Robot point laser homing method and device, computer device and storage medium

Abstract

This invention discloses a robot point laser positioning method, device, computer equipment, and storage medium. The method includes: performing TCP calibration on the robot welding torch and point laser according to the robot TCP calibration principle; establishing a positioning coordinate system along the weld seam orientation of the robot system; the robot sequentially moving along the Z-axis, Y-axis, and X-axis of the positioning coordinate system until the point laser signal is triggered; the robot recording the position components of the point laser TCP in the positioning direction when the point laser signal is triggered and assigning them to the position components of the welding torch TCP in the positioning direction; and the robot system converting the position of the welding torch TCP in the positioning coordinate system into the position of the welding torch TCP in the world coordinate system. This method enables precise positioning of target points on curved weld seams where the target weld seam is at an angle to the robot's world coordinate system and the plates forming the weld seam are also at an angle.

Description

Technical Field

[0001] This invention relates to the field of industrial robot visual recognition and positioning technology, and particularly to robot point laser positioning technology, especially to a robot point laser positioning method, device, computer equipment and storage medium for welding curved corner welds. Background Technology

[0002] With the continuous development of technology, industrial robot technology has been widely applied. Laser positioning and tracking sensors based on laser ranging, used in conjunction with welding robots, are like giving the robot "eyes," enabling it to correctly guide welding positioning. Currently, commonly used laser positioning sensors include line lasers and point lasers. Line laser positioning offers a wide field of view and high efficiency, but line laser sensors are relatively large, require precise installation positions and positioning postures, and suffer from severe interference when entering confined or complex spaces. Furthermore, their high cost limits their widespread application. Point laser sensors, on the other hand, are small, can be installed over long distances, and are inexpensive, making point laser positioning a highly efficient and economical positioning solution.

[0003] Currently, point laser positioning is mainly suitable for locating right-angle fillet welds on planar surfaces. The robot moves along the X / Y / Z axes of the world coordinate system from the starting point, requiring the workpiece and weld orientation to be parallel or perpendicular to the world coordinate system. The positioning process has strict requirements on the range of the starting point's position; exceeding this range will prevent the robot from finding the actual position. For fillet weld positioning, the fillet weld must be a right-angle fillet weld; it is not suitable for locating curved surfaces or non-right-angle fillet welds. Summary of the Invention

[0004] This invention addresses the aforementioned problems by providing a robot point laser positioning method, which can satisfy the positioning requirements for the start and end points of welds where the target weld is at an angle to the robot's world coordinate system and the plates constituting the weld are also 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] Based on the robot TCP calibration principle, TCP calibration is performed on the robot welding torch and spot laser.

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

[0008] The robot moves sequentially along the Z-axis, Y-axis, and X-axis of the positioning coordinate system 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 them to the position components of the welding gun TCP in the positioning direction.

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

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

[0012] Using the weld start point as the positioning target point, the angle between the tangent of the positioning target point and the world coordinate system is obtained;

[0013] A new positioning coordinate system is established, the origin of which coincides with the origin of the world coordinate system. The positioning coordinate system is obtained by rotating the orientation of the tangent direction of the positioning target point in the world coordinate system by the corresponding angle.

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

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

[0016] The distance between the point laser sensor and each plate that makes up the weld seam 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 that makes up the weld, with a deviation of ±10°;

[0018] The robot's posture ensures that the Z-axis and Y-axis directions of the welding torch and the spot laser point towards the weld start point, while the X-axis direction is unrestricted.

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

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

[0021] The robot is set to seek along the Z-axis, Y-axis, and X-axis in the seeking coordinate system, and the seeking length in the Z-axis, Y-axis, and X-axis directions is set as the first length.

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

[0023] In one embodiment, the robot's sequential movement along the Z-axis, Y-axis, and X-axis of the positioning coordinate system until the point laser signal is triggered further includes:

[0024] During the robot's positioning process along the Z, Y, and X axes of the positioning coordinate system, the welding torch contact sensing signal is activated. When the welding torch contacts the workpiece, a collision signal is activated to prevent the welding torch from colliding.

[0025] In one embodiment, the robot's sequential movement along the Z-axis, Y-axis, and X-axis of the positioning coordinate system until the point laser signal is triggered further includes:

[0026] During the robot's positioning process along the Z-axis, Y-axis, and X-axis of the positioning coordinate system, if there is no search result when the robot moves the maximum positioning length, the robot system adjusts the position of the positioning start point along the current positioning direction to reduce the distance between the positioning start point and the positioning target point. Each adjustment is set to the second length.

