Iyini Imikhawulo Yendlela Ezenzakalelayo-elungisiwe
Imikhawulo ye-Fixed Teach Welding kanye ne-Manual Welding
Irobhothi elivamile lamukela imodi yokushisela yethrekhi egxilile-yokufundisa, ukunemba kwe-welding ye-workpiece kanye nekhwalithi yokwakha kuncike kakhulu ekumisweni kwamathuluzi nokuvumelana kwezinto ezingenayo, futhi izimo ezintathu zokusebenza ekukhiqizeni zizoholela ngokuqondile ekuhlulekeni kokushisela:
- Ukubekezelela kobukhulu bokuhlangana okungenayo: the workpiece dimension and assembly misalignment deviation caused by stamping, machining and assembly. When the comprehensive tolerance of workpiece>± 0.5mm, ithrekhi egxilile izoba nokuchezuka kwe-welding, -okungahlangani kahle okuseceleni kanye nokushisela okungenzi lutho;
- Ukuqoqwa kwe-welding deformation ye-thermal:ukufakwa kokushisa okuqhubekayo kwe-arc kuzodala ukuwohloka kwepulasitiki/okunwebekayo kocezu lokusebenza, i-trajectory yethiyori yokuma okunembile kokushisela, ukuchezuka okuqhubekayo kwendawo yokushisela ngemva-kwesendlalelo{1}}eziningi{1}}zokushisela, kanye nokuwohloka kwe-weld ende yepuleti eliwugqinsi kungafinyelela izinga lemilimitha.
- Izindleko eziphakeme zokushintsha ukukhiqizwa kanye nokusetshenziswa kwezinhlobonhlobo eziningi:ukushintshwa kohlobo lomkhiqizo kudinga-ukuboniswa kabusha kwayo yonke i-trajectory ye-welding seam, ukushintshwa{1}} kwamathuluzi okumisa kahle okunembayo, kanye nesilinganiso samahora omuntu ogunyazayo-wenqwaba encane nezinhlobo eziningi zemigqa yokukhiqiza siphezulu kakhulu.
Iyini i-3D Vision Welding Robot
Thuthukisa kusuka-ukwenza okuhleliwekuumbono{0}osekelwe ekushiseleleni okuguquguqukayo
Irobhothi le-3D vision welding lakha ukuskena kwe-3D - ukuhlonza isici se-weld seam - ithrekhi yerobhothi yangempela-ukulungisa isikhathi kuvaliwe{5}}i-loop control logic, ishiya ngokuphelele imodi yendabuko "yendlela egxilile yememori": okokusebenza kuskena i-morphology ye-workpiece yesiteshi samanje ngesikhathi sangempela, ikhiphe i-groold seordinated, ikhiqize i-welding ye-welding. ithrekhi enyakazayo ye-adaptive single workpiece, engancikile kumodeli yetiyori ye-CAD kanye{6}}nohlelo lokufundisa olugcinwe ngaphambili.
