CN104646799B - A kind of electric arc tracking testing system based on laser tracker and method - Google Patents
A kind of electric arc tracking testing system based on laser tracker and method Download PDFInfo
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- CN104646799B CN104646799B CN201510058586.1A CN201510058586A CN104646799B CN 104646799 B CN104646799 B CN 104646799B CN 201510058586 A CN201510058586 A CN 201510058586A CN 104646799 B CN104646799 B CN 104646799B
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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 kind of electric arc tracking testing system based on laser tracker and method, this system includes: laser tracker and supporting target ball, industrial welding robot, the source of welding current and electric arc tracking module；This target ball and industrial welding robot welding torch clamping mechanism foremost is fixing to be connected, and this industrial welding robot is connected with the source of welding current and electric arc tracking module thereof, and this laser tracker fixed placement is at a certain distance from this target ball；Laser tracker real-time tracking and the positional information of measurement target ball, the deviation value between positional information and the teaching movement locus of industrial welding robot set in advance front end welding gun and groove physical location to be welded and following function according to target ball open situation, it is thus achieved that electric arc tracking accuracy and tracking strategy adjustment information.By the method for the present invention, electric arc tracking accuracy, tracking adjustment speed and the data message of adjustable range can be obtained, provide experimental and theoretical analysis basis for industrial robot, special welding machine and the exploitation of welding arc tracking module and perfect etc..
Description
Technical field
The present invention relates to welding arc tracking and testing technical field, particularly relate to a kind of electric arc based on laser tracker and follow the tracks of survey
Test system and method.
Background technology
Development along with advanced manufacturing technology, it is achieved the intellectually and automatically of welding product manufacture oneself become inexorable trend.
In welding production, use Robotics, production efficiency can be improved, improve working conditions, stablize and ensure welding matter
Measure, realize the Automation of Welding of typical products in mass production.At present, use robot welding to become solder technology to automate, now
The outstanding feature of generationization.
But, the application of welding robot does not ensures that and necessarily can obtain satisfied welding quality, because actual arc
In welding process, there is many disturbing factors.Including workpiece size precision, clamping precision, gap, groove accuracy,
Teaching error etc., and in welding process, the deformation that the weld seam of first seam produces can act on workpiece, makes rear seam
Welding seam bias group pair time position, in order to ensure welding quality, it is necessary to robot welding process is carried out weld seam in real time with
Track.
Owing to welding process is nonlinearity, Multivariable Coupling effect, has answering of a large amount of random uncertain factor simultaneously
Miscellaneous technical process, the study hotspot on boundary is always welded in the detection of welding process for a long time.Up to the present, mainly have
Two big class detection methods: one is to utilize various external sensor, such as vision sensor, acoustic sensor and far infrared camera shot
Machine etc., the various information of detection reflection welding quality.Two is method for sensing based on electric arc self, is only welded by detection
Welding current and weldingvoltage signal that process is intrinsic extract the various information reflecting welding quality.Arc sensing directly from
Acquisition process characteristic information in welding arc, realizes the prison of welding process quality by detection weldingvoltage, welding current
Survey and control, not affected by welding process arc light, magnetic field, temperature, without additional sensor, welding surroundings being interfered
Little, the accessibility of welding gun is good, simple in construction, low cost and highly reliable.Therefore, many employings electric arc during robot welding
Welding process is monitored by tracking transducer.
Welding arc follows the tracks of the important step being to ensure that welding quality, the precision of tracking and strategy always correlative study and skill
The emphasis of art exploitation.The measurement of electric arc tracking effect and detection mode include recorded video, gather welding electrical parameters and sight
Examine final appearance of weld and judge tracking effect etc., although said method can verify that tracking effect to a certain extent, but
It is substantially a given qualitative research, it is impossible to carry out the real time position data during following the tracks of quantifying record and analyzing.
Summary of the invention
It is an object of the invention to provide a kind of electric arc tracking testing system based on laser tracker and method, followed the tracks of by laser
Instrument real-time tracking the three-dimensional space position information gathered under industrial welding robot difference situation in motion process, through later
Phase Treatment Analysis, it is thus achieved that electric arc tracking accuracy, tracking adjustment speed and the data message of adjustable range, for industrial machine
Device people, special welding machine and the exploitation of welding arc tracking module and perfect etc. provides experimental and theoretical analysis basis.