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

[0028] The robot system calculates the coordinates of the target point in the positioning coordinate system based on 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 fillet weld, a negative correction is set in the Y-axis direction along the positioning direction, and the correction value in the X-axis direction or Z-axis direction is set to zero.

[0030] The positioning result, corrected in the positioning coordinate system, is transformed into the result in the world coordinate system using the coordinate transformation function in the robot system.

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

[0032] The TCP calibration module is used to perform TCP calibration on the robot welding torch and spot laser according to the robot TCP calibration principle.

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

[0034] The positioning control module is used for the robot to move and locate sequentially along the Z-axis, Y-axis and X-axis of the positioning coordinate system until the point laser signal is triggered.

[0035] The component setting module is used by the robot to record the position component of the point laser TCP in the positioning direction when the point laser signal is triggered and assign it to the position component of the welding torch TCP in the positioning direction.

[0036] The coordinate system transformation module is used by the robot system to transform the position of the welding torch TCP in the positioning coordinate system into the position of the welding torch TCP in the world coordinate system.

[0037] In another aspect, 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 executes the computer program to perform the following steps:

[0038] Based on the robot TCP calibration principle, TCP calibration is performed on the robot welding torch and spot laser.

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

[0040] The robot moves sequentially along the Z-axis, Y-axis, and X-axis of the positioning coordinate system 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 them to the position components of the welding gun TCP in the positioning direction.

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

[0043] In another aspect, a computer-readable storage medium is provided having a computer program stored thereon, which, when executed by a processor, performs the following steps:

[0044] Based on the robot TCP calibration principle, TCP calibration is performed on the robot welding torch and spot laser.

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

[0046] The robot moves sequentially along the Z-axis, Y-axis, and X-axis of the positioning coordinate system 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 them to the position components of the welding gun TCP in the positioning direction.

[0048] The robot system converts the position of the welding torch TCP in the positioning coordinate system into the position of the welding torch 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 workpiece placement method. 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 non-right-angle fillet welds. It can weld curved corner welds and accurately locate the starting point of the positioning. Attached Figure Description

[0050] To more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0051] Figure 1 This is a schematic diagram showing the angle between the curved weld seam of this invention and the world coordinate system.

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

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

[0054] Figure 4 This is a schematic diagram illustrating the establishment of the positioning coordinate system in this invention.

[0055] Figure 5 This is a flowchart 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 used in this application.

[0058] The diagram is labeled as follows: 1—workpiece, 2—point laser sensor, 3—welding torch assembly. Detailed Implementation

[0059] The specific embodiments of the present invention are described in detail below with reference to the accompanying drawings, so that those skilled in the art can more clearly understand how to practice the present invention. Although the present invention has been described in conjunction with its preferred embodiments, these embodiments are merely illustrative and not intended to limit the scope of the invention.

[0060] Example 1

[0061] Please see Figures 1-4 Embodiment 1 of this application provides a robot point laser positioning method, the detailed implementation steps of which are as follows:

[0062] (1) Robot system TCP calibration

[0063] According to the robot TCP calibration method, the robot welding gun TCP and point laser TCP are calibrated in sequence;

[0064] (2) The welding torch reaches the positioning start point (a point in the world coordinate system).

[0065] To avoid excessive automatic adjustments by the robot during point laser positioning due to an unsuitable starting point, the rules for the starting point of point laser positioning are as follows:

[0066] 1) The distances from the point laser sensor to each plate segment forming the weld seam satisfy the following condition:

[0067] • The measured value of the point laser is greater than the TCP setting value of the point laser sensor;

[0068] • 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.

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

[0070] 3) The robot's posture ensures that the welding torch (spot laser) points to the weld start point in the Z and Y axes, while the X axis direction is unrestricted;

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

[0072] (3) Establish a positioning coordinate system

[0073] The angle between the tangent of the target point and the world coordinate system is obtained from offline procedures or on-site measurements. The angle between the tangent and the horizontal plane is ∠α, and the angle between the projection of the tangent onto the horizontal plane and the X+ direction of the world coordinate system is ∠β. A new positioning coordinate system is created, with its origin coinciding with the origin of the world coordinate system. The positioning coordinate system is then rotated along the corresponding angle according to the angle between the target point and the world coordinate system. The rotation sequence 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 itself;

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

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

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

[0079] 1) The robot seeks position along the Z-axis in the positioning coordinate system.

