CN112077487A - Laser-assisted teaching programming device for robot welding - Google Patents
Laser-assisted teaching programming device for robot welding Download PDFInfo
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- CN112077487A CN112077487A CN202010846623.6A CN202010846623A CN112077487A CN 112077487 A CN112077487 A CN 112077487A CN 202010846623 A CN202010846623 A CN 202010846623A CN 112077487 A CN112077487 A CN 112077487A
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- welding
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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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0081—Programme-controlled manipulators with master teach-in means
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Physics & Mathematics (AREA)
- Optics & Photonics (AREA)
- Manipulator (AREA)
- Laser Beam Processing (AREA)
- Numerical Control (AREA)
Abstract
The utility model provides a teaching programming device is assisted to laser for robot welding, belongs to welding technical field for solve when robot welding program is worked out welding wire dry elongation and welding wire pointing position measurement accuracy low, need the problem of revising repeatedly, technical scheme is: the device includes laser rangefinder sensor, teaching controller and power, the laser rangefinder sensor is installed and is welded in the welder front end of robot, and the direction of shining of the visible laser beam that the laser rangefinder sensor circular telegram back was sent is the axis direction of welding wire through-hole in the welder current contact nozzle, the teaching controller passes through the cable and is connected with power and laser rangefinder sensor. The invention utilizes the laser ranging sensor to measure the length of the dry length and determines the pointing position of the welding wire through the laser spot on the workpiece, thereby avoiding the misalignment caused by the deformation of the welding wire when contacting the workpiece in the prior method and greatly improving the measurement precision and speed. The device can assist the operator to quickly and accurately determine the welding track, and the teaching programming efficiency is improved.
Description
Technical Field
The invention relates to a laser-assisted teaching programming device which can assist an operator to quickly and accurately determine a welding track when a robot welding program is programmed, and belongs to the technical field of welding.
Background
The robot is more and more widely applied to the field of automobile part welding due to the characteristics of high efficiency and high stability. Before welding production, as long as teaching programming is completed and the movement track is determined, the robot can accurately and repeatedly complete the welding actions during production, and high-quality welding is guaranteed. The welding dry elongation and the welding wire pointing position in the welding motion trail of the robot are very important parameters, wherein the welding dry elongation refers to the length of a welding wire from a contact tip to a workpiece, the welding dry elongation affects the penetration depth and the appearance of a welding seam, the welding wire pointing position refers to the position of the end of the welding wire contacting the workpiece, whether the two sides of a welding joint have enough penetration depth is determined, and the accurate determination of the welding dry elongation and the welding wire pointing position is significant for ensuring the welding quality. The traditional method for determining the welding dry elongation and the welding wire pointing position of the robot comprises the following steps: the method comprises the steps of measuring by using a steel plate ruler, controlling the length of a welding wire extending out of a contact tube to reach the dry elongation degree required by the process by matching wire cutting pliers with a wire feeder, and then controlling a robot to drive a welding gun to move, so that the end of the welding wire moves to the welding wire pointing position required by the process, and the end of the welding wire just contacts with a workpiece at the moment. The method has the defects that the control precision is low, the measurement error of a steel plate ruler, the bending deformation of the welding wire, the elastic expansion and contraction of the welding wire in the moving process of the robot, the shaking of the welding wire in a contact tip, the contact deformation of the welding wire and a workpiece and the observation error of human eyes can cause the actual dry elongation and the pointing position to deviate, generally, the deviation is more than 0.2 mm, and meanwhile, due to the above influence factors, the dry elongation and the pointing position need to be repeatedly corrected, so that time and labor are wasted.
Disclosure of Invention
The invention aims to provide a laser-assisted teaching programming device for robot welding, aiming at overcoming the defects of the prior art, so as to accurately determine the welding dry elongation and the welding wire pointing position and improve the teaching programming efficiency.
The problems of the invention are solved by the following technical scheme:
the utility model provides a teaching programming device is assisted to laser for robot welding, includes laser range finding sensor, teaching controller and power in the constitution, laser range finding sensor installs and welds the welder front end that welds in the robot, and the direction of shining of the visible laser beam that sends after the laser range finding sensor circular telegram is the axis direction of welding wire through-hole in the welder current-conducting nozzle, the teaching controller passes through the cable and is connected with power and laser range finding sensor.
