CN104646799A - Laser tracker-based arc tracking testing system and l laser tracker-based arc tracking testing method - Google Patents
Laser tracker-based arc tracking testing system and l laser tracker-based arc tracking testing method Download PDFInfo
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- CN104646799A CN104646799A CN201510058586.1A CN201510058586A CN104646799A CN 104646799 A CN104646799 A CN 104646799A CN 201510058586 A CN201510058586 A CN 201510058586A CN 104646799 A CN104646799 A CN 104646799A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K9/00—Arc welding or cutting
- B23K9/12—Automatic feeding or moving of electrodes or work for spot or seam welding or cutting
- B23K9/127—Means for tracking lines during arc welding or cutting
- B23K9/1272—Geometry oriented, e.g. beam optical trading
- B23K9/1274—Using non-contact, optical means, e.g. laser means
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K9/00—Arc welding or cutting
- B23K9/095—Monitoring or automatic control of welding parameters
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K9/00—Arc welding or cutting
- B23K9/095—Monitoring or automatic control of welding parameters
- B23K9/0953—Monitoring or automatic control of welding parameters using computing means
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Abstract
The invention discloses a laser tracker-based arc tracking testing system and a laser tracker-based arc tracking testing method. The system comprises a laser tracker, a target sphere, an industry welding robot, a welding power source and an arc tracking module, wherein the target sphere is matched with the laser tracker; the target sphere is fixedly connected with a welding gun clamping mechanism at the most front end of the industry welding robot; the industry welding robot is connected with the welding power source and the arc tracking module of the welding power source; the laser tracker is fixedly placed at a position which is away from the target sphere for a certain distance; the laser tracker is used for tracking and measuring the position information of the target sphere in real time; according to the position information of the target sphere, a deviation value between the preset teaching movement locus of a welding gun at the front end of the industry welding robot and the actual position of a to-be-welded groove and the tracking function enabling condition, the arc tracking precision and the tracking strategy adjustment information are obtained. Through the method disclosed by the invention, the data information of the arc tracking precision, the tracking adjustment speed and an adjustable range can be obtained, and a test and theoretical analysis foundation is provided for the development and the perfection of an industry robot, a special welding machine and a welding arc tracking module.
Description
Technical field
The present invention relates to welding arc tracking and testing technical field, particularly relate to a kind of electric arc tracking testing system based on laser tracker and method.
Background technology
Along with the development of advanced manufacturing technology, realize welding product manufacture intellectually and automatically oneself become inexorable trend.In welding production, adopt Robotics, can enhance productivity, improve working conditions, stable and ensure welding quality, realize the Automation of Welding of typical products in mass production.At present, robot welding is adopted to become solder technology automation, modern outstanding feature.
But the application of welding robot can not ensure necessarily can obtain satisfied welding quality, because in actual arc welding process, there is many disturbing factors.Comprise workpiece size precision, clamping precision, gap, groove accuracy, teaching error etc., and in welding process, the distortion that the weld seam of first seam produces can act on workpiece, make the position during welding seam bias group pair of rear seam, in order to ensure welding quality, weld seam real-time tracking must be carried out to robot welding process.
Because welding process is nonlinearity, Multivariable Coupling effect, has the complex techniques process of a large amount of random uncertain factor simultaneously, the detection of welding process is for a long time the study hotspot on welding circle always.Up to the present, mainly contain two large class detection methods: one is utilize various external sensor, as vision sensor, acoustic sensor and far infrared camera shot machine etc., detect the various information of reflection welding quality.Two is the method for sensing based on electric arc self, only extracts the various information of reflection welding quality by detecting the intrinsic welding current of welding process and weldingvoltage signal.Arc sensing is acquisition process characteristic information from welding arc directly, by the Inspect and control detecting weldingvoltage, welding current realizes welding process quality, not by the impact of welding process arc light, magnetic field, temperature, need not additional sensor, interfere little to welding surroundings, the accessibility of welding gun is good, and structure is simple, cost is low and reliability is strong.Therefore, during robot welding, many employings electric arc tracking transducer is monitored welding process.
It is the important step ensureing welding quality that welding arc is followed the tracks of, and the precision of tracking and strategy are the emphasis of correlative study and technological development always.The measurement of electric arc tracking effect and detection mode comprise recorded video, gather welding electrical parameters and observe final appearance of weld and judge tracking effect etc., although said method can check tracking effect to a certain extent, but be substantially all a given qualitative research, cannot quantification record carried out to the real time position data in tracing process and analyze.
