Biki ebikoma ku Fixed-path Automation
Ebikoma ku Fixed Teach Welding ne Manual Welding
Roboti ey’ennono yeettanira enkola y’okuweta nga tebannaba -okusomesa olutindo olutakyukakyuka, obutuufu bw’okuweta ekintu ekikolebwa n’omutindo gw’okukola bisinziira nnyo ku butuufu bw’okuteeka ebikozesebwa mu kifo ky’ebikozesebwa n’obutakyukakyuka bw’ebintu ebiyingira, era embeera essatu ez’okukola mu kukola zijja kuleetera butereevu okuweta okulemererwa:
- Okugumiikiriza okw’ebipimo kw’okukuŋŋaanya okuyingira: the workpiece dimension and assembly misalignment deviation caused by stamping, machining and assembly. When the comprehensive tolerance of workpiece>± 0.5mm, olutindo olutebenkedde lujja kuba n’okukyama kw’okuweta, okuyungibwa okubi okw’oludda olumu- n’okuweta okutaliiko kye kukola;
- Welding ebbugumu okukyukakyuka okukuŋŋaanyizibwa:ebbugumu erigenda mu maaso erya arc lijja kuleeta okukyukakyuka kwa pulasitiika/elastic okw’ekintu ekikolebwa, enkola y’enzikiriziganya ey’okuteeka ekifo ekituufu eky’okuweta ekifo, okukyama okutambula obutasalako okw’ekifo kya weld oluvannyuma lw’okuweta emirundi mingi-layer ne multi-pass, n’okukyukakyuka kwa weld empanvu eya pulati enzito kuyinza okutuuka ku ddaala lya milimita.
- Ensimbi nnyingi ez’okukyusa okufulumya n’okutandika okukola ebika ebingi:enkyukakyuka mu kika ky’ebintu yeetaaga okuddamu -okulaga mu ngalo enkola yonna ey’omusono gw’okuweta, okukyusa ebikozesebwa eby’okuteeka mu kifo ekituufu ebya waggulu-, n’omugerageranyo gw’essaawa z’omusajja-ogw’okutandika okukola ogw’ekibinja ekitono n’ebika ebingi ebya layini z’okufulumya guli waggulu nnyo.
Roboti ya 3D Vision Welding kye ki
Upgrade okuva ku...okutuukiriza okutegekeddwa nga tekunnabaawo-kuperception-based adaptive welding
3D vision welding robot ezimba 3D scanning - weld seam feature identification - robot track real-time correction closed-loop control logic, esuddewo ddala enkola ey'ennono "memory fixed path" mode: ebyuma bisika physical workpiece morphology ya siteegi eriwo mu kiseera ekituufu, eggyamu weld seam groove coordinates entuufu, era dynamically ekola olugendo lw’entambula y’okuweta (welding motion track) y’ekintu ekimu eky’okukola (adaptive single workpiece), ekitasinziira ku CAD theoretical model ne pre-stored teaching program.
| Ekipimo ky’okugeraageranya | Okusomesa okutakyuka / Okuweta mu ngalo | 3D Vision Adaptive Roboti y'okuweta |
|---|---|---|
| Okutuukagana n’okukyama kw’ebipimo okuyingira | Enkola ezitakyukakyuka zireeta okukyukakyuka kwa weld n’okuyungibwa okubi wansi w’okukyama okutono | Ddamu okuzimba 3D contours ekitundu ku kitundu n'okuddamu okutunula weld coordinates mu kiseera ekituufu, okukwatagana n'okugumiikiriza okuyingira okuva ±1 ~ 3mm |
| Okussaawo emirimu gy’okukyusa ebintu | Full trajectory re-okusomesa n'okulongoosa high-precision fixtures ezeetaagisa ku bintu ebipya | Pulogulaamu ezisookerwako eziddamu okukozesebwa; trajectories zikolebwa automatically nga ziyita mu workpiece contour scanning awatali kusomesa kuddiŋŋana |
| Okusinziira ku bikozesebwa ebikozesebwa | Waggulu nnyo, zero-clearance high-precision clamps zikakatako | Ebyetaago ebitono; ensobi ennyangu-ebinyweza ebigumiikiriza n'ensengekera z'okuteeka mu kifo ekitengejja bikkirizibwa ku bikozesebwa ebitali mu kifo ekikyamu |
| Okukwatagana kw’omutindo gw’okuweta | Yakyukakyuka nnyo olw’okunyiga fixture, obukugu bw’omukozi n’okukyukakyuka kw’ebbugumu | Micron-level sensor positioning n'enkola enzijuvu-enkola dynamic compensation, stable era repeatable weld okukola effect |
| Omusingi gw’obukugu bw’omuddukanya | Abaweesi abakugu abakakasibwa n’abakugu mu kusomesa roboti beetaagibwa | Okutendekebwa mu nkola y’ebyuma ebisookerwako kwokka kwe kwetaagibwa; obusobozi bw’okuweta eby’ekikugu n’okusomesa roboti si bwa kiragiro |
Omusingi omukulu ogw’emirimu gy’okuweta okwolesebwa kwa 3D: Okufuna amawulire ga sensa mu 3D, Okutegeera ebifaananyi by’omusono gwa weld, Okuteekateeka enkola ya roboti ekyukakyuka
Okugeraageranya okw’ekikugu kw’ebikozesebwa bisatu ebikulu eby’okutegeera okulaba mu 3D
Tekinologiya omukulu ow’okutegeera 3D mu mulimu guno mulimu line laser triangulation (laser profile scanner), ekitangaala ekitegekeddwa n’okulaba stereo mu maaso abiri.
