CN108393617B - Device and method for calibrating welding gun tool points of welding robot - Google Patents
Device and method for calibrating welding gun tool points of welding robot Download PDFInfo
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- CN108393617B CN108393617B CN201810107214.7A CN201810107214A CN108393617B CN 108393617 B CN108393617 B CN 108393617B CN 201810107214 A CN201810107214 A CN 201810107214A CN 108393617 B CN108393617 B CN 108393617B
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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
- B23K37/00—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups
Abstract
The invention discloses a device for calibrating welding gun tool points of a welding robot, which comprises a welding gun sleeve disc, lateral screws, fixing screws, a welding wire simulation rod and a calibration target; the cross section of the welding gun sleeve disc is of a blind annular structure, the top of the welding gun sleeve disc is open, the bottom of the welding gun sleeve disc is closed, a welding wire simulation rod capable of rotating up and down is arranged in the center of the bottom of the welding gun sleeve disc, threads are arranged on the welding wire simulation rod, and the end part of the simulation rod is spherical; the simulation rod can rotate to realize the position adjustment; a lateral screw is arranged on one side of the welding wire simulation rod, and when the welding wire simulation rod rotates to a set position, the lateral screw fixes the position of the welding wire simulation rod; a plurality of uniformly distributed fixing screws are arranged on the side surface of the welding gun sleeve disc and are used for fastening the welding gun sleeve disc to a welding gun; the calibration target is provided with a calibration groove which can be in contact with the welding wire simulation rod to conduct electricity, the calibration groove is communicated with at least three conductive belts arranged on the calibration target, each conductive belt is connected with one indicator light, and the indicator lights are connected with the power supply to form a loop.
Description
Technical Field
The invention belongs to the technical field of robot welding, and relates to a device and a method for calibrating a welding gun tool point of a welding robot.
Background
Industrial robots are one of the important basic equipment for implementing automatic production lines, industrial 4.0, intelligent manufacturing workshops, digital factories and intelligent factories. According to incomplete statistics, nearly half of all the industrial robots in service worldwide are used in various forms of welding processing.
Robot welding off-line programming and simulation are one of important systems for improving the intelligence of a robot welding system and are an essential component of an intelligent welding robot software system. And the performance of the off-line programming task is closely related to the calibration precision of the robot welding gun. When welding robot calibration, on the one hand, when adopting the welding wire tip as the instrument point, because the welding wire has certain elasticity, can deviate welder's central line after leaving the contact tip to the welding wire length that stretches out is difficult to the visual determination, leads to welder instrument point inaccurate, and on the other hand, need adopt different welder gestures when welder instrument point calibration, a contact fixed point, the accuracy of contact does not have effectual means to guarantee, be difficult to ensure instrument point calibration's precision and effect, thereby influence the application effect of welding robot off-line programming.
Disclosure of Invention
In light of the above disadvantages, the present invention provides an apparatus and method for calibrating a welding gun tool point of a welding robot.
The invention aims to solve the technical problems through the following technical scheme:
a device for calibrating welding robot welding gun tool points comprises a welding gun sleeve disc, lateral screws, fixing screws, a welding wire simulation rod and a calibration target;
the cross section of the welding gun sleeve disc is of a blind annular structure, the top of the welding gun sleeve disc is open, the bottom of the welding gun sleeve disc is closed, a welding wire simulation rod capable of rotating up and down is arranged at the center of the bottom of the welding gun sleeve disc, threads are arranged on the welding wire simulation rod, and the end part of the simulation rod is spherical; the simulation rod can rotate to realize the position adjustment; a lateral screw is arranged on one side of the welding wire simulation rod, and when the welding wire simulation rod rotates to a set position, the lateral screw fixes the position of the welding wire simulation rod; a plurality of fixing screws are arranged on the side surface of the welding gun sleeve disc and are used for fastening the welding gun sleeve disc to a welding gun; the calibration target is provided with a calibration groove which can be in contact with the welding wire simulation rod to conduct electricity, the calibration groove is communicated with at least three conductive belts arranged on the calibration target, each conductive belt is connected with one indicator light, and the indicator lights are connected with the power supply to form a loop.
Further, the calibration groove be the blind hole structure, because three points can decide a circle, and then can confirm as long as the ball and the three point contact of welding wire simulation pole tip, the ball centre of sphere position is unchangeable, consequently, the setting of the conductive band in this application requires to set up at least three.
Furthermore, three positioning screw holes are uniformly distributed on the side surface of the welding gun sleeve disc along the circumferential direction, and the fixing screws are matched with the positioning screw holes.
Furthermore, a through hole is formed in the radial direction of the bottom of the welding gun sleeve disc, and the lateral screw is installed in the through hole.