Summary of the invention
The object of this invention is to provide a kind of electric arc tracking testing system based on laser tracker and method, three-dimensional space position information by laser tracker real-time tracking and under gathering the different situation of industrial welding robot in motion process, through post-processed analysis, obtain the data message of electric arc tracking accuracy, tracking adjustment speed and adjustable range, for industrial robot, special welding machine and welding arc tracking module exploitation and perfect etc. provide experimental and theoretical analysis basis.
The object of the invention is to be achieved through the following technical solutions:
Based on an electric arc tracking testing system for laser tracker, this system comprises: laser tracker 1 and supporting target ball 2, industrial welding robot 4, the source of welding current 8 and the electric arc tracking module 7 be integrated in this source of welding current 8;
This target ball 2 is fixedly connected with industrial welding robot 4 welding torch clamping mechanism foremost; This industrial welding robot 4 is connected with the source of welding current 8 and electric arc tracking module 7 thereof; This laser tracker 1 fixed placement is from this target ball 2 a distance;
The positional information of laser tracker 1 real-time tracking and measurement target ball 2, open situation according to the positional information of target ball 2 and the deviate between the teaching movement locus of industrial welding robot 4 front end welding gun 5 preset and groove physical location to be welded and following function, obtain electric arc tracking accuracy and tracking strategy adjustment information.
Further, the positional information of described laser tracker 1 real-time tracking and measurement target ball 2, situation is opened according to the positional information of target ball 2 and the deviate between the teaching movement locus of industrial welding robot 4 front end welding gun 5 preset and groove physical location to be welded and following function, obtain electric arc tracking accuracy and tracking strategy adjustment information, comprising:
Carry out the conversion between base coordinate system of industrial welding robot 4 and laser tracker 1 body coordinate system, set up surving coordinate system when industrial welding robot 4 electric arc is followed the tracks of;
Before welding starts, by the teaching movement locus of robot controller setting industrial welding robot 4 front end welding gun 5, on adjustment jig 6, the groove to be welded of test piece for welding 9 is to actual welding position, and teaching movement locus and groove physical location end to be welded exist certain deviate on height direction and left and right directions;
In formal measuring process, laser tracker 1 adopts spot measurement mode; First by under tracking target ball 2 respectively record one group of non-welding situation and weld the measurement data of industrial welding robot 4 running orbit in non-tracking situation; The electric arc tracking data carrying out in welding situation a direction in height direction and left and right directions or both direction simultaneously respectively by tracking target ball 2 is again measured;
In data processing, on the different coordinate direction of X, Y, Z of being measured by above-mentioned laser tracker 1, in non-welding situation, the actual motion trajectory measurement data adding electric arc tracking and obtain are not followed the tracks of and are welded in teaching movement locus measurement data and welding, and the deviate combining teaching movement locus and the groove physical location to be welded pre-set carries out Comprehensive Comparison, thus obtain the data message of electric arc tracking accuracy, tracking adjustment speed and adjustable range.
Further, this target ball 2 described is fixedly connected with industrial welding robot 4 welding torch clamping mechanism foremost, comprising:
This target ball 2 is fixedly connected with industrial welding robot 4 welding torch clamping mechanism foremost by target ball jockey 3; When industrial welding robot 4 is when moving, its front end welding gun 5 keeps geo-stationary with this target ball 2.
Based on an electric arc tracking test method for laser tracker, the method comprises:
Industrial welding robot welding torch clamping mechanism is foremost fixedly installed a target ball, and this industrial welding robot is also connected with the source of welding current and the electric arc tracking module be integrated in this source of welding current;
By fixed placement from this target ball a distance, and the laser tracker real-time tracking supporting with this target ball and measure the positional information of target ball;
Open situation by this laser tracker according to the positional information of target ball and the deviate between the teaching movement locus of industrial welding robot front end welding gun preset and groove physical location to be welded and following function, obtain electric arc tracking accuracy and tracking strategy adjustment information.
