CN109927047A - The axial tracking system and method for arc welding robot straight line butt weld - Google Patents
The axial tracking system and method for arc welding robot straight line butt weld Download PDFInfo
- Publication number
- CN109927047A CN109927047A CN201910289396.9A CN201910289396A CN109927047A CN 109927047 A CN109927047 A CN 109927047A CN 201910289396 A CN201910289396 A CN 201910289396A CN 109927047 A CN109927047 A CN 109927047A
- Authority
- CN
- China
- Prior art keywords
- welding
- displacement sensor
- welding gun
- laser displacement
- robot
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 238000003466 welding Methods 0.000 title claims abstract description 165
- 238000000034 method Methods 0.000 title claims abstract description 47
- 238000006073 displacement reaction Methods 0.000 claims abstract description 41
- 230000008569 process Effects 0.000 claims abstract description 30
- 230000008859 change Effects 0.000 claims abstract description 11
- 238000009826 distribution Methods 0.000 claims description 5
- 238000006243 chemical reaction Methods 0.000 claims description 3
- 230000011218 segmentation Effects 0.000 claims description 3
- 230000003287 optical effect Effects 0.000 claims 1
- 230000009466 transformation Effects 0.000 claims 1
- 238000007747 plating Methods 0.000 description 7
- 238000012986 modification Methods 0.000 description 3
- 230000004048 modification Effects 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 2
- 238000005457 optimization Methods 0.000 description 2
- 230000008447 perception Effects 0.000 description 2
- 230000008901 benefit Effects 0.000 description 1
- 230000007423 decrease Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000018109 developmental process Effects 0.000 description 1
- 238000010891 electric arc Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 239000003500 flue dust Substances 0.000 description 1
- 230000006870 function Effects 0.000 description 1
- 230000007246 mechanism Effects 0.000 description 1
- 239000000203 mixture Substances 0.000 description 1
- 230000005855 radiation Effects 0.000 description 1
- 238000011897 real-time detection Methods 0.000 description 1
Landscapes
- Laser Beam Processing (AREA)
- Manipulator (AREA)
Abstract
The present invention provides a kind of axial tracking system and methods of arc welding robot straight line butt weld, the axial tracking system includes six shaft mechanical arms, laser displacement sensor, robot control cabinet, digital welding power source, welding gun and fixture, the welding gun is installed on six shaft mechanical arms, laser displacement sensor is mounted on welding gun by fixture, and the position of laser displacement sensor laser point and the line at welding wire tip are vertical with weld seam；Welding gun is connected with digital welding power source, and digital welding power source, six shaft mechanical arms, laser displacement sensor are connected with robot control cabinet.The present invention can be effectively solved as there is the variation of short transverse in workpiece and caused by welding programming teaching process it is complicated, the inaccurate problem in welding position caused by being also able to solve due to workpiece individual difference simultaneously, it can change the posture of welding torch in welding process simultaneously, this has important meaning for the control of welding quality.
Description
Technical field
The present invention relates to the welding robot systems with weld joint tracking, specifically assist realization machine using displacement sensor
Welding wire tip is adjusted axially when device people welds, and is mainly used in the tracking of the straight weld with height fall.
Background technique
The production of modernization, which proposes welding technique, further increases efficiency, optimizes quality, improves working conditions etc. and to want
It asks, Automation of Welding is exactly the concrete embodiment that Welder author complies with this requirement.Due to the influence of various factors, actual weldering
Narrow bars part changes frequent occurrence.For example, due to strong arc light radiation, high temperature, flue dust, splashing, groove situation, mismachining tolerance,
The influences such as clamping precision, surface state and workpiece thermal deformation make welding torch deviate weld seam, so that welding quality decline be caused even to lose
It loses.This variation of welding condition require arc welding robot can real-time detection go out weld seam deviation, and adjust path of welding and weldering
Parameter is connect, guarantees welding quality.Currently, welding robot is also mainly the teaching-playback robot of the second generation, lack external
The sensing of information and the function of adjusting in real time.And seam tracking system precisely in order to make up this defect have gradually developed it is new
Assist welding technique.
