Problems with traditional welding robots
Before the production of traditional welding robot, teaching programming is usually required, that is, the welding path and welding action are recorded point by point through the teaching device, and the welding robot completes the pre-set welding work according to the taught welding path and welding action.
Conventional welding robot can meet the general welding of regular steel members, but for steel structure construction engineering, because the engineering volume is usually large, the welding structure is complex, and the shape and dimensional accuracy of welding parts are high, it is difficult to meet the welding requirements.
Free teaching the working principle of welding robot
Free teaching welding robot mainly using BIM welding path planning, realize welding offline programming, and through the laser positioning weld tracking system real-time tracking welding path, compensation adjust the robot welding trajectory, improve the welding quality, so as to effectively avoid the traditional welding robot under the condition of complex welding production limitations.
The welding robot mainly adopts BIM for welding path planning, realizes the offline welding programming, and tracks the welding path in real time through the laser positioning weld tracking system, so as to compensate and adjust the welding track of the robot and improve the welding quality.
Free teaching welding robot offline programming technology through BIM software platform to build the whole work scene of 3 d virtual environment, welding steel component fineness to consider the weld position, quantity, form, according to the BIM software platform, determine the welding position, identify the weld number, form, plan the robot welding path, set the path speed and other parameters, and simulation in the software platform, the planning path adjustment to the best motion trajectory, generate the robot welding program transmission to the welding robot.
Compared with the traditional welding robot teaching programming, offline programming has the following advantages:
- Complex welding tracks can be automatically generated according to the shape of the steel members in the virtual scene
- Do not need teaching, do not occupy the working time of the robot, programming production line does not need to stop
- Trajectory simulation, collision detection, path optimization, and post-set code generation
Laser positioning weld tracking compensation
The laser positioning weld tracking system is mainly composed of welding tracking sensors, including 1 CCD camera and 1~2 semiconductor lasers.
The laser acts as a structural light source to project the laser stripes on the surface of the lower part of the sensor at a specific angle.
The camera directly observes the lower stripes of the sensor.
The front of the camera uses an optical filter to allow the laser to pass, but filters out all other light, such as the welding arc, to ensure accurate laser positioning and tracking.
Laser irradiation on the surface of the weld, forming laser stripes, after the lens on the sensor, produce the outline of the weld section on the photosensitive detector, that is, the laser stripe image reflecting the shape of the weld section.
The laser stripe image is processed in the visual control to extract the weld feature data, such as the tracking point coordinates, weld gap, cross-sectional area, etc.
The vision system calculates the welding torch path according to the weld position information, and transmits the path data to the welding robot. The welding robot controls the running track in real time to ensure that the welding torch is always aligned with the weld.
Post time: Dec-20-2023