Further, describedly open situation by this laser tracker according to the positional information of target ball and the deviate between the teaching movement locus of industrial welding robot front end welding gun preset and groove physical location to be welded and following function, obtain electric arc tracking accuracy and tracking strategy adjustment information, comprising:
Carry out the conversion between industrial welding robot base coordinate system and laser tracker body coordinate system, set up surving coordinate system when industrial welding robot electric arc is followed the tracks of;
Before welding starts, by the teaching movement locus of robot controller setting industrial welding robot front end welding gun, on adjustment jig, the groove to be welded of test piece for welding is to actual welding position, and teaching movement locus and groove physical location end to be welded exist certain deviate on height direction and left and right directions;
In formal measuring process, laser tracker adopts spot measurement mode; First respectively record in one group of non-welding situation by tracking target ball and the measurement data of industrial welding robot running orbit under welding non-tracking situation; The electric arc tracking data carrying out in welding situation a direction in height direction and left and right directions or both direction simultaneously respectively by tracking target ball is again measured;
In data processing, on the different coordinate direction of X, Y, Z of being measured by above-mentioned laser tracker, in non-welding situation, the actual motion trajectory measurement data adding electric arc tracking and obtain are not followed the tracks of and are welded in teaching movement locus measurement data and welding, and the deviate combining teaching movement locus and the groove physical location to be welded pre-set carries out Comprehensive Comparison, thus obtain the data message of electric arc tracking accuracy, tracking adjustment speed and adjustable range.
Further, describedly on industrial welding robot welding torch clamping mechanism foremost, be fixedly installed a target ball, comprise:
This target ball is fixedly connected with industrial welding robot welding torch clamping mechanism foremost by target ball jockey; When industrial welding robot is when moving, its front end welding gun and this target ball keep geo-stationary.
As seen from the above technical solution provided by the invention, laser tracker can the target ball that is synchronously fixedly connected with of real-time tracking and robot end's welding gun the three-dimensional space position information of each point in its motion process of high frequency time record, by to the data processing of above-mentioned a plurality of locations information and analysis, and then obtain the real space movement locus of welding gun, itself and the teaching movement locus set and actual welds position are comprehensively analyzed, thus tracking adjustment strategy and the precision information of robot electric arc tracking can be obtained, further exploitation for welding robot electric arc following function provides foundation.
Accompanying drawing explanation
In order to be illustrated more clearly in the technical scheme of the embodiment of the present invention, below the accompanying drawing used required in describing embodiment is briefly described, apparently, accompanying drawing in the following describes is only some embodiments of the present invention, for those of ordinary skill in the art, under the prerequisite not paying creative work, other accompanying drawings can also be obtained according to these accompanying drawings.
The schematic diagram of a kind of electric arc tracking testing system based on laser tracker that Fig. 1 provides for the embodiment of the present invention;
The groove physical location to be welded that Fig. 2 provides for the embodiment of the present invention and teaching position are at the preset distortion schematic diagram in left and right directions and height direction;
The flow chart of a kind of electric arc tracking test method based on laser tracker that Fig. 3 provides for the embodiment of the present invention.
Detailed description of the invention
Below in conjunction with the accompanying drawing in the embodiment of the present invention, be clearly and completely described the technical scheme in the embodiment of the present invention, obviously, described embodiment is only the present invention's part embodiment, instead of whole embodiments.Based on embodiments of the invention, those of ordinary skill in the art, not making the every other embodiment obtained under creative work prerequisite, belong to protection scope of the present invention.
Embodiment
The schematic diagram of a kind of electric arc tracking testing system based on laser tracker that Fig. 1 provides for the embodiment of the present invention.As shown in Figure 1, this system mainly comprises: laser tracker 1 and supporting target ball 2, industrial welding robot 4, the source of welding current 8 and the electric arc tracking module 7 be integrated in this source of welding current 8.
This target ball 2 is fixedly connected with industrial welding robot 4 welding torch clamping mechanism foremost, and when industrial welding robot 4 is when moving, its front end welding gun 5 keeps geo-stationary with this target ball 2; Specifically, this target ball 2 is fixedly connected with (being positioned at above welding gun 5) with industrial welding robot 4 welding torch clamping mechanism foremost by target ball jockey 3, to avoid welding arc and flue dust to the pollution of target ball 2 and damage, prevent the installation of target ball 2 from affecting the welding campaign of industrial welding robot 4 simultaneously.
This industrial welding robot 4 and the source of welding current 8 coordinated operation, in welding process, the electric arc tracking module 7 be integrated on the source of welding current 8 gathers welding arc electric signal, and feeds back to the control system of industrial welding robot 4, the movement locus of adjustment industrial welding robot 4.