| Ubukhulu bokuqhathanisa | Ukufundisa Okungaguquki / Welding Manuwali | 3D Vision Adaptive Welding Robot |
|---|---|---|
| Ukuzivumelanisa nokuchezuka kwe-dimensional engenayo | Ama-trajectories angaguquki abangela i-weld offset kanye nokuhlanganisa okungalungile ngaphansi kokuchezuka okuncane | Yakha kabusha i-3D contours isiqeshana ngasinye futhi ubuyekeze izixhumanisi zokushisela ngesikhathi sangempela, ezihambisana nokubekezelelana okungenayo okusukela ku-±1 ~ 3mm |
| Ikhomishini yokushintsha umkhiqizo | Umkhondo ogcwele{0}wokufundisa kanye nokwenza ngokwezifiso okuphezulu{1}}ukulungiswa okunembayo okudingekayo emikhiqizweni emisha | Izinhlelo eziyisisekelo ezisebenziseka kabusha; ama-trajectories akhiqizwa ngokuzenzakalela ngokuskena i-workpiece contour ngaphandle kokufundisa okuphindaphindiwe |
| Ukuncika kuzinto zamathuluzi | Iphezulu kakhulu, iqanda-lokucaca okuphezulu{1}}izimpi zokunemba ziyadingeka | Izidingo eziphansi; iphutha elilula-izinto ezibekezelelayo kanye nezakhiwo zokuma ezintantayo ziyamukeleka kuma-workpieces abekwe endaweni engafanele |
| Ukuvumelana kwekhwalithi yokushisela | Iguquguquka kakhulu ngenxa yokuhuzuka kwesakhiwo, ubungoti bomsebenzisi kanye nokonakala kokushisa | I-Micron-indawo yenzwa yeleveli egcwele-inqubo yesinxephezelo esiguquguqukayo, umphumela wokwakheka kokushisela okuzinzile nokuphindaphindekayo |
| Umkhawulo wekhono lomsebenzisi | Kudingeka ama-welder anamakhono aqinisekisiwe kanye nochwepheshe bokufundisa amarobhothi | Ukuqeqeshwa kokusebenza kwemishini eyisisekelo kuphela okudingekayo; amakhono okushisela kanye namarobhothi okufundisa akuphoqelekile |
Isimiso Esisebenzayo Esiyinhloko se-3D Vision Welding: Ukutholwa Kwedatha Yenzwa ye-3D, Ukuqashelwa Kwesici Se-Weld Seam, Ukuhlelela I-Adaptive Robot Trajectory
Ukuqhathaniswa Kobuchwepheshe Kwezixazululo Ezintathu Zokubona Umbono we-3D
Ubuchwepheshe bokuzwa be-3D obujwayelekile embonini buhlanganisa umugqa welaser triangulation (isithwebuli sephrofayela ye-laser), ukukhanya okuhlelekile kanye nombono we-binocular stereo.
| Indlela Yokuthola | Isimiso sokufanekisa | Ukunemba Kokumisa Okuphindaphindayo | Isivinini Sokuthola | Ukumelana Nokubonakala / Ukukhanya Okuqinile Kwendawo | Izimo Zokusebenza Ezibalulekile |
|---|---|---|---|---|---|
| I-Linear Laser Triangulation (Inzwa Yephrofayela Yelaza Ewumugqa) | Khipha umugqa owodwa we-laser beam; amakhamera ezimboni athwebula amakhonco e-laser akhubazekile endaweni yokusebenza futhi abale izixhumanisi ze-3D-zezigaba nge-algorithm ye-triangulation | Ngaphansi noma ilingana no-0.05mm ngaphansi kwezimo ezijwayelekile zokusebenza; amamodeli we-premium afinyelela ku-0.01 ~ 0.03mm | Izinga eliphezulu lozimele lokuskena komugqa, i-millisecond-ileveli yesiphambano esisodwa{1}}isampula yesigaba, isekela ukulandelela okuqhubekayo ngesikhathi sokushisela | Ukusebenza okuphakathi; Umsindo we-specular reflection uvela kalula ezintweni ezicwebezelayo ezifana ne-aluminium nensimbi engagqwali, engacindezelwa ngokungeza izihlungi ze-polarizing. | Ukulandelela-isikhathi sangempela sokulandelela ngesikhathi sokushisela, ukulungiswa kokuchezuka okuguquguqukayo kwemigqa emincane, amajoyinti e-butt/fillet kanye nesinxephezelo{2}}sesikhathi sangempela{2}}sezingqimba eziningi{3}}zesixazululo sokushisela (isixazululo esivamile somkhakha wokushisela) |
