CN205393782U - 8 robot space curve welding system of laser discernment welding seam - Google Patents
8 robot space curve welding system of laser discernment welding seam Download PDFInfo
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- CN205393782U CN205393782U CN201620157571.0U CN201620157571U CN205393782U CN 205393782 U CN205393782 U CN 205393782U CN 201620157571 U CN201620157571 U CN 201620157571U CN 205393782 U CN205393782 U CN 205393782U
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Abstract
The utility model discloses a 8 robot space curve welding system of laser discernment welding seam, including slope / the rotation diaxon machine of shifting that is used for fixed work piece, laser sensor, laser sensor fixes the component, welder, welder fixes the component, welding robot, the work piece is fixed on slope / the rotation diaxon machine of shifting, follow slope / rotation diaxon machine of shifting and be slope and/or rotary motion, laser sensor installs on the fixed component of laser sensor, the fixed component clamping of laser sensor is on welder, welder installs on the fixed component of welder, the fixed component of welder is installed on the terminal ring flange of welding robot, laser sensor and welder all can follow the terminal motion of welding robot. The utility model provides an accuracy of current space curve welding seam off -line programming not high, space curve welding seam teaching programming teaching work load big, the inefficiency scheduling problem, the efficiency precision is high.
Description
Technical field
This utility model relates to robot space curve welding system, particularly to laser identification weld seam 8 axle robot space curve welding system.
Background technology
Robot welding is widely used at many production fields.Current robot welding method is mainly based on " teaching playback " pattern, first the taught point one by one on weld seam is arrived by artificial guided robot end welding gun, then programming definition robot motion mode between taught point, such as linear interpolation, circular interpolation etc., finally by " reproduction " order robot according to tutorial program, pass sequentially through taught point, complete welding process.When complicated space curve welding seam, for ensureing precision, it is necessary to choose substantial amounts of taught point, workload is big, and length consuming time, production efficiency is low.
For solving the problems referred to above, it is necessary to carrying out automatization's weld seam recognition, conventional method has: touch sensor identification, arc sensor identification, ultrasound wave identification, machine vision weld seam recognition etc..
Touch sensor identification is the position utilizing guide post or directive wheel to detect weld seam in welding gun front, and guide post or directive wheel can follow the orbiting motion of weld seam, guides welding gun to weld with seeking seam track.Primary disadvantage is that guide rod and guide wheel have certain physical dimension, it is impossible to for the close welding line joint of structure comparison；The rough abrasion easily causing probe of weld seam and deformation；Speed of welding can not be too fast.
Arc sensor is identified by arc sensor and obtains the arc voltage in welding process, current information, calculates welding arc length, obtains welding gun deviation on weld bead height direction with this, thus identifying position while welding in the height direction.Major downside is that acquisition weld information is limited, it is impossible to identify weld seam position in space completely；Structure is complicated, it is achieved not easily.
Ultrasound wave identification is to be totally reflected after the ultrasonic signal utilizing ultrasonic sensor to launch runs into metal weldment, reflected signal receives through ultrasonic probe, identifies and amplify, timer is utilized to obtain launching driving pulse and interval when receiving echo-signal, when the velocity of sound is known, the distance value between ultrasonic probe and scanning element can be calculated, and then identify position while welding.Primary disadvantage is that ultrasonic scanning is limited in scope, and accuracy of identification is low.
Machine vision is to use ccd video camera shooting weld image, by the method for image procossing, extracts characteristics of weld seam, completes weld seam recognition.Major downside is that image procossing difficulty is big；Weld seam recognition precision is low.
Technique scheme is all respectively arranged with shortcoming, still has gap with desirable weld joint recognition method.
Utility model content
The purpose of this utility model is to provide a kind of laser identification weld seam 8 axle robot space curve welding system, it is intended to solve existing automatization weld joint recognition method inefficiency, the problem that accuracy is low, it is achieved accurate space curve welding.