With the development of sensor technology, there is the application form of multiple sensors for the optimization of robot welding,
Such as capacitance sensor, laser sensor etc..Seam tracking system mainly includes sensor, controller, servo-system and execution
Mechanism.And the large-scale application of corrugated plating proposes requirement for automatic welding, and since corrugated plating weld shape is complicated, teaching
Process is cumbersome, and traditional robot welding process has very high requirement for clamp precision, it is necessary to introduce adaptable sensing
Device simplifies and optimization process.
Summary of the invention
Be directed to current robot welding described in status and corrugated plating welding there are the problem of, this patent proposes one
Cost is relatively low for kind, is able to solve the difficult point of corrugated plating automatic welding, and the present invention passes through installs a laser displacement additional on welding gun
Sensor realizes the perception of external information, and six axis welding robots is assisted to realize the automatic of the axial position of straight line butt weld
Tracking improves production efficiency and yields.Concrete scheme is as follows:
There is the straight line of variation applied to short transverse in a kind of axial tracking system of arc welding robot straight line butt weld
The welding process of weld seam, the axial tracking system include six shaft mechanical arms, laser displacement sensor, robot control cabinet, number
The word source of welding current, welding gun and fixture, the welding gun is equipped on six shaft mechanical arms, and laser displacement sensor passes through fixture and installs
On welding gun, the position of laser displacement sensor laser point and the line at welding wire tip are vertical with weld seam；
Welding gun is connected with digital welding power source, digital welding power source, six shaft mechanical arms, laser displacement sensor and machine
Device people's control cabinet is connected.
A kind of axial tracking welding method based on above system, includes the following steps:
S1, laser displacement sensor according to program setting welding starting point and terminate spot scan welding workpiece；
S2, laser displacement sensor output signal is monitored using the I/O plate in robot control cabinet, is obtained entire
The distribution of the axial height of welding process, and make comparisons with a reference value, obtain actual welding desired position；
S3, robot control cabinet select the means of pose adjustment according to the feature of the form scanned；
S4, the coordinate containing actual welding desired position and posture is generated, six shaft mechanical arms and welding gun are according to amendment
Path afterwards is soldered to end point from starting point.
Further, step S1 specifically comprises the following steps:
S10, the side that laser displacement sensor is installed on to welding gun, keep the position of laser point and the line at welding wire tip
It is vertical with weld seam；
S11, adjustment welding gun are vertical with welding workpiece, obtain laser position respectively by the TCP calibrating procedure that robot carries
The TCP of displacement sensor and welding gun obtains the transformational relation between sensor coordinate system and the welding gun coordinate system of robot；
The starting point and end point that S12, teaching are welded, using the two points as the both ends in home position, by this line segment
It is divided into several pieces；
S13, operation robot program, make the laser displacement sensor for being mounted on welding gun side since starting point to end
Spot scan.
Further, step S2 specifically comprises the following steps:
S20, robot control cabinet obtain original path and distribution of the welding workpiece surface on entire line segment, by the line segment
On the coordinate value of point in the segmentation that has set make comparisons with welding position needed for target, obtain deviation and reality
The position of border welding, is converted into the coordinate of robot, generates the path of actual welding.
Further, in step s3, certain posture change pattern is selected according to the case where actual welding, and welding gun is made to exist
As the variation of workpiece keeps the state vertical with weld seam in welding process.
Further, the conversion in step S10 between coordinate system passes through robot original tool coordinate system tool0 conduct
Medium demarcates the TCP of welding gun and the TCP of laser displacement sensor respectively, realizes the seat between welding gun and laser displacement sensor
Mark conversion.
Further, the welding gun TCP height during actual welding is adjustable, by adjusting providing for laser displacement sensor
A reference value, the change of point position on realizing route.
