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Calibration device and calibration method for robot welding torch and laser sensor

A laser sensor and calibration device technology, applied in the direction of using optical devices, measuring devices, instruments, etc., can solve problems such as manual intervention, and achieve the effect of solving manual intervention

Active Publication Date: 2021-11-23
西咸新区大熊星座智能科技有限公司
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

There are many common calibration methods now, but they all require specific calibration tools and must be manually intervened

Method used

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  • Calibration device and calibration method for robot welding torch and laser sensor
  • Calibration device and calibration method for robot welding torch and laser sensor

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0023]Embodiment 1, a calibration device for a robot welding torch and a laser sensor, including a base plate 1, on which a cone 2 with a vertical section with a large top and a small structure is installed, and the cone 2 is evenly distributed in the upper direction of the base plate around the cone 2 There are four signal columns 3, on which a photoelectric sensor connected to the robot is installed, the height of the photoelectric sensor is 8-12mm higher than the apex of the cone, and the opposite signal columns are respectively set as emission columns, and are connected with the robot. The transmitting column corresponds to the matching receiving column, and the calibration method is realized by the following steps: (1) Install the laser sensor on the outer end of the welding torch of the welding robot, establish communication between the laser sensor and the welding robot, fix the base plate on the workbench, and coordinate the base plate and the robot The angle between th...

Embodiment 2

[0031] Embodiment 2, in the calibration device and calibration method of the robot welding torch and laser sensor described in Embodiment 1: a base plate is included, and a cone with a longitudinal section with a large upper and a smaller structure is installed on the base plate, and the base plate around the cone There are four signal columns evenly distributed in the circumferential direction, and photoelectric sensors connected to the robot are installed on the signal columns. The height of the photoelectric sensors is 8mm higher than the apex of the cone. The opposing signal columns are respectively set as emission columns, and The receiving column corresponding to the transmitting column, the calibration method is realized by the following steps: (1) Install the laser sensor on the outer end of the welding torch of the welding robot, establish communication between the laser sensor and the welding robot, fix the base plate on the workbench, the base plate and the robot The...

Embodiment 3

[0039] Embodiment 3, in the calibration device and calibration method of the robot welding torch and laser sensor described in embodiment 1 or 2: comprising a base plate, on which a cone with a large upper and a smaller structure is installed in the longitudinal section, and in the cone There are four signal columns evenly distributed in the circumferential direction of the base plate around. On the signal columns, photoelectric sensors connected to the robot are installed. The height of the photoelectric sensors is 12mm higher than the apex of the cone. The opposing signal columns are respectively set as emission columns. , and the receiving column corresponding to the transmitting column, the calibration method is realized by the following steps: (1) Install the laser sensor on the outer end of the welding torch of the welding robot, establish communication between the laser sensor and the welding robot, fix the base plate on the workbench, the base plate The included angle w...

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Abstract

A calibration device for a robot welding torch and a laser sensor, including a base plate, on which a cone with a vertical section with a large upper and a smaller structure is installed. Photoelectric sensors connected to the robot are installed on the columns. The scheme of the invention is effective and accurate, solves the problem of manual intervention in the calibration of the laser seam tracking sensor, and realizes the automatic execution of the entire calibration process.

Description

technical field [0001] The invention relates to the field of robot arc welding, in particular to a calibration device for a robot welding torch and a laser sensor. Background technique [0002] Laser sensors are widely used in the field of robotic welding for real-time correction of the offset of the welding trajectory during the welding process. In order to accurately apply the parameters of the laser sensor to the trajectory correction of the robot, hand-eye calibration must be performed first after the laser sensor is installed. There are many common calibration methods now, but all of them require specific calibration tools and must be manually intervened. Therefore, there is an urgent need for a calibration method that can realize automatic calibration without human intervention. Contents of the invention [0003] The technical problem to be solved by the present invention is to propose a calibration device for a robot welding torch and a laser sensor that automatic...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B23K9/127B25J9/16G01B11/00G01B11/24G01B21/04
CPCB23K9/1274B25J9/1664B25J9/1694G01B11/002G01B11/24G01B21/04
Inventor 景岩魏世海陈昱杉饶洪华梁桉洋秦伟铭杨心江隋志高张家林石长柏
Owner 西咸新区大熊星座智能科技有限公司
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