The purpose of this utility model is realized by following technical proposals:
A kind of laser identification weld seam axle robot space curve welding system, including the inclination for fixing workpiece/rotate two axle positioners, laser sensor, laser sensor retaining element, welding gun, welding gun retaining element, welding robot, workpiece is fixed on described inclination/rotate on two axle positioners, follow/rotate two axle positioners and do and/or rotary motion, laser sensor is arranged on laser sensor retaining element, laser sensor retaining element clamping is on welding gun, welding gun is arranged on welding gun retaining element, welding gun retaining element is arranged in welding robot end flange, laser sensor and welding gun all can follow welding robot end movement.
Laser sensor is brought to the position being prone to scanning workpiece space curved welding seam by welding robot, tilting/rotate two axle positioners makes workpiece space curved welding seam sequentially pass through laser sensor laser scanning district from origin-to-destination by rotation, space curve welding seam parametric equation is set up according to scanning result, carry out kinesiology planning, control welding robot and inclination/rotate two axle positioners and complete synchronous coordination welding job.
Further, described inclination/rotate two axle positioners includes firm banking, swingable sloping shaft motion and rotatable rotating shaft motion, described sloping shaft motion is fixedly installed on firm banking, described rotating shaft motion is fixedly installed on described sloping shaft motion, with sloping shaft motion synchronous hunting.
Further, described sloping shaft motion includes the master end riser and the slave end riser that are relatively fixedly installed on described firm banking, it is fixedly installed on the AC servo speed reduction driving mechanism for power on the riser of described master end, it is arranged on the revolving support on described slave end riser, rotating shaft motion mounting seat including two runners, two runners are attached on the outer ring of AC synchronous sampling mechanism outfan and pivoting support respectively, rotating shaft motion mounting seat can under AC servo speed reduction driving mechanism for power drives, axis around AC servo speed reduction driving mechanism for power outfan rotates.
Further, the fixing workpiece workbench that described rotating shaft motion includes AC servo speed reduction driving mechanism for power, is fixedly installed on described AC servo speed reduction driving mechanism for power outfan, described fixing workpiece workbench is under AC servo speed reduction driving mechanism for power drives, and the axis around AC servo speed reduction driving mechanism for power outfan rotates.
Further, described AC servo speed reduction driving mechanism for power is worm and gear and AC servo machinery driving mechanism or harmonic speed reducer and AC servo machinery driving system.
Further, described worm and gear and AC servo machinery driving mechanism include worm-and-wheel gear, connect the AC servo motor of described worm-and-wheel gear input, connect the rotating disk of described worm-and-wheel gear outfan.
Further, described harmonic speed reducer and AC servo machinery driving system include harmonic speed reducer, connect the AC servo motor of described harmonic speed reducer input, connect the rotating disk of described harmonic speed reducer outfan.
Operation principle of the present utility model is: robot makes laser sensor be in the position and attitude being prone to scanning workpiece weld seam, striped formula laser sensor scans the weld bead feature points obtained, after after filtering, use least square fitting to obtain weld edge feature, the central point of weld seam under laser sensor coordinate system can be obtained after geometrical calculation；Robot and laser sensor are motionless, tilt/rotate two axle positioners to rotate, weld seam is made to sequentially pass through laser sensor scanning area from origin-to-destination, obtain the discrete central point of whole piece weld seam, by the coordinate transform of discrete central point to tilting/rotate under two axle positioners fixing workpiece stage coordinates system, use non-homogeneous B spline curve that discrete central point is fitted, obtain the parametric equation of Unify legislation whole piece weld seam；According to the speed of welding of welding process requirement, acceleration, acceleration, and by the calculated fusion length of weld seam parametric equation, carry out the planning of S type curve acceleration and deceleration motion, obtain the speed of welding equation of whole welding process；According to the recurrence relation of speed and parameter, Welded Joint Curve carries out discretization, obtains a series of interpolated point；Interpolated point welding posture according to welding process requirement, solve/rotate two axle positioner Inverse Kinematics Solutions, obtain the sloping shaft rotational angle theta that interpolated point is corresponding7With rotating shaft rotational angle theta8；Solve/rotate two axle positioner forward kinematics solutions and obtain welding gun terminal position corresponding to interpolated point and attitude；Solve robot kinematics and obtain the rotational angle theta of six axles of robot against solution1,θ2,θ3,θ4,θ5,θ6；Tilt/rotate two axle positioners and the motion of welding robot coordinate synchronization is welded；In welding process, laser sensor scanning weld seam, carry out real-time weld joint tracking, compensate the position while welding deviation owing to the factors such as sweating heat deformation cause.