[0080] • Under normal circumstances, i.e., when the starting point of the positioning meets the rule requirements:

[0081] The point laser searches for position along the Z-axis until the positive point laser positioning signal is triggered.

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

[0083] a. Since the switch quantity point laser cannot be predicted, the point laser also performs the point laser positioning action along the Z-axis until the welding torch touches the workpiece and triggers the welding torch contact signal;

[0084] b. The welding torch (spot laser) returns to the positioning start point and moves back 100mm along the "Z-" direction of the spot laser tool coordinate system. The system simultaneously uses the point after the move back as the positioning start point in the Z-axis direction.

[0085] 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) (the system repeats this process a maximum of four times. If there is still no trigger signal for the point laser after four times, the system will report an error and stop).

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

[0087] a. Since the switch laser cannot be predicted, the laser also performs the laser positioning action along the Z-axis until the search ends, and no search signal is reported.

[0088] b. The program automatically handles errors, the laser returns to the starting point of the positioning process, and advances 100mm along the positioning direction;

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

[0090] • At any stage of the positioning process, when the search begins and the positive signal of the point laser is just in the triggered state, the point laser moves 20mm in the opposite direction of the positioning search and restarts the search process.

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

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

[0093] The Y-axis positioning steps are as follows:

[0094] 1) When the Z-axis positioning is completed, the point laser moves 5mm in the opposite direction of the Z-axis positioning and then searches along the Y-axis.

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

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

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

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

[0099] The X-axis positioning steps are as follows:

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

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

[0102] 3) When the positioning type is a two-sided fillet weld, the X-axis positioning trigger signal is processed in reverse; when the positioning type is a three-sided fillet weld, the X-axis positioning trigger signal is triggered in the forward direction; 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 of the positioning search.

[0104] (8) Calculation, correction and conversion of location 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) The positioning results are corrected according to the required positioning accuracy. Generally, this is done when the weld is a double-sided fillet weld.

[0107] The Y-axis direction generally requires negative correction along the positioning direction, while the X / Z-axis directions have a default correction value of zero.

[0108] 3) The correction results in the positioning coordinate system are converted into the results in the world coordinate system through the robot system coordinate transformation function;

[0109] The above scheme can achieve precise positioning of the target point of a curved weld seam where the target weld seam is at an angle to the robot's world coordinate system and the plates that make up the weld seam are at an angle to each other.

[0110] Example 2

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

[0112] The specific steps are as follows:

[0113] 1) According to the robot TCP calibration method, calibrate the robot welding torch TCP and the spot laser TCP in sequence;

[0114] 2) Based on the 3D model or on-site measurement, obtain the angle ∠α = 30° between the tangent of the target point for locating the curved weld and the horizontal plane, and the angle ∠β between the projection of the tangent onto the horizontal plane and the X+ direction of the world coordinate system.

[0115] =0°;

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

[0117] ∠α;

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

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

[0120] 5) Convert the position coordinates of the point laser TCP in Wobj1 obtained in step 4 into the position coordinates of the point laser TCP in the world coordinate system using the robot system coordinate transformation function;

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

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

[0123] Example 3

[0124] Taking the weld of a curved rib plate in a ship as an example, the weld is located in the XY plane. The angle between the tangent at the starting point of the weld and the horizontal plane is 0°, and the angle between the rib and the curved plate is 80°. Figure 2 As shown. According to the solution of this invention, the accurate location of the weld start point can be found.

[0125] The specific steps are as follows:

[0126] 1) According to the robot TCP calibration method, calibrate the robot welding torch TCP and the spot laser TCP in sequence;

[0127] 2) Based on the 3D model or on-site measurement, obtain the angle ∠α = 0° between the tangent of the target point for locating the curved weld and the horizontal plane, and the angle ∠β between the projection of the tangent onto the horizontal plane and the X+ direction of the world coordinate system.

[0128] =0°;

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

[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 positioning point, it uses a point laser as a tool to search for the weld boundary along the Z-axis, Y-axis and X-axis of Wobj1 to obtain the weld start point (or end point).

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

[0133] 5) Convert the position coordinates of the point laser TCP in Wobj1 obtained in step 4 into the position coordinates of the point laser TCP in the world coordinate system using the robot system coordinate transformation function;

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

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

[0136] Example 4

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

[0138] Step S1: Perform TCP calibration on the robot welding torch and spot laser according to the robot TCP calibration principle;

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

[0140] Step S3: The robot moves sequentially along the Z-axis, Y-axis and X-axis of the positioning coordinate system until the point laser signal is triggered.