Compared with the prior art, present invention has an advantage that
(1) present invention can be effectively solved variation as workpiece there are short transverse and caused by welding programming teaching
The complicated problem of process, while the inaccurate problem in welding position caused by being also able to solve due to workpiece individual difference；
(2) present invention can change the posture of welding torch in welding process, this has important meaning for the control of welding quality
Justice.
Detailed description of the invention
It to describe the technical solutions in the embodiments of the present invention more clearly, below will be to embodiment or description of the prior art
Needed in attached drawing be briefly described, it should be apparent that, the accompanying drawings in the following description is only of the invention some
Embodiment for those of ordinary skill in the art without any creative labor, can also be according to these
Attached drawing obtains other attached drawings.
Fig. 1 is the exemplary diagram of axial tracking of the present invention；
Fig. 2 is the schematic diagram that the amendment coordinate value of sensor is converted to welding gun operating position coordinate.
Specific embodiment
In the following description, a large amount of concrete details are given so as to provide a more thorough understanding of the present invention.So
And it is obvious to the skilled person that the present invention may not need one or more of these details and be able to
Implement.In other examples, in order to avoid confusion with the present invention, for some technical characteristics well known in the art not into
Row description.
In order to thoroughly understand the present invention, detailed step and detailed structure will be proposed in following description, so as to
Illustrate technical solution of the present invention.Presently preferred embodiments of the present invention is described in detail as follows, however other than these detailed descriptions, this
Invention can also have other embodiments.
The present invention realizes the perception of external information, assists six axis by installing a laser displacement sensor additional on welding gun
Welding robot realizes automatically tracking for the axial position of straight line butt weld.Device part composition is as follows: axial tracking system
Including six shaft mechanical arms, laser displacement sensor, robot control cabinet, digital welding power source, welding gun and fixture, six shaft mechanicals
The welding gun is installed, laser displacement sensor is mounted on welding gun by fixture, laser displacement sensor laser point on arm
The line at position and welding wire tip is vertical with weld seam；Welding gun is connected with digital welding power source, digital welding power source, six axis machines
Tool arm, laser displacement sensor are connected with robot control cabinet.
In actual use, we first use the starting point and end point of robot demonstrator teaching weld seam, operation
Robot program is using speed of welding but does not start electric arc, by being mounted on the laser displacement sensor of welding gun side to straight weld
Displacement sensing is carried out, the distance of the sensor distance workpiece surface under the path between two o'clock is obtained, is then converted into welding gun welding wire
Distance of the tip relative to surface.This path is divided into M sections, the coordinate value (X, Y, Z) at each point is corresponding according to its
Distance value adjust, be adjusted to TCP point and be located at rational position above weld seam, new path is generated according to new point, wherein
When welding gun passes through bank slope or curved surface slope, the posture of welding gun is by detected shape, according to different situations, respectively
It is arranged attitude value (q1, q2, q3, q4).Robot is instructed according to the welding of newly-generated point assignment later implements welding process.This
Invention, is especially suitable for the trapezoidal corrugated plating of automatic welding and arc-shaped corrugated plating, welding process only need teaching to start and terminate
Point simplifies the teaching process of corrugated plating welding, according to weld seam change it is automatic change welding position and posture, can reduce for
The requirement of welding tool setup positioning, greatly improves productivity and product quality.
The process of axial tracking in the welding process of the invention is further described below:
Laser displacement sensor: being installed on the side of welding gun by process one, needs to set parallel with welding gun for sensor,
The line of the position and welding wire tip that keep laser point is vertical with weld seam, it is ensured that the correspondence of the relationship of height is authentic and valid.
Process two: adjustment welding gun is vertical with welding workpiece, obtains laser respectively by the TCP calibrating procedure that robot carries
The TCP of displacement sensor and welding gun obtains the transformational relation between sensor coordinate system and the welding gun coordinate system of robot.
