Manipulator positioners are generally divided into compound positioners, single-axis positioners, double-axis positioners and three-axis positioners according to the number of components of the drive motor. Before the welding operation of the robotic arm and during the welding process, the positioner loads and positions the welded workpiece through the entrained tool, and the different requirements for the workpiece determine the load capacity and the method of its movement of the robotic arm positioner. As an important part of the industrial robot welding production line and flexible welding processing unit, the position changer is used to rotate (translate) the welded workpiece to the best welding position. So how to set the calibration of the positioner of the robotic arm?
1. The calibration of the arc welding torch should first enter the main menu to select, put into operation-measurement-tool, and then select the four-point method or the six-point method for calibration, usually using the four-point method from the four directions close to the top level for calibration, the six-point method is the same as the four-point method, and the six points need to be calibrated and the posture requirements are higher.
2. The calibration of the workpiece coordinates of the welding robot is first selected by entering the main menu, putting into operation-measurement-tool-base coordinates-3-point method, and then the calibration of the workpiece coordinates of the robotic arm is carried out. The workpiece coordinates are calibrated by the three-point method, first of all, the origin is recorded according to the workpiece style, and then a point is recorded in the X direction, a point is recorded in the Y direction, and finally click Save to complete the calibration
3. The setting of the arc welding manipulator positioner is through the main menu: process package - arc welding process package - positioner parameter setting to enter the positioner setting page
The welding positioner of the industrial robot is to work back and forth by controlling the worktable, selecting different sensing angles to preset and cooperating with a foot-stepping switch, which can realize the welding orientation and welding speed required by the robotic arm, and the controllability of manual welding operations and automatic welding operations is greatly facilitated in modern society.
4. The display of the coordinates of the industrial manipulator positioner is used to display the data after the positioning machine calibration is completed
5. It is used to show the relative posture of the welding torch and the weld of the robotic arm
6. Calibration of arc welding robot positioner
Calibration method:
a. Enter the robot positioner base coordinate number and set error rate to be calibrated, and click to take effect.
b. The calibration of the robotic arm positioner has a total of 30 points, the first 20 points are horizontal, there is no posture requirement, and the last 10 points have no posture requirements for the tilt axis
c. Final industrial robot positioner base coordinate posture calibration: a total of 5 points The first three 1 point are horizontal, and the last two are inclined axes
d. Click Calibrate & Save
If a point has a large error in the calibration process, you can recalibrate a single point by entering the point number and moving to the point.
The follow-up test is calculated by the position calibrated by the robot positioner and the welding gun, so that the welding gun moves with the robotic arm positioner.
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