[0141] Step S4: The robot 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] In step S5, the robot system converts the position of the welding torch TCP in the positioning coordinate system into the position of the welding torch TCP in the world coordinate system.

[0143] TCP (Total Convolutional Profile) refers to the mapping relationship between the pixel coordinate system of a 3D object surface and the world coordinate system. Generally, in a 3D space, there is a one-to-one correspondence between the pixel coordinates of the object surface and the coordinates in the world coordinate system.

[0144] The TCP calibration method refers to obtaining the pixel coordinates of an object's surface in three-dimensional space through image processing algorithms, and then converting these pixel coordinates into pixel values ​​in the world coordinate system. The TCP calibration method is characterized by its simplicity of calculation and high accuracy.

[0145] The TCP calibration method has two core steps: first, extracting feature points from the image, and second, mapping the feature points to the world coordinate system.

[0146] In this embodiment, the robot system establishing a positioning coordinate system along the weld seam orientation includes:

[0147] Using the weld start point as the positioning target point, the angle between the tangent of the positioning target point and the world coordinate system is obtained;

[0148] A new positioning coordinate system is established, the origin of which coincides with the origin of the world coordinate system. The positioning coordinate system is obtained by rotating the orientation of the tangent direction of the positioning target point in the world coordinate system by the corresponding angle.

[0149] In this embodiment, before the robot system establishes a positioning coordinate system along the weld seam orientation, the following is further included:

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

[0151] The distance between the point laser sensor and each plate that makes up the weld seam 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 that makes up the weld, with a deviation of ±10°;

[0153] The robot's posture ensures that the Z-axis and Y-axis directions of the welding torch and the spot laser point towards the weld start point, while the X-axis direction is unrestricted.

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

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

[0156] The robot is set to seek along the Z-axis, Y-axis, and X-axis in the seeking coordinate system, and the seeking length in the Z-axis, Y-axis, and X-axis directions is set as the first length.

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

[0158] In this embodiment, the robot's sequential movement along the Z-axis, Y-axis, and X-axis of the positioning coordinate system until the point laser signal is triggered further includes:

[0159] During the robot's positioning process along the Z, Y, and X axes of the positioning coordinate system, the welding torch contact sensing signal is activated. When the welding torch contacts the workpiece, a collision signal is activated to prevent the welding torch from colliding.

[0160] In this embodiment, the robot's sequential movement along the Z-axis, Y-axis, and X-axis of the positioning coordinate system until the point laser signal is triggered further includes:

[0161] During the robot's positioning process along the Z-axis, Y-axis, and X-axis of the positioning coordinate system, if there is no search result when the robot moves the maximum positioning length, the robot system adjusts the position of the positioning start point along the current positioning direction to reduce the distance between the positioning start point and the positioning target point. Each adjustment is set to the second length.

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

[0163] The robot system calculates the coordinates of the target point in the positioning coordinate system based on 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 fillet weld, a negative correction is set in the Y-axis direction along the positioning direction, and the correction value in the X-axis direction or Z-axis direction is set to zero.

[0165] The positioning result, corrected in the positioning coordinate system, is transformed into the result in the world coordinate system using the coordinate transformation function in the robot system.

[0166] Compared with the prior art, the above-mentioned robot point laser positioning method has the following advantages: 1) The point laser positioning method of the present invention is not limited by the workpiece placement method. The workpiece can be parallel or perpendicular to the world coordinate system, or 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 non-right-angle fillet welds, and can weld curved corner welds, accurately positioning the starting point; 3) When the starting point position of the positioning method of the present invention does not meet the rules, resulting in the failure to find the target point in one positioning attempt, the program automatically adjusts the starting point based on the feedback result of the first positioning attempt, so that the starting point is closer to or further away from the target point; 4) The point laser positioning method of the present invention activates the welding torch contact sensor signal at the start of positioning. When the welding torch touches the workpiece, the collision sensor signal is automatically activated, and then the robot automatically adjusts the starting point position and repositions, which can effectively avoid welding torch collisions.

[0167] Example 5

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

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

[0170] The positioning coordinate system establishment module 2 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 sequentially along the Z-axis, Y-axis and X-axis of the positioning coordinate system until the point laser signal is triggered.

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

[0173] The coordinate system transformation module 5 is used by the robot system to transform the position of the welding torch TCP in the positioning coordinate system into the position of the welding torch TCP in the world coordinate system.