| Umbono Wokukhanya Okwakhiwe Indawo (Ukukhanya Okugayiwe Okuhlelekile) | Amafringe e-grating enkathi yephrojekthi futhi akhe kabusha amafu aphelele wephoyinti le-3D lezinto zokusebenza ngokudubula okukodwa | Ukunemba kwepulani yomhlaba wonke: 0.08~0.15mm | 50~200ms{2}}yokuskena okugcwele kwendawo eyodwa, isivinini esinganele sokulandelela okuqhubekayo | Ukusebenza kabi; ukukhanya kwe-arc ngesikhathi sokushisela nezinto ezimnyama ze-matte kuholela ekulahlekeni komphetho kanye nedatha yamafu yamaphoyinti angaphelele | Ngaphambi-ukuskenwa kwawo wonke amakhontoyutha we-workpiece ngaphambi kokushisela, ukuhlolwa kobukhulu bezingxenye eziyinkimbinkimbi ezigobile kanye nokumodela kwe-weld okungaxhunyiwe ku-inthanethi.Akusebenzi{0}}ekulandeleni kwesikhathi sangempela phakathi nenqubo yokushisela |
| Umbono we-Binocular Stereo | Amakhamera amabili ezimboni avumelanisiwe afana namaphoyinti esici sokuthungwa endaweni yokusebenzela futhi abale izixhumanisi ze-3D ngokusekelwe kunxantathu we-parallax | Ukunemba okuphansi: 0.3 ~ 1mm ngaphansi kwezimo ezivamile; yehluleka ukwakha kabusha idatha yezindawo ezingathungiwe | Isithombe esisheshayo-sohlaka olulodwa, awukho umthombo wokukhanya osebenzayo odingekayo | Ukumelana okubi kakhulu; avunyelwe ngokuqondile i-arc flash, i-surface reflection kanye{0}}namapuleti ensimbi angewona wokwakheka | Ukuma okungelula kwezingxenye zokusebenza ezinkulu, ukutholwa kocezu lokusebenza kanye nokuma kokuqala kwempahla engenayo eziteshini.Kunqatshelwe ngokuphelele{0}imisebenzi yokulandelela umphetho onembayo |
Qedela Okuvaliwe{0}}Inqubo Yokulawula Iluphu Ye-Adaptive Welding
Inzwa ibona kuphela ukutholwa kwedatha yephoyinti le-3D yangempela. Umnyombo walo lonke uhlelo usekuhlaziyweni kwenqubo yedatha ye-3D kanye nokulawulwa kokunyakaza okuhlanganyelwe kwerobhothi. Inqubo ye-loop evaliwe ephelele{4}ihlukaniswe ngezinyathelo ezi-5:
- Ukwakhiwa kabusha kwefu-kwamaphuzu amathathu ntathu ento yangempela: inzwa ebonakalayo iskena ucezu lwangempela lokusebenza lwendawo yokusebenza futhi ikhiqize ifu lephoyinti ngokuphelele ngokusekelwe kukwakheka komzimba. Iqoqa ngokuzenzakalelayo izimo zokusebenza zangempela ezifana nokubekezelela izinto ezingenayo, i-placement offset, ngaphambili{2}}ukungalungi kahle komhlangano kanye negebe lamapuleti, ngaphandle kokubiza ngokuqondile imodeli yetiyori ye-CAD ekahle;
- Ukuhlukaniswa okuhlakaniphile kanye nokukhishwa kwesici kwamajoyinti ashiselwe: I-algorithm ye-AI ingakwazi ukuhlukanisa ngokuzenzakalelayo i-butt joint, i-joint joint, i-lap joint, i-V/Y/U groove namanye amafomu ahlangene, ikhiphe ububanzi be-groove, igebe, ukungasebenzi kahle kwe-butt joint kanye nezixhumanisi ze-3D zamaphuzu okuqala nokuphela kwe-weld joint. Isethi yohlelo iyahambisana nezinhlobo eziningi zemifantu ngaphandle kohlelo oluhlukene;
