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Non-contact type robot laser welding teaching method

A technology of laser welding and teaching method, which is applied in the direction of welding equipment, auxiliary welding equipment, welding/cutting auxiliary equipment, etc., can solve the problems of trajectory deviation and cumbersome process, improve efficiency, reduce the possibility of interference, and teach Simple and fast effect

Inactive Publication Date: 2018-06-29
SHENYANG INST OF AUTOMATION - CHINESE ACAD OF SCI
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  • Abstract
  • Description
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  • Application Information

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Problems solved by technology

Traditional robot teaching is generally carried out by means of contact thimble or offline programming. The former is easy to interfere with the welding workpiece and the process is cumbersome, and the latter is prone to trajectory deviation for complex welding trajectory targets.

Method used

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  • Non-contact type robot laser welding teaching method
  • Non-contact type robot laser welding teaching method
  • Non-contact type robot laser welding teaching method

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Embodiment Construction

[0021] The present invention will be described in further detail below in conjunction with the accompanying drawings.

[0022] The present invention includes a robot, a teaching thimble 2, a calibration plane 4, a space multi-degree-of-freedom adjustment frame 11, a welding laser 5 and an auxiliary laser generator 10, wherein image 3 As shown, the space multi-degree-of-freedom adjustment frame 11 includes an adjustment frame fixing base 12, an adjustment frame arm 13, an adjustment frame elbow joint 14 and an adjustment frame clamping head 15, and the adjustment frame fixing base 12 is rotatable Installed on one side of the welding laser 5, the fixed base 12 of the adjustment frame, the big arm 13 of the adjustment frame, the elbow joint 14 of the adjustment frame and the clamping head 15 of the adjustment frame are sequentially rotated and connected, so that the whole mechanism has a total of 4 degrees of freedom in space, And the rotation joints of the various parts are all...

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Abstract

The invention relates to the field of laser welding, in particular to a non-contact type robot laser welding teaching positioning method. The non-contact type robot laser welding teaching positioningmethod includes the specific steps that firstly, a teaching center is driven by a robot to move and make contact with a calibrated plane to determine an auxiliary laser calibration position point; secondly, a welding laser device is driven by the robot to move and eject out a laser device guiding light path to form a light spot on the auxiliary laser calibration position point, the posture of a space multi-freedom-degree adjusting frame is adjusted, a light spot generated by an auxiliary laser light path ejected out of an auxiliary laser generator on the calibrated plane is made to coincide with the light spot generated by the laser device guiding light path, and the posture of the space multi-freedom-degree adjusting frame is fixed; and thirdly, during welding teaching, the welding laserdevice is adjusted through the robot till the light spots generated by the laser device guiding light path and the auxiliary laser light path on a welding object coincide with each other, and a teaching target position point is acquired. By means of the non-contact type robot laser welding teaching positioning method, the welding trajectory planning efficiency can be improved, and the possibilitythat interference happens in the teaching process is reduced.

Description

technical field [0001] The invention relates to the field of laser welding, in particular to a non-contact robot laser welding teaching and positioning method for laser welding target positions using a robot with high repeatability positioning accuracy as a laser movement carrier. Background technique [0002] For the welding of special workpieces, due to the complex welding process of special workpieces and the different forms of welded parts, it is necessary to plan the robot welding trajectory by manually teaching the welding target position. Traditional robot teaching is generally carried out by means of contact thimble or offline programming. The former is easy to interfere with the welding workpiece and the process is cumbersome, and the latter is prone to trajectory deviation for complex welding trajectory targets. In addition, in order to adapt to different welding parameters in the laser welding process, it is necessary to ensure that the teaching method has a certa...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B23K37/00G09B25/02
CPCB23K37/00G09B25/02
Inventor 侯雯中徐志刚刘勇昌成刚王军义李秋实侯峻峰
Owner SHENYANG INST OF AUTOMATION - CHINESE ACAD OF SCI
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