[0174] In this embodiment, the robot system establishing a positioning coordinate system along the weld seam orientation includes:

[0175] Using the weld start point as the positioning target point, the angle between the tangent of the positioning target point and the world coordinate system is obtained;

[0176] A new positioning coordinate system is established, the origin of which coincides with the origin of the world coordinate system. The positioning coordinate system is obtained by rotating the orientation of the tangent direction of the positioning target point in the world coordinate system by the corresponding angle.

[0177] In this embodiment, before the robot system establishes a positioning coordinate system along the weld seam orientation, the following is further included:

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

[0179] The distance between the point laser sensor and each plate that makes up the weld seam 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 that makes up the weld, with a deviation of ±10°;

[0181] The robot's posture ensures that the Z-axis and Y-axis directions of the welding torch and the spot laser point towards the weld start point, while the X-axis direction is unrestricted.

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

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

[0184] The robot is set to seek along the Z-axis, Y-axis, and X-axis in the seeking coordinate system, and the seeking length in the Z-axis, Y-axis, and X-axis directions is set as the first length.

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

[0186] In this embodiment, the robot's sequential movement along the Z-axis, Y-axis, and X-axis of the positioning coordinate system until the point laser signal is triggered further includes:

[0187] During the robot's positioning process along the Z, Y, and X axes of the positioning coordinate system, the welding torch contact sensing signal is activated. When the welding torch contacts the workpiece, a collision signal is activated to prevent the welding torch from colliding.

[0188] In this embodiment, the robot's sequential movement along the Z-axis, Y-axis, and X-axis of the positioning coordinate system until the point laser signal is triggered further includes:

[0189] During the robot's positioning process along the Z-axis, Y-axis, and X-axis of the positioning coordinate system, if there is no search result when the robot moves the maximum positioning length, the robot system adjusts the position of the positioning start point along the current positioning direction to reduce the distance between the positioning start point and the positioning target point. Each adjustment is set to the second length.

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

[0191] The robot system calculates the coordinates of the target point in the positioning coordinate system based on 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 fillet weld, a negative correction is set in the Y-axis direction along the positioning direction, and the correction value in the X-axis direction or Z-axis direction is set to zero.

[0193] The positioning result, corrected in the positioning coordinate system, is transformed into the result in the world coordinate system using the coordinate transformation function in the robot system.

[0194] Compared with the prior art, the above-mentioned robot point laser positioning device has the following advantages: 1) The point laser positioning method of the present invention is not limited by the workpiece placement method. The workpiece can be parallel or perpendicular to the world coordinate system, or 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 non-right-angle fillet welds. It can weld curved corner welds and accurately locate the starting point of the positioning; 3) When the starting point of the positioning does not meet the rules, resulting in the failure to find the target point in one positioning attempt, the program automatically adjusts the starting point of the positioning based on the feedback result of the first positioning attempt, so that the starting point of the positioning is closer to or farther away from the target point; 4) The point laser positioning of the present invention activates the welding torch contact sensor signal at the start of the positioning attempt. When the welding torch touches the workpiece, the collision sensor signal is automatically activated, and then the robot automatically adjusts the starting point of the positioning attempt and re-positions, which can effectively avoid welding torch collisions.

[0195] Specific limitations regarding the robot point laser positioning device can be found in the limitations of the robot point laser positioning method described above, and will not be repeated here. Each module in the aforementioned robot point laser positioning device can be implemented entirely or partially through software, hardware, or a combination thereof. These modules can be embedded in or independent of the processor in a computer device in hardware form, or stored in the memory of a computer device in software form, so that the processor can call and execute the corresponding operations of each module.

[0196] Example 6

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

[0198] Based on the robot TCP calibration principle, TCP calibration is performed on the robot welding torch and spot laser.

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

[0200] The robot moves sequentially along the Z-axis, Y-axis, and X-axis of the positioning coordinate system 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 them to the position components of the welding gun TCP in the positioning direction.

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

[0203] In one embodiment, when the computer program is executed by a processor, it also performs the following steps:

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

[0205] Using the weld start point as the positioning target point, the angle between the tangent of the positioning target point and the world coordinate system is obtained;

[0206] A new positioning coordinate system is established, the origin of which coincides with the origin of the world coordinate system. The positioning coordinate system is obtained by rotating the orientation of the tangent direction of the positioning target point in the world coordinate system by the corresponding angle.