This utility model has such advantages as relative to prior art and effect:
(1) this utility model passes through laser sensor identification weld seam, and is calculated by technical grade computer, processes, system maintenance easy, and apparatus structure is simple, realizes automatically gathering and processing of data by computer, can be effectively improved the efficiency that data process；
(2) this utility model automaticity is higher, it is possible to realizes weld seam and automatically identifies, automatic welding, and soldering joint automatic tracking substantially increases production efficiency.
Accompanying drawing explanation
Fig. 1 is the laser identification weld seam 8 axle robot space curve welding system structural representation of this utility model embodiment；
Fig. 2 is laser identification weld seam 8 axle robot space curve welding method schematic flow sheet.
Shown in figure it is: 1-1, firm banking；1-2, master end riser；1-3, slave end riser；1-4, the first worm and gear and AC servo machinery driving mechanism；1-5, pivoting support；1-6, the second worm and gear and AC servo machinery driving mechanism；1-7, rotating shaft motion mounting seat；1-8, fixing workpiece workbench；2, workpiece；3, weld seam；4, laser sensor；5, laser sensor retaining element；6, welding gun；7, welding gun retaining element；8, welding robot.
Detailed description of the invention
Below in conjunction with embodiment and accompanying drawing, this utility model is described in further detail, but embodiment of the present utility model is not limited to this.
Embodiment one
As shown in Figure 1, a kind of laser identification weld seam 8 axle robot space curve welding system, including the inclination for fixing workpiece/rotate two axle positioners, laser sensor 4, laser sensor retaining element 5, welding gun 6, welding gun retaining element 7, welding robot 8, workpiece is fixed on described inclination/rotate on two axle positioners, follow/rotate two axle positioners and do and/or rotary motion, laser sensor 4 is arranged on laser sensor retaining element 5, laser sensor retaining element 5 clamping is on welding gun 6, welding gun 6 is arranged on welding gun retaining element 7, welding gun retaining element 7 is arranged in welding robot 8 end flange, laser sensor 4 and welding gun 6 all can follow welding robot 8 end movement.
Laser sensor is brought to the position being prone to scanning workpiece space curved welding seam by welding robot, tilting/rotate two axle positioners makes workpiece space curved welding seam sequentially pass through laser sensor laser scanning district from origin-to-destination by rotation, space curve welding seam parametric equation is set up according to scanning result, carry out kinesiology planning, control welding robot and inclination/rotate two axle positioners and complete synchronous coordination welding job.
Specifically, described inclination/rotate two axle positioners includes firm banking 1-1, swingable sloping shaft motion and rotatable rotating shaft motion, described sloping shaft motion is fixedly installed on firm banking 1-1, described rotating shaft motion is fixedly installed on described sloping shaft motion, with sloping shaft motion synchronous hunting.
Specifically, described sloping shaft motion includes the master end riser 1-2 and the slave end riser 1-3 that are relatively fixedly installed on described firm banking 1-1, it is fixedly installed on the AC servo speed reduction driving mechanism for power on described master end riser 1-2, it is arranged on the revolving support 1-5 on described slave end riser 1-3, rotating shaft motion mounting seat 1-7 including two runners, two runners are attached on the outer ring of AC synchronous sampling mechanism outfan and pivoting support 1-5 respectively, rotating shaft motion mounting seat 1-7 can under AC servo speed reduction driving mechanism for power drives, axis around AC servo speed reduction driving mechanism for power outfan rotates.
