CN107414318A - A kind of fixed Scan orientation device and method for laser cutting head positioning - Google Patents
A kind of fixed Scan orientation device and method for laser cutting head positioning Download PDFInfo
- Publication number
- CN107414318A CN107414318A CN201710796662.8A CN201710796662A CN107414318A CN 107414318 A CN107414318 A CN 107414318A CN 201710796662 A CN201710796662 A CN 201710796662A CN 107414318 A CN107414318 A CN 107414318A
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- CN
- China
- Prior art keywords
- cutting head
- laser cutting
- binocular vision
- workpiece
- position measuring
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- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K26/00—Working by laser beam, e.g. welding, cutting or boring
- B23K26/36—Removing material
- B23K26/38—Removing material by boring or cutting
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K26/00—Working by laser beam, e.g. welding, cutting or boring
- B23K26/02—Positioning or observing the workpiece, e.g. with respect to the point of impact; Aligning, aiming or focusing the laser beam
- B23K26/03—Observing, e.g. monitoring, the workpiece
- B23K26/032—Observing, e.g. monitoring, the workpiece using optical means
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K26/00—Working by laser beam, e.g. welding, cutting or boring
- B23K26/60—Preliminary treatment
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K26/00—Working by laser beam, e.g. welding, cutting or boring
- B23K26/70—Auxiliary operations or equipment
- B23K26/702—Auxiliary equipment
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- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Optics & Photonics (AREA)
- Plasma & Fusion (AREA)
- Mechanical Engineering (AREA)
- Laser Beam Processing (AREA)
- Machine Tool Sensing Apparatuses (AREA)
- Length Measuring Devices By Optical Means (AREA)
Abstract
The present invention relates to machining technology field, the position fixing process suitable for lathe laser cutting head relative to workpiece.It includes cutting head positioning system, laser cutting head device, fixing support rack and binocular vision position measuring system, the cutting head positioning system is that mechanical arm carries positioner, cutting head positioning system end is provided with mounting bracket, the laser cutting head device is fixedly mounted on cutting head positioning system end by mounting bracket, and the binocular vision position measuring system is fixedly mounted on static fixing support rack.The advantage of the invention is that measurement is scanned to static workpiece by using binocular vision position measuring system and forms position and the attitude information of the workpiece space index point system relative to binocular vision position measuring system itself, and measurement is scanned to the laser cutting head of motion by binocular vision position measuring system, position and attitude information of the laser axis of laser cutting head relative to workpiece can be obtained indirectly.
Description
Technical field
The present invention relates to machining technology field, the position fixing process suitable for lathe laser cutting head relative to workpiece,
The machine tooling initial workpiece that is particularly suitable for use in positions, and particularly relates to a kind of fixed scanning for laser cutting head positioning and determines
Position device and method.
Background technology
The localization method of the machining locus initial position of the laser cutting head of lathe is cut generally by laser now
Cephalic region installation laser aligner is cut, then by manual operation machine tool mechanical arm, makes the initial of laser aligner alignment pieces
Point position.This manual operation mechanical arm is low to the mode efficiency of point, and precision is low, it is difficult to meets the requirement of automated production.It is existing
Carry out the mode of fast positioning to laser cutting head and workpiece relative position using binocular vision position measuring system in appearance,
It is that binocular vision position measuring system is fixedly mounted on laser cutting head and follows laser cutting head to move, it is complicated in cutting
During workpiece, binocular vision position measuring system installing space can influence the adjustment of laser cutting head machining posture, thus it is this with
Dynamic formula mounting means limits the range of movement of laser cutting head.
The content of the invention
The problem to be solved in the present invention be how overcome the deficiencies in the prior art, it is a kind of for laser cutting head positioning consolidating
Fixed pattern Scan orientation device and method.
