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Eight-axis robot space curve welding system and method for recognizing welding line by means of lasers

A space curve and laser recognition technology, applied in welding equipment, auxiliary welding equipment, welding/cutting auxiliary equipment, etc., can solve the problems of low efficiency and low accuracy of automatic weld seam recognition methods, achieve high automation and improve efficiency , The effect of simple device structure

Inactive Publication Date: 2016-05-11
SOUTH CHINA UNIV OF TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0009] The purpose of the present invention is to provide an 8-axis robot space curve welding system for laser recognition weld seam, which aims to solve the problems of low efficiency and low accuracy of existing automatic weld seam recognition methods, and realize accurate space curve welding

Method used

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  • Eight-axis robot space curve welding system and method for recognizing welding line by means of lasers
  • Eight-axis robot space curve welding system and method for recognizing welding line by means of lasers
  • Eight-axis robot space curve welding system and method for recognizing welding line by means of lasers

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Experimental program
Comparison scheme
Effect test

Embodiment 1

[0044] Such as figure 1 As shown, an 8-axis robot space curve welding system for laser recognition welds, including a tilt / rotation two-axis positioner for fixing workpieces, a laser sensor 4, a laser sensor fixing element 5, a welding torch 6, a welding torch fixing element 7, Welding robot 8, the workpiece is fixed on the tilt / rotation two-axis positioner, following the tilt / rotation two-axis positioner for tilting and / or rotation movement, the laser sensor 4 is installed on the laser sensor fixing element 5, and the laser sensor is fixed The component 5 is clamped on the welding torch 6, the welding torch 6 is installed on the welding torch fixing element 7, the welding torch fixing element 7 is installed on the end flange of the welding robot 8, the laser sensor 4 and the welding torch 6 can follow the movement of the welding robot 8 end.

[0045] The welding robot brings the laser sensor to the position where it is easy to scan the weld seam of the workpiece space curve, ...

Embodiment 2

[0051] An 8-axis robot space curve welding system for laser recognition welding seams, including a tilt / rotation two-axis positioner for fixing workpieces, a laser sensor 4, a laser sensor fixing element 5, a welding torch 6, a welding torch fixing element 7, and a welding robot 8 , the workpiece is fixed on the tilt / rotation two-axis positioner, following the tilt / rotation two-axis positioner for tilting and / or rotation movement, the laser sensor 4 is installed on the laser sensor fixing element 5, and the laser sensor fixing element 5 is installed Clamped on the welding torch 6, the welding torch 6 is installed on the welding torch fixing element 7, the welding torch fixing element 7 is installed on the end flange of the welding robot 8, and the laser sensor 4 and the welding torch 6 can follow the movement of the welding robot 8 end.

[0052] The welding robot brings the laser sensor to the position where it is easy to scan the weld seam of the workpiece space curve, and the...

Embodiment 3

[0059] Such as figure 2 As shown, the laser recognition seam 8-axis robot space curve welding method based on the laser recognition seam 8-axis robot space curve welding system includes the following steps:

[0060] S1. Adjust the position and posture of the welding robot 8 so that the laser sensor 4 fixed on the welding torch 6 is in the best position for scanning the weld 3, that is, the weld 3 is in the effective working range of the laser sensor 4, and the continuous scanning welding is ensured. During the process of sewing 3, the workpiece 2 will not interfere with the laser sensor 4;

[0061] S2. The tilt / rotation two-axis positioner rotates continuously, so that the welding seam 3 passes through the scanning area of ​​the laser sensor 4 sequentially from the starting point to the end point;

[0062] S3. Extract the feature points of the weld 3 from the scanning result of the laser sensor 4, and calculate the coordinates of the center point of the weld 3 under the coor...

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Abstract

The invention discloses an eight-axis robot space curve welding system for recognizing a welding line by means of lasers. The system comprises a tilting / rotating two-axis positioner used for fixing a workpiece, a laser sensor, a laser sensor fixing element, a welding gun, a welding gun fixing element and a welding robot. The workpiece is fixed to the tilting / rotating two-axis positioner and does tilting and / or rotating motion along with the tilting / rotating two-axis positioner. The laser sensor is mounted on the laser sensor fixing element. The laser sensor fixing element is clamped on the welding gun. The welding gun is mounted on the welding gun fixing element. The welding gun fixing element is mounted on a flange plate at the tail end of the welding robot. Both the laser sensor and the welding gun can move along with the tail end of the welding robot. The invention further discloses an eight-axis robot space curve welding method for recognizing the welding line by means of the lasers. The problems that existing space curve welding line off-line programming is not high in precision, the teaching workload of space curve welding line teaching programming is large, and efficiency is low are solved. Efficiency and precision are high.

Description

technical field [0001] The invention relates to a robot space curve welding system, in particular to an 8-axis robot space curve welding system and method for laser recognition welding seams. Background technique [0002] Robot welding is widely used in many production fields. At present, the robot welding method is mainly based on the "teaching and reproduction" mode. First, the welding torch at the end of the robot is manually guided to the teaching points on the weld, and then the movement mode of the robot between the teaching points is defined by programming, such as linear insertion. Complementation, circular interpolation, etc., and finally through "reproduction" command the robot to pass the teaching points in turn according to the teaching program to complete the welding process. In the face of complex space curve welds, in order to ensure accuracy, it is necessary to select a large number of teaching points, which is heavy workload, time-consuming and low producti...

Claims

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Application Information

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IPC IPC(8): B23K37/00B23K37/02B23K37/047
CPCB23K37/00B23K37/02B23K37/047
Inventor 张铁罗欣邹焱飚
Owner SOUTH CHINA UNIV OF TECH
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