It is an object of the invention to be achieved through the following technical solutions:
A kind of electric arc tracking testing system based on laser tracker, this system includes: laser tracker 1 and supporting target ball
2, industrial welding robot 4, the source of welding current 8 and be integrated in the electric arc tracking module 7 in this source of welding current 8；
This target ball 2 and industrial welding robot 4 welding torch clamping mechanism foremost is fixing to be connected；This industrial welding robot 4 with
The source of welding current 8 and electric arc tracking module 7 thereof are connected；This laser tracker 1 fixed placement is at a certain distance from this target ball 2；
Laser tracker 1 real-time tracking and measure the positional information of target ball 2, according to the positional information of target ball 2 and preset
Industrial welding robot 4 front end welding gun 5 teaching movement locus and groove physical location to be welded between deviation value and tracking
Function opens situation, it is thus achieved that electric arc tracking accuracy and tracking strategy adjustment information.
Further, described laser tracker 1 real-time tracking and the positional information of measurement target ball 2, believe according to the position of target ball 2
Between breath and the teaching movement locus of industrial welding robot 4 set in advance front end welding gun 5 and groove physical location to be welded
Deviation value and following function open situation, it is thus achieved that electric arc tracking accuracy and tracking strategy adjustment information, including:
Carry out the conversion between base coordinate system of industrial welding robot 4 and laser tracker 1 body coordinate system, set up industry
Measurement coordinate system when welding robot 4 electric arc is followed the tracks of；
Before welding starts, set the teaching movement locus of industrial welding robot 4 front end welding gun 5 by robot controller,
On adjustment jig 6, the groove to be welded of test piece for welding 9 is to actual welding position, and teaching movement locus is actual with groove to be welded
Certain deviation value is there is in position end on height direction and left and right directions；
During formal measurement, laser tracker 1 uses spot measurement mode；First pass through tracking target ball 2 and respectively record one group
The measurement data of industrial welding robot 4 running orbit in the case of not following the tracks of with welding in the case of unwelded；Pass through tracking target again
Ball 2 weld respectively in the case of in height direction and left and right directions the electric arc of a direction or simultaneously both direction follow the tracks of number
According to measurement；
In data processing, unwelded feelings on X, Y, Z difference coordinate direction above-mentioned laser tracker 1 measured
Under condition, teaching movement locus measurement data and welding are not followed the tracks of and are welded and add the actual motion trajectory measurement that electric arc tracking obtains
Data, and the deviation value combining the teaching movement locus that pre-sets and groove physical location to be welded carries out Comprehensive Correlation and divides
Analysis, thus obtain electric arc tracking accuracy, tracking adjustment speed and the data message of adjustable range.
Further, this target ball 2 described and industrial welding robot 4 welding torch clamping mechanism foremost is fixing to be connected, wraps
Include:
This target ball 2 is fixed with industrial welding robot 4 welding torch clamping mechanism foremost by target ball attachment means 3 and is connected；When
Industrial welding robot 4 is when motion, and its front end welding gun 5 keeps geo-stationary with this target ball 2.
A kind of electric arc tracking test method based on laser tracker, the method includes:
Being fixedly installed a target ball on industrial welding robot welding torch clamping mechanism foremost, this industrial welding robot is also
It is connected with the source of welding current and the electric arc tracking module that is integrated in this source of welding current；
By fixed placement in laser tracker real-time tracking at a certain distance from this target ball and supporting with this target ball and measurement
The positional information of target ball；
By this laser tracker according to the positional information of target ball and showing of industrial welding robot front end welding gun set in advance
Deviation value and following function between religion movement locus and groove physical location to be welded open situation, it is thus achieved that electric arc tracking accuracy
And tracking strategy adjustment information.