According to the laser-assisted teaching programming device for robot welding, the laser ranging sensor is connected with the welding gun through the adjustable positioning connecting mechanism, the adjustable positioning connecting mechanism comprises the sensor protective sleeve, the positioning sleeve, the locking nut and three set screws, the shape of the positioning sleeve is the same as that of the welding gun nozzle, and the rear end of the positioning sleeve is connected with the front end of the welding gun through threads; the sensor protective sleeve is coaxially assembled in the positioning sleeve, the outer surface of the front end of the sensor protective sleeve is a conical surface matched with a conical hole in the front end of the positioning sleeve, the rear end of the sensor protective sleeve is in clearance fit with the positioning sleeve, three set screws are uniformly arranged around the axis of the positioning sleeve, and each set screw is screwed into a radial threaded hole in the side wall of the positioning sleeve and abuts against the outer wall of the sensor protective sleeve; the laser ranging sensor is assembled at the front end of the sensor protective sleeve through an external thread of the laser ranging sensor and locked by a locking nut.
The laser-assisted teaching programming device for robot welding further comprises a TCP calibration device, the TCP calibration device comprises a TCP calibration pin, a TCP calibration block and a rigid mounting seat, the TCP calibration block is fixed near the robot through the rigid mounting seat and keeps unchanged relative position with the robot, a cross line is carved on the upper plane of the TCP calibration block, the TCP calibration pin is coaxial with a conductive nozzle of a welding gun, the rear end of the TCP calibration pin is connected with the welding gun through an external thread with the same specification as the conductive nozzle, the front end of the TCP calibration pin is conical, and the conical sharp point coincides with the welding wire end point of the theoretical welding dry elongation.
Above-mentioned a teaching programming device is assisted to laser for robot welding, teaching controller and power are fixed on welding robot's arm through the power mounting panel.
According to the laser-assisted teaching programming device for robot welding, the line width of the cross line on the plane of the TCP calibration block is 0.5mm, and the line depth is less than 0.1 mm.
Above-mentioned be used for supplementary teaching programming device of laser of robot welding, the rear end of position sleeve is equipped with the opening, and the cable of laser rangefinder sensor signal output end is worn out from this opening.
Above-mentioned a teaching programming device is assisted to laser for robot welding, sensor protective sheath rear end external diameter is less than the position sleeve internal diameter by 0.5 mm.
In the laser-assisted teaching programming device for robot welding, the output voltage of the power supply is 24V.
The invention utilizes the laser ranging sensor to measure the welding dry elongation and determines the pointing position of the welding wire through the laser spot on the workpiece, thereby avoiding the misalignment caused by the deformation of the welding wire when contacting the workpiece in the prior method and greatly improving the measurement precision and the measurement speed. The device can assist an operator to quickly and accurately determine the welding track, so that the teaching programming efficiency is improved.
Drawings
The present invention will be described in further detail with reference to the accompanying drawings.
FIG. 1 is a schematic diagram of a typical robot and torch configuration;
FIG. 2 is a schematic illustration of a prior art method teaching the wire dry length and pointing position at programming;
FIG. 3 is a schematic structural view of the present invention;
FIG. 4 is an enlarged view of a portion of FIG. 3;
FIG. 5 is a schematic diagram of a robot TCP calibration;
FIG. 6 is a schematic illustration of the wire stem elongation and pointing position as programmed by the auxiliary teachings of the present invention.
The reference numbers in the figures are as follows: 1. the welding robot comprises a robot, 2, a welding gun, 2-1, a welding gun body, 2-2, a nozzle, 2-3, a contact tip, 3, a welding wire, 4, a workpiece, 5, a power supply, 6, a teaching controller, 7, a power supply mounting plate, 8, a TCP calibration pin, 9, a TCP calibration block, 10, a rigid mounting seat, 11, a set screw, 12, a locking nut, 13, a cable, 14, a laser ranging sensor, 15, a sensor protective sleeve, 16, a positioning sleeve, P, a welding wire pointing position, d, and a welding dry elongation.
Detailed Description
The invention provides a laser-assisted teaching programming device which can assist an operator to quickly and accurately determine a welding track when programming a robot welding program.