Specifically, the fixing workpiece workbench 1-8 that described rotating shaft motion includes AC servo speed reduction driving mechanism for power, is fixedly installed on described AC servo speed reduction driving mechanism for power outfan, described fixing workpiece workbench 1-8 is under AC servo speed reduction driving mechanism for power drives, and the axis around AC servo speed reduction driving mechanism for power outfan rotates.
nullIn the present embodiment，Described AC servo speed reduction driving mechanism for power is worm and gear and AC servo machinery driving mechanism，The second worm and gear and AC servo machinery driving mechanism 1-6 including the first worm and gear being fixedly installed on described master end riser 1-2 and AC servo machinery driving mechanism 1-4 and the fixing workpiece workbench 1-8 of outfan connection，Two worm and gears and AC servo machinery driving mechanism all include worm-and-wheel gear、Connect the AC servo motor of described worm-and-wheel gear input、Connect the rotating disk of described worm-and-wheel gear outfan，Rotating shaft motion mounting seat 1-7 is under AC servo machinery driving，Rotating disk axis around the first worm and gear and AC servo machinery driving mechanism 1-4 rotates，Fixing workpiece workbench 1-8 rotates around the rotating disk axis of the second worm and gear and AC servo machinery driving mechanism 1-6 under the driving of AC servo motor，Thus driving workpiece 2 rotate by desired trajectory and/or swing.
Embodiment two
A kind of laser identification weld seam 8 axle robot space curve welding system, including the inclination for fixing workpiece/rotate two axle positioners, laser sensor 4, laser sensor retaining element 5, welding gun 6, welding gun retaining element 7, welding robot 8, workpiece is fixed on described inclination/rotate on two axle positioners, follow/rotate two axle positioners and do and/or rotary motion, laser sensor 4 is arranged on laser sensor retaining element 5, laser sensor retaining element 5 clamping is on welding gun 6, welding gun 6 is arranged on welding gun retaining element 7, welding gun retaining element 7 is arranged in welding robot 8 end flange, laser sensor 4 and welding gun 6 all can follow welding robot 8 end movement.
Laser sensor is brought to the position being prone to scanning workpiece space curved welding seam by welding robot, tilting/rotate two axle positioners makes workpiece space curved welding seam sequentially pass through laser sensor laser scanning district from origin-to-destination by rotation, space curve welding seam parametric equation is set up according to scanning result, carry out kinesiology planning, control welding robot and inclination/rotate two axle positioners and complete synchronous coordination welding job.
Specifically, described inclination/rotate two axle positioners includes firm banking 1-1, swingable sloping shaft motion and rotatable rotating shaft motion, described sloping shaft motion is fixedly installed on firm banking 1-1, described rotating shaft motion is fixedly installed on described sloping shaft motion, with sloping shaft motion synchronous hunting.
Specifically, described sloping shaft motion includes the master end riser 1-2 and the slave end riser 1-3 that are relatively fixedly installed on described firm banking 1-1, it is fixedly installed on the AC servo speed reduction driving mechanism for power on described master end riser 1-2, it is arranged on the revolving support 1-5 on described slave end riser 1-3, rotating shaft motion mounting seat 1-7 including two runners, two runners are attached on the outer ring of AC synchronous sampling mechanism outfan and pivoting support 1-5 respectively, rotating shaft motion mounting seat 1-7 can under AC servo speed reduction driving mechanism for power drives, axis around AC servo speed reduction driving mechanism for power outfan rotates.
Specifically, the fixing workpiece workbench 1-8 that described rotating shaft motion includes AC servo speed reduction driving mechanism for power, is fixedly installed on described AC servo speed reduction driving mechanism for power outfan, described fixing workpiece workbench 1-8 is under AC servo speed reduction driving mechanism for power drives, and the axis around AC servo speed reduction driving mechanism for power outfan rotates.
