Mefokolo ea-path Automation e Felletseng ke Efe
Meeli ea Fixed Teach Welding le Manual Welding
Roboto ea setso e sebelisa mokhoa oa ho tjheseletsa oa pina e tsitsitseng pele{0}}ea ho ruta, ho nepahala ha tjheseletsa le boleng ba ho bopa ho ipapisitse le ho nepahala ha boemo ba lisebelisoa le ho tsitsa ha thepa e kenang, 'me maemo a mararo a ts'ebetso a tlhahiso a tla lebisa ho hloleheng ha tjheseletsa:
- Mamello ea dimensional ea kopano e kenang: the workpiece dimension and assembly misalignment deviation caused by stamping, machining and assembly. When the comprehensive tolerance of workpiece>± 0.5mm, pina e tsitsitseng e tla ba le ho kheloha ha tjheseletsa, -e sa kopanngoeng hantle ka lehlakoreng le ho cheseletsa e sa sebetseng;
- Ho bokellana ha welding thermal deformation:Mocheso o sa khaotseng oa arc o tla baka polasetiki/eastic deformation ea workpiece, theoretical trajectory of right spot welding, kheloha e tsoelang pele ea weld position ka mor'a-layer and multi{1}}pass welding, and deformation of long weld of thick plate to reach millimeter level.
- Litsenyehelo tse phahameng tsa phetoho ea tlhahiso le ho laela mefuta e mengata:phetoho ea mofuta oa sehlahisoa e hloka botjha-ho bonts'a karolo e 'ngoe le e 'ngoe ea li-welding seam, ho nkela sebaka{1}}lisebelisoa tse nepahetseng tsa boemo bo holimo, le palo ea lihora tse sebetsang-ea batch e nyane le mefuta e mengata ea mela ea tlhahiso e phahame haholo.
3D Vision Welding Robot ke eng
Ntlafatsa ho tloha{0}e hlophisitsoeng esale pelehotemoho{{0}based adaptive welding
Roboto ea 3D vision welding e aha 3D scanning - weld seam identification - robot track real-tokiso ea nako e koetsoe-loop control logic, e lahla ka ho feletseng mokhoa oa "memory fixed path": thepa e hlahloba sebopeho sa mosebetsi oa seteishene sa hona joale ka nako ea sebele, e ntša groold le ho hlahisa welding ea 'nete. pina ea motsamao oa "adaptive single workpiece", e sa itšetleheng ka moetso oa CAD le lenaneo la thuto le bolokiloeng pele-.
| Papiso Dimension | Thuto e tsitsitseng / Welding Manual | 3D Vision Adaptive Welding Robot |
|---|---|---|
| Ho ikamahanya le ho kgeloha ha dimensional tse kenang | Li-trajectories tse tsitsitseng li baka li-weld offset le fusion e fokolang tlas'a liphapang tse nyenyane | Theha bocha li-contours tsa 3D ka sekotoana 'me u ntlafatse likhokahano tsa weld ka nako ea nnete, e tsamaellanang le mamello e kenang ho tloha ± 1 ~ 3mm. |
| Ho fana ka tlhahiso bakeng sa phetoho ea sehlahisoa | Lintlha tse felletseng tsa-thuto le ho ikhethela{1}litlhophiso tse nepahetseng tse hlokahalang bakeng sa lihlahisoa tse ncha | Mananeo a motheo a ka sebelisoang hape; li-trajectories li hlahisoa ka bo eona ka mokhoa oa ho hlahloba li-contour ntle le ho ruta khafetsa |
| Ho itšetlehile ka lisebelisoa tsa lisebelisoa | Ho hodimo haholo, lefela-ho hlaka ho hodimo-matlapa a nepahetseng a tlamehile | Litlhoko tse tlase; phoso e bonolo-lisebelisoa tse mamellehang le libopeho tse phaphametseng li a amoheleha bakeng sa lisebelisoa tse sa behoang sebakeng se fosahetseng. |
| Ho lumellana ha boleng ba welding | E feto-fetoha haholo ka lebaka la abrasion ea fixture, bokhoni ba mokhanni le ho senyeha ha mocheso | Micron-level sensor positioning ka-sebetsa ka botlalo mats'eliso a matla, ts'ebetso e tsitsitseng le e pheta-phetoang ea ho theha weld |
| Boemo ba bokhoni ba opereishene | Hoa hlokahala litšepe tse nang le litsebo tse nang le tsebo le litsebi tsa ho ruta liroboto | Ho hlokahala feela koetliso ea ts'ebetso ea lisebelisoa tsa mantlha; litsebo tsa ho tjheseletsa le ho ruta liroboto ha li tlamehe |
Core Working Principle of 3D Vision Welding: 3D Sensor Data Acquisition, Weld Seam Feature Recognition, Adaptive Robot Trajectory Planning
Papiso ea Theknoloji ea Litharollo tse Tharo tsa Mainstream 3D Vision Sensing
Mahlale a mantlha a ho lemoha a 3D indastering a kenyelletsa thapo ea laser triangulation (sekena sa boemo ba laser), leseli le hlophisitsoeng le pono ea stereo ea binocular.
