Welding robot capable of achieving automatic measurement and correction and using method of welding robot

Abstract

The invention discloses a welding robot capable of achieving automatic measurement and correction and a using method of the welding robot. The welding robot comprises a mechanical arm, a control cabinet and a workbench connected with the mechanical arm, a fine adjustment assembly is installed on the clamping portion of the mechanical arm, a welding gun head is clamped to the end, away from the mechanical arm, of the fine adjustment assembly, the middle of the welding gun head is sleeved with a movable positioning device, three sets of ultrasonic emitters are arranged on the two sides of the top of the workbench and at the bottom of the workbench respectively, and the top of the clamping portion of the mechanical arm is provided with an ultrasonic receiver matched with the ultrasonic emitters. According to the welding robot, the three sets of ultrasonic emitters which are not located on the same straight line and the ultrasonic receiver are arranged, the working original point of the welding robot can be accurately measured, the ultrasonic emitters measure the distance through ultrasonic waves, and compared with a traditional laser range finder and an optical fiber sensor, the stability is higher; and in addition, by arranging the fine adjustment assembly, the welding gun head can be accurately adjusted.

Description

technical field [0001] The invention belongs to the technical field of industrial welding robots, in particular to an automatic measuring and correcting welding robot and its application method. Background technique [0002] In the modern industrial production process, when the welding robot tool coordinate system tool is working, it will inevitably collide with the workpiece, which will cause the welding robot tool coordinate system tool to shift. For example: in the process of arc welding, spot welding, assembly, and gluing, where the end tool of the welding robot will be in close contact with the workpiece, factors such as fixture wear and collision tilt will cause the tool's pose to change, causing the welder to , Gluing machine and other end tools collide with the workpiece, and the TCP of the tool coordinate system of the welding robot deviates, causing the trajectory to deviate, unable to meet the process requirements, and seriously affecting the quality of welding or...

AI Technical Summary

Problems solved by technology

[0004] Patent No. CN105081623B discloses a weld recognition method for automatic welding. This patent mainly uses a laser rangefinder to detect the coordinates of the weld in its coordinate system through distance changes, and obtains the coordinates of the weld in the world coordinate system through coordinate transformation. In order to achieve accurate identification of the weld seam, but it does not involve the problem of automatic correction, and the laser rangefinder is easily blocked during actual use, resulting in unstable work

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