system, wherein the search lengths in the Z axis, Y axis, and X axis directions are set to a first length; The robot is set to point the welding gun and the spot laser to the starting point of the weld as the Z-axis direction or the Y-axis direction in the positioning coordinate system, and the X-axis direction is determined according to the set parameters.

5. A robot point laser positioning method according to claim 1, It is characterized in that The robot moves and locates in sequence along the Z-axis, Y-axis, and X-axis directions of the positioning coordinate system until the point laser signal is triggered, and further includes: During the process of the robot positioning along the Z-axis, Y-axis and X-axis directions of the positioning coordinate system, a welding gun contact sensor signal is activated, and a collision signal is activated when the welding gun contacts a workpiece to prevent the welding gun from colliding.

6. A robot point laser positioning method according to claim 1, It is characterized in that The robot moves and locates in sequence along the Z-axis, Y-axis, and X-axis directions of the positioning coordinate system until the point laser signal is triggered, and further includes: During the process of the robot searching along the Z-axis, Y-axis and X-axis directions of the searching coordinate system, when there is no search result when the robot moves the maximum searching length, the robot system adjusts the position of the searching starting point along the current searching direction to reduce the distance between the searching starting point and the searching target point, and each adjustment amount is set to the second length.

7. A robot point laser positioning method according to claim 1, It is characterized in that The robot system converts the position of the welding gun TCP in the positioning coordinate system into the position of the welding gun TCP in the world coordinate system, including: The robot system calculates the coordinates of the positioning target point in the positioning coordinate system according to the positioning results along the Z-axis, Y-axis and X-axis directions of the positioning coordinate system; The positioning result is corrected according to the positioning accuracy. When it is a double-sided fillet weld, the Y-axis direction is set to be negatively corrected along the positioning direction, and the correction value in the X-axis direction or the Z-axis direction is set to zero; The corrected positioning result in the positioning coordinate system is converted into a result in the world coordinate system through a coordinate conversion function in the robot system.

8. A robot point laser positioning device, It is characterized in that The device comprises: TCP calibration module, used to perform TCP calibration on robot welding guns and spot lasers according to robot TCP calibration principles; A positioning coordinate system module is established, which is used for the robot system to establish a positioning coordinate system along the weld orientation; A positioning control module is used for the robot to move and position in sequence along the Z-axis, Y-axis, and X-axis directions of the positioning coordinate system until a point laser signal is triggered; A component setting module, which is used by the robot to record the position components of the point laser TCP in the positioning direction when the point laser signal is triggered and assign the position components of the welding gun TCP in the positioning direction; The coordinate system conversion module is used by the robot system to convert the position of the welding gun TCP in the positioning coordinate system into the position of the welding gun TCP in the world coordinate system.

9. A computer device comprising a memory, a processor and a computer program stored in the memory and executable on the processor, It is characterized in that When the processor executes the computer program, the steps of the method according to any one of claims 1 to 7 are implemented.

10. A computer-readable storage medium having a computer program stored thereon, It is characterized in that When the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 7 are implemented.

Images