| Mokhoa oa ho Khetholla | Molao-motheo oa ho Etsa Litšoantšo | Static Repeat Positioning Ho Nepaha | Lebelo la ho lemoha | Ho hanyetsana le Boikutlo / Leseli le Matla Ambient | Maemo a Konokono a Kopo |
|---|---|---|---|---|---|
| Linear Laser Triangulation (Linear Laser Profile Sensor) | Emit mola o le mong oa laser beam; lik'hamera tsa indasteri li nka li-contour tsa laser tse holofetseng holim'a libaka tsa mosebetsi le ho bala likhokahano tsa 3D tsa likarolo tse fapaneng-ka algorithm ea triangulation | Ka tlase ho kapa ho lekana le 0.05mm tlasa maemo a tloaelehileng a ho sebetsa; mefuta ea premium e fihlella 0.01 ~ 0.03mm | Sekhahla se phahameng sa foreimi ea ho hlahloba mela, millisecond-level single cross-sampling ea karolo, e ts'ehetsa ho lateloa ka linako tsohle nakong ea welding | Tshebetso e mahareng; Lerata la specular reflection le hlaha habonolo lisebelisoa tse khanyang haholo tse kang aluminium le tšepe e sa hloekang, e ka hatelloang ka ho kenya li-filters tse polarizing. | -ho latedisa nako ya seam nakong ya welding, dynamic deviation correction for parrow grooves, butt/fillet joints le puseletso ya nako-layer multi{3}}pass welding (tharollo e tlwaelehileng bakeng sa indasteri ya ho tjheseletsa) |
| Area Structured Light Vision (Grating Structured Light) | Mehaho ea projeke ea nako le nako ea projeke le ho aha maru a felletseng a lintlha tsa 3D ka ho thunngoa ha 'ngoe. | Ho nepahala ha polane ea lefats'e: 0.08 ~ 0.15mm | 50~200ms bakeng sa-sekene sa sebaka se le seng, lebelo le sa lekaneng bakeng sa ho latedisa kamehla | Tshebetso e mpe; leseli la arc nakong ea welding le lisebelisoa tse lefifi tsa matte li lebisa tahlehelong ea fringe le data e sa phethahalang ea leru | {{0}ho hlahlobisisa esale pele li-contours tsa workpiece pele ho tjheseletsa, tlhahlobo e leka-lekaneng ea likarolo tse rarahaneng tse kobehileng le mohlala oa weld ntle le inthanete.Ha e sebetse ho latedisa{0}}nako ya nnete nakong ya ho tjheseletsa |
| Binocular Stereo Vision | Likh'amera tse peli tse hokahaneng tsa indasteri li ts'oana le lintlha tsa sebopeho holim'a sebaka sa mosebetsi mme li bala likhokahano tsa 3D tse ipapisitseng le parallax triangulation. | Ho nepahala ho tlase: 0.3 ~ 1mm tlas'a maemo a tloaelehileng; e hloleha ho bopa data bakeng sa libaka tse se nang sebopeho | Sets'oants'o se potlakileng- sa foreimi, ha ho hlokahale mohloli o sebetsang oa lebone | Khanyetso e mpe haholo; e felisitsoe ka kotloloho ke arc flash, surface reflection le{0}}lipoleiti tsa tšepe tse se nang sebopeho | Maemo a mabe a lisebelisuoa tse kholoanyane, ho lemoha boteng ba lisebelisoa le boemo ba pele ba lisebelisoa tse kenang liteisheneng.E thibetsoe ka tieo bakeng sa-mesebetsi ea ho latedisa ka nepo |
Felletse Koetsoeng{0}}Mokhoa oa Taolo ea Loop ea Adaptive Welding
