A method for realizing guided laser welding based on coordinate transformation and a welding device
By calculating the transformation matrix of the multi-station coordinate system in robotic laser welding, the problem that existing technologies can only weld a single point is solved, enabling simultaneous welding at multiple welding positions and improving production efficiency and safety.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- JIANGSU CHUANGYUAN ELECTRON CO LTD
- Filing Date
- 2024-12-30
- Publication Date
- 2026-06-30
AI Technical Summary
In existing technologies, robotic laser welding can only handle a single welding point and cannot handle multiple welding positions at the same time, resulting in insufficient applicability when welding two or more positions simultaneously.
By acquiring the coordinates of the reference point and welding point of the workpiece at different workstations, and calculating the transformation matrix, the conversion between multiple workstation coordinate systems is realized, guiding the laser welding module to complete the welding of multiple welding points.
Simultaneous welding at multiple locations was achieved, increasing production capacity, simplifying the operation process, and improving safety and production efficiency.
Smart Images
Figure CN122299162A_ABST
Abstract
Description
Technical Field
[0001] This application relates to the field of industrial intelligent manufacturing technology, and more specifically, to a method and welding equipment for guided laser welding based on coordinate transformation. Background Technology
[0002] In the field of industrial robot applications, robots actively collect image information of their working environment through vision systems. This image information is then processed using intelligent vision technology to obtain the information needed for robot operation, thereby guiding the robot's movements and making it more flexible and precise. Specifically, the vision system can acquire image information through cameras. This image information is based on coordinates in a visual coordinate system. The visual coordinate system needs to be connected to the mechanical coordinate system to calculate the robot's offset, in order to provide correct guidance to the robot's manipulator.
[0003] In existing technologies, most laser welding applications employ two workstations for welding. One workstation collects the welding point and Mark points, while the other only collects the Mark points. The positional relationship between the Mark points of the two workstations is used to calculate the position information of the welding point at the second workstation, which in turn moves the robotic arm to perform welding. The essential logic is to determine the conversion relationship between the two workstation coordinate systems by using the positional information of the same set of Mark points in different coordinate systems of the two workstations, and then calculate the coordinates of the welding point in the first workstation's coordinate system corresponding to the coordinates of the second workstation.
[0004] This method only involves two coordinate systems: the module coordinate system of station one and the robotic arm coordinate system of station two. It does not actually involve the coordinate system of the welding equipment. Since the robotic arm can only move to one welding point at a time, while the welding equipment can actually weld multiple positions, there is a contradiction between the two. Therefore, when there is a need to weld two or more positions at the same time, this method with only two coordinate systems is no longer applicable. Summary of the Invention
[0005] The purpose of this application is to address the shortcomings of the prior art by providing a method and welding equipment for guided laser welding based on coordinate transformation.
[0006] To achieve the above objectives, the technical solutions adopted in the embodiments of this application are as follows:
[0007] A laser welding method, the method comprising:
[0008] Obtain the coordinates of three first reference points and multiple first welding points in the coordinate system of the first moving module of the object to be welded in the information acquisition station;
[0009] At the assembly station, the integrity and cleanliness of the items to be welded are checked. Once the checks are successful, the welding plate is assembled onto the items to be welded.
[0010] Obtain the coordinates of three second reference points in the second moving module coordinate system of the workpiece assembled with welding plates in the laser welding station;
[0011] Based on the coordinates of the first reference point and the second reference point, the transformation matrix between the first moving module coordinate system and the second moving module coordinate system is calculated.
[0012] Based on the transformation matrix and the coordinates of the multiple first welding points obtained by the information acquisition station, the coordinates of the second welding point located in the second moving module coordinate system of the laser welding station can be obtained.
[0013] Based on the obtained coordinates of the welding point in the laser welding station coordinate system, the laser welding module is guided to complete the welding of the product to be welded.
[0014] As a preferred method, the coordinates of three first reference points and multiple first welding points in the coordinate system of the first moving module in the information acquisition station are obtained by the following method: the first moving module drives the first vision module to take pictures and applies a high-frequency trigger light source.
[0015] Preferably, the coordinates of three second reference points of the workpiece to be welded, which is assembled with welding plates, in the coordinate system of the second moving module in the laser welding station are obtained by the following method: the second moving module drives the second vision module to take pictures and applies a high-frequency trigger light source.
[0016] As a preferred option, the following steps need to be completed before coordinate-based laser welding can be implemented:
[0017] At the information acquisition station, the first mobile module and the first visual module obtain a first conversion relationship through a nine-point calibration method.