| Enkola y’okuzuula | Omusingi gw’okukuba ebifaananyi | Obutuufu bw’okuteeka ekifo mu kifo ekiddibwamu mu kifo ekitali kikyukakyuka | Sipiidi y’okuzuula | Okuziyiza Okutunula / Ekitangaala eky’amaanyi eky’omu kitundu | Ensonga enkulu ez’okukozesa |
|---|---|---|---|---|---|
| Ensengeka ya Layisi ey’enjuyi essatu (Linear Laser Profile Sensor) . | Fulumya ekitangaala kya layisi ekimu eky’ennyiriri; kkamera z’amakolero zikwata ensengekera za layisi ezikyuse ku ngulu w’ekintu ekikolebwa era ne zibala ensengekera za 3D ez’ebitundu ebisala-nga ziyita mu nkola ya triangulation | Entono oba yenkana mm 0.05 mu mbeera z’emirimu eza bulijjo; ebika bya premium bituuka ku 0.01 ~ 0.03mm | Omuwendo gwa fuleemu ogwa waggulu ogw’okusika layini, okutwala sampuli z’ekitundu ekimu eky’omusalaba-omutendera gwa milisekondi-, okuwagira okulondoola okutambula obutasalako mu kiseera ky’okuweta | Enkola ya wakati; oluyoogaano lw’okutunula okw’ekika kya specular (specular reflection noise) kwangu okubaawo ku bintu ebitangaaza ennyo nga aluminiyamu n’ekyuma ekitali kizimbulukuse, ebiyinza okunyigirizibwa nga bongerako ebisengejja ebikola polarizing | Okulondoola omusono ogw’ekiseera ekituufu mu kiseera ky’okuweta, okutereeza okukyama okw’amaanyi ku mifulejje emifunda, ebiyungo bya butt/fillet n’okuliyirira mu kiseera ekituufu-okuliyirira okumala -layer multi-pass welding (standard mainstream solution for welding industry) |
| Okulaba kw’ekitangaala ekitegekeddwa mu kitundu (Grating Structured Light) . | Pulojekiti ya periodic grating fringes era okuddamu okuzimba ebire ebijjuvu 3D point clouds of workpieces nga okukuba omulundi gumu | Ensi yonna planar obutuufu: 0.08 ~ 0.15mm | 50~200ms for full-area single scanning, sipiidi emala ku kulondoola okutambula obutasalako | Okukola obubi; ekitangaala kya arc mu kiseera ky’okuweta n’ebintu ebiddugavu ebya matte bivaako okufiirwa kwa fringe n’ebire by’ensonga ebitali bituufu | Nga tekunnabaawo-okusika contours z’ekintu ekikolebwa okutwalira awamu nga tonnaba kuweta, okwekenneenya ebipimo by’ebitundu ebikoonagana ebizibu n’okukola modeling ya weld etali ku mutimbagano.Tekikola ku kulondoola ekiseera ekituufu-mu kiseera ky'enkola y'okuweta |
| Okulaba okw’amaaso abiri (binocular Stereo Vision). | Kkamera bbiri ez’amakolero ezikwatagana zikwatagana n’ensonga z’ebifaananyi eby’obutonde ku ngulu w’ekintu ekikolebwa era zibala ensengekera za 3D nga zeesigamiziddwa ku nsengeka ya parallax triangulation | Low precision: 0.3 ~ 1mm wansi w'embeera eza bulijjo; eremererwa okuddamu okuzimba data ku surfaces ezitaliiko texture | Okukuba ebifaananyi okw'amangu okwa fuleemu emu-, tekyetaagisa nsibuko ya kitangaala ekola | Okuziyiza okubi ennyo; ekitali kituufu butereevu olw’okumasamasa kwa arc, okutunula kungulu n’ebipande by’ekyuma ebitali -texture | Okuteeka ebintu ebinene ennyo mu kifo ekitali kituufu, okuzuula okubeerawo kw’ebintu ebikolebwa n’okusooka okuteeka ebintu ebiyingira ku siteegi.Kikugirwa nnyo ku mirimu gy'okulondoola emisono egy'obutuufu obwa waggulu- |