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

[0208] Before the robot system establishes a positioning coordinate system along the weld orientation, the following is also included:

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

[0210] The distance between the point laser sensor and each plate that makes up the weld seam 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 that makes up the weld, with a deviation of ±10°;

[0212] The robot's posture ensures that the Z-axis and Y-axis directions of the welding torch and the spot laser point towards the weld start point, while the X-axis direction is unrestricted.

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

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

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

[0216] The robot is set to seek along the Z-axis, Y-axis, and X-axis in the seeking coordinate system, and the seeking length in the Z-axis, Y-axis, and X-axis directions is set as the first length.

[0217] The robot is set to use the direction of the welding torch and point laser pointing to the weld start point as the Z-axis or Y-axis 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, it also performs the following steps:

[0219] The robot's movement along the Z-axis, Y-axis, and X-axis of the positioning coordinate system until the point laser signal is triggered also includes:

[0220] During the robot's positioning process along the Z, Y, and X axes of the positioning coordinate system, the welding torch contact sensing signal is activated. When the welding torch contacts the workpiece, a collision signal is activated to prevent the welding torch from colliding.

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

[0222] The robot's movement along the Z-axis, Y-axis, and X-axis of the positioning coordinate system until the point laser signal is triggered also includes:

[0223] During the robot's positioning process along the Z-axis, Y-axis, and X-axis of the positioning coordinate system, if there is no search result when the robot moves the maximum positioning length, the robot system adjusts the position of the positioning start point along the current positioning direction to reduce the distance between the positioning start point and the positioning target point. Each adjustment is set to the second length.

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

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

[0226] The robot system calculates the coordinates of the target point in the positioning coordinate system based on 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 fillet weld, a negative correction is set in the Y-axis direction along the positioning direction, and the correction value in the X-axis direction or Z-axis direction is set to zero.

[0228] The positioning result, corrected in the positioning coordinate system, is transformed into the result in the world coordinate system using the coordinate transformation function in the robot system.

[0229] For specific limitations on the steps implemented when a computer program is executed by a 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, which may be a server, and its internal structure diagram may be as follows. Figure 7As shown, the computer device includes a processor, memory, network interface, and database connected via a system bus. The processor provides computational and control capabilities. The memory includes non-volatile storage media and internal memory. The non-volatile storage media stores the operating system, computer programs, and database. The internal memory provides an environment for the operation of the operating system and computer programs stored in the non-volatile storage media. The database stores robot point laser positioning data. The network interface communicates with external terminals via a network connection. When the processor executes the computer program, it implements a robot point laser positioning method.

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

[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 executes the computer program to perform the following steps:

[0234] Based on the robot TCP calibration principle, TCP calibration is performed on the robot welding torch and spot laser.

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

[0236] The robot moves sequentially along the Z-axis, Y-axis, and X-axis of the positioning coordinate system 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 them to the position components of the welding gun TCP in the positioning direction.

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

[0239] In one embodiment, the processor, when executing a computer program, also performs the following steps:

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

[0241] Using the weld start point as the positioning target point, the angle between the tangent of the positioning target point and the world coordinate system is obtained;

[0242] A new positioning coordinate system is established, the origin of which coincides with the origin of the world coordinate system. The positioning coordinate system is obtained by rotating the orientation of the tangent direction of the positioning target point in the world coordinate system by the corresponding angle.

[0243] In one embodiment, the processor, when executing a computer program, also performs the following steps:

[0244] Before the robot system establishes a positioning coordinate system along the weld orientation, the following is also included:

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

[0246] The distance between the point laser sensor and each plate that makes up the weld seam 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 that makes up the weld, with a deviation of ±10°;

[0248] The robot's posture ensures that the Z-axis and Y-axis directions of the welding torch and the spot laser point towards the weld start point, while the X-axis direction is unrestricted.

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

[0250] In one embodiment, the processor, when executing a computer program, also performs the following steps:

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

[0252] The robot is set to seek along the Z-axis, Y-axis, and X-axis in the seeking coordinate system, and the seeking length in the Z-axis, Y-axis, and X-axis directions is set as the first length.

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

[0254] In one embodiment, the processor, when executing a computer program, also performs the following steps:

[0255] The robot's movement along the Z-axis, Y-axis, and X-axis of the positioning coordinate system until the point laser signal is triggered also includes:

[0256] During the robot's positioning process along the Z, Y, and X axes of the positioning coordinate system, the welding torch contact sensing signal is activated. When the welding torch contacts the workpiece, a collision signal is activated to prevent the welding torch from colliding.