[0018] Preferably, in the laser welding station, the second moving module and the second vision module obtain a second conversion relationship through a nine-point calibration method; the second vision module and the welding equipment obtain a third conversion relationship through a nine-point calibration method.
[0019] Preferably, based on the transformation matrix and the coordinates of the multiple first welding points obtained by the information acquisition station, the coordinates of the second welding point located in the second moving module coordinate system of the laser welding station can be obtained, including the following methods:
[0020] Based on the coordinates of the first reference point of the welding information acquisition station and the coordinates of the second reference point acquired by the laser welding station in real time, the fourth transformation relationship between the first moving module and the second moving module is determined.
[0021] Based on the welding information collection station, the welding points in the second moving module coordinate system of the laser welding station are obtained through the fourth transformation relationship from multiple welding points collected by the welding information collection station.
[0022] The welding point position in the second moving module coordinate system of the laser welding station is obtained by using the second transformation relationship to determine the welding point position in the second vision module coordinate system of the laser welding station;
[0023] The welding point in the second vision module coordinate system of the laser welding station is obtained by using the third transformation relationship to find the welding point in the welding equipment coordinate system of the laser welding station.
[0024] Preferably, the first reference point and the second reference point are at the same position relative to the first weldment.
[0025] A laser welding system includes an information acquisition module, an assembly module, a laser welding module, a conveying path, a first controller, and a second controller. The information acquisition module, the assembly module, and the laser welding module are arranged along the conveying path before the welding station. The first controller controls the information acquisition module to acquire position data of a first reference point and a welding point on the workpiece to be welded, obtaining corresponding coordinates of the first reference point and the first welding point. The first reference point coordinates and the first welding point coordinates are then sent to the second controller. The second controller controls the welding module to acquire position data of a second reference point to obtain the coordinates of the second reference point.
[0026] In the disclosed embodiments, the coordinates of three first reference points and multiple first welding point coordinates of the object to be welded in the first moving module coordinate system of the information acquisition station are obtained; at the assembly station, the integrity and cleanliness of the object to be welded are checked, and after the checks are correct, the welding plate is assembled onto the object to be welded; the coordinates of three second reference points of the object to be welded in the second moving module coordinate system of the laser welding station are obtained; based on the first and second reference point coordinates, the transformation matrix between the first and second moving module coordinate systems is calculated; according to the transformation matrix and the multiple first welding point coordinates obtained by the information acquisition station, the coordinates of the second welding point located in the second moving module coordinate system of the laser welding station can be obtained; based on the obtained welding point coordinates in the laser welding station coordinate system, the laser welding module is guided to complete the welding of the product to be welded. The 3-station design is clear and easy to understand, facilitating assembly and debugging. The manual assembly station only performs visual inspection of the products and assembles the welding plates, which is simple to operate and has a high safety factor. The 3 stations can work simultaneously, doubling the production capacity. Directly guiding the welding equipment allows welding multiple products at once, greatly increasing the production capacity. In summary, it can greatly improve the production capacity. Attached Figure Description
[0027] To more clearly illustrate the technical solutions of the embodiments of this application, the accompanying drawings used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of this application and should not be regarded as a limitation of the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.
[0028] Figure 1 This is a flowchart illustrating a method for guiding laser welding based on coordinate transformation, provided in an embodiment of this application. Detailed Implementation
[0029] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. It should be understood that the accompanying drawings in this application are for illustrative and descriptive purposes only and are not intended to limit the scope of protection of this application. Furthermore, it should be understood that the schematic drawings are not drawn to scale. The flowcharts used in this application illustrate operations implemented according to some embodiments of this application. It should be understood that the operations in the flowcharts may not be implemented in sequence, and steps without logical contextual relationships may be reversed or implemented simultaneously. In addition, those skilled in the art, guided by the content of this application, may add one or more other operations to the flowcharts, or remove one or more operations from the flowcharts.
[0030] Furthermore, the described embodiments are merely some, not all, of the embodiments of this application. The components of the embodiments of this application described and illustrated herein can typically be arranged and designed in various different configurations. Therefore, the following detailed description of the embodiments of this application provided in the accompanying drawings is not intended to limit the scope of the claimed application, but merely to illustrate selected embodiments of the application. All other embodiments obtained by those skilled in the art based on the embodiments of this application without inventive effort are within the scope of protection of this application.
[0031] It should be noted that the term "comprising" will be used in the embodiments of this application to indicate the presence of the features declared thereafter, but does not exclude the addition of other features.