Referring to fig. 3 and 4, the invention comprises a laser ranging sensor 14, a sensor protective sleeve 15, a positioning sleeve 16, a cable 13, a 24V power supply 5, a teaching controller 6, a power supply mounting plate 7, a TCP calibration pin 8, a TCP calibration block 9 and a rigid mounting base 10. The laser ranging sensor 14 is assembled on a sensor protective sleeve 15 through external threads of the sensor 14 and is locked through a locking nut 12; the sensor protective sleeve 15 is assembled on the positioning sleeve 16, the front end of the sensor protective sleeve is designed to be conical, the conical degree of the sensor protective sleeve is the same as that of a conical hole of the positioning sleeve 16, and the outer diameter of the rear end of the sensor protective sleeve is designed to be 0.5mm smaller than the inner diameter of the positioning sleeve 16; the positioning sleeve 16 is provided with 3 uniformly arranged set screws 11 for fixing and adjusting the sensor protective sleeve 15; the external threads of the positioning sleeve 16 are the same as the specification of a welding gun nozzle in shape and rear end, and can be arranged at the front end of a welding gun through the external threads at the rear end; an opening is formed in the rear end of the positioning sleeve 16, and the cable 13 penetrates out; the teaching controller 6 and the 24V power supply 5 are arranged on the power supply mounting plate 7 through screws; the power supply mounting plate 7 is mounted on the robot arm through a screw; a teaching controller 6 connected to the 24V power supply 5 and the laser distance measuring sensor 14 through a cable 13; vertical cross lines are carved on the upper plane of the TCP calibration block 9, the line width is 0.5mm, and the line depth is less than 0.1 mm; the TCP calibration block 9 is fixed on a rigid mounting base 10 near the robot through a screw and a cylindrical pin, and the relative position of the TCP calibration block and the robot is kept unchanged; the external thread at the rear end of the TCP calibration pin 8 has the same specification as that of a welding gun contact tip, the front end of the TCP calibration pin is designed to be conical, and the tip point of the conical shape is superposed with the end point of a welding wire with the theoretical dry elongation.
The laser distance measuring sensor 14 is energized to emit laser light, the laser light is irradiated on the workpiece 4 to form a fine laser spot which can be observed by human eyes, and the distance between the spot and the welding gun can be displayed through an electronic screen of the teaching controller 6.
Before the laser ranging sensor 14 is used, the position of the laser ranging sensor 14 needs to be calibrated to enable the light irradiating point to coincide with a TCP point of a robot, the specific method is that, referring to figures 2, 3, 4 and 5, a nozzle and a conductive nozzle on a welding gun of the robot are firstly detached, then a TCP calibrating pin 8 is screwed on the welding gun, the robot is moved to enable a sharp point of the TCP calibrating pin 8 to be aligned with the center of a cross line of a TCP calibrating block 9, 3 different postures are respectively repeated, the position point of the robot is recorded in a program, and then the TCP calibrating pin 8 is screwed off; referring to fig. 5, a positioning sleeve 16 provided with a laser ranging sensor 14 and a sensor protective sleeve 15 is screwed on a welding gun, the robot is moved to the first position point recorded just before, three set screws 11 on the positioning sleeve 16 are adjusted to enable a light spot of the laser ranging sensor 14 to irradiate the center of a cross line, then, zero setting operation is carried out on a teaching controller 6, the distance displayed by the teaching controller 3 is 0, the robot is further moved to the other two points respectively, the light spot position and the teaching controller 6 are checked to display distance values, if deviation exists, the position of the laser ranging sensor 14 is adjusted until the deviation of 3 positions is within a small range, and the calibration work is completed.
Referring to fig. 6, when the invention is used, an operator controls the robot to teach the workpiece 4 by using the welding gun with the laser ranging sensor 14, the pointing position of the welding wire is determined by the laser spot, the dry elongation of the welding wire is determined by the numerical value (0 or close to 0) displayed by the teaching controller 6, after the teaching programming is finished, the auxiliary device is disassembled, and the contact tip and the nozzle of the original welding gun are installed, so that the trial welding production can be carried out.
The invention has the following advantages: 1. in the teaching programming process, the laser ranging sensor and the workpiece are kept in a non-contact state, and misalignment caused by deformation of the welding wire contacting the workpiece in the existing method is avoided. 2. The dry elongation is measured by using a laser ranging sensor, the measurement error can reach the level of ten microns, the precision is high, the speed is high, and the dry elongation value of any welding position can be displayed in real time. 3. The pointing position can be directly observed through a laser spot on the workpiece, and an operator can accurately and conveniently judge the pointing position. 4. The laser ranging sensor is designed to be coaxial with the contact tip, the accessibility of a light spot is good, and the light spot can be observed as long as a welding gun can weld. 5. The assembly, disassembly and use are convenient, external water, electricity and gas are not needed, and the production environment is not limited.
Claims (8)
1. The utility model provides a teaching programming device is assisted to laser for robot welding, characterized by includes laser range finding sensor (14), teaching controller (6) and power (5) in the constitution, laser range finding sensor (14) are installed and are being welded welder (2) front end in the robot, and the direction of shining of the visible laser beam that sends out after laser range finding sensor (14) circular telegram is the axis direction of welding wire through-hole in welder contact tube (2-3), teaching controller (6) are connected with power (5) and laser range finding sensor (14) through cable (13).