Process three: the starting point and end point of teaching welding, using the two points as the both ends in home position, by this line
Section is divided into M parts.
Process four: operation robot program sweeps the sensor for being mounted on welding gun side since starting point to end point
It retouches, obtains original path and distribution of the welding workpiece surface on entire line segment, it will be in the segmentation that set on the line segment
The coordinate value of point make comparisons with welding position needed for target, obtain the position of deviation and actual welding, be converted into
The coordinate of robot generates the path of actual welding.
Process five: selecting certain posture change pattern according to the case where actual welding, make welding gun in the welding process with
The variation of workpiece keep the state vertical with weld seam.
Process six: robot according to after modified related point and posture welded.
About actual operating mode are as follows: sensor is scanned according to the path between the two o'clock of setting in advance, then
Data and after treatment are obtained, the welding gun in robot is welded according to revised path.
TCP height during actual welding is adjustable, by adjusting a reference value of displacement sensor provided, makes on path
The change of point position is realized.
The adjustment of the posture of welding torch of welding process, be primarily referred to as on path have point attitude value change (q1, q2, q3,
Q4), the attitudes vibration of welding process is realized by assigning the attitude value of relevant position.
As shown in Figure 1, illustrate the operating process of welding process, be respectively teaching position and actual amendment after
Position.
P10 is the starting point of teaching weld seam, and P20 is the terminal of teaching weld seam.
P30 is the starting point of actual welds, and P40 is the terminal of actual welds.
P10 to P20 is divided into M parts, shares M+1 path point, robot location on each path and posture are saved.
The path of welding is now divided into 50 sections, shares 51 path points；Weld seam only has error in Z-direction.
By robot teaching, teaching starting point P10 (X1, Y1, Z1) and P20 (X2, Y2, Z2), as shown in Fig. 2, Pa is
Laser displacement sensor a certain moment position in initial motion on path, Pc are the point where workpiece surface laser at that time
Position, by the feedback of the analog signal of sensor, the distance, delta d of available real-time sensor distance workpiece surface.Pb is arrived
The distance d of Pc is welding gun TCP normal working position in welding process.If Δ d is greater than d, by the seat of the laser sensor at this
Scale value (Xm, Ym, Zm) is revised as the coordinate where the sensor of operating position according to the standard value of setting, then according to sensor with
The amendment coordinate value of sensor is converted to welding gun operating position coordinate by the relative position of welding gun.
According to each point on the path of actual welding derived above, processing obtains each turning point, the point between turning point
Position assigns new welding posture, and posture is obtained by robot pose definition value (q1, q2, q3, q4) assignment, and specific value needs
It is set according to actual conditions.
Welding gun is first moved to actual welding point P30 point, starts to weld, using each corrected robot pose as reality
Path is welded, until being welded to P40 point, is stopped working after blow-out.
Presently preferred embodiments of the present invention is described above.It is to be appreciated that the invention is not limited to above-mentioned
Particular implementation, devices and structures not described in detail herein should be understood as gives reality with the common mode in this field
It applies；Anyone skilled in the art, without departing from the scope of the technical proposal of the invention, all using the disclosure above
Methods and technical content many possible changes and modifications are made to technical solution of the present invention, or be revised as equivalent variations etc.
Embodiment is imitated, this is not affected the essence of the present invention.Therefore, anything that does not depart from the technical scheme of the invention, foundation
Technical spirit of the invention any simple modifications, equivalents, and modifications made to the above embodiment, still fall within the present invention
In the range of technical solution protection.
Claims (7)
1. there is the straight line weldering of variation applied to short transverse in a kind of axial tracking system of arc welding robot straight line butt weld
The welding process of seam, it is characterised in that: the axial tracking system includes six shaft mechanical arms, laser displacement sensor, robot
Control cabinet, digital welding power source, welding gun and fixture, the welding gun is equipped on six shaft mechanical arms, and laser displacement sensor is logical
It crosses fixture to be mounted on welding gun, the position of laser displacement sensor laser point and the line at welding wire tip are vertical with weld seam；
Welding gun is connected with digital welding power source, digital welding power source, six shaft mechanical arms, laser displacement sensor and robot
Control cabinet is connected.