Enkola ya Closed-Loop Control Enkola ya Adaptive Welding ejjuvu
Sensulo etegeera kwokka okusooka 3D point cloud data acquisition. Omusingi gw’enkola yonna guli mu kwekenneenya enkola ya data ya 3D n’okufuga entambula ya roboti nga bakolagana. Enkola ya closed-loop enzijuvu egabanyizibwamu emitendera 5:
- Okuddamu okuzimba ekire ky’ensonga eky’ebitundu bisatu-eky’ekintu ekituufu: sensa y’okulaba esika ekintu ekituufu eky’okukola eky’ekifo we bakolera era n’ekola ekire ky’ensonga nga kyesigamiziddwa ddala ku nkula y’omubiri. Kikung’aanya mu ngeri ey’otoma embeera z’emirimu entuufu nga okugumiikiriza ebintu ebiyingira, okukyukakyuka kw’okuteekebwa, obutakwatagana nga tekunnabaawo -okukuŋŋaanya n’ekituli ky’embaawo, awatali kuyita butereevu nkola ya ndowooza ya CAD entuufu;
- Okugabanya mu ngeri ey’amagezi n’okuggya ebifaananyi by’ebiyungo ebiweerezeddwa: AI algorithm esobola okwawula mu ngeri ey’otoma ekiyungo ky’omugongo, ekiyungo ky’enkoona, ekiyungo ky’omu kifuba, ekiyungo kya V/Y/U n’engeri endala ez’ebiyungo, okuggyamu obugazi bw’ekiyungo, ekituli, obutasaanira kiyungo kya butt ne 3D coordinates of starting and ending points of weld joint. Seti ya pulogulaamu ekwatagana n’ebika bya grooves ebingi ebitaliiko pulogulaamu ya njawulo;
- Enteekateeka eyetongodde ey’ekkubo ly’okuweta erisinga obulungi: okugatta ekkomo ly’entambula ya roboti, okutuuka ku mmundu y’okuweta n’okulaga enkola y’okuweta, okuteekateeka mu ngeri ey’otoma ekkubo ly’entambula enzijuvu ery’ekitundu ekisemberera, ekitundu ky’okuweta n’emmundu okuggyayo n’okusitula, n’okugabanya mu ngeri y’emu ekkubo ly’enteekateeka y’okuweta ey’emitendera mingi-yita;
- Real-time track okusindika eri robot controller: track data oluvannyuma lw'okukebera ekire ky'ensonga esindikibwa mu native motion command format ya robot, okuwagira linkage synchronous control ya six-axis welding roboti, gantry welding robot ne positioner, era nga ekwatagana ne mainstream robot brand controller ne PLC;
- Millisecond closed-loop dynamic compensation mu kiseera ky’okuweta: okukung’aanya obutasalako ensengekera ya groove ey’ebitundu bisatu-mu kiseera ky’okuweta, okuzuula okukyama kw’okuweta okuva ku kukyukakyuka kw’ebbugumu mu kiseera ekituufu, n’okutereeza mu ngeri ey’amaanyi enkola y’entambula ya roboti; Mu kiseera kye kimu, ekyuma ekiweta okuyunga kitereeza enkola parameters
Adaptive Compensation for Thermal Deformation n'okutereeza okuyungibwa ku nkola y'okuweta Parameters
Omusingi gwa "adaptive" kwe kutereeza enkolagana ey'obwengula eya data y'okupima okulabika n'ebipimo by'enkola y'okuweta, okusinga okukyusakyusa ekifo kya roboti. Enkyukakyuka mu nkola y’okutereeza okuyungibwa ku bungi mulimu: okuweta emmundu okuwuuba amplitude/swing frequency, welding emmundu okutambula sipiidi, arc voltage, welding current, welding okuliisa waya sipiidi, multi-layer weld bead spacing, mu maaso n’emabega/kkono ne ddyo tilting angle y’emmundu welding. High-end 3D visual welding enkola, ebbugumu deformation okuliyirira okulondoola stability obutuufu asobola stably okufugibwa mu 0.05 ~ 0.1mm sub- millimeter level.
