SIASUN Robot - How welding robots perform weld seam tracking

Create Date: 2024-8-30 12:03:23|Source: SIASUN/SIASUN

(1) Establish the workpiece coordinate system;

(2) divide the workpiece into a field shape, set the length L and width W of the workpiece, and the number of cells m, n and the finding height z1 in the length and width directions;

(3) determining the orientation path, the positioning path comprises a plurality of right-angle inflection points and the orientation road section of the straight line parallel to the length or width of the workpiece and does not coincide with any boundary line of the cell; The orientation path is divided into a transverse orientation path for obtaining the transverse information of the workpiece cell and a longitudinal finding path for obtaining the longitudinal information of the workpiece cell, and the transverse and longitudinal finding paths are both "S-shaped" or "2-shaped".

(4) calculating the coordinate values of the starting point, the end point and each right-angle inflection point in the transverse and longitudinal orientation paths in the workpiece coordinate system, and obtaining the coordinate trajectory of the finding path;

(5) the welding robot carries out transverse and longitudinal orientation respectively according to the trajectory coordinates of the homing path, and records the coordinates of the robot when the output signal of the laser sensor changes, that is, the coordinates of the edge of the grid through which it passes;

(6) determining the grid profile according to the grid edge coordinates recorded in step (5);

(7) Carry out welding path planning according to the grid profile, generate welding preparation point and welding avoidance point, and welding avoidance point;

(8) Perform the welding task according to the welding path planned in step (7).
SIASUN Robot - How welding robots perform weld seam tracking

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