In the present embodiment, described AC servo speed reduction driving mechanism for power is harmonic speed reducer and AC servo machinery driving system, second harmonic decelerator and the AC servo machinery driving system of fixing workpiece workbench 1-8 is connected, harmonic speed reducer and AC servo machinery driving system structure is simple, volume is little, lightweight, carrying is big, precision is high, transmission efficiency is high including the first harmonic decelerator being fixedly installed on described master end riser 1-2 and AC servo machinery driving system and outfan.Two harmonic speed reducers and AC servo machinery driving system all include harmonic speed reducer, connect the AC servo motor of described harmonic speed reducer input, connect the rotating disk of described harmonic speed reducer outfan, rotating shaft motion mounting seat 1-7 is under AC servo machinery driving, rotating disk axis around first harmonic decelerator and AC servo machinery driving system rotates, fixing workpiece workbench 1-8 rotates around the rotating disk axis of second harmonic decelerator and AC servo machinery driving system under the driving of AC servo motor, thus driving workpiece 2 rotate by desired trajectory and/or swing.
Each parts of above-described embodiment can type selecting as follows, but type selecting is not limited to this: welding robot 8 can be selected for other robots with type；Workpiece 2 can be selected for the same type of workpiece of regular shape.
Embodiment three
As in figure 2 it is shown, based on the laser identification weld seam 8 axle robot space curve welding method of above-mentioned laser identification weld seam 8 axle robot space curve welding system, comprise the steps:
S1, the position adjusting welding robot 8 and attitude, the laser sensor 4 being fixed on welding gun 6 is made to be in the optimum position of scanning weld seam 3, namely weld seam 3 is allowed to be in the efficient working range of laser sensor 4, ensure that again workpiece 2 will not interfere with laser sensor 4 in the process scanning weld seam 3 continuously；
S2, inclination/rotate two axle positioners rotate continuously, make weld seam 3 sequentially pass through the scanning area of laser sensor 4 from origin-to-destination；
S3, from laser sensor 4 scanning result, extract the characteristic point of weld seam 3, and calculate weld seam 3 center point coordinate under laser sensor 4 coordinate system；
S4, through coordinate transform, weld seam 3 center point coordinate under laser sensor 4 coordinate system is transformed under fixing workpiece workbench 1-8 coordinate system；
S5, use non-homogeneous B spline curve matching weld seam 3 central point, obtain the parametric equation expression formula of the non-homogeneous B spline curve form of space curve welding seam；
S6, according to the speed of welding of welding process requirement, acceleration and acceleration requirement, use S type acceleration and deceleration curves to carry out the acceleration and deceleration motion planning of whole welding process；
S7, use parameter and the recurrence Relation of speed, by space curve welding seam discretization, obtain discrete interpolated point:
In formula: u is parameter of curve, and k represents kth interpolated point；T is interpolation cycle；The interpolation rate that v (t) is t；Respectively weld seam parametric equation is about component on x, y, z direction of the first derivative of parameter；
S8, interpolated point welding posture according to welding process requirement, solve/rotate two axle positioner Inverse Kinematics Solutions, obtain the sloping shaft rotational angle theta that interpolated point is corresponding7With rotating shaft rotational angle theta8；
S9, solve/rotate two axle positioner forward kinematics solutions and obtain interpolated point corresponding welding gun 6 terminal position and attitude；
S10, solve robot kinematics and obtain the rotational angle theta of six axles of robot against solution1,θ2,θ3,θ4,θ5,θ6；
S11, inclination/rotate two axle positioners and the motion of welding robot 8 coordinate synchronization are welded；
S12, in welding process, laser sensor 4 scans weld seam 3, carries out real-time weld joint tracking, compensates the position while welding deviation owing to sweating heat deformation factor causes.
