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A robot intelligent welding method with redundant degrees of freedom with vision

A technology of robot intelligence and welding method, which is applied in welding accessories, welding rod characteristics, devices supporting electrode clamps, etc., can solve the problems of limited freedom and attitude of robots, difficult to meet complex welding at all positions, etc., and achieve the effect of high precision

Active Publication Date: 2022-07-08
南京衍构科技有限公司
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Problems solved by technology

Therefore, when the workpiece to be welded has a complex shape or a large size, its posture is limited due to the lack of freedom of the robot, making it difficult to meet the needs of all-position complex welding

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  • A robot intelligent welding method with redundant degrees of freedom with vision
  • A robot intelligent welding method with redundant degrees of freedom with vision
  • A robot intelligent welding method with redundant degrees of freedom with vision

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Embodiment Construction

[0032] The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, but not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

[0033] see Figure 1-4 , the present invention provides a technical solution: an intelligent welding method for a robot with redundant degrees of freedom with vision, the redundant degree of freedom robot has a horizontal moving guide rail 1, a large-load three-axis robot 2 arranged on the horizontal moving guide rail 1, and a large-load three-axis robot 2 connected in series to a large The small-load six-axis robot 3 on the load thre...

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Abstract

The invention discloses an intelligent welding method of a robot with a redundant degree of freedom with vision. The redundant robot with a degree of freedom has a horizontal moving guide rail, a large-load three-axis robot arranged on the horizontal moving guide rail, and a large-load three-axis robot connected in series with the large-load three-axis robot. The small-load six-axis robot, the 3D camera and the welding torch set at the end of the small-load six-axis robot. The invention increases the number of degrees of freedom of the robot, so that it can flexibly adapt to the welding of workpieces with complex shapes and large sizes, and eliminates the influence of horizontal moving guide rails and three-axis robots with large loads on absolute accuracy, and the welding quality only depends on The six-axis robot with small load has high welding accuracy; at the same time, intelligent welding is realized, and the workpiece welding can be completed without personnel participation.

Description

technical field [0001] The invention relates to the technical field of intelligent welding of industrial robots, in particular to a robot intelligent welding method with a redundant degree of freedom with vision. Background technique [0002] Industrial robot intelligent welding is an automatic welding process that uses industrial robots and visual cameras to identify welds, plan welding paths, and adapt welding process parameters to complete automatic welding processes without human operation. In order to ensure the precision required for welding, the existing robot intelligent welding technology usually uses industrial robots with fewer degrees of freedom for welding. Therefore, when the shape of the workpiece to be welded is complex or the size is large, the robot's posture is limited due to its small degree of freedom, so it is difficult to meet the needs of complex welding at all positions. SUMMARY OF THE INVENTION [0003] The purpose of the present invention is to ...

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B23K9/28B23K9/32
CPCB23K9/287B23K9/32
Inventor 吴玲珑李仁飞
Owner 南京衍构科技有限公司
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