Tool center point calibration circuit of welding robot

Abstract

The invention discloses a tool center point calibration circuit of a welding robot. The tool center point calibration circuit includes a signal receiving circuit, a comparison switch circuit and a stable driving circuit. The signal receiving circuit transforms real-timely received 4-20 mA displacement signals into 0-10 V voltage signals, then the 0-10 V voltage signals enter a subtracter in the comparison switch circuit for subtracting, positive deviation signals or negative deviation signals are output, then the positive deviation signals or the negative deviation signals are compared and analyzed through a window comparison circuit composed of an operational amplifier AR3 and an operational amplifierAR4. When an allowable deviation range is exceeded by + / -3%, a high level is output, a relay K1 coil is energized, and the stable driving circuit receives the positive deviation signals or the negative deviation signals through a closed relay K1 normally open contact K1-1, and an operational amplifier AR5 is used for reversely amplifying the signals, the signals are subjected to feedback calibration through an audion Q2 and an audion Q3, and then the direction and magnitude of the current flowing through an electromagnet are controlled through a series resistor R16, so that the horizontal or vertical positive deviation signals or the horizontal or vertical negative deviation signals are adjusted; and the problems that due to small deviation, the welding robot moves frequently to find the center and the work is difficult are effectively solved.

Description

technical field [0001] The invention relates to the technical field of welding robots, in particular to a tool center point calibration circuit of a welding robot. Background technique [0002] After the welding robot is installed and before working, it is necessary to adjust the tool center point of the welding robot. The accuracy of the tool center point adjustment directly affects the welding accuracy of the welding robot. If the adjustment accuracy of the tool center point is low, it will cause the robot to Serious quality problems such as weld seam deviation occurred during the welding process. The prior art has disclosed an auxiliary device for adjusting the center point of a welding robot tool with the application number: 201710540632.0. The alignment needle on the welding gun of the welding robot is in contact with the bottom needle on the working platform of the welding robot, which improves the adjustment accuracy of the center point of the tool and also improves t...

AI Technical Summary

Problems solved by technology

[0005] In view of the above situation, in order to overcome the defects of the prior art, the object of the present invention is to provide a tool center point calibration circuit of a welding robot, which effectively solves the problem that the welding robot frequently moves to find the center due to small deviations, and the work is difficult.

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