2. The laser-assisted teaching programming device for robot welding is characterized in that the laser distance measuring sensor (14) is connected with a welding gun through an adjustable positioning connecting mechanism, the adjustable positioning connecting mechanism comprises a sensor protective sleeve (15), a positioning sleeve (16), a locking nut (12) and three set screws (11), the shape of the positioning sleeve (16) is the same as that of a welding gun nozzle (2-2), and the rear end of the positioning sleeve (16) is connected with the front end of the welding gun (2) through threads; the sensor protective sleeve (15) is coaxially assembled in the positioning sleeve (16), the outer surface of the front end of the sensor protective sleeve (15) is a conical surface matched with a conical hole in the front end of the positioning sleeve (16), the rear end of the sensor protective sleeve is in clearance fit with the positioning sleeve (16), three set screws (11) are uniformly arranged around the axis of the positioning sleeve (16), and each set screw (11) is screwed into a radial threaded hole in the side wall of the positioning sleeve (16) and abuts against the outer wall of the sensor protective sleeve (15); the laser ranging sensor (14) is assembled at the front end of a sensor protective sleeve (15) through self external threads and is locked by a locking nut (12).
3. The laser-assisted teaching programming device for robot welding according to claim 1 or 2, characterized by further comprising a TCP calibration device, wherein the TCP calibration device comprises a TCP calibration pin (8), a TCP calibration block (9) and a rigid mounting seat (10), the TCP calibration block (9) is fixed near the robot through the rigid mounting seat (10) and keeps the relative position with the robot unchanged, a cross line is carved on the upper plane of the TCP calibration block (9), the TCP calibration pin (8) is coaxial with a conductive nozzle (2-3) of the welding gun, the rear end of the TCP calibration pin (8) is connected with the welding gun through an external thread with the same specification as the conductive nozzle (2-3), the front end is conical, and the conical sharp point is coincident with the welding wire end point of the theoretical welding dry elongation.
4. The laser-assisted teaching programming device for robot welding according to claim 3, characterized in that the teaching controller (6) and the power supply (5) are fixed on the arm of the welding robot through a power supply mounting plate (7).
5. The laser-assisted teaching programmer for robotic welding as claimed in claim 4, wherein the line width of the planar cross-hairs on the TCP calibration block (9) is 0.5mm and the line depth is less than 0.1 mm.
6. The laser-assisted teaching programmer for robotic welding as claimed in claim 5, wherein the rear end of the positioning sleeve (16) is provided with an opening through which the cable (13) for the signal output of the laser range sensor (14) passes.
7. The laser-assisted teaching programmer for robotic welding as claimed in claim 6, wherein the outer diameter of the rear end of the sensor protective sleeve (15) is 0.5mm smaller than the inner diameter of the positioning sleeve (16).
8. The laser-assisted teaching programmer for robotic welding according to claim 7, characterized in that the output voltage of the power supply (5) is 24V.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010846623.6A CN112077487A (en) | 2020-08-21 | 2020-08-21 | Laser-assisted teaching programming device for robot welding |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010846623.6A CN112077487A (en) | 2020-08-21 | 2020-08-21 | Laser-assisted teaching programming device for robot welding |
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| Publication Number | Publication Date |
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| CN112077487A true CN112077487A (en) | 2020-12-15 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202010846623.6A Pending CN112077487A (en) | 2020-08-21 | 2020-08-21 | Laser-assisted teaching programming device for robot welding |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113305863A (en) * | 2021-06-23 | 2021-08-27 | 广西焊杰机器人技术有限公司 | Welding robot and welding method thereof |
| CN114937388A (en) * | 2022-04-08 | 2022-08-23 | 郑州科慧科技股份有限公司 | High-imitation welding simulation teaching device and simulation welding method for industrial robot |
-
2020
- 2020-08-21 CN CN202010846623.6A patent/CN112077487A/en active Pending
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113305863A (en) * | 2021-06-23 | 2021-08-27 | 广西焊杰机器人技术有限公司 | Welding robot and welding method thereof |
| CN114937388A (en) * | 2022-04-08 | 2022-08-23 | 郑州科慧科技股份有限公司 | High-imitation welding simulation teaching device and simulation welding method for industrial robot |
| CN114937388B (en) * | 2022-04-08 | 2023-03-24 | 郑州科慧科技股份有限公司 | High-imitation welding simulation teaching device and simulation welding method for industrial robot |
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