[0257] In one embodiment, the processor, when executing a computer program, also performs the following steps:

[0258] The robot's movement along the Z-axis, Y-axis, and X-axis of the positioning coordinate system until the point laser signal is triggered also includes:

[0259] During the robot's positioning process along the Z-axis, Y-axis, and X-axis of the positioning coordinate system, if there is no search result when the robot moves the maximum positioning length, the robot system adjusts the position of the positioning start point along the current positioning direction to reduce the distance between the positioning start point and the positioning target point. Each adjustment is set to the second length.

[0260] In one embodiment, the processor, when executing a computer program, also performs the following steps:

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

[0262] The robot system calculates the coordinates of the target point in the positioning coordinate system based on 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 fillet weld, a negative correction is set in the Y-axis direction along the positioning direction, and the correction value in the X-axis direction or Z-axis direction is set to zero.

[0264] The positioning result, corrected in the positioning coordinate system, is transformed into the result in the world coordinate system using the coordinate transformation function in the robot system.

[0265] For specific limitations on the steps implemented by the processor when executing a computer program, please refer to the limitations on the method of laser-based robot positioning 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, it performs the following steps:

[0268] Based on the robot TCP calibration principle, TCP calibration is performed on the robot welding torch and spot laser.

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

[0270] The robot moves sequentially along the Z-axis, Y-axis, and X-axis of the positioning coordinate system 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 them to the position components of the welding gun TCP in the positioning direction.

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

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

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

[0275] Using the weld start point as the positioning target point, the angle between the tangent of the positioning target point and the world coordinate system is obtained;

[0276] A new positioning coordinate system is established, the origin of which coincides with the origin of the world coordinate system. The positioning coordinate system is obtained by rotating the orientation of the tangent direction of the positioning target point in the world coordinate system by the corresponding angle.

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

[0278] Before the robot system establishes a positioning coordinate system along the weld orientation, the following is also included:

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

[0280] The distance between the point laser sensor and each plate that makes up the weld seam 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 that makes up the weld, with a deviation of ±10°;

[0282] The robot's posture ensures that the Z-axis and Y-axis directions of the welding torch and the spot laser point towards the weld start point, while the X-axis direction is unrestricted.

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

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

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

[0286] The robot is set to seek along the Z-axis, Y-axis, and X-axis in the seeking coordinate system, and the seeking length in the Z-axis, Y-axis, and X-axis directions is set as the first length.

[0287] The robot is set to use the direction of the welding torch and point laser pointing to the weld start point as the Z-axis or Y-axis 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, it also performs the following steps:

[0289] The robot's movement along the Z-axis, Y-axis, and X-axis of the positioning coordinate system until the point laser signal is triggered also includes:

[0290] During the robot's positioning process along the Z, Y, and X axes of the positioning coordinate system, the welding torch contact sensing signal is activated. When the welding torch contacts the workpiece, a collision signal is activated to prevent the welding torch from colliding.

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

[0292] The robot's movement along the Z-axis, Y-axis, and X-axis of the positioning coordinate system until the point laser signal is triggered also includes:

[0293] During the robot's positioning process along the Z-axis, Y-axis, and X-axis of the positioning coordinate system, if there is no search result when the robot moves the maximum positioning length, the robot system adjusts the position of the positioning start point along the current positioning direction to reduce the distance between the positioning start point and the positioning target point. Each adjustment is set to the second length.

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

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

[0296] The robot system calculates the coordinates of the target point in the positioning coordinate system based on 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 fillet weld, a negative correction is set in the Y-axis direction along the positioning direction, and the correction value in the X-axis direction or Z-axis direction is set to zero.

[0298] The positioning result, corrected in the positioning coordinate system, is transformed into the result in the world coordinate system using the coordinate transformation function in the robot system.

[0299] For specific limitations on the steps implemented when a computer program is executed by a 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 will understand that all or part of the processes in the methods of the above embodiments can be implemented by a computer program instructing related hardware. The computer program can be stored in a non-volatile computer-readable storage medium, and when executed, it can include the processes of the embodiments of the above methods. Any references to memory, storage, databases, 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. By way of illustration and not limitation, RAM is available in various forms, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), dual data rate SDRAM (DDRSDRAM), enhanced SDRAM (ESDRAM), synchronous link DRAM (SLDRAM), Rambus direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM), etc.

[0301] It should be noted that the present invention, as fully described, can have various modifications and variations, and is not limited to the specific embodiments described above. The above embodiments are merely illustrative and not intended to limit the invention. In summary, the scope of protection of the present invention should include those modifications, substitutions, and alterations that are obvious to those skilled in the art, and the appended claims shall prevail.

