METHOD AND DEVICE FOR CONTROLLING ROBOTS FOR WELDING WORKPIECES
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Abstract
The invention relates to a method for controlling robots for welding three-dimensional workpieces, comprising the following steps: positioning and tacking profiles to a plate in order to form the workpiece to be welded, depicting the workpiece by means of a three-dimensional imaging system in the form of three-dimensional pixels, determining the geometric data of the plate and profiles, including the allocation of cutouts and final cutting shapes from the three-dimensional pixels, determining the weld seam data from the geometric data while considering the profile placement lines and the contact lines of profiles, allocating the weld seam data to parameterizable specifications for the weld plan into stored predefined movement patterns of the robot, and into commands for the control of the welding process.
29 Citations
40 Claims
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1-20. -20. (canceled)
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21. A method for controlling robots for welding three-dimensional workpieces,
having the following steps: -
positioning and tack-welding profiles onto a plate in order to form the workpiece to be welded, imaging the workpiece by means of a three-dimensional image detection system in the form of three-dimensional pixels, determining the geometrical data of the plate and of the profiles including assigning cutouts and end cut edges from the three-dimensional pixels, determining the weld seam data from the geometrical data taking into account the profile placement lines and the contact lines of profiles, and assigning the weld seam data to parameterisable specifications for the welding plan to stored predefined movement patterns of the robot and also to commands for controlling and regulating the welding process. - View Dependent Claims (22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 36)
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37. A device for controlling robots for welding three-dimensional workpieces, comprising:
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an image detection system for detecting a three-dimensional image of a workpiece to be welded which has profiles tack-welded onto a plate, and for delivering image data as pixels, a geometry recognition module for determining the geometrical data of the plate and of the profiles from the three-dimensional pixels, for determining the weld seam data from the geometrical data taking into account the profile placement lines and the contact lines of profiles, and a control device which contains a control algorithm for assigning the weld seam data to parameterisable specifications for the welding plan, to stored predefined movement patterns of the robot and also to commands for controlling/regulating the welding process. - View Dependent Claims (38, 39, 40)
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Specification