2. a kind of axial tracking welding method based on system described in claim 1, which comprises the steps of:
S1, laser displacement sensor according to program setting welding starting point and terminate spot scan welding workpiece；
S2, laser displacement sensor output signal is monitored using the I/O plate in robot control cabinet, is entirely welded
The distribution of the axial height of process, and make comparisons with a reference value, obtain actual welding desired position；
S3, robot control cabinet select the means of pose adjustment according to the feature of the form scanned；
S4, the coordinate containing actual welding desired position and posture is generated, six shaft mechanical arms and welding gun are according to revised
Path is soldered to end point from starting point.
3. method according to claim 2, which is characterized in that step S1 specifically comprises the following steps:
S10, the side that laser displacement sensor is installed on to welding gun keep line and the weldering of the position and welding wire tip of laser point
Seam is vertical；
S11, adjustment welding gun are vertical with welding workpiece, obtain laser displacement respectively by the TCP calibrating procedure that robot carries and pass
The TCP of sensor and welding gun obtains the transformational relation between sensor coordinate system and the welding gun coordinate system of robot；
The starting point and end point that S12, teaching are welded, using the two points as the both ends in home position, by this line bisection
For several pieces；
S13, operation robot program, sweep the laser displacement sensor for being mounted on welding gun side since starting point to end point
It retouches.
4. method as claimed in claim 3, which is characterized in that step S2 specifically comprises the following steps:
S20, robot control cabinet obtain original path and distribution of the welding workpiece surface on entire line segment, by the line segment
The coordinate value for the point in segmentation being set is made comparisons with welding position needed for target, obtains deviation and practical weldering
The position connect is converted into the coordinate of robot, generates the path of actual welding.
5. method according to claim 2, which is characterized in that in step s3, certain according to being selected the case where actual welding
Posture change pattern, make welding gun in the welding process as the variation of workpiece keeps the state vertical with weld seam.
6. method as claimed in claim 3, which is characterized in that the conversion in step S10 between coordinate system passes through robot original
Beginning tool coordinates system tool0 demarcates the TCP of welding gun and the TCP of laser displacement sensor as medium respectively, realizes welding gun and swashs
Coordinate transformation between Optical displacement sensor.
7. method according to claim 2, which is characterized in that the welding gun TCP height during actual welding is adjustable, passes through tune
The a reference value of whole laser displacement sensor provided, the change of point position on realizing route.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910289396.9A CN109927047B (en) | 2019-04-11 | 2019-04-11 | Axial tracking system and method for straight butt weld of arc welding robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910289396.9A CN109927047B (en) | 2019-04-11 | 2019-04-11 | Axial tracking system and method for straight butt weld of arc welding robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109927047A true CN109927047A (en) | 2019-06-25 |
| CN109927047B CN109927047B (en) | 2021-12-03 |
Family
ID=66989755
