Tactile sensor QR-SN-TS-W

The tactile sensor uses the welding wire to determine a possible tolerance between the programmed and actual position of the weld seam. The robot guides the welding torch along a search path programmed on the reference component. If the welding rod touches the component, a measuring current flows and the robot stops its measuring run. The robot coordinates of the contact point on the programmed component are compared with the coordinates of the contact currently determined during the search run, which enables the current position of the component to be calculated. Three search paths in the spatial coordinates X, Y and Z relative to the component allow the robot movements to be adapted precisely to the actual position of the weld seams determined. The good accessibility of the free wire end at the tip of the welding torch enables the programming of search paths in the vicinity of the weld seams. The determination of a weld seam volume, for example a V-seam, is made possible by measuring with the welding wire in the joint.

Unique selling points:

• Recognising and compensating for component tolerances before welding:
  Ensuring weld seam quality
• No additional attachments:
  Accessibility of the welding torch is maintained
• Programming in the robot sequence programme:
  Programming personnel do not need any additional knowledge