This laser tracker 1 fixed placement is from this target ball 2 a distance; The positional information of laser tracker 1 real-time tracking and measurement target ball 2, open situation according to the positional information of target ball 2 and the deviate between the teaching movement locus of industrial welding robot 4 front end welding gun 5 preset and groove physical location to be welded and following function, obtain electric arc tracking accuracy and tracking strategy adjustment information.
Specifically, for guaranteeing that laser tracker 1 can both real-time tracking target ball 2 in the whole range of movement of industrial welding robot 4, needing dry running industrial welding robot 4 within the scope of total travel in advance, and adjusting the placement location of laser tracker 1.
In order to better carry out data analysis and process, need to carry out the conversion between base coordinate system of industrial welding robot 4 and laser tracker 1 body coordinate system, set up surving coordinate system when industrial welding robot 4 electric arc is followed the tracks of: by the structure coordinate system function of laser tracker 1 software systems, target ball 2 data measured by laser tracker 1 are converted into from the display of its body coordinate system and show with base coordinate system of industrial welding robot 4, target ball 2 installation site calculating acquisition is input to the coordinate offset place building coordinate system in the coordinate offset amount in X/Y/Z tri-directions relative to actual arc position simultaneously.
Before welding starts, according to the requirement of electric arc tracking measurement, by the teaching movement locus (10-1 in Fig. 2) of robot controller setting industrial welding robot 4 front end welding gun 5, on adjustment jig 6, the groove to be welded of test piece for welding 9 is to actual welding position (9-1 in Fig. 2), and teaching movement locus and groove physical location end to be welded exist certain deviate (δ 1 in Fig. 2 a, the δ 2 in Fig. 2 b) on left and right directions and height direction;
In formal measuring process, laser tracker 1 adopts spot measurement mode; First by under tracking target ball 2 respectively record one group of non-welding situation and weld the running orbit measurement data of industrial welding robot 4 front end welding gun 5 in non-tracking situation; The electric arc tracking data carrying out in welding situation a direction in height direction and left and right directions or both direction simultaneously respectively by tracking target ball 2 is more subsequently measured;
In data processing, by the X that above-mentioned laser tracker 1 measures, Y, on the different coordinate direction of Z, in non-welding situation, the actual motion trajectory measurement data adding electric arc tracking and obtain are not followed the tracks of and are welded in teaching movement locus measurement data and welding, and the deviate combining teaching movement locus and the groove physical location to be welded pre-set carries out Comprehensive Comparison, thus obtain electric arc tracking accuracy, the data message of tracking adjustment speed and adjustable range, analysis robot electric arc tracking behavior strategy accordingly, for raising welding quality and associated welds equipment development provide theoretical foundation.
The technique scheme of the present embodiment, mainly has the following advantages and effect:
(1) this system can realize real-time measurement and the data record of electric arc three dimensional local information, and can with the form derived data of tables of data, for the Data Analysis Services in later stage is laid a good foundation.
(2) this system can realize the long distance to measurement target, real-time, quick, accurate following function.Laser tracker body can away from welding robot, and the pose of robot in whole test process is changed can be more flexible, and operability is better.
(3) this system can realize high speed to measurement target position, accurately measure.For improving test analysis precision, reducing test error and providing condition.
(4) laser tracker in this system carries Survey Software can realize measurement data eaily from laser tracker coordinate system to the conversion of robot base's coordinate system, and the coordinate offset realized between target ball position and actual welding arc position, store unified for all data measured under robot base's coordinate system and display, the teaching track being conducive to directly set with robot is analyzed, the measuring accuracy of acquisition needs.
(5) this system is followed the tracks of in conjunction with self electric arc of industrial welding robot and is arranged function, the accuracy detection that height direction, left and right directions, height and left and right directions electric arc are followed the tracks of can be realized eaily, also can realize the test to robot displacement precision in non-solder situation.
Embodiment two
The embodiment of the present invention also provides a kind of method realizing electric arc tracking and testing based on aforementioned system shown in Figure 1, and as shown in Figure 3, the method mainly comprises the steps:
Step 31, on industrial welding robot welding torch clamping mechanism foremost, be fixedly installed a target ball, this industrial welding robot is also connected with the source of welding current and the electric arc tracking module be integrated in this source of welding current.
In the present embodiment, this target ball is fixedly connected with industrial welding robot welding torch clamping mechanism foremost by target ball jockey; When industrial welding robot is when moving, its front end welding gun and this target ball keep geo-stationary.
Step 32, by fixed placement from this target ball a distance, and the laser tracker real-time tracking supporting with this target ball and measure the positional information of target ball.