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910289396.9A Active CN109927047B (en) | 2019-04-11 | 2019-04-11 | Axial tracking system and method for straight butt weld of arc welding robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109927047B (en) |
Cited By (16)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110434463A (en) * | 2019-08-23 | 2019-11-12 | 上海第一机床厂有限公司 | The method for laser welding of irradiation sample frame |
| CN110695494A (en) * | 2019-09-10 | 2020-01-17 | 创想智控科技(成都)有限公司 | Corrugated plate external shaft tracking system and method thereof |
| CN111001967A (en) * | 2019-12-17 | 2020-04-14 | 苏州健雄职业技术学院 | Automatic welding tracking system for U-shaped workpiece based on lightning plug controller and working method |
| CN111014879A (en) * | 2019-12-27 | 2020-04-17 | 上海智殷自动化科技有限公司 | Automatic welding method for corrugated plate of robot based on laser weld seam tracking |
| CN111318783A (en) * | 2020-03-27 | 2020-06-23 | 陕西丝路机器人智能制造研究院有限公司 | Method for calibrating robot welding gun and laser weld tracking sensor of marine pipe welding machine |
| CN111360835A (en) * | 2020-04-02 | 2020-07-03 | 邵阳学院 | Automatic welding control method for welding mechanical arm |
| CN111633309A (en) * | 2020-05-13 | 2020-09-08 | 上海锅炉厂有限公司 | Operation method for welding nickel-based alloy of industrial robot with vertical fixed tube seat |
| CN111745266A (en) * | 2020-06-09 | 2020-10-09 | 宝冠科技(苏州)有限公司 | Corrugated board welding track generation method and system based on 3D vision position finding |
| CN111745267A (en) * | 2020-08-14 | 2020-10-09 | 湘潭大学 | System and method for tracking groove weld in real time based on laser displacement sensor |
| CN113199175A (en) * | 2021-04-15 | 2021-08-03 | 深圳中集智能科技有限公司 | Auxiliary welding device of crawling welding robot, control method and welding method thereof |
| CN113245668A (en) * | 2021-06-29 | 2021-08-13 | 北京博清科技有限公司 | Method and apparatus for controlling welding robot, and computer-readable storage medium |
| CN113427160A (en) * | 2021-06-29 | 2021-09-24 | 西安交通大学 | Self-adaptive welding method, system and equipment for welding mechanical arm and storage medium |
| CN114237159A (en) * | 2022-02-24 | 2022-03-25 | 深圳市大族光电设备股份有限公司 | Welding arc automatic generation method and device, computer equipment and storage medium |
| CN114309930A (en) * | 2021-10-29 | 2022-04-12 | 首都航天机械有限公司 | Symmetrical double-station spray pipe laser welding equipment |
| CN115229303A (en) * | 2022-07-22 | 2022-10-25 | 上海柏楚电子科技股份有限公司 | Method and device for correcting welding gun posture based on arc tracking, electronic equipment and storage medium |
| CN116652335A (en) * | 2023-06-21 | 2023-08-29 | 济南二机床集团有限公司 | Corrugated plate welding working method and welding robot |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO1994027199A1 (en) * | 1993-05-12 | 1994-11-24 | Tetsuya Kosaka | Method and apparatus for controlling robot having sensor |
| KR20060012385A (en) * | 2004-08-03 | 2006-02-08 | 현대중공업 주식회사 | The control system of a robot which track continual seams for welding and control method thereof |
| CN105834557A (en) * | 2016-05-27 | 2016-08-10 | 廊坊智通机器人系统有限公司 | Straight-line welding seam off-line tracking method for arc welding robot welding |
| CN106112216A (en) * | 2016-08-18 | 2016-11-16 | 四川希思特智能科技有限公司 | A kind of weld seam automatic recognition and tracking device applying two-dimensional laser displacement transducer |
| CN106624262A (en) * | 2016-12-31 | 2017-05-10 | 山东大学 | Method and device for intelligent welding of intersection curve of round pipes |
| CN108015458A (en) * | 2017-12-07 | 2018-05-11 | 王群 | Container welding method and device |
| CN108213788A (en) * | 2018-01-03 | 2018-06-29 | 湘潭大学 | A kind of full pose corrugated plating intelligence weld seam tracking sensor of three mesh |
-
2019
- 2019-04-11 CN CN201910289396.9A patent/CN109927047B/en active Active