Further, described by this laser tracker according to the positional information of target ball and industrial welding machine set in advance
Deviation value and following function between teaching movement locus and the groove physical location to be welded of people front end welding gun open situation, obtain
Obtain electric arc tracking accuracy and tracking strategy adjustment information, including:
Carry out the conversion between industrial welding robot base's coordinate system and laser tracker body coordinate system, set up industry weldering
Measurement coordinate system when welding robot electric arc is followed the tracks of；
Before welding starts, set the teaching movement locus of industrial welding robot front end welding gun by robot controller, adjust
On whole jig, the groove to be welded of test piece for welding is to actual welding position, teaching movement locus and groove physical location to be welded
Certain deviation value is there is in end on height direction and left and right directions；
During formal measurement, laser tracker uses spot measurement mode；First pass through tracking target ball and respectively record one group not
The measurement data of industrial welding robot running orbit in the case of not following the tracks of with welding in the case of welding；Again by tracking target ball
In the case of welding respectively, in height direction and left and right directions, the electric arc of a direction or simultaneously both direction follows the tracks of data
Measure；
In data processing, unwelded situation on X, Y, Z difference coordinate direction above-mentioned laser tracker measured
Lower teaching movement locus measurement data and welding are not followed the tracks of and are welded and add the actual motion trajectory measurement number that electric arc tracking obtains
According to, and the deviation value combining the teaching movement locus that pre-sets and groove physical location to be welded carries out Comprehensive Comparison,
Thus obtain electric arc tracking accuracy, tracking adjustment speed and the data message of adjustable range.
Further, described on industrial welding robot welding torch clamping mechanism foremost, it is fixedly installed a target ball, bag
Include:
This target ball is fixed by target ball attachment means and industrial welding robot welding torch clamping mechanism foremost and is connected；When
Industrial welding robot is when motion, and its front end welding gun keeps geo-stationary with this target ball.
As seen from the above technical solution provided by the invention, laser tracker can be with real-time tracking and robot end's welding gun
The fixing target ball connected of synchronization high frequency time record the three-dimensional space position information of each point in its motion process, by above-mentioned
The data of a plurality of locations information process and analyze, and then obtain the real space movement locus of welding gun, by itself and showing of setting
Religion movement locus and actual welds position are comprehensively analyzed, thus can obtain the tracking adjustment plan that robot electric arc is followed the tracks of
Omiting and precision information, the exploitation further for welding robot electric arc following function provides foundation.
Accompanying drawing explanation
In order to be illustrated more clearly that the technical scheme of the embodiment of the present invention, required use in embodiment being described below
Accompanying drawing is briefly described, it should be apparent that, the accompanying drawing in describing below is only some embodiments of the present invention, for
From the point of view of those of ordinary skill in the art, on the premise of not paying creative work, it is also possible to obtain according to these accompanying drawings
Other accompanying drawings.
The schematic diagram of a kind of based on laser tracker the electric arc tracking testing system that Fig. 1 provides for the embodiment of the present invention；
Groove physical location to be welded that Fig. 2 provides for the embodiment of the present invention and teaching position are pre-left and right directions and height direction
Put deviation schematic diagram；
The flow chart of a kind of based on laser tracker the electric arc tracking test method 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, the technical scheme in the embodiment of the present invention is carried out clearly and completely
Describe, it is clear that described embodiment is only a part of embodiment of the present invention rather than whole embodiments.Based on
Embodiments of the invention, it is every other that those of ordinary skill in the art are obtained under not making creative work premise
Embodiment, broadly falls into protection scope of the present invention.
Embodiment
The schematic diagram of a kind of based on laser tracker the electric arc tracking testing system that Fig. 1 provides for the embodiment of the present invention.Such as figure
Shown in 1, this system specifically include that laser tracker 1 and supporting target ball 2, industrial welding robot 4, the source of welding current 8 and
It is integrated in the electric arc tracking module 7 in this source of welding current 8.
This target ball 2 and industrial welding robot 4 welding torch clamping mechanism foremost is fixing to be connected, when industrial welding robot 4 exists
During motion, its front end welding gun 5 keeps geo-stationary with this target ball 2；Specifically, this target ball 2 is by target ball attachment means 3
Fixing with industrial welding robot 4 welding torch clamping mechanism foremost it is connected (being positioned at above welding gun 5), to keep away non-welding electric
Arc and flue dust, to the pollution of target ball 2 and damage, prevent the installation of target ball 2 from affecting the welding fortune of industrial welding robot 4 simultaneously
Dynamic.
This industrial welding robot 4 and the source of welding current 8 coordinated operation, in welding process, be integrated in the electric arc on the source of welding current 8
Tracking module 7 gathers welding arc electric signal, and feeds back to the control system of industrial welding robot 4, adjusts industrial welding machine
The movement locus of people 4.