Furthermore, a graduated scale is arranged on the outer end face of the welding gun sleeve disc and used for observing the rotation angle of the welding wire simulation rod, and then the height of the welding wire simulation rod is obtained.
Furthermore, the welding gun sleeve disc comprises a disc-shaped structure which is hollow inside and is open at the top, a threaded hole is formed in the bottom of the disc-shaped structure, a circular table which is concentric with the disc-shaped structure is arranged in the disc-shaped structure, and a through hole which is coaxial with the threaded hole is formed in the center of the circular table.
Further, the welding wire simulation rod is matched with the threaded hole, and threads with the thread pitch of 1mm are machined on the welding wire simulation rod.
Furthermore, the simulation rod is controlled to rotate through a rotating rod; the dwang setting be located the spherical head top of welding wire simulation pole in the bottom position of welding wire simulation pole.
Furthermore, the welding wire simulation rod is processed with a thread with the thread pitch of 1mm, and the end part of the simulation rod is processed with a ball with the diameter of 2 mm.
Furthermore, the width of the copper conducting belt on the upper surface of the calibration target is 0.1mm, and the lower surface of the calibration target is provided with a magnetic chuck.
The using method of the invention is as follows:
when the device is in operation, an operator sleeves the welding gun sleeve on the welding gun, the welding gun sleeve is compressed, fixing screws are fastened to the welding gun through 3 positioning screw holes which are distributed at the top of the welding gun sleeve in an angle of 120 degrees, the extending length of the welding wire simulation rod is adjusted through rotating the rotating rod, and the welding wire simulation rod is fastened through the positioning holes in the bottom of the welding gun sleeve 1 by lateral screws after being adjusted in place. Placing a calibration target on a workbench in an adsorption manner, operating a robot to move a welding gun sleeve disc to enable a ball at the top end of a welding wire simulation rod to enter a calibration groove of the calibration target, observing indicator lamps, changing the posture of a welding gun after the indicator lamps are fully lighted, and repeating the operation for changing the posture of the welding gun for more than 4 times; after the operation is finished, the robot automatically calculates the coordinates of the tool points of the welding gun, and finishes the calibration work of the tool points.
The invention has the advantages that:
the extension or the shortening of welding wire simulation rod can be realized, the calibration of different welding wire dry extension tool points can be realized, whether the welding gun tool points are aligned with a certain space point or not under different postures is indicated by the indicating lamp, the accuracy is high, the calibration precision of the welding gun tool points is improved, the accuracy of robot off-line programming is favorably improved, and the working efficiency of the welding robot is improved.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this application, illustrate embodiments of the application and, together with the description, serve to explain the application and are not intended to limit the application.
FIG. 1 is a schematic three-dimensional structure of the present invention.
FIG. 2 is a front view of the present invention;
FIG. 3 is a schematic illustration of a calibration target;
the welding gun comprises a welding gun sleeve disc 1, a disc-shaped structure 1-1, a circular truncated cone 1-2, a welding wire simulation rod 2, a lateral screw 3, a fixing screw 4, a rotating rod 5, a calibration target 6 and a calibration groove 7.
Detailed Description
It should be noted that the following detailed description is exemplary and is intended to provide further explanation of the disclosure. Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs.
It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of example embodiments according to the present application. As used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, and it should be understood that when the terms "comprises" and/or "comprising" are used in this specification, they specify the presence of stated features, steps, operations, devices, components, and/or combinations thereof, unless the context clearly indicates otherwise.
As described in the background of the invention, there are various deficiencies in the prior art, and in order to solve the above technical problems, the present application provides an apparatus and method for calibrating a welding gun tool point of a welding robot.
In a typical embodiment of the present application, as shown in fig. 1-3, the device for calibrating the welding robot welding gun tool point comprises a welding gun sleeve 1, a lateral screw 3, one or more fixing screws 4, a rotating rod 5, a welding wire simulation rod 2, a calibration target 6, a power supply and four indicator lamps.
The scale is installed in the outer terminal surface of welder plate sleeve 1, can set up a plurality ofly, for example: 1/4 turns, 3/1 turns, 2/1 turns, full turns and the like, and is used for observing the rotation angle of the welding wire simulation rod, and further obtaining the height of the welding wire simulation rod.
The welding wire simulation rod 2 is arranged in the center of the welding gun sleeve disc 1, the rotating rod 5 is arranged at the bottom of the welding wire simulation rod and is positioned above the spherical head of the welding wire simulation rod, and the welding wire simulation rod is rotated by rotating the rotating rod 5;
in addition, the rotating lever may be omitted directly, and the welding wire simulation rod 2 itself may be rotated directly.