Sensor e hlokomela feela ho fumanoa ha data ea mantlha ea 3D point cloud. Moko oa tsamaiso eohle o ka har'a tlhahlobo ea ts'ebetso ea data ea 3D le taolo e kopanetsoeng ea ts'ebetso ea roboto. Mokhoa o felletseng o koetsoeng{4}}o arotsoe ka mehato e 5:
- Kaho e 'ngoe{0}ea lintlha tse tharo tsa maru a ntho ea 'nete: sensara se bonang se lekola karolo ea 'nete ea mosebetsi 'me se hlahise lintlha tsa maru ho ipapisitsoe le sebopeho sa 'mele. E ipokellela ka bo eona maemo a sebele a ho sebetsa joalo ka mamello ea thepa e kenang, ho beoa sebaka, -ho se tsamaisane hantle ha kopano le lekhalo la poleiti, ntle le ho bitsa ka ho toba mohlala o loketseng oa CAD;
- Karolelano e bohlale le ho ntšoa ha likarolo tsa manonyeletso a cheselitsoeng: Algorithm ea AI e ka khetholla ka bo eona motsoako oa butt, motsoako oa sekhutlo, motsoako oa lirope, V / Y / U groove le mefuta e meng e kopaneng, ho ntša bophara ba groove, lekhalo, ho se tšoanelehe ha motsoako oa butt le likhokahano tsa 3D tsa lintlha tsa ho qala le ho qetela tsa lenonyeletso la weld. Sehlopha sa lenaneo se lumellana le mefuta e mengata ea li-grooves ntle le lenaneo le arohaneng;
- Moralo o ikemetseng oa tsela e nepahetseng ea ho tjheseletsa: ho kopanya moedi wa motsamao wa roboto, phihlello ya dithunya tsa ho tjheseletsa le ditlhaloso tsa tshebetso ya ho tjheseletsa, ho rera ka bohona tsela e felletseng ya karolo e atamelang, karolo ya ho tjheseletsa le ho ntsha dithunya le ho di phahamisa, le ho aba ka mokgwa o tshwanang-layer multi{1}pass welding arrangement ea litsela;
- -ho romela molaoli oa liroboto ka nako ea sebele: lintlha tsa pina ka mor'a tlhahlobo ea cloud cloud li romelloa ka mokhoa oa tlhaho oa taolo ea liroboto, tse tšehetsang khokahanyo ea liroboto tse tšeletseng- tsa li-welding, li-gantry welding robot le positioner, 'me li tsamaisana le molaoli oa mofuta oa liroboto le PLC;
- Millisecond e koalehile-loop dynamic compensation nakong ea welding: tsoela pele ho bokella-dimensional groove contour ka nako ea ho cheseletsa, hlokomela ho kheloha ha weld ho bakoang ke thermal deformation ka nako ea sebele, le ho lokisa ka matla tsela eo roboto e tsamaeang ka eona; Ka nako e ts'oanang, mochini oa welding oa khokahano o fetola mekhahlelo ea ts'ebetso
Matšeliso a Adaptive bakeng sa Phetoho ea Mocheso le Phetoho e Kopanetsoeng ea Liparamente tsa Ts'ebetso ea Welding
Moko-taba oa "adaptive" ke tokiso ea boiketsetso ea data ea tekanyo ea pono le liparamente tsa ts'ebetso ea welding, ho fapana le ho fetola boemo ba roboto feela. Likarolo tsa mokhoa oa ho lokisa li-link li kenyelletsa: amplitude/ frequency swing gun, lebelo la ho tsamaea la sethunya, arc voltage, welding current, wire feed speed, -layer weld bead spacing, ka pele le ka morao/le letšehali le ka ho le letona ho sekamela sethunya. Seseteme e phahameng-ea ho qetela ea 3D visual welding, thermal deformation compensation tracking stability policy e ka laoloa ka mokhoa o tsitsitseng ka har'a 0.05~0.1mm sub{7}millimeter level.
