Patent ID: 11951575
Assignee: nan
Field: Handling (Mechanical engineering)
Classification: CPC B  G | IPC B

Claim 4:
5. The automatic welding method according to claim 1, wherein in step (4), the motion path of the robot, and the photographing position and pose of the camera are planned; one photographing position and pose of the camera corresponds to one or more welding features, or multiple photographing positions and poses correspond to one welding feature, and the welding feature is a target welding position, which is a point, a line or a curve; the photographing position and pose of the camera is a position and pose where the camera can photograph a target feature; when the camera is at this position and pose, the camera is located within an effective working range, the target feature is within a field range of the camera, and a principal normal direction of an area where the target feature is located is parallel to a Z-direction of the camera to the maximum extent to realize an optimal photographing effect; and the motion path of the robot is a shortest safety path for the robot to move to a target position, and at the target position, the arm reach and degree of freedom of the robot should allow the camera to reach a target photographing position and pose;
the motion path of the robot, and the photographing position and pose of the camera are planned by means of off-line programming software through a parameterization method and is implemented through a teaching method.