[0032] In the field of industrial robot applications, robots actively collect image information of their working environment through vision systems. This image information is then processed using intelligent vision technology to obtain the information needed for robot operation, thereby guiding the robot's movements and making it more flexible and precise. Specifically, the vision system can acquire image information through cameras. This image information is based on coordinates in a visual coordinate system. The visual coordinate system needs to be connected to the mechanical coordinate system to calculate the robot's offset, in order to provide correct guidance to the robot's manipulator.
[0033] In existing technologies, most laser welding applications employ two workstations for welding. One workstation collects the welding point and Mark points, while the other only collects the Mark points. The positional relationship between the Mark points of the two workstations is used to calculate the position information of the welding point at the second workstation, which in turn moves the robotic arm to perform welding. The essential logic is to determine the conversion relationship between the two workstation coordinate systems by using the positional information of the same set of Mark points in different coordinate systems of the two workstations, and then calculate the coordinates of the welding point in the first workstation's coordinate system corresponding to the coordinates of the second workstation.
[0034] This method only involves two coordinate systems: the module coordinate system of station one and the robotic arm coordinate system of station two. It does not actually involve the coordinate system of the welding equipment. Since the robotic arm can only move to one welding point at a time, while the welding equipment can actually weld multiple positions, there is a contradiction between the two. Therefore, when there is a need to weld two or more positions at the same time, this method with only two coordinate systems is no longer applicable.
[0035] The following is a detailed explanation of the specific implementation process of the method and welding equipment for guided laser welding based on coordinate transformation provided in the embodiments of this application.
[0036] Figure 1 This is a flowchart illustrating a method for guided laser welding based on coordinate transformation, provided as an embodiment of this application. The subject of this method is the aforementioned electronic device. Figure 1 As shown, the method includes:
[0037] S101. Obtain the coordinates of three first reference points and multiple first welding points in the coordinate system of the first moving module of the object to be welded in the information acquisition station.
[0038] The first reference point can be a fixed feature point on the object to be welded, excluding the welding point, or it can be a fixed feature point on the carrier that carries the object to be welded; no specific limitation is made here.
[0039] The information acquisition station can be any station preceding the welding station. The first moving module coordinate system can be a unified coordinate system constructed for each physical location in the information acquisition station. Through this first moving module coordinate system, the visual positions of the first reference point and the welding point in this station can be unified to the same coordinate system.
[0040] In this embodiment, the object to be welded is transported to the information acquisition station via a conveying path. Here, the blocking cylinder lifts the object to be welded and positions it at this location. Then, a lifting cylinder lifts the object to be welded so that the conveying path does not interfere with the information acquisition of the object to be welded.
[0041] The first mobile module drives the vision module to take pictures. During implementation, the vision module includes a 12-megapixel rolling CMOS black and white camera, which takes pictures and scans each reference point and welding point of the object to be welded, and obtains the coordinate set of the first reference point and the coordinate set of multiple first welding points in the coordinate system of the information acquisition station.
[0042] In this embodiment, to ensure the clarity of the photograph, a low-latency, high-frequency triggering light source is also used, and the specific light source components are not specifically limited here.
[0043] S102. At the assembly station, inspect the integrity and cleanliness of the object to be welded. After confirming that the inspection is correct, assemble the welding plate onto the object to be welded.
[0044] In this embodiment, the lifting cylinder and the blocking cylinder at the welding information acquisition station descend sequentially, and the workpiece to be welded is transferred to the assembly station via a conveyor path. The assembly station and the information acquisition station have the same structure and working principle. Here, the lifting cylinder and the blocking cylinder rise to position the workpiece to be welded. Inspection and assembly are performed manually here. Of course, in other embodiments, mechanical equipment can also be used to assist in the process. Compared to mechanical equipment, visual inspection of the product and assembly of the welding plate by hand is simpler, more convenient, and safer.
[0045] S103. Obtain the coordinates of the three second reference points of the object to be welded in the second moving module coordinate system of the laser welding station.
[0046] The second reference point is the same as the first reference point. It can be a fixed feature point of the object to be welded other than the welding point, or a fixed feature point on the carrier that carries the object to be welded. As long as the positions of the two are the same, there is no specific limitation here. The use of "first" and "second" in this description is only to distinguish them in different work stations.
[0047] In this embodiment, the lifting cylinder and blocking cylinder at the assembly station descend, and the workpiece to be welded is transferred to the laser welding station. The lifting cylinder and blocking cylinder at the laser welding station then rise, completing the information collection of the workpiece to be welded at this location.
[0048] The first moving module coordinate system can be a unified coordinate system constructed for each physical location in the laser welding station. Through this second moving module coordinate system, the visual positions of the first reference point and the welding point in this station can be unified into the same coordinate system.