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO1994027199A1 (en) * | 1993-05-12 | 1994-11-24 | Tetsuya Kosaka | Method and apparatus for controlling robot having sensor |
| KR20060012385A (en) * | 2004-08-03 | 2006-02-08 | 현대중공업 주식회사 | The control system of a robot which track continual seams for welding and control method thereof |
| CN105834557A (en) * | 2016-05-27 | 2016-08-10 | 廊坊智通机器人系统有限公司 | Straight-line welding seam off-line tracking method for arc welding robot welding |
| CN106112216A (en) * | 2016-08-18 | 2016-11-16 | 四川希思特智能科技有限公司 | A kind of weld seam automatic recognition and tracking device applying two-dimensional laser displacement transducer |
| CN106624262A (en) * | 2016-12-31 | 2017-05-10 | 山东大学 | Method and device for intelligent welding of intersection curve of round pipes |
| CN108015458A (en) * | 2017-12-07 | 2018-05-11 | 王群 | Container welding method and device |
| CN108213788A (en) * | 2018-01-03 | 2018-06-29 | 湘潭大学 | A kind of full pose corrugated plating intelligence weld seam tracking sensor of three mesh |
Cited By (22)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110434463B (en) * | 2019-08-23 | 2021-04-27 | 上海第一机床厂有限公司 | Laser welding method for irradiation sample holder |
| CN110434463A (en) * | 2019-08-23 | 2019-11-12 | 上海第一机床厂有限公司 | The method for laser welding of irradiation sample frame |
| CN110695494A (en) * | 2019-09-10 | 2020-01-17 | 创想智控科技(成都)有限公司 | Corrugated plate external shaft tracking system and method thereof |
| CN110695494B (en) * | 2019-09-10 | 2021-08-17 | 创想智控科技(成都)有限公司 | Corrugated plate external shaft tracking system and method thereof |
| CN111001967A (en) * | 2019-12-17 | 2020-04-14 | 苏州健雄职业技术学院 | Automatic welding tracking system for U-shaped workpiece based on lightning plug controller and working method |
| CN111014879A (en) * | 2019-12-27 | 2020-04-17 | 上海智殷自动化科技有限公司 | Automatic welding method for corrugated plate of robot based on laser weld seam tracking |
| CN111318783B (en) * | 2020-03-27 | 2021-12-03 | 陕西丝路机器人智能制造研究院有限公司 | Method for calibrating robot welding gun and laser weld tracking sensor of marine pipe welding machine |
| CN111318783A (en) * | 2020-03-27 | 2020-06-23 | 陕西丝路机器人智能制造研究院有限公司 | Method for calibrating robot welding gun and laser weld tracking sensor of marine pipe welding machine |
| CN111360835A (en) * | 2020-04-02 | 2020-07-03 | 邵阳学院 | Automatic welding control method for welding mechanical arm |
| CN111360835B (en) * | 2020-04-02 | 2021-04-16 | 邵阳学院 | Automatic welding control method for welding mechanical arm |
| CN111633309A (en) * | 2020-05-13 | 2020-09-08 | 上海锅炉厂有限公司 | Operation method for welding nickel-based alloy of industrial robot with vertical fixed tube seat |
| CN111745266A (en) * | 2020-06-09 | 2020-10-09 | 宝冠科技(苏州)有限公司 | Corrugated board welding track generation method and system based on 3D vision position finding |
| CN111745267A (en) * | 2020-08-14 | 2020-10-09 | 湘潭大学 | System and method for tracking groove weld in real time based on laser displacement sensor |
| CN113199175A (en) * | 2021-04-15 | 2021-08-03 | 深圳中集智能科技有限公司 | Auxiliary welding device of crawling welding robot, control method and welding method thereof |
| CN113245668A (en) * | 2021-06-29 | 2021-08-13 | 北京博清科技有限公司 | Method and apparatus for controlling welding robot, and computer-readable storage medium |
| CN113427160A (en) * | 2021-06-29 | 2021-09-24 | 西安交通大学 | Self-adaptive welding method, system and equipment for welding mechanical arm and storage medium |
| CN114309930A (en) * | 2021-10-29 | 2022-04-12 | 首都航天机械有限公司 | Symmetrical double-station spray pipe laser welding equipment |
| CN114309930B (en) * | 2021-10-29 | 2024-03-15 | 首都航天机械有限公司 | Symmetrical double-station spray pipe laser welding equipment |