Furthermore, the welding wire simulation rod 2 is provided with threads, and the end part of the simulation rod is spherical and matched with a threaded hole at the bottom of the welding gun sleeve disc 1.
Specifically, the welding gun sleeve disc 1 comprises a disc-shaped structure 1-1 which is hollow inside and open at the top, a threaded hole is formed in the bottom of the disc-shaped structure, a circular table 1-2 which is concentric with the disc-shaped structure is arranged in the disc-shaped structure, and a through hole which is coaxial with the threaded hole is formed in the center of the circular table. Welding wire simulation pole 2 and this screw hole cooperation, welding wire simulation pole 2 processing has the pitch to be 1mm screw thread, and the tip processing has diameter 2mm ball.
Three positioning screw holes are uniformly distributed on the side surface of the welding gun sleeve disc along the circumferential direction, and the fixing screws 4 are matched with the positioning screw holes.
And a through hole is arranged in the radial direction of the bottom of the welding gun sleeve disc, the lateral screw 3 is arranged in the through hole, and the through hole is communicated with the position of the welding wire simulation rod 2.
The top of the calibration target 6 is provided with a blind hole-shaped calibration groove 7 and two mutually perpendicular copper conductive strips, the line width is 0.1mm, the intersection point is provided with the calibration groove 7 with the diameter of 1.5mm, the two conductive strips are connected with two indicator lamps through wires, and a power supply is connected with the indicator lamps and the calibration target 6 through wires to form a circuit loop.
The number of the indicating lamps is at least three, and as the three points can determine a circle, the center position of the sphere is unchanged as long as the sphere at the end of the welding wire simulation rod 2 is in contact with the three points, so that the arrangement of the conductive bands in the application requires at least three points, and the purpose of the application can be achieved by three points.
The lower surface of the calibration target is provided with a magnetic chuck for being adsorbed on a workbench of the welding robot.
The specific operation method is as follows:
when the device works, an operator sleeves the welding gun sleeve disc 1 on a welding gun, the welding gun sleeve disc is compressed, the fixing screws 4 are fastened to the welding gun through 3 positioning holes which are distributed at 120 degrees on the top of the welding gun sleeve disc 1, the extending length of the welding wire simulation rod 2 is adjusted through rotating the rotating rod 5, and after the welding wire simulation rod 2 is adjusted in place, the lateral screws 3 are used for fastening the welding wire simulation rod 2 through the positioning holes in the bottom of the welding gun sleeve disc 1. The calibration target 6 is placed on a workbench in an adsorption mode, the robot is controlled to move the welding gun sleeve disc 1, the ball at the top end of the welding wire simulation rod 2 enters the calibration groove 7 of the calibration target 6, the indicator lamps are observed, after the 4 indicator lamps are fully lighted, the posture of the welding gun is changed, the operation is repeated, and the posture of the welding gun is changed for more than 4 times. After the operation is finished, the robot automatically calculates the coordinates of the tool points of the welding gun, and finishes the calibration work of the tool points.
Although the embodiments of the present invention have been described with reference to the accompanying drawings, it is not intended to limit the scope of the present invention, and it should be understood by those skilled in the art that various modifications and variations can be made without inventive efforts by those skilled in the art based on the technical solution of the present invention.
Claims (7)
1. A device for calibrating welding robot welding gun tool points is characterized by comprising a welding gun sleeve disc, lateral screws, fixing screws, a welding wire simulation rod and a calibration target;
the cross section of the welding gun sleeve disc is of a blind annular structure, the top of the welding gun sleeve disc is open, the bottom of the welding gun sleeve disc is closed, a welding wire simulation rod capable of rotating up and down is arranged at the center of the bottom of the welding gun sleeve disc, threads are arranged on the welding wire simulation rod, and the end part of the simulation rod is spherical;
the simulation rod can rotate to realize the position adjustment; a lateral screw is arranged on one side of the welding wire simulation rod, and when the welding wire simulation rod rotates to a set position, the lateral screw fixes the position of the welding wire simulation rod; a plurality of fixing screws are arranged on the side surface of the welding gun sleeve disc and are used for fastening the welding gun sleeve disc to a welding gun; the calibration target is provided with a calibration groove which can be in contact with the welding wire simulation rod for conduction, the calibration groove is communicated with at least three conductive belts arranged on the calibration target, each conductive belt is connected with one indicator light, and the indicator lights are connected with a power supply to form a loop;
the outer end face of the welding gun sleeve disc is provided with a graduated scale for observing the rotation angle of the welding wire simulation rod, so that the height of the welding wire simulation rod is obtained;
the width of the copper conducting belt on the upper surface of the calibration target is 0.1mm, and the lower surface of the calibration target of the calibration groove is provided with a magnetic chuck;
the welding wire simulation rod is matched with a threaded hole in the bottom of the disc-shaped structure, threads with the thread pitch of 1mm are machined on the welding wire simulation rod, and a ball with the diameter of 2mm is machined on the end portion of the simulation rod.