[0049] In implementation, a 12-megapixel rolling CMOS monochrome camera is used in the laser welding station to scan and photograph various reference points of the workpiece to be welded, obtaining a set of second reference point coordinates in the laser welding station coordinate system. In this embodiment, to ensure the clarity of the photographs, a low-latency, high-frequency trigger light source is also used; the specific light source components are not specifically limited here.
[0050] S104. Based on the coordinates of the first reference point and the second reference point, calculate the transformation matrix between the first moving module coordinate system and the second moving module coordinate system.
[0051] The first reference point and the second reference point are at the same position relative to the first weldment;
[0052] It should be emphasized that the coordinate system of the first moving module and the coordinate system of the second moving module can be converted to each other. By using the transformation matrix between the two, through translation, rotation, or scaling, the coordinates in the laser welding station coordinate system can be converted to the coordinates in the information acquisition station coordinate system, or the coordinates in the information station coordinate system can be converted to the coordinates in the laser welding station coordinate system, so that the position of the object to be welded can be aligned in the two coordinate systems.
[0053] S105. Based on the transformation matrix and the coordinates of the multiple first welding points obtained by the information acquisition station, the coordinates of the second welding point located in the second moving module coordinate system of the laser welding station can be obtained.
[0054] S106. Based on the obtained coordinates of the welding point in the laser welding station coordinate system, guide the laser welding module to complete the welding of the product to be welded.
[0055] This involves obtaining the coordinates of the first reference point of the object to be welded in the coordinate system of the first moving module of the information acquisition station, as well as the coordinates of multiple first welding points. In this embodiment, it is necessary to obtain the coordinates of three first reference points, specifically including the following methods:
[0056] The first moving module of the welding information acquisition station drives the vision module to a fixed position to take pictures, obtaining the coordinates of three first reference points and multiple welding point coordinates in the coordinate system of the first moving module. In this embodiment, the first moving module is a linear motor.
[0057] The method for obtaining the coordinates of the three second reference points of the workpiece to be welded in the coordinate system of the second moving module in the laser welding station includes the following:
[0058] The second moving module of the laser welding station moves the vision module to a fixed position to take a picture, obtaining the coordinates of three second reference points in the coordinate system of the second moving module. In this embodiment, the second moving module is a six-axis robot.
[0059] In the disclosed embodiments, the coordinates of three first reference points and multiple first welding point coordinates of the object to be welded in the first moving module coordinate system of the information acquisition station are obtained; at the assembly station, the integrity and cleanliness of the object to be welded are checked, and after the checks are correct, the welding plate is assembled onto the object to be welded; the coordinates of three second reference points of the object to be welded in the second moving module coordinate system of the laser welding station are obtained; based on the first and second reference point coordinates, the transformation matrix between the first and second moving module coordinate systems is calculated; according to the transformation matrix and the multiple first welding point coordinates obtained by the information acquisition station, the coordinates of the second welding point located in the second moving module coordinate system of the laser welding station can be obtained; based on the obtained welding point coordinates in the laser welding station coordinate system, the laser welding module is guided to complete the welding of the product to be welded. The 3-station design is clear and easy to understand, facilitating assembly and debugging. The manual assembly station only performs visual inspection of the products and assembles the welding plates, which is simple to operate and has a high safety factor. The 3 stations can work simultaneously, doubling the production capacity. Directly guiding the welding equipment allows welding multiple products at once, greatly increasing the production capacity. In summary, it can greatly improve the production capacity.
[0060] Before implementing guided laser welding based on coordinate specialists, the following steps need to be completed:
[0061] At the information acquisition station, the first mobile module and the first visual module obtain a first conversion relationship through a nine-point calibration method.
[0062] Preferably, in the laser welding station, the second moving module and the second vision module obtain a second conversion relationship through a nine-point calibration method; the second vision module and the welding equipment obtain a third conversion relationship through a nine-point calibration method.
[0063] Preferably, based on the transformation matrix and the coordinates of the multiple first welding points obtained by the information acquisition station, the coordinates of the second welding point located in the second moving module coordinate system of the laser welding station can be obtained, including the following methods:
[0064] Based on the coordinates of the first reference point of the welding information acquisition station and the coordinates of the second reference point acquired by the laser welding station in real time, the fourth transformation relationship between the first moving module and the second moving module is determined.
[0065] Based on the welding information collection station, the welding points in the second moving module coordinate system of the laser welding station are obtained through the fourth transformation relationship from multiple welding points collected by the welding information collection station.
[0066] The welding point position in the second moving module coordinate system of the laser welding station is obtained by using the second transformation relationship to determine the welding point position in the second vision module coordinate system of the laser welding station;
[0067] The welding point in the second vision module coordinate system of the laser welding station is obtained by using the third transformation relationship to find the welding point in the welding equipment coordinate system of the laser welding station.