Claims

1. A robot point laser positioning method, characterized in that, For welding curved corner welds, the method includes the following steps: Based on the robot TCP calibration principle, TCP calibration is performed on the robot welding torch and spot laser. The robot system establishes a positioning coordinate system along the weld seam orientation; The robot moves sequentially along the Z-axis, Y-axis, and X-axis of the positioning coordinate system 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 them to the position components of the welding gun TCP in the positioning direction. The robot system converts the position of the welding torch TCP in the positioning coordinate system into the position of the welding torch TCP in the world coordinate system.

2. The robot point laser positioning method according to claim 1, characterized in that, The robot system establishes a positioning coordinate system along the weld seam orientation, including: Using the weld start point as the positioning target point, the angle between the tangent of the positioning target point and the world coordinate system is obtained; A new positioning coordinate system is established, the origin of which coincides with the origin of the world coordinate system. The positioning coordinate system is obtained by rotating the orientation of the tangent direction of the positioning target point in the world coordinate system by the corresponding angle.

3. The robot point laser positioning method according to claim 1, characterized in that, Before the robot system establishes a positioning coordinate system along the weld orientation, the following is also included: The method for setting the starting point of laser positioning is as follows: The distance between the point laser sensor and each plate that makes up the weld seam 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 that makes up the weld, with a deviation of ±10°; The robot's posture ensures that the Z-axis and Y-axis directions of the welding torch and the spot laser point towards the weld start point, while the X-axis direction is unrestricted. The safe point for positioning is used as the starting point for point laser positioning, that is, the starting point for positioning in the Z-axis direction.

4. The robot point laser positioning method according to claim 1, characterized in that, The robot moves sequentially along the Z-axis, Y-axis, and X-axis of the positioning coordinate system until the point laser signal is triggered, including: The robot is set to seek along the Z-axis, Y-axis, and X-axis in the seeking coordinate system, and the seeking length in the Z-axis, Y-axis, and X-axis directions is set as the first length. The robot is set to use the direction of the welding torch and point laser pointing to the weld start point as the Z-axis or Y-axis in the positioning coordinate system, and the X-axis direction is determined according to the set parameters.

5. The robot point laser positioning method according to claim 1, characterized in that, The robot's movement along the Z-axis, Y-axis, and X-axis of the positioning coordinate system until the point laser signal is triggered also includes: During the robot's positioning process along the Z, Y, and X axes of the positioning coordinate system, the welding torch contact sensing signal is activated. When the welding torch contacts the workpiece, a collision signal is activated to prevent the welding torch from colliding.

6. The robot point laser positioning method according to claim 1, characterized in that, The robot's movement along the Z-axis, Y-axis, and X-axis of the positioning coordinate system until the point laser signal is triggered also includes: During the robot's positioning process along the Z-axis, Y-axis, and X-axis of the positioning coordinate system, if there is no search result when the robot moves the maximum positioning length, the robot system adjusts the position of the positioning start point along the current positioning direction to reduce the distance between the positioning start point and the positioning target point. Each adjustment is set to the second length.

7. The robot point laser positioning method according to claim 1, characterized in that, The robot system converts the position of the welding torch TCP in the positioning coordinate system to the position of the welding torch TCP in the world coordinate system, including: The robot system calculates the coordinates of the target point in the positioning coordinate system based on 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 fillet weld, a negative correction is set in the Y-axis direction along the positioning direction, and the correction value in the X-axis direction or Z-axis direction is set to zero. The positioning result, corrected in the positioning coordinate system, is transformed into the result in the world coordinate system using the coordinate transformation function in the robot system.

8. A robot point laser positioning device, characterized in that, The device includes: The TCP calibration module is used to perform TCP calibration on the robot welding torch and spot laser according to the robot TCP calibration principle. A positioning coordinate system module is established, which is used by the robot system to establish a positioning coordinate system along the weld orientation; The positioning control module is used for the robot to move and locate sequentially along the Z-axis, Y-axis and X-axis of the positioning coordinate system until the point laser signal is triggered. The component setting module is used by the robot to record the position component of the point laser TCP in the positioning direction when the point laser signal is triggered and assign it to the position component of the welding torch TCP in the positioning direction. The coordinate system transformation module is used by the robot system to transform the position of the welding torch TCP in the positioning coordinate system into the position of the welding torch 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, characterized in that, When the processor executes the computer program, it implements the steps of the method according to any one of claims 1 to 7.

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

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