Ebigonjoola Ebigonjoola Ebikozesebwa mu Nnimiro
Okukola omunaala gw'amasannyalaze g'empewo
Okuweta okw’enkulungo empanvu okwa ttanka y’omunaala, okukyama okuyingira okw’obuziba bwa ttanka, okukyukakyuka okw’ebbugumu okutambula obutasalako okw’okuweta layeri eziwera-, n’okukyama okw’enjawulo okw’ekipimo kya buli ttanka.
Ekigonjoola eky’okulaba mu ngeri ya 3D: layini laser real-time welding seam tracking, dynamic compensation of thermal deformation mu nkola yonna ey'enkulungo seam, okutegeka otomatiki welding bead by multi-layer ne multi-pass welding, tewali kulongoosa mu ngalo ekkubo ly'okusomesa buli layeri, n'okukyusakyusa okufulumya okuwanyisiganya eminara nga diameters ez'enjawulo.
Okukola ebizimbe by'ebyuma by'emmeeri
Okukyama okukola kw’ebitundu by’embaawo ezikoonagana (curved plate parts of hull and deck) kunene, okukyukakyuka kw’ebbugumu okw’okuweta kugenda mu maaso n’okukyusa ekifo ky’ekifo eky’ekisengejja, era okusomesa mu ngalo okw’omusono ogukoonagana kizibu nnyo.
Ekigonjoola eky’okulaba mu ngeri ya 3D: okusika contour okutambula obutasalako enkola y’okuweta, okutereeza ekiseera ekituufu -okutereeza enkola y’entambula ya roboti, okusiba okutambula obutasalako kwa curved surface groove nga welding gun arc, okuweta otomatiki kwa weld empanvu ku complex curved surface n’okukyusa manual high-altitude welding.
Ebyuma Ebizimba Ebitundu Ebizimba
Heavy high-strength steel weldment, multiple groove and multi-angle joint, okukyama okunene okukuba/okukuŋŋaanya ebintu ebiyingira, okukyusakyusa mu kukola emirundi mingi kwa batch entono n’ebika ebingi.
Ekigonjoola eky’okulaba mu ngeri ya 3D: AI ezuula mu ngeri ey’otoma ebiyungo by’emidumu egy’enjawulo, n’omulembe gumu-ekisumuluzo ogw’olutindo lw’okuweta olujjuvu oluvannyuma lw’okusika okulabika. Ensengeka y’emitendera emikulu ekwata ku bitundu by’enzimba ebingi, ekikendeeza nnyo ku budde bw’okukyusa abasomesa b’okwolesa okufulumya.
Ebikozesebwa mu Kibya kya Puleesa
Sayizi ya groove n’okunyweza weld ya welds ezirina puleesa ezeetoolodde n’ez’obuwanvu zikwata butereevu ku bukuumi bwa puleesa y’ebyuma. Omutindo gw’okukebera omutindo gw’amakolero mukakali, era obulema mu bipimo bya geometry tebikkirizibwa.
Ekigonjoola eky’okulaba mu ngeri ya 3D: real-time weld tracking emalirizibwa synchronously mu kiseera ky'okuweta, real-time three-dimensional contour online detection emalirizibwa oluvannyuma lw'okuweta, welding n'okukebera omutindo okumalirizibwa mu siteegi y'emu, era workpiece etalina sayizi ekwatibwako mu kiseera ekituufu okutuukiriza ebisaanyizo pre-okukebera eby'okuzuula ebyuma eby'enjawulo.
Singa ekitongole kyo kisanga okusoomoozebwa mu kuweta n’ebitundu ebizito eby’enzimba, tusobola okulongoosa eby’okuddaabiriza layini y’okufulumya ebyetongodde okusobola okuteeka mu nkola amangu layini z’okufulumya okuweta okw’okulaba kwa 3D okugatta. Ebigonjoola byaffe biyamba okutumbula emiwendo gy’amakungula mu welding, okusala ku nsaasaanya y’okufulumya okutwalira awamu, okuzimba enkola y’okulondoola omutindo gwa digito eggaddwa-loop, n’okuwagira amakolero mu kulongoosa okutuuka ku makolero ag’amagezi agakyukakyuka.