Step 33, open situation by this laser tracker according to the positional information of target ball and the deviate between the teaching movement locus of industrial welding robot front end welding gun preset and groove physical location to be welded and following function, obtain electric arc tracking accuracy and tracking strategy adjustment information.
Specifically, this step 33 realizes mainly through such as under type:
Carry out the conversion between industrial welding robot base coordinate system and laser tracker body coordinate system, set up surving coordinate system when industrial welding robot electric arc is followed the tracks of;
Before welding starts, by the teaching movement locus of robot controller setting industrial welding robot front end welding gun, on adjustment jig, the groove to be welded of test piece for welding is to actual welding position, and teaching movement locus and groove physical location end to be welded exist certain deviate on height direction and left and right directions;
In formal measuring process, laser tracker adopts spot measurement mode; First respectively record in one group of non-welding situation by tracking target ball and the measurement data of industrial welding robot running orbit under welding non-tracking situation; The electric arc tracking data carrying out in welding situation a direction in height direction and left and right directions or both direction simultaneously respectively by tracking target ball is again measured;
In data processing, on the different coordinate direction of X, Y, Z of being measured by above-mentioned laser tracker, in non-welding situation, the actual motion trajectory measurement data adding electric arc tracking and obtain are not followed the tracks of and are welded in teaching movement locus measurement data and welding, and the deviate combining teaching movement locus and the groove physical location to be welded pre-set carries out Comprehensive Comparison, thus obtain the data message of electric arc tracking accuracy, tracking adjustment speed and adjustable range.
It is emphasized that the system relevant to the method is described in detail in the aforementioned embodiment, therefore repeat no more.
The above; be only the present invention's preferably detailed description of the invention, but protection scope of the present invention is not limited thereto, is anyly familiar with those skilled in the art in the technical scope that the present invention discloses; the change that can expect easily or replacement, all should be encompassed within protection scope of the present invention.Therefore, protection scope of the present invention should be as the criterion with the protection domain of claims.
Claims (6)
1. the electric arc tracking testing system based on laser tracker, it is characterized in that, this system comprises: laser tracker (1) and supporting target ball (2), industrial welding robot (4), the source of welding current (8) and the electric arc tracking module (7) be integrated in this source of welding current (8);
This target ball (2) is fixedly connected with industrial welding robot (4) welding torch clamping mechanism foremost; This industrial welding robot (4) is connected with the source of welding current (8) and electric arc tracking module (7) thereof; This laser tracker (1) fixed placement is from this target ball (2) a distance;
The positional information of laser tracker (1) real-time tracking and measurement target ball (2), open situation according to the positional information of target ball (2) and the deviate between the teaching movement locus of industrial welding robot (4) front end welding gun (5) preset and groove physical location to be welded and following function, obtain electric arc tracking accuracy and tracking strategy adjustment information.
2. system according to claim 1, it is characterized in that, the positional information of described laser tracker (1) real-time tracking and measurement target ball (2), situation is opened according to the positional information of target ball (2) and the deviate between the teaching movement locus of industrial welding robot (4) front end welding gun (5) preset and groove physical location to be welded and following function, obtain electric arc tracking accuracy and tracking strategy adjustment information, comprising:
Carry out the conversion between industrial welding robot (4) base coordinate system and laser tracker (1) body coordinate system, set up surving coordinate system when industrial welding robot (4) electric arc is followed the tracks of;
Before welding starts, by the teaching movement locus of robot controller setting industrial welding robot (4) front end welding gun (5), the groove to be welded of the upper test piece for welding (9) of adjustment jig (6) is to actual welding position, and teaching movement locus and groove physical location end to be welded exist certain deviate on height direction and left and right directions;
In formal measuring process, laser tracker (1) adopts spot measurement mode; First by under tracking target ball (2) respectively record one group of non-welding situation and weld the measurement data of industrial welding robot (4) running orbit in non-tracking situation; The electric arc tracking data carrying out in welding situation a direction in height direction and left and right directions or both direction simultaneously respectively by tracking target ball (2) is again measured;
In data processing, on the different coordinate direction of X, Y, Z of being measured by above-mentioned laser tracker (1), in non-welding situation, the actual motion trajectory measurement data adding electric arc tracking and obtain are not followed the tracks of and are welded in teaching movement locus measurement data and welding, and the deviate combining teaching movement locus and the groove physical location to be welded pre-set carries out Comprehensive Comparison, thus obtain the data message of electric arc tracking accuracy, tracking adjustment speed and adjustable range.