This laser tracker 1 fixed placement is at a certain distance from this target ball 2；Laser tracker 1 real-time tracking and measurement target ball
The positional information of 2, according to positional information and the teaching of industrial welding robot 4 set in advance front end welding gun 5 of target ball 2
Deviation value between movement locus and groove physical location to be welded and following function open situation, it is thus achieved that electric arc tracking accuracy with
And tracking strategy adjustment information.
Specifically, for guarantee laser tracker 1 in the whole range of movement of industrial welding robot 4 can in real time with
Track target ball 2, needs dry running industrial welding robot 4 in the range of total travel in advance, and adjusts the placement of laser tracker 1
Position.
In order to preferably carry out data analysis and process, need to carry out base coordinate system of industrial welding robot 4 and follow the tracks of with laser
Conversion between instrument 1 body coordinate system, sets up measurement coordinate system when industrial welding robot 4 electric arc is followed the tracks of: pass through laser
The structure coordinate system function of tracker 1 software systems, target ball 2 data measured by laser tracker 1 show from its body coordinate system
Show to be converted into and show with base coordinate system of industrial welding robot 4, the target ball 2 installation site phase of acquisition will have been calculated simultaneously
The actual arc position coordinate offset amount in tri-directions of X/Y/Z is input to build at the coordinate offset of coordinate system.
Before welding starts, according to electric arc tracking measurement requirement, set industrial welding robot 4 front end by robot controller
The teaching movement locus (10-1 in Fig. 2) of welding gun 5, adjusts the groove to be welded of test piece for welding 9 on jig 6 actual
Welding position (9-1 in Fig. 2), teaching movement locus and groove physical location end to be welded are in left and right directions and height side
Upwards there is certain deviation value (δ 1 in Fig. 2 a, the δ 2 in Fig. 2 b)；
During formal measurement, laser tracker 1 uses spot measurement mode；First pass through tracking target ball 2 and respectively record one group
The running orbit measurement data of industrial welding robot 4 front end welding gun 5 in the case of not following the tracks of with welding in the case of unwelded；With
After welded respectively by tracking target ball 2 again in the case of a direction or simultaneously two sides in height direction and left and right directions
To electric arc follow the tracks of DATA REASONING；
In data processing, unwelded feelings on X, Y, Z difference coordinate direction above-mentioned laser tracker 1 measured
Under condition, teaching movement locus measurement data and welding are not followed the tracks of and are welded and add the actual motion trajectory measurement that electric arc tracking obtains
Data, and the deviation value combining the teaching movement locus that pre-sets and groove physical location to be welded carries out Comprehensive Correlation and divides
Analysis, thus obtain electric arc tracking accuracy, tracking adjustment speed and the data message of adjustable range, analyze machine accordingly
People's electric arc follows the tracks of behavioral strategy, provides theoretical foundation for improving welding quality and associated welds equipment development.
The technique scheme of the present embodiment, mainly has the following advantages and effect:
(1) this system can realize measuring in real time and data record of electric arc three dimensional local information, and can be with tables of data
Form derives data, and the Data Analysis Services for the later stage is laid a good foundation.
(2) this system can realize measuring the distance of target, following function real-time, quick, accurate.Laser is followed the tracks of
Instrument body may be located remotely from welding robot so that in whole test process, the pose change of robot can be more flexible, can
Operability is more preferable.
(3) this system can realize the high speed measuring target location, accurately measure.For improving test analysis precision, fall
Low test error provides condition.
(4) laser tracker in this system carries Survey Software and can realize measurement data eaily from laser tracking
Instrument coordinate system is to the conversion of robot base's coordinate system, and realizes the coordinate between target ball position and actual welding arc position
Skew, by storing under all data measured unification to robot base's coordinate system and showing, is conducive to directly and robot
The teaching track set is analyzed, it is thus achieved that the measuring accuracy of needs.
(5) this system combines self the electric arc tracking of industrial welding robot and arranges function, can realize height eaily
The accuracy detection that low direction, left and right directions, height and left and right directions electric arc are followed the tracks of, it is possible to realize machine in the case of non-solder
The test of device people's displacement precision.
