Robot welding - 3D Visual - Jiangsu Jicui Micro-Nano Automation System and Equipment Technology Research Institute Co., Ltd.

Flexible teaching free welding system for industrial robot

At present, in the automotive industry, the welding process of body and body parts has basically realized the automatic operation of the robot. The clamping of parts and the track movement in the welding process are completed through the teaching pendant in advance, and the running track is set in advance. Because it is difficult to accurately ensure the shape and position dimensions, there is a large difference between the preset trajectory and the actual demand trajectory, and it is difficult to ensure the positioning and weld quality. The teaching free guided welding system can realize the flexible teaching free welding of large-size workpieces.

Current situation of body welding

Because the bus adopts the customized production mode, the body height, length and skeleton shape are different, the sizes are various, the specifications are thousands of, and there are great differences among various types. Bus manufacturing enterprises need to customize the corresponding robot installation track and carry out robot pre teaching for each specification of body, each key welding position and weld track, which has the advantages of high cost, low efficiency and insufficient flexibility.

Automatic positioning and flexible welding scheme of bus body

In order to realize accurate and perfect welding of bus body, the company has developed an intelligent vehicle automatic positioning and flexible welding system based on visual guidance. The welding steps are as follows:

1. The system is started, and the initialization of robot, vision device and control part is completed;

2. The position sensor detects that the bus body is in place and triggers 3D sensors in all directions to capture the spatial position of key features of the bus body in real time;

3. The key surface features are extracted to accurately calculate the spatial position relationship between the welding gun installed at the front end of the robot and the bus body;

4. Based on the initial movement trajectory of the robot, the compensation welding route (including all directions of X, y and Z space) is corrected in real time, and finally the automatic positioning, flexible grasping and welding of bus body are realized.

Technical indicators

· Automatic visual recognition of bus body, the recognition accuracy can reach 100%;

· Call and generate the initial motion trajectory of the robot, and realize the automatic positioning, flexible grasping and welding of the vehicle body under the guidance of 3D sensors;

· There is no need to accurately locate and clamp the bus body;

· Visual positioning and parts grasping accuracy: < 0.1 mm;

· Welding speed: > 0.2m/s;

· The welding quality is improved by > 50%.

Current situation of body welding

Because the bus adopts the customized production mode, the body height, length and skeleton shape are different, the sizes are various, the specifications are thousands of, and there are great differences among various types. Bus manufacturing enterprises need to customize the corresponding robot installation track and carry out robot pre teaching for each specification of body, each key welding position and weld track, which has the advantages of high cost, low efficiency and insufficient flexibility.

Automatic positioning and flexible welding scheme of bus body