| CN114237159A (en) * | 2022-02-24 | 2022-03-25 | 深圳市大族光电设备股份有限公司 | Welding arc automatic generation method and device, computer equipment and storage medium |
| CN115229303A (en) * | 2022-07-22 | 2022-10-25 | 上海柏楚电子科技股份有限公司 | Method and device for correcting welding gun posture based on arc tracking, electronic equipment and storage medium |
| CN115229303B (en) * | 2022-07-22 | 2023-08-15 | 上海柏楚电子科技股份有限公司 | Method and device for correcting welding gun posture based on arc tracking, electronic equipment and storage medium |
| CN116652335A (en) * | 2023-06-21 | 2023-08-29 | 济南二机床集团有限公司 | Corrugated plate welding working method and welding robot |
Also Published As
| Publication number | Publication date |
|---|---|
| CN109927047B (en) | 2021-12-03 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN109927047A (en) | The axial tracking system and method for arc welding robot straight line butt weld | |
| EP1486283B1 (en) | Method of controlling the welding of a three-dimensional construction by taking a two-dimensional image of the construction and adjusting in real time in the third dimension | |
| CN106583974B (en) | One kind quickly seeks a welding system and welding method without programming structure part laser | |
| KR100621100B1 (en) | method and system for teaching welding robot | |
| US8706300B2 (en) | Method of controlling a robotic tool | |
| CN105855668B (en) | The online welding seam tracking method of straight line of arc welding robot welding | |
| CN110411338B (en) | Welding gun tool parameter three-dimensional scanning calibration method for robot arc additive repair | |
| CN105798431A (en) | Online welding line tracking method of welding curved line of arc welding robot | |
| CN112620926B (en) | Welding spot tracking method and device and storage medium | |
| US20120031886A1 (en) | Offline teaching method | |
| JPH0789287B2 (en) | Robot programming method | |
| CN112833792A (en) | Precision calibration and verification method for six-degree-of-freedom mechanical arm | |
| CN109029453A (en) | Cladding head posture path planning method, device, terminal, storage medium and system | |
| CN113634871A (en) | Robot friction stir welding track planning method based on offline programming | |
| JP2008020993A (en) | Teaching data preparation device for working robot | |
| CN108614519B (en) | Online error measurement system and method based on laser dot matrix numerical control machine tool | |
| CN106002014B (en) | A kind of welding system and its welding method suitable for the tracking of right angle welding seam laser | |
| CN206140014U (en) | Welding system suitable for right angle welding seam laser tracking | |
| JPH1094874A (en) | Automatic welding method for tube joint | |
| CN104061888A (en) | Robot three-dimensional laser machining head TCP coordinate correcting method and device | |
| CN110154043A (en) | The robot system and its control method of study control are carried out based on processing result | |
| JP7289087B2 (en) | Repair welding equipment and repair welding method | |
| CN113909765B (en) | Guiding welding system | |
| Bickendorf | Automatic welding robot offline programming with adaptive automation level | |
| KR100259884B1 (en) | Calibration method of welding robot using a simulation s/w |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20240411 Address after: Room 501, 2nd Floor, No. 1979 Diamond Road, Weitang Town, Xiangcheng District, Suzhou City, Jiangsu Province, 215100 Patentee after: SUZHOU BAISTON INDUSTRIAL TECHNOLOGY Co.,Ltd. Country or region after: China Address before: 201620 No. 333, Longteng Road, Shanghai, Songjiang District Patentee before: SHANGHAI University OF ENGINEERING SCIENCE Country or region before: China |
|
| TR01 | Transfer of patent right |