How to find the welding point when welding robot deviates from the target position?

The main working principle of welding robot is teach-and-reproduce, that is, the user guides the robot step by step according to the actual task. During the control process, the robot automatically remembers the position, location, motion parameters, welding parameters, etc. of each operation, and automatically generates a program that continuously executes all operations. After the teaching is completed, simply send a start command to the robot, and the robot will gradually complete all operations, actual teaching, and replication according to the teaching operation. How to find the welding point when welding robot deviates from the target position?

The automatic positioning robot welding method includes the following steps:

(1) Establish a coordination system for the workpiece to be processed;

(2) Divide the workpiece into labels and determine the length L, width W, number of cells m and n in the length and width directions, and search height z1 of the workpiece;

(3) Determine the length of the positioning path, including the positioning path of multiple right-angle bends, the length of the line parallel to the workpiece, and the boundary line of the disconnected component; the installation path is divided into horizontal installation path and vertical installation path, the horizontal installation path is used to obtain horizontal information about the components of the workpiece. “S-shaped” or “double-shaped”;

(4) Calculate the coordinates of the starting point, ending point, and right-angle bend point of the horizontal and vertical settling paths in the coordinate system of the workpiece to be processed, and obtain the coordinates of the settling paths.

(5) If the output signal of the laser sensor changes, the welding robot controls the horizontal and vertical positioning according to the trajectory coordinates of the positioning path, and records the edge coordinates of the robot coordinate network;

(6) The outline of the network should be determined accordingly. The mesh edge coordinates recorded in step 1;

(7) Welding is carried out according to the planned welding work.