CALIBRATION METHOD FOR WELDING TORCH DEFORMATION OF WELDING ROBOT AND WELDING ROBOT SYSTEM

摘要

The present invention relates to a kind of which methods of the welding robot welding gun of compensation deformation to include the following steps: that the tip entrance for being inserted into welding gun is formed in the sensor of sensing hole shape; The tip of mobile welding robot touches sensor to compensate inclination to make tip and support vertical direction that nozzle contact signal be used to generate as tip; Welding wire is inserted into tip to detection hole; Mobile welding robot wire deformation information touches sensor about vertically standing on the signal welding wire that tip is generated using wire contact to obtain; And the deformation of welding torch is compensated for according to wire deformation information and welding robot system. According to the present invention, it when the deformation of welding torch, prevents to execute as when welding torch will not deform using welding robot welding process. So welding substance prevents from degrading. ;The 2015 of copyright KIPO submissions