Embodiment two
The embodiment of the present invention also provides for a kind of method realizing electric arc tracking and testing based on aforementioned system shown in Figure 1, such as Fig. 3
Shown in, the method mainly comprises the steps:
Step 31, on industrial welding robot welding torch clamping mechanism foremost, it is fixedly installed a target ball, this industrial welding
Robot is also connected with the source of welding current and the electric arc tracking module that is integrated in this source of welding current.
In the present embodiment, by this target ball by target ball attachment means and industrial welding robot welding torch clamping mechanism foremost
Fixing connection；When industrial welding robot is in motion, its front end welding gun keeps geo-stationary with this target ball.
Step 32, by fixed placement laser tracker at a certain distance from this target ball and supporting with this target ball in real time with
Track and the positional information of measurement target ball.
Step 33, by this laser tracker according to the positional information of target ball and industrial welding robot set in advance front end
Deviation value and following function between teaching movement locus and the groove physical location to be welded of welding gun open situation, it is thus achieved that electric arc
Tracking accuracy and tracking strategy adjustment information.
Specifically, this step 33 is mainly achieved in that
Carry out the conversion between industrial welding robot base's coordinate system and laser tracker body coordinate system, set up industry weldering
Measurement coordinate system when welding robot electric arc is followed the tracks of；
Before welding starts, set the teaching movement locus of industrial welding robot front end welding gun by robot controller, adjust
On whole jig, the groove to be welded of test piece for welding is to actual welding position, teaching movement locus and groove physical location to be welded
Certain deviation value is there is in end on height direction and left and right directions；
During formal measurement, laser tracker uses spot measurement mode；First pass through tracking target ball and respectively record one group not
The measurement data of industrial welding robot running orbit in the case of not following the tracks of with welding in the case of welding；Again by tracking target ball
In the case of welding respectively, in height direction and left and right directions, the electric arc of a direction or simultaneously both direction follows the tracks of data
Measure；
In data processing, unwelded situation on X, Y, Z difference coordinate direction above-mentioned laser tracker measured
Lower teaching movement locus measurement data and welding are not followed the tracks of and are welded and add the actual motion trajectory measurement number that electric arc tracking obtains
According to, and the deviation value combining the teaching movement locus that pre-sets and groove physical location to be welded carries out Comprehensive Comparison,
Thus obtain electric arc tracking accuracy, tracking adjustment speed and the data message of adjustable range.
It is emphasized that the system relevant to the method is described in detail the most in the aforementioned embodiment, therefore no longer
Repeat.
The above, the only present invention preferably detailed description of the invention, but protection scope of the present invention is not limited thereto,
Any those familiar with the art in the technical scope of present disclosure, the change that can readily occur in or replace
Change, all should contain within protection scope of the present invention.Therefore, protection scope of the present invention should be with claims
Protection domain is as the criterion.
Claims (6)
1. an electric arc tracking testing system based on laser tracker, it is characterised in that this system includes: laser is followed the tracks of
Instrument (1) and supporting target ball (2), industrial welding robot (4), the source of welding current (8) and be integrated in this welding electricity
Electric arc tracking module (7) in source (8)；
This target ball (2) and industrial welding robot (4) welding torch clamping mechanism foremost is fixing to be connected；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) is fixing to be put
Put at a certain distance from this target ball (2)；
Laser tracker (1) real-time tracking and the positional information of measurement target ball (2), according to the positional information of target ball (2)
And the teaching movement locus of industrial welding robot (4) front end welding gun (5) set in advance and groove actual bit to be welded
Deviation value and following function between putting open situation, it is thus achieved that electric arc tracking accuracy and tracking strategy adjustment information.