Litharollo tsa Tšebeliso ea Tšimo
Wind Power Tower Manufacturing
tjheseletsa e telele e tjhitja ya tower tube, ho kgeloha ho fihla ha ellipticity ya tube, ho tswella ho tjheseletsa{0}}ka dikarolo tse ngata, le ho kgeloha ha boholo ba tšupu ka nngwe.
Tharollo ea pono ea 3D: line laser real-time welding seam tracking, puseletso e matla ea thermal deformation nakong ea ts'ebetso eohle ea circular seam, automation ea welding bead ka -layer and multi-pass welding, ha ho tokiso ea letsoho ea tsela ea ho ruta lera, le ho ikamahanya le phapanyetsano ea tlhahiso ea litora tse nang le didiameter tse fapaneng.
Tlhahiso ea Sebopeho sa Sekepe sa Sekepe
Ho kheloha hoa likarolo tse kobehileng tsa seketsoana sa hull le mokatong o moholo, thermal deformation e ntse e tsoela pele ho fetola boemo ba sebaka sa groove, 'me thuto ea letsoho ea seam e kobehileng e thata haholo.
Tharollo ea pono ea 3D: ho tjheseletsa ha tjheseletsa ka tjheseletsa,-ho lokisa ka nako e itseng ha roboto e tsamaya, ho tswelapele ho notlella sebaka se kobehileng ka ho tjheseletsa tjheseletsa e telele, ho tjheseletsa ha selelele sebakeng se rarahaneng le ho tjheseletsa{1}altitude.
Likarolo tsa Mehaho ea Mechini ea Kaho
Heavy high{{0}strength steel weldment, multiple groove and multi-angle joint, big punching/assembly fapoha ea thepa e kenang, ho fetoha khafetsa tlhahiso ea beche e nyane le mefuta e mengata.
Tharollo ea pono ea 3D: AI e ikhetholla ka bo eona likarolo tse fapaneng tsa groove, le{0}mosebetsi e mong oa bohlokoa oa pina e felletseng ea ho cheseletsa ka mor'a ho hlahlobisisoa. Sete ea mekhoa ea mantlha e akaretsa likarolo tse ngata tsa meralo, e fokotsa haholo nako ea ho fetola barupeli ba lipontšo tsa tlhahiso.
Thepa ea Sejana sa Khatello
Boholo ba groove le matlafatso ea weld ea circumferential le longitudinal pressure bearing welds e ama ka ho toba ts'ireletso ea khatello ea thepa. Tekanyetso ea tlhahlobo ea boleng ba indasteri e thata, 'me mefokolo ea boholo ba geometri ha e lumelloe.
Tharollo ea pono ea 3D: real-ho phethoa ha ho lateloa ha weld ka nako e ts'oanang nakong ea weld, 'nete{1}}nako ea boraro{2}}ho phethoa ka mor'a hore tjheseletso, tjheseletso le tlhahlobo ea boleng li phetheloe seteisheneng se le seng, 'me workpiece e nang le boholo bo sa nepahalang e amoheloa ka nako ea nnete ho fihlela{3}}litlhokahalo tsa tlhahlobo ea pele ea lisebelisoa tse khethehileng.
Haeba khoebo ea hau e tobana le liphephetso tsa ho tjheseletsa ka likarolo tse boima tsa sebopeho, re ka khona ho etsa litharollo tsa ntlafatso ea mohala oa tlhahiso bakeng sa ho kenya likhoele tse kopaneng tsa tlhahiso ea pono ea 3D. Litharollo tsa rona li thusa ho phahamisa litefiso tsa tlhahiso ea litšepe, ho fokotsa litšenyehelo tsa tlhahiso, ho aha-mokhoa oa ho laola boleng ba dijithale o koalehileng, le ho tšehetsa lifeme ho ntlafatsa ho etsa tlhahiso e bohlale.