According to an aspect of the invention, it is proposed that a kind of fixed Scan orientation device for laser cutting head positioning,
Including cutting head positioning system, laser cutting head device, fixing support rack and binocular vision position measuring system, the cutting head
Alignment system is that mechanical arm carries positioner, and cutting head positioning system end is provided with mounting bracket, the laser cutting head device
Cutting head positioning system end is fixedly mounted on by mounting bracket, the binocular vision position measuring system is fixedly mounted on static
Fixing support rack on, the binocular vision position measuring system is used to measure the relative position of laser cutting head device and workpiece
And attitude information, the binocular vision position measuring system can feed back to measurement signal machine tool control system to realize to cutting
The motion correction of head positioning system.
Further, the range of observation of the binocular vision position measuring system includes the space of laser cutting head device
Taken up space with workpiece.
Further, the fixing support rack can independently be fixed on the position away from lathe, can also be fixedly connected on lathe
In frame.
According to another aspect of the invention, it is proposed that a kind of fixed Scan orientation side for laser cutting head positioning
Method, including step S1, the diverse location of workpiece to be processed is marked by index point, forms the sky that can represent the location of workpiece
Between index point system；Step S2, survey is scanned to the space indicate point system of workpiece by binocular vision position measuring system
Amount, obtained workpiece space index point system is defeated relative to the position of the binocular vision position measuring system and attitude information
Enter machine tool control system；Step S3, the laser cutting head device in motion is entered by the binocular vision position measuring system
The lasting scanning survey of row, by the laser axis of obtained laser cutting head device relative to the binocular vision position measurement system
The position of system and attitude information input machine tool control system；Step S4, by machine tool control system in step S1 and step S3
Obtained relative position and attitude information is overlapped resolving, obtains the laser axis of laser cutting head device indirectly relative to work
The relative position and attitude information of part.
Further, the step S2 also includes different spatial mark of the binocular vision position measuring system to workpiece
Will point carries out point by point scanning and repeatedly approximant measurement and forms the process of opposite piece coordinate system.
The advantage of the invention is that measurement is scanned to static workpiece by using binocular vision position measuring system
And position and the attitude information of the workpiece space index point system relative to binocular vision position measuring system itself are formed, and
Measurement is scanned to the laser cutting head of motion by binocular vision position measuring system, and obtained relative to binocular vision position
The relative position and attitude information of the laser axis of the laser cutting head of measuring system itself are put, eventually through machine tool control system
The position and attitude information relative to two is overlapped resolving, can obtain the laser axis of laser cutting head indirectly relative to workpiece
Position and attitude information, so as to judge whether the laser axis of laser cutting head has reached the work specified rapidly before processing
Part cut point position.The present invention is based on binocular vision position measurement algorithmic technique, and binocular vision position measuring system is independently installed,
Limitation of the binocular vision position measuring system to laser cutting head range of movement has been broken away from, has increased binocular vision position measurement system
The observation scope of system, the positioning precision of machine tool system is improved, there is very high practicality.
Brief description of the drawings
The embodiment of the present invention is described in further detail below in conjunction with the accompanying drawings, wherein：
Fig. 1 is the overall structure diagram of the present invention.