Above-described embodiment is present aspect preferably embodiment; but the bright embodiment of we is also not restricted to the described embodiments; other any deviate from make under spirit of the present utility model and principle change, modification, replacement, combination, simplification; all should be the substitute mode of equivalence, be included within protection domain of the present utility model.
Claims (7)
1. a laser identification weld seam 8 axle robot space curve welding system, it is characterized in that, including the inclination for fixing workpiece/rotate two axle positioners, laser sensor, laser sensor retaining element, welding gun, welding gun retaining element, welding robot, workpiece is fixed on described inclination/rotate on two axle positioners, follow/rotate two axle positioners and do and/or rotary motion, laser sensor is arranged on laser sensor retaining element, laser sensor retaining element clamping is on welding gun, welding gun is arranged on welding gun retaining element, welding gun retaining element is arranged in welding robot end flange, laser sensor and welding gun all can follow welding robot end movement.
2. laser according to claim 1 identification weld seam 8 axle robot space curve welding system, it is characterized in that: described inclination/rotate two axle positioners includes firm banking, swingable sloping shaft motion and rotatable rotating shaft motion, described sloping shaft motion is fixedly installed on firm banking, described rotating shaft motion is fixedly installed on described sloping shaft motion, with sloping shaft motion synchronous hunting.
3. laser according to claim 2 identification weld seam 8 axle robot space curve welding system, it is characterized in that: described sloping shaft motion includes the master end riser and the slave end riser that are relatively fixedly installed on described firm banking, it is fixedly installed on the AC servo speed reduction driving mechanism for power on the riser of described master end, it is arranged on the revolving support on described slave end riser, rotating shaft motion mounting seat including two runners, two runners are attached on the outer ring of AC synchronous sampling mechanism outfan and pivoting support respectively, rotating shaft motion mounting seat can under AC servo speed reduction driving mechanism for power drives, axis around AC servo speed reduction driving mechanism for power outfan rotates.
4. laser according to claim 2 identification weld seam 8 axle robot space curve welding system, it is characterized in that: the fixing workpiece workbench that described rotating shaft motion includes AC servo speed reduction driving mechanism for power, is fixedly installed on described AC servo speed reduction driving mechanism for power outfan, described fixing workpiece workbench is under AC servo speed reduction driving mechanism for power drives, and the axis around AC servo speed reduction driving mechanism for power outfan rotates.
5. the laser identification weld seam 8 axle robot space curve welding system according to claim 3 or 4, it is characterised in that: described AC servo speed reduction driving mechanism for power is worm and gear and AC servo machinery driving mechanism or harmonic speed reducer and AC servo machinery driving system.
6. laser according to claim 5 identification weld seam 8 axle robot space curve welding system, it is characterised in that: described worm and gear and AC servo machinery driving mechanism include worm-and-wheel gear, connect the AC servo motor of described worm-and-wheel gear input, connect the rotating disk of described worm-and-wheel gear outfan.
7. laser according to claim 5 identification weld seam 8 axle robot space curve welding system, it is characterised in that: described harmonic speed reducer and AC servo machinery driving system include harmonic speed reducer, connect the AC servo motor of described harmonic speed reducer input, connect the rotating disk of described harmonic speed reducer outfan.
