Touch sensor QR-SN-TS-G

Description
The tactile sensor QR-SN-TS-G uses the welding-torch gas nozzle as the sensing tip to detect and compensate position deviations between the programmed and actual weld seam location. The robot follows a programmed search path on a reference component; contact of the gas nozzle generates a measuring current and stops the search run. Measured contact coordinates are compared with programmed coordinates to determine the component's actual position and apply position compensation to subsequent welding moves.

Key benefits

• Compensates component tolerances before welding
  Improves weld seam positioning by detecting actual part location
• No additional attachments required
  Maintains accessibility of the welding torch
• Integrated in robot sequence program
  Programming is performed within existing robot programs without extra specialist knowledge
• Determines joint widths
  Enables assessment of seam geometry for process control

Operation
The robot executes up to three programmed search paths in the spatial coordinates X, Y and Z relative to the component. When the gas nozzle contacts the component, a measuring current is generated and the robot stops the search. The contact point coordinates recorded during the search are compared with the programmed coordinates to calculate the actual component position and adapt subsequent robot trajectories.

Technical specifications

• Model: QR-SN-TS-G
• Probe tip: welding-torch gas nozzle used as sensing element
• Detection principle: contact measurement via measuring current on nozzle contact
• Position compensation: comparison of measured and programmed contact coordinates
• Search paths: up to three spatial search paths (X, Y, Z) for precise adaptation
• Integration: direct inclusion in robot sequence program; no additional programming skills required
• Attachments: no extra mechanical attachments required
• Application: robotic welding — automatic position determination and compensation prior to welding