Deviations in the position and shape of the workpiece cause the robot's taught welding trajectory to be “corrected”. KUKA's Touch Sensor package corrects these deviations before welding, and when the workpiece deviates from the original path, it is located by means of a wire or other sensors, and the original trajectory is compensated for in the program.
I. Detection Principle
The KUKA robot with Touch Sensor detects the correct weld position of the workpiece by contacting the workpiece with a welding wire and forming a current loop within a predetermined distance, as shown in the diagram below.
KUKA's absolute position encoders memorize the position (x/y/z) and angle (A/B/C) of the welding torch in space in real time. When the robot touches the electrically charged wire to the workpiece according to the set program, a loop is formed between the wire and the workpiece, and the control system compares the current actual position with the position parameters from the teach-in. The new welding trajectory is corrected by combining the current data with the demonstration trajectory, and data correction is performed to correct the welding trajectory.
The use of the contact sensor position-finding function can determine the deviation between the actual position of the component or part on the workpiece and the programmed position, and the corresponding welding trajectory can be corrected.
The position of the starting point of the weld can be determined by contact sensing at one to three points; the number of points required to correct a deviation in the overall position of the workpiece depends on the shape of the workpiece or the position of the weld seam. This position finding function can be used to correct any number of individual points, a section of the weld program, or the entire weld program, with a measurement accuracy of ≤ ± 0.5 mm, as shown in the figure below.
Second, the way to use
1. Software Installation
TouchSensor welding position finding software package is usually used in conjunction with other KUKA welding software packages, such as ArcTech Basic, ArcTech Advanced, SeamTech Tracking and so on. Before installing the software package, it is recommended to back up the robot system to prevent system crashes, the need for KUKA robots dedicated system backup restore USB flash drive can be the background reply to the KUKA USB flash drive to get, the installation of the software package refer to the “KUKA Robotics Software Options Packages Installation Methods and Precautions”.
2. Command creation
1) Open the program->Commands->Touchsense->search, insert the search command.
2) Set seek parameter->Teach seek start point and seek direction->Cmd OK to complete the seek command.
3) Commands->Touchsense->correction->Cmd ok, insert offset command
4) Commands->Touchsense->correction off->Cmd ok, insert offset end command
3. Operating steps
The calibration of the workpiece must be carried out prior to the execution of automatic positioning.
1) Set up the coordinate system for position finding.
2) Place the workpiece in a suitable position, and do not move the workpiece during the calibration process.
3) Create the position finding program
4) Create the trajectory path program
5) Select the search table to be used, and choose the appropriate search pattern according to the specific needs. Set the search mode to 'master' calibration. For example.
6) Execute the program between SearchSetTab and SearchTouchEnd.
7) Set search mode to 'corr' in search SetTab. For example.
8) The workpiece can now be moved and the correctness of the path verified. For safety reasons, it is best to run in T1 mode.
Application examples
(1) Simple search Simple search
Need to search twice in different directions to find the actual position of the object on a position. The first search only defines the position information in one search direction (e.g. x), the second search defines the position information in other directions (e.g. y), and the starting position of the second search defines the remaining position information (e.g. z, a, b, c).
(2)Circle Search
Three searches in two different directions are required to determine the center of a circle in space.
(3) One-dimensional translation CORR-1D Search
(4) Two-dimensional translation CORR-2D Search
(5) 3D Panning CORR-3D Search
(6) One-dimensional rotation Rot-1D Search
(7) Rot-2D Search
(8) Rot-3D Search
(9) Bevel V-Groove Search
Two searches in opposite directions are required to determine the midpoint of the joint between two positions (X, Y, Z, A, B, C).
(10) Single Plane Plane Search
(11) Intersection Plane Search
Deviations in the position and shape of the workpiece cause the robot's taught welding trajectory to be “corrected”. KUKA's Touch Sensor package corrects these deviations before welding, and when the workpiece deviates from the original path, it is located by means of a wire or other sensors, and the original trajectory is compensated for in the program.
I. Detection Principle
The KUKA robot with Touch Sensor detects the correct weld position of the workpiece by contacting the workpiece with a welding wire and forming a current loop within a predetermined distance, as shown in the diagram below.
KUKA's absolute position encoders memorize the position (x/y/z) and angle (A/B/C) of the welding torch in space in real time. When the robot touches the electrically charged wire to the workpiece according to the set program, a loop is formed between the wire and the workpiece, and the control system compares the current actual position with the position parameters from the teach-in. The new welding trajectory is corrected by combining the current data with the demonstration trajectory, and data correction is performed to correct the welding trajectory.
The use of the contact sensor position-finding function can determine the deviation between the actual position of the component or part on the workpiece and the programmed position, and the corresponding welding trajectory can be corrected.
The position of the starting point of the weld can be determined by contact sensing at one to three points; the number of points required to correct a deviation in the overall position of the workpiece depends on the shape of the workpiece or the position of the weld seam. This position finding function can be used to correct any number of individual points, a section of the weld program, or the entire weld program, with a measurement accuracy of ≤ ± 0.5 mm, as shown in the figure below.
Second, the way to use
1. Software Installation
TouchSensor welding position finding software package is usually used in conjunction with other KUKA welding software packages, such as ArcTech Basic, ArcTech Advanced, SeamTech Tracking and so on. Before installing the software package, it is recommended to back up the robot system to prevent system crashes, the need for KUKA robots dedicated system backup restore USB flash drive can be the background reply to the KUKA USB flash drive to get, the installation of the software package refer to the “KUKA Robotics Software Options Packages Installation Methods and Precautions”.
2. Command creation
1) Open the program->Commands->Touchsense->search, insert the search command.
2) Set seek parameter->Teach seek start point and seek direction->Cmd OK to complete the seek command.
3) Commands->Touchsense->correction->Cmd ok, insert offset command
4) Commands->Touchsense->correction off->Cmd ok, insert offset end command
3. Operating steps
The calibration of the workpiece must be carried out prior to the execution of automatic positioning.
1) Set up the coordinate system for position finding.
2) Place the workpiece in a suitable position, and do not move the workpiece during the calibration process.
3) Create the position finding program
4) Create the trajectory path program
5) Select the search table to be used, and choose the appropriate search pattern according to the specific needs. Set the search mode to 'master' calibration. For example.
6) Execute the program between SearchSetTab and SearchTouchEnd.
7) Set search mode to 'corr' in search SetTab. For example.
8) The workpiece can now be moved and the correctness of the path verified. For safety reasons, it is best to run in T1 mode.
Application examples
(1) Simple search Simple search
Need to search twice in different directions to find the actual position of the object on a position. The first search only defines the position information in one search direction (e.g. x), the second search defines the position information in other directions (e.g. y), and the starting position of the second search defines the remaining position information (e.g. z, a, b, c).
(2)Circle Search
Three searches in two different directions are required to determine the center of a circle in space.
(3) One-dimensional translation CORR-1D Search
(4) Two-dimensional translation CORR-2D Search
(5) 3D Panning CORR-3D Search
(6) One-dimensional rotation Rot-1D Search
(7) Rot-2D Search
(8) Rot-3D Search
(9) Bevel V-Groove Search
Two searches in opposite directions are required to determine the midpoint of the joint between two positions (X, Y, Z, A, B, C).
(10) Single Plane Plane Search
(11) Intersection Plane Search