Embodiment
Shown in Fig. 1, according to an aspect of the invention, it is proposed that a kind of fixed scanning for laser cutting head positioning is determined
Position device, including cutting head positioning system 1, laser cutting head device 2, fixing support rack 3 and binocular vision position measuring system
4, the cutting head positioning system 1 is that mechanical arm carries positioner, and laser cutting can be made by carrying positioner by mechanical arm
The movement locus that head device 2 reaches specified location under machine tool control system effect or generation is specified, cutting head positioning system 1 end
Portion is provided with mounting bracket 11, and the laser cutting head device 2 is fixedly mounted on cutting head positioning system 1 end by mounting bracket 11,
The binocular vision position measuring system 4 is fixedly mounted on static fixing support rack 3, the binocular vision position measurement system
System 4 is used for the relative position and attitude information for measuring laser cutting head device 2 and workpiece 5, the binocular vision position measurement system
Measurement signal can be fed back to machine tool control system and the motion for cutting head positioning system 1 is rectified a deviation with realizing by system 4.The binocular vision
Feel that space and workpiece 5 of the range of observation of position measuring system 4 including laser cutting head device 2 are taken up space, binocular vision
Although feel position measuring system 4 away from laser cutting head device 2 and workpiece 5 and static installation, laser cutting head device 2 and work
Part 5 should all be located within the scope of the scanning survey of binocular vision position measuring system 4, so as to make binocular vision position measurement system
System 4 forms required relative position and attitude information by point by point scanning, so that machine tool control system carries out data message resolving
And processing.The fixing support rack 3 can independently be fixed on the position away from lathe, can also be fixedly connected in the frame of lathe,
As long as making binocular vision position measuring system 4 that there is the installation site of sufficiently large visual range, can be carried out choosing.
According to another aspect of the invention, it is proposed that a kind of fixed Scan orientation side for laser cutting head positioning
Method, including：
Step S1, the diverse location of workpiece to be processed 5 is marked by index point 51, formation can represent workpiece 5
The system of space indicate point 51 put；
Step S2, measurement is scanned to the space indicate point system of workpiece 5 by binocular vision position measuring system 4,
The obtained space indicate point system of workpiece 5 is defeated relative to the position of the binocular vision position measuring system 4 and attitude information
Enter machine tool control system；
Step S3, the laser cutting head device 2 in motion is continued by the binocular vision position measuring system 4
Scanning survey, by the laser axis of obtained laser cutting head device 2 relative to the binocular vision position measuring system 4
Position and attitude information input machine tool control system；
Step S4, the relative position and attitude information that are obtained in step S1 and step S3 are carried out by machine tool control system
Superposition resolves, and obtains the laser axis of laser cutting head device 2 indirectly relative to the relative position and attitude information of workpiece 5.
Wherein, the scanning survey of binocular vision position measuring system 4 is utilized in step S2 and S3 crosses Cheng Qian, is all desirable
Multiple index points 51 are set on the object of scanning survey, to after scanning survey in binocular vision position measuring system 4
Generation can represent the locus of scanning survey object and the digital coordinates system of posture, and certain technology belongs to binocular vision position
Known technology in e measurement technology, the personnel of art can be when actually implementing technical solution of the present invention, as needed
Carry out associative operation.In addition, the step S2 also includes different spaces of the binocular vision position measuring system 4 to workpiece 5
Tick lables point 51 carries out point by point scanning and repeatedly approximant measurement and forms the process of the coordinate system of opposite piece 5, to workpiece 5
When being scanned measurement, the space indicate point system of workpiece 5 obtained by the process is relative to the binocular vision position measurement system
The position of system 4 and attitude information are to scan formation, and the system of index point 51 in the resulting space of workpiece 5 one by one by multiple spot
It is to be indicated by scanning the coordinate system of workpiece 5 formed, in the information process of scanning, the points of scanning are more, its position
It is more accurate to put attitude information.
Measurement is scanned to static workpiece 5 by using binocular vision position measuring system 4 and formed relative to double
Visually feel position and the attitude information of the system of the space indicate point 51 of workpiece 5 of position measuring system 4 itself, and pass through binocular
Visual position measuring system 4 is scanned measurement to the laser cutting head device 2 of motion, and obtains relative to binocular vision position
The relative position and attitude information of the laser axis of the laser cutting head device 2 of measuring system 4 itself, eventually through Machine-Tool Control
The system position and attitude information relative to two is overlapped resolving, can obtain the laser axis of laser cutting head device 2 indirectly
Position and attitude information relative to workpiece 5, so as to before processing it is rapid judge laser cutting head device 5 laser axis be
The no corresponding cut point position for having reached the workpiece 5 specified.The present invention is based on binocular vision position measurement algorithmic technique, by binocular vision
Feel that position measuring system 4 is independently installed, broken away from motion model of the binocular vision position measuring system 4 to laser cutting head device 2
Limitation is enclosed, and increases the observation scope of binocular vision position measuring system 4, significantly improves laser cutting machine tool kinetic system
The positioning precision of system.
