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 and during the welding operation of the robotic arm, the positioner loads and positions the welded workpiece by sandwiching the things, and the different requirements of 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 is first selected by entering the main menu, put into operation-measurement-thing, and then selecting the four-point method or the six-point method for calibration, usually using the four-point method from four directions close to the tip 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 should first enter the main menu to select, put into operation-measurement-thing-base coordinates-3-point method, and then calibrate the coordinates of the workpiece of the robotic arm. The workpiece coordinates are calibrated by the three-point method, and the origin is recorded first 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 the calibration is completed by clicking Save
3. The setting of the arc welding manipulator positioner is through the main menu: Process Package-Arc Welding Process Package-Positioner Parameter Setting) Enter the positioner setting page
The welding positioner of the industrial robot is to control the back and forth operation of the workbench, select different sensing viewpoint presets and cooperate with a foot-pedalable switch, which can realize the welding orientation and welding speed required by the mechanical arm, and the controllability of manual welding operation and active welding operation is greatly convenient in modern society.
4. The display of the coordinates of the positioner of the industrial manipulator is used to display the data after the calibration of the positioner is completed
5. It is used to display 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 the error of a point is too large in the calibration process, you can re-calibrate 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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