Method for calibrating welding gun of marine tube welding robot and laser welding seam tracking sensor
A robot and sensor technology, applied in the field of calibration of robot welding torches and laser seam tracking sensors, can solve problems such as manual intervention
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Embodiment 1
[0041] Embodiment 1: a rectangular metal plate with a side length greater than 100mm, a notch angle of 45-135°, a notch length of 30mm-50, a metal plate thickness of 5-30mm, the height of the welding torch is 2-10mm lower than the surface of the calibration plate, and the welding torch moves 1-5mm / s, the steps of hand-eye calibration in the present invention are:
[0042] 1. Read the starting point P of the movement 0 (x 0 ,y 0 ,z 0 )
[0043] The robot welding gun starts from a safe point and moves to P 0 position, the robot welding torch moves along the direction of vector (1,1,0) at a speed of 1-5mm / s, if the robot detects that the touch signal of the welding machine changes from 0 to 1, that is, the welding wire is in contact with the calibration plate, then Immediately record the current position P a (x a ,y a ,z 0 ), the robot gun moves back to P 0 Location.
[0044] 2. Robot welding gun from P 0 The position moves along the direction of the vector (1,-1,0), ...
Embodiment 2
[0051] Embodiment 2: a rectangular metal plate with a side length of 100mm, a notch angle of 45°, a notch length of 30mm, a metal plate thickness of 5mm, the height of the welding torch is 2mm lower than the surface of the calibration plate, and the movement of the welding torch is 1mm / s. The calibration steps are:
[0052] 1. Read the starting point P of the movement 0 (x 0 ,y 0 ,z 0 )
[0053] The robot welding gun starts from a safe point and moves to P 0 position, the robot welding torch moves along the direction of vector (1,1,0), and the speed is 1mm / s. If the robot detects that the touch signal of the welding machine changes from 0 to 1, that is, the welding wire is in contact with the calibration plate, it will be recorded immediately Current locationP a (x a ,y a ,z 0 ), the robot gun moves back to P 0 Location.
[0054] 2. Robot welding gun from P 0 The position moves along the direction of vector (1,-1,0) with a speed of 1mm / s. If the robot detects that ...
Embodiment 3
[0061] Embodiment 3: a rectangular metal plate with a side length of 100mm, a notch angle of 135°, a notch length of 50mm, a metal plate thickness of 30mm, the height of the welding torch is 2mm lower than the surface of the calibration plate, and the movement of the welding torch is 5mm / s. The calibration steps are:
[0062] 1. Read the starting point P of the movement 0 (x 0 ,y 0 ,z 0 )
[0063] The robot welding gun starts from a safe point and moves to P 0 position, the robot welding torch moves along the direction of vector (1,1,0), and the speed is 5mm / s. If the robot detects that the touch signal of the welding machine changes from 0 to 1, that is, the welding wire is in contact with the calibration plate, it will be recorded immediately Current locationP a (x a ,y a ,z 0 ), the robot gun moves back to P 0 Location.
[0064] 2. Robot welding gun from P 0 The position moves along the direction of vector (1,-1,0) with a speed of 5mm / s. If the robot detects tha...
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Abstract
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