System the most according to claim 1, it is characterised in that described laser tracker (1) real-time tracking and measurement
The positional information of target ball (2), according to positional information and the industrial welding robot set in advance (4) of target ball (2)
Deviation value and following function between teaching movement locus and the groove physical location to be welded of front end welding gun (5) open situation,
Obtain electric arc tracking accuracy and tracking strategy adjustment information, including:
Carry out the conversion between industrial welding robot (4) base coordinate system and laser tracker (1) body coordinate system,
Set up measurement coordinate system when industrial welding robot (4) electric arc is followed the tracks of；
Before welding starts, the teaching being set industrial welding robot (4) front end welding gun (5) by robot controller is transported
Dynamic track, in adjustment jig (6), the groove to be welded of test piece for welding (9) is to actual welding position, teaching campaign rail
Certain deviation value is there is in mark and groove physical location end to be welded on height direction and left and right directions；
During formal measurement, laser tracker (1) uses spot measurement mode；First pass through tracking target ball (2) each
Record one group unwelded in the case of and welding do not follow the tracks of in the case of the measurement data of industrial welding robot (4) running orbit；
A direction or two simultaneously in height direction and left and right directions in the case of being welded respectively by tracking target ball (2) again
The electric arc in direction follows the tracks of DATA REASONING；
In data processing, X, Y, Z difference coordinate direction above-mentioned laser tracker (1) measured to does not welds
In the case of connecing, teaching movement locus measurement data and welding are not followed the tracks of and are welded and add the actual motion track that electric arc tracking obtains
Measurement data, and the deviation value combining the teaching movement locus that pre-sets and groove physical location to be welded carries out Comprehensive Correlation
Analyze, thus obtain electric arc tracking accuracy, tracking adjustment speed and the data message of adjustable range.
System the most according to claim 1, it is characterised in that described target ball (2) and industrial welding robot
(4) welding torch clamping mechanism foremost is fixing connects, including:
This target ball (2) is by target ball attachment means (3) and industrial welding robot (4) welding torch clamping mechanism foremost
Fixing connection；When industrial welding robot (4) is in motion, its front end welding gun (5) keeps relative with this target ball (2)
Static.
4. an electric arc tracking test method based on laser tracker, it is characterised in that the method includes:
Being fixedly installed a target ball on industrial welding robot welding torch clamping mechanism foremost, this industrial welding robot is also
It is connected with the source of welding current and the electric arc tracking module that is integrated in this source of welding current；
By fixed placement in laser tracker real-time tracking at a certain distance from this target ball and supporting with this target ball and measurement
The positional information of target ball；
By this laser tracker according to the positional information of target ball and showing of industrial welding robot front end welding gun set in advance
Deviation value and following function between religion movement locus and groove physical location to be welded open situation, it is thus achieved that electric arc tracking accuracy
And tracking strategy adjustment information.
Method the most according to claim 4, it is characterised in that described by this laser tracker according to the position of target ball
Between information and the teaching movement locus of industrial welding robot set in advance front end welding gun and groove physical location to be welded
Deviation value and following function open situation, it is thus achieved that electric arc tracking accuracy and tracking strategy adjustment information, including:
Carry out the conversion between industrial welding robot base's coordinate system and laser tracker body coordinate system, set up industry weldering
Measurement coordinate system when welding robot electric arc is followed the tracks of；
Before welding starts, set the teaching movement locus of industrial welding robot front end welding gun by robot controller, adjust
On whole jig, the groove to be welded of test piece for welding is to actual welding position, teaching movement locus and groove physical location to be welded
Certain deviation value is there is in end on height direction and left and right directions；
During formal measurement, laser tracker uses spot measurement mode；First pass through tracking target ball and respectively record one group not
The measurement data of industrial welding robot running orbit in the case of not following the tracks of with welding in the case of welding；Again by tracking target ball
In the case of welding respectively, in height direction and left and right directions, the electric arc of a direction or simultaneously both direction follows the tracks of data
Measure；
In data processing, unwelded situation on X, Y, Z difference coordinate direction above-mentioned laser tracker measured
Lower teaching movement locus measurement data and welding are not followed the tracks of and are welded and add the actual motion trajectory measurement number that electric arc tracking obtains
According to, and the deviation value combining the teaching movement locus that pre-sets and groove physical location to be welded carries out Comprehensive Comparison,
Thus obtain electric arc tracking accuracy, tracking adjustment speed and the data message of adjustable range.
Method the most according to claim 4, it is characterised in that described at industrial welding robot welding gun foremost
A target ball it is fixedly installed on clamping device, including:
This target ball is fixed by target ball attachment means and industrial welding robot welding torch clamping mechanism foremost and is connected；When
Industrial welding robot is when motion, and its front end welding gun keeps geo-stationary with this target ball.
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| 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 |
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