[0068] A laser welding device includes an information acquisition module, an assembly module, a laser welding module, a conveying path, a first controller, and a second controller. The information acquisition module, the assembly module, and the laser welding module are arranged along the conveying path before the welding station. The first controller controls the information acquisition module to acquire position data of a first reference point and a welding point on the workpiece to be welded, obtaining corresponding coordinates of the first reference point and the first welding point; the first reference point coordinates and the first welding point coordinates are then sent to the second controller. The second controller controls the welding module to acquire position data of a second reference point to obtain the coordinates of the second reference point.
[0069] The above are merely specific embodiments of this application, but the scope of protection of this application is not limited thereto. Any changes or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in this application should be included within the scope of protection of this application.
Claims
1. A method for guided laser welding based on coordinate transformation, characterized in that the method... include: Obtain the coordinates of three first reference points and multiple first welding points in the coordinate system of the first moving module of the object to be welded in the information acquisition station; At the assembly station, the integrity and cleanliness of the items to be welded are checked. Once the checks are successful, the welding plate is assembled onto the items to be welded. Obtain the coordinates of three second reference points in the second moving module coordinate system of the workpiece assembled with welding plates in the laser welding station; Based on the coordinates of the first reference point and the second reference point, the transformation matrix between the first moving module coordinate system and the second moving module coordinate system is calculated. Based on the transformation matrix and the coordinates of the multiple first welding points obtained by the information acquisition station, the coordinates of the second welding point located in the second moving module coordinate system of the laser welding station can be obtained. Based on the obtained coordinates of the welding point in the laser welding station coordinate system, the laser welding module is guided to complete the welding of the object to be welded.
2. The method for guided laser welding based on coordinate transformation according to claim 1, characterized in that, The method for obtaining the coordinates of three first reference points and multiple first welding points of the object to be welded in the coordinate system of the first moving module in the information acquisition station includes the following: the first moving module drives the first vision module to take pictures and applies a high-frequency trigger light source.
3. The method for guiding laser welding based on coordinate transformation according to claim 2, characterized in that, The method for obtaining the coordinates of three second reference points of the workpiece to be welded with the assembled welding plate in the coordinate system of the second moving module in the laser welding station includes the following: the second moving module drives the second vision module to take pictures and applies a high-frequency trigger light source.
4. The method for guided laser welding based on coordinate transformation according to claim 3, characterized in that, Before implementing guided laser welding based on coordinate specialists, the following steps need to be completed: At the information acquisition station, the first mobile module and the first visual module obtain a first conversion relationship through a nine-point calibration method.
5. The method for guiding laser welding based on coordinate transformation according to claim 4, characterized in that, In the laser welding station, the second moving module and the second vision module obtain a second conversion relationship through a nine-point calibration method; the second vision module and the welding equipment obtain a third conversion relationship through a nine-point calibration method.
6. The method for guided laser welding based on coordinate transformation according to claim 5, characterized in that, Based on the transformation matrix and the coordinates of the multiple first welding points obtained by the information acquisition station, the coordinates of the second welding point located in the second moving module coordinate system of the laser welding station can be obtained, including the following methods: Based on the coordinates of the first reference point of the welding information acquisition station and the coordinates of the second reference point acquired by the laser welding station in real time, the fourth transformation relationship between the first moving module and the second moving module is determined. Based on the welding information collection station, the welding points in the second moving module coordinate system of the laser welding station are obtained through the fourth transformation relationship from multiple welding points collected by the welding information collection station. The welding point position in the second moving module coordinate system of the laser welding station is obtained by using the second transformation relationship to determine the welding point position in the second vision module coordinate system of the laser welding station; The welding point in the second vision module coordinate system of the laser welding station is obtained by using the third transformation relationship to find the welding point in the welding equipment coordinate system of the laser welding station.
7. The method for guided laser welding based on coordinate transformation according to claim 1, characterized in that, The first reference point and the second reference point are in the same position relative to the first welded object.
8. A laser welding device, characterized in that, The system includes an information acquisition module, an assembly module, a laser welding module, a conveying path, a first controller, and a second controller. The information acquisition module, assembly module, and laser welding module are arranged along the conveying path before the welding station. The first controller controls the information acquisition module to acquire the coordinates of a first reference point and a welding point on the workpiece to be welded, obtaining the corresponding coordinates of the first reference point and the first welding point. The first reference point coordinates and the first welding point coordinates are then sent to the second controller. The second controller controls the welding module to acquire the coordinates of a second reference point.