Apparatus and method for calibrating welding torch tool point and workpiece coordinate system of welding robot
A welding robot and calibration device technology, applied in welding equipment, manufacturing tools, auxiliary devices, etc., can solve problems such as difficulty in intuitively determining the length of welding wire, inaccurate welding torch tool points, and no effective means to ensure accuracy.
Active Publication Date: 2021-04-09
SHANDONG UNIV
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Problems solved by technology
When the welding robot is calibrated, on the one hand, when the end of the welding wire is used as the tool point, due to the certain elasticity of the welding wire, it will deviate from the center line of the welding torch after leaving the contact tip, and the length of the protruding welding wire is difficult to determine intuitively, resulting in the inaccuracy of the welding torch tool point. Accurate. On the other hand, different welding torch postures are required to calibrate the welding torch tool point. When touching a fixed point, there is no effective means to ensure the accuracy of the contact. It is difficult to ensure the accuracy and effect of tool point calibration.
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[0028] It should be pointed out that the following detailed description is exemplary and intended to provide further explanation to the present application. Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs.
[0029] It should be noted that the terminology used here is only for describing specific implementations, and is not intended to limit the exemplary implementations according to the present application. As used herein, unless the context clearly dictates otherwise, the singular is intended to include the plural, and it should also be understood that when the terms "comprising" and / or "comprising" are used in this specification, they mean There are features, steps, operations, means, components and / or combinations thereof.
[0030] In order to solve the technical problems raised in the background technology section, this application pr...
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The invention discloses a welding robot welding torch tool point and workpiece coordinate system calibration device and method, comprising a welding torch sleeve, a welding wire simulation rod, and a calibration target; the welding torch sleeve and the welding wire simulation rod are detachably connected, and the welding wire The bottom of the analog rod is a spherical structure, and the upper surface of the calibration target is provided with three calibration grooves, each calibration groove is connected with three copper conductive strips, and the three copper conductive strips connected with each calibration groove are connected to two indicator lights, The power supply forms a loop. It can realize the calibration of the welding torch tool point and the calibration of the workpiece coordinate system under different elongation of the welding wire simulation rod. The calibration process is simple and the calibration accuracy is high.
Description
technical field [0001] The invention belongs to the technical field of robot welding, and relates to a device and method for calibrating a welding torch tool point and a workpiece coordinate system of a welding robot. Background technique [0002] Industrial robots are one of the important basic equipment for implementing automated production lines, industry 4.0, intelligent manufacturing workshops, digital factories, and intelligent factories. According to incomplete statistics, nearly half of the industrial robots in service around the world are used in various forms of welding processing. [0003] Off-line programming and simulation of robot welding is one of the important systems to improve the intelligence of robot welding system, and it is an important part of the software system of intelligent welding robot. The performance of off-line programming tasks is closely related to the calibration accuracy of the robot welding torch and the calibration accuracy of the workp...
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IPC IPC(8): B25J11/00B23K3/08
CPCB23K3/08B25J11/005
Inventor 高进强郭永健桂喜雨黄浩硕
Owner SHANDONG UNIV