Method and device for controlling robots for welding workpieces

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,
• wherein the pixels of the plate plane and the pixels of the profiles are separated using height coordinates, and the pixels of the profiles are pre-sorted according to coherent structures.

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,
• wherein the image detection system is calibrated comprising:
• a) disposing reference balls in a plane with respect to the workpiece to be welded later, the reference values of the centres of the reference balls in an arbitrary coordinate system and at least one parameter for controlling the calibration method being prescribed,
• b) producing a point cloud of the reference balls with the image detection system and determining the actual values of the ball centres in the coordinate system assigned to the actual values,
• c) orientating the coordinate system of the reference values to the coordinate system of the actual values,
• d) calculating the three-dimensional deviations between the reference and actual values of the ball centres, and
• e) determining three-dimensional first correction values for coordinates of the image detection region by interpolation/extrapolation.