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| CN201620157571.0U CN205393782U (en) | 2016-02-29 | 2016-02-29 | 8 robot space curve welding system of laser discernment welding seam |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN105562973A (en) * | 2016-02-29 | 2016-05-11 | 华南理工大学 | Eight-axis robot space curve welding system and method for recognizing welding line by means of lasers |
| CN106392304A (en) * | 2016-12-22 | 2017-02-15 | 河北省自动化研究所 | Laser-assisted intelligent trailing system and method for welding line |
| CN106624509A (en) * | 2016-11-28 | 2017-05-10 | 苏州五圣通机器人自动化有限公司 | High-precision automatic robot welding device and working method thereof |
| CN108453439A (en) * | 2018-03-14 | 2018-08-28 | 清华大学天津高端装备研究院洛阳先进制造产业研发基地 | The robot welding track self-programming system and method for view-based access control model sensing |
| CN108890184A (en) * | 2018-08-22 | 2018-11-27 | 合肥工业大学 | Coordination welding control method based on discrete six-joint robot and two axis positioners |
| CN109664021A (en) * | 2018-12-17 | 2019-04-23 | 中国航发动力股份有限公司 | A kind of method for laser welding in thin-wall curve narrow face |
| CN110449789A (en) * | 2019-08-22 | 2019-11-15 | 深圳市威博特科技有限公司 | A kind of adaptive welder and method |
| CN110977093A (en) * | 2019-12-19 | 2020-04-10 | 上海森松制药设备工程有限公司 | End socket welding method and device, computer equipment and storage medium |
| CN112894190A (en) * | 2021-04-09 | 2021-06-04 | 郑州越达科技装备有限公司 | Welding device of aluminum guide rod robot |
| CN113441828A (en) * | 2021-07-21 | 2021-09-28 | 桂林航天工业学院 | Full-automatic vision spot welding robot |
| CN113927198A (en) * | 2021-12-20 | 2022-01-14 | 常州神力电机股份有限公司 | Intelligent welding device and method for wind power stator core |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN105562973B (en) * | 2016-02-29 | 2017-08-25 | 华南理工大学 | A kind of laser identification axle robot space curve welding system of weld seam 8 and method |
| CN105562973A (en) * | 2016-02-29 | 2016-05-11 | 华南理工大学 | Eight-axis robot space curve welding system and method for recognizing welding line by means of lasers |
| CN106624509A (en) * | 2016-11-28 | 2017-05-10 | 苏州五圣通机器人自动化有限公司 | High-precision automatic robot welding device and working method thereof |
| CN106624509B (en) * | 2016-11-28 | 2019-05-21 | 苏州五圣通机器人自动化有限公司 | A kind of high precision machines people automatic soldering device and its working method |
| CN106392304B (en) * | 2016-12-22 | 2019-02-15 | 河北省自动化研究所 | A kind of laser assisted weld seam Intelligent tracing system and method |
| CN106392304A (en) * | 2016-12-22 | 2017-02-15 | 河北省自动化研究所 | Laser-assisted intelligent trailing system and method for welding line |
| CN108453439A (en) * | 2018-03-14 | 2018-08-28 | 清华大学天津高端装备研究院洛阳先进制造产业研发基地 | The robot welding track self-programming system and method for view-based access control model sensing |
| CN108890184A (en) * | 2018-08-22 | 2018-11-27 | 合肥工业大学 | Coordination welding control method based on discrete six-joint robot and two axis positioners |
| CN108890184B (en) * | 2018-08-22 | 2020-03-17 | 合肥工业大学 | Coordination welding control method based on discrete six-axis robot and two-axis positioner |
| CN109664021A (en) * | 2018-12-17 | 2019-04-23 | 中国航发动力股份有限公司 | A kind of method for laser welding in thin-wall curve narrow face |
| CN110449789A (en) * | 2019-08-22 | 2019-11-15 | 深圳市威博特科技有限公司 | A kind of adaptive welder and method |
| CN110449789B (en) * | 2019-08-22 | 2021-10-08 | 深圳市威博特科技有限公司 | Self-adaptive welding device and method |
| CN110977093A (en) * | 2019-12-19 | 2020-04-10 | 上海森松制药设备工程有限公司 | End socket welding method and device, computer equipment and storage medium |
| CN112894190A (en) * | 2021-04-09 | 2021-06-04 | 郑州越达科技装备有限公司 | Welding device of aluminum guide rod robot |
| CN113441828A (en) * | 2021-07-21 | 2021-09-28 | 桂林航天工业学院 | Full-automatic vision spot welding robot |
| CN113927198A (en) * | 2021-12-20 | 2022-01-14 | 常州神力电机股份有限公司 | Intelligent welding device and method for wind power stator core |
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