2. The apparatus for calibration of a tool point of a welding robot torch as set forth in claim 1, wherein said calibration groove has a blind hole structure.
3. The apparatus for calibration of a tool point of a welding robot torch as set forth in claim 1, wherein three positioning screw holes are uniformly distributed along a circumferential direction on a side surface of said torch nest, and said fixing screws are engaged with said positioning screw holes.
4. The apparatus for calibration of a tool point of a welding robot torch as set forth in claim 3, wherein a threaded hole is formed in a radial direction of a bottom of the torch nest, and the lateral screw is installed in the threaded hole in the radial direction of the bottom of the torch nest.
5. The apparatus according to claim 1, wherein the welding gun nest comprises a hollow disk-shaped structure with an open top, a circular table concentric with the disk-shaped structure, and a through hole coaxial with the threaded hole at the bottom of the disk-shaped structure.
6. The apparatus for calibration of a tool point of a welding robot torch as set forth in claim 1, wherein said dummy bar is controlled to rotate by a rotation bar; the dwang setting be located the spherical head top of welding wire simulation pole in the bottom position of welding wire simulation pole.
7. Use of an apparatus for welding robotic gun tool point calibration according to any of claims 1-6,
when the device works, an operator sleeves a welding gun sleeve disc on the welding gun, the welding gun sleeve disc is tightly pressed, fixing screws are fastened to the welding gun through 3 positioning screw holes which are distributed at 120 degrees at the top of the welding gun sleeve disc, a welding wire simulation rod is provided with threads, the end part of the simulation rod is in a spherical shape, the extending length of the welding wire simulation rod is adjusted by rotating the rotating rod, and the welding wire simulation rod is fastened through a threaded hole at the bottom of the welding gun sleeve disc by using a lateral screw after the welding wire simulation rod is adjusted in place; observing the rotation angle of the welding wire simulation rod according to a graduated scale arranged on the outer end face of the welding gun sleeve disc, and further obtaining the height of the welding wire simulation rod; placing a calibration target on a workbench in an adsorption manner, operating a robot to move a welding gun sleeve disc to enable a ball at the top end of a welding wire simulation rod to enter a calibration groove of the calibration target, observing indicator lamps, changing the posture of a welding gun after the indicator lamps are fully lighted, and repeating the operation for changing the posture of the welding gun for more than 4 times; after the operation is finished, the robot automatically calculates the coordinates of the tool points of the welding gun, and finishes the calibration work of the tool points.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810107214.7A CN108393617B (en) | 2018-02-02 | 2018-02-02 | Device and method for calibrating welding gun tool points of welding robot |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201810107214.7A CN108393617B (en) | 2018-02-02 | 2018-02-02 | Device and method for calibrating welding gun tool points of welding robot |
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| CN108393617A CN108393617A (en) | 2018-08-14 |
| CN108393617B true CN108393617B (en) | 2020-01-07 |
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| CN110899893A (en) * | 2019-12-24 | 2020-03-24 | 上海和达汽车配件有限公司 | Cross inspection method for offset of welding robot |
| CN117086552B (en) * | 2023-10-20 | 2023-12-15 | 山东欣润同创环保科技有限公司 | Adjustable vertical mill grinding roller overlaying tool |
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| CN104827480A (en) * | 2014-02-11 | 2015-08-12 | 泰科电子(上海)有限公司 | Automatic calibration method of robot system |
| US9731392B2 (en) * | 2014-08-05 | 2017-08-15 | Ati Industrial Automation, Inc. | Robotic tool changer alignment modules |
| US11014183B2 (en) * | 2014-08-07 | 2021-05-25 | Illinois Tool Works Inc. | System and method of marking a welding workpiece |
| CN106584509B (en) * | 2015-10-20 | 2019-01-25 | 沈阳新松机器人自动化股份有限公司 | The origin calibration method of parallel robot |
| CN105415095B (en) * | 2015-11-27 | 2017-11-17 | 中航沈飞民用飞机有限责任公司 | Digital control processing origin Quick positioning instrument and its localization method |
| CN105818132B (en) * | 2016-03-31 | 2018-10-02 | 湖南化工职业技术学院 | A kind of industrial robot sucked type tool hand calibrating and positioning method |
| CN107127495A (en) * | 2017-07-05 | 2017-09-05 | 广西柳工机械股份有限公司 | Welding robot tool center point adjusts servicing unit |
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