Above-described embodiment is in the art the purpose is to be to allow simply to illustrate that the technical concepts and features of the present invention
Those of ordinary skill can understand present disclosure and implement according to this, and it is not intended to limit the scope of the present invention.It is all
It is the equivalent change or modification according to made by the essence of present invention, should all covers within the scope of the present invention.
Claims (5)
1. a kind of fixed Scan orientation device for laser cutting head positioning, including cutting head positioning system, laser cutting
Head device, fixing support rack and binocular vision position measuring system, the cutting head positioning system are that mechanical arm carries positioning dress
Put, cutting head positioning system end is provided with mounting bracket, and the laser cutting head device is fixedly mounted on cutting head by mounting bracket
Alignment system end, it is characterised in that：The binocular vision position measuring system is fixedly mounted on static fixing support rack,
The binocular vision position measuring system is used for the relative position and attitude information for measuring laser cutting head device and workpiece, described
Binocular vision position measuring system can feed back to measurement signal machine tool control system to realize the fortune to cutting head positioning system
Dynamic correction.
2. a kind of fixed Scan orientation device for laser cutting head positioning according to claim 1, its feature exist
In：The range of observation of the binocular vision position measuring system includes the space and workpiece institute duty of laser cutting head device
Between.
3. a kind of fixed Scan orientation device for laser cutting head positioning according to claim 1, its feature exist
In：The fixing support rack can independently be fixed on the position away from lathe, can also be fixedly connected in the frame of lathe.
A kind of 4. fixed Scan orientation method for laser cutting head positioning, it is characterised in that：Including
Step S1, the diverse location of workpiece to be processed is marked by index point, forms the space that can represent the location of workpiece
Index point system；
Step S2, measurement is scanned to the space indicate point system of workpiece by binocular vision position measuring system, will be obtained
Workpiece space index point system input lathe control relative to the position of the binocular vision position measuring system and attitude information
System processed；
Step S3, lasting scanning is carried out to the laser cutting head device in motion by the binocular vision position measuring system
Measurement, by position of the laser axis of obtained laser cutting head device relative to the binocular vision position measuring system and appearance
State information inputs machine tool control system；
Step S4, the relative position and attitude information that are obtained in step S1 and step S3 are overlapped by machine tool control system
Resolve, obtain the laser axis of laser cutting head device indirectly relative to the relative position and attitude information of workpiece.
5. a kind of fixed Scan orientation method for laser cutting head positioning according to claim 4, its feature exist
In：The step S2 also includes the binocular vision position measuring system to be carried out point by point to the different spatial index point of workpiece
Scan and repeatedly it is approximant measure and form the process of opposite piece coordinate system.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710796662.8A CN107414318A (en) | 2017-09-06 | 2017-09-06 | A kind of fixed Scan orientation device and method for laser cutting head positioning |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710796662.8A CN107414318A (en) | 2017-09-06 | 2017-09-06 | A kind of fixed Scan orientation device and method for laser cutting head positioning |
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| CN107414318A true CN107414318A (en) | 2017-12-01 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201710796662.8A Pending CN107414318A (en) | 2017-09-06 | 2017-09-06 | A kind of fixed Scan orientation device and method for laser cutting head positioning |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN110897717A (en) * | 2019-12-09 | 2020-03-24 | 苏州微创畅行机器人有限公司 | Navigation operation system, registration method thereof and electronic equipment |
| CN114406430A (en) * | 2022-02-02 | 2022-04-29 | 上海研视信息科技有限公司 | Automatic spot welding guide system based on machine vision |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20171201 |
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| RJ01 | Rejection of invention patent application after publication |