3. system according to claim 1, is characterized in that, this target ball (2) described is fixedly connected with industrial welding robot (4) welding torch clamping mechanism foremost, comprising:
This target ball (2) is fixedly connected with industrial welding robot (4) welding torch clamping mechanism foremost by target ball jockey (3); When industrial welding robot (4) is when moving, its front end welding gun (5) and this target ball (2) keep geo-stationary.
4., based on an electric arc tracking test method for laser tracker, it is characterized in that, the method comprises:
Industrial welding robot welding torch clamping mechanism is foremost fixedly installed a target ball, and this industrial welding robot is also connected with the source of welding current and the electric arc tracking module be integrated in this source of welding current;
By fixed placement from this target ball a distance, and the laser tracker real-time tracking supporting with this target ball and measure the positional information of target ball;
Open situation by this laser tracker according to the positional information of target ball and the deviate between the teaching movement locus of industrial welding robot front end welding gun preset and groove physical location to be welded and following function, obtain electric arc tracking accuracy and tracking strategy adjustment information.
5. method according to claim 4, it is characterized in that, describedly open situation by this laser tracker according to the positional information of target ball and the deviate between the teaching movement locus of industrial welding robot front end welding gun preset and groove physical location to be welded and following function, obtain electric arc tracking accuracy and tracking strategy adjustment information, comprising:
Carry out the conversion between industrial welding robot base coordinate system and laser tracker body coordinate system, set up surving coordinate system when industrial welding robot electric arc is followed the tracks of;
Before welding starts, by the teaching movement locus of robot controller setting industrial welding robot front end welding gun, on adjustment jig, the groove to be welded of test piece for welding is to actual welding position, and teaching movement locus and groove physical location end to be welded exist certain deviate on height direction and left and right directions;
In formal measuring process, laser tracker adopts spot measurement mode; First respectively record in one group of non-welding situation by tracking target ball and the measurement data of industrial welding robot running orbit under welding non-tracking situation; The electric arc tracking data carrying out in welding situation a direction in height direction and left and right directions or both direction simultaneously respectively by tracking target ball is again measured;
In data processing, on the different coordinate direction of X, Y, Z of being measured by above-mentioned laser tracker, in non-welding situation, the actual motion trajectory measurement data adding electric arc tracking and obtain are not followed the tracks of and are welded in teaching movement locus measurement data and welding, and the deviate combining teaching movement locus and the groove physical location to be welded pre-set carries out Comprehensive Comparison, thus obtain the data message of electric arc tracking accuracy, tracking adjustment speed and adjustable range.
6. method according to claim 4, is characterized in that, describedly on industrial welding robot welding torch clamping mechanism foremost, is fixedly installed a target ball, comprising:
This target ball is fixedly connected with industrial welding robot welding torch clamping mechanism foremost by target ball jockey; When industrial welding robot is when moving, its front end welding gun and this target ball keep geo-stationary.
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| CN106595485A (en) * | 2017-01-17 | 2017-04-26 | 北京航空航天大学 | CoKriging-based absolute positioning error estimation method of mechanical arm |
| CN106679936A (en) * | 2017-01-26 | 2017-05-17 | 中国科学院光电研究院 | Device and method for testing tracking capacity of laser tracking instrument |
| CN106768014A (en) * | 2016-11-15 | 2017-05-31 | 中国电子产品可靠性与环境试验研究所 | Industrial robot Reliability Synthesis detection means |
| CN107024197A (en) * | 2017-05-05 | 2017-08-08 | 重庆市计量质量检测研究院 | robot pose accuracy detecting system based on laser tracking measurement principle |
| CN110281273A (en) * | 2019-06-27 | 2019-09-27 | 上海电器科学研究所（集团）有限公司 | Industrial robot emergency stop dwell time and stop distance test device and test method |
| CN110605457A (en) * | 2018-06-15 | 2019-12-24 | 上海振华重工电气有限公司 | Robot automatic welding device for forming one-side welding and two-side welding of unequal-gap workpieces |
| CN111609796A (en) * | 2020-05-19 | 2020-09-01 | 南通全昂等离子体科技有限公司 | Detection system and method for waste gas treatment equipment |
| CN113245667A (en) * | 2021-05-12 | 2021-08-13 | 兰州兰石集团有限公司 | Dynamic control method for welding technological parameters of pressure vessel |
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