- Ukuhlela okuzimele kwendlela yokushisela: ukuhlanganisa umkhawulo onyakazayo werobhothi, ukufinyeleleka kwesibhamu sokushisela kanye nokucaciswa kwenqubo yokushisela, ukuhlela ngokuzenzekelayo indlela ephelele yokunyakaza yesigaba esisondelayo, isigaba sokushisela nokukhipha isibhamu nokuphakamisa, kanye nokusabalalisa ngokuvumelanisa{0}}ungqimba oluningi{1}}umzila wokuhlelwa kokushisela;
- Ithrekhi yesikhathi-yangempela ethunyelwa kusilawuli serobhothi: idatha yethrekhi ngemva kokuhlaziywa kwamafu ithunyelwa ngefomethi yomyalo womdabu wokunyakaza kwerobhothi, esekela ukulawulwa kokuxhumana okuhambisanayo-kwerobhothi lokushisela i-axis, irobhothi lokushisela i-gantry ne-positioner, futhi ehambisana nesilawuli somkhiqizo werobhothi ne-PLC;
- I-Milisecond ivaliwe-isinxephezelo esishintshashintshayo se-loop ngesikhathi sokushisela: qhubeka uqoqa{1}}ikhontoyutha yegroove enobukhulu obuthathu ngesikhathi sokushisela, khomba ukuchezuka kwe-weld okubangelwa ukuwohloka kwe-thermal ngesikhathi sangempela, futhi ulungise ngamandla umzila wokunyakaza werobhothi; Ngesikhathi esifanayo, umshini wokuxhumanisa welding ulungisa imingcele yenqubo
Isinxephezelo Esiguquguqukayo Sokuguqulwa Okushisayo kanye Nokulungiswa Okuxhunyiwe Kwezinhlaka Zenqubo Ye-Welding
Umnyombo "we-adaptive" wukulungiswa kokuxhuma okuzenzakalelayo kwedatha yesilinganiso esibonakalayo kanye nemingcele yenqubo yokushisela, kunokumane ulungise indawo yerobhothi. Izinqubo eziguquguqukayo zenqubo yokulungiswa kokuxhumanisa zihlanganisa: i-welding gun swing amplitude/swing frequency, isivinini sokuhamba kwesibhamu esishiselayo, i-arc voltage, i-welding current, isivinini sokuphakelwa kwezintambo, isikhala sobuhlalu{1}}obuningi be-layer weld, i-engeli yangaphambili nangemuva/kwesokunxele kanye ne-engeli etshekisayo yesibhamu sokushisela. Isistimu yokushisela ebonakalayo ye-3D ephezulu-ephezulu, ukunemba kokulandela kokushintsha kwesinxephezelo se-thermal kungalawulwa ngokuzinzile ngaphakathi kweleveli engaphansi engu-0.05~0.1mm{7}}yemillimeter.
Izixazululo Zokusebenza Kwenkundla
Ukukhiqiza Umbhoshongo Wamandla Womoya
I-weld ende eyindilinga yeshubhu lombhoshongo, ukuchezuka okungenayo kwe-ellipticity yeshubhu, ukuwohloka okuqhubekayo kokushisa kokushisela{0}}kwezendlalelo eziningi, nokuchezuka okuhlukile kobukhulu beshubhu ngalinye.
Isixazululo sombono we-3D: i-line laser real-isikhathi sokulandela umthungo wokushisela, isinxephezelo esiguqukayo sokuwohloka kwe-thermal kuyo yonke inqubo yomthungo oyindilinga, ukuhlelwa okuzenzakalelayo kobuhlalu bokushisela ngobuningi-abanongqimba{2}}nobuningi-abadlula ukushisela, akukho ukulungisa mathupha kwendlela yokufundisa isendlalelo ngasinye, nokujwayela ukushintshana kokukhiqiza kwemibhoshongo enobubanzi obuhlukahlukene.
Ukukhiqiza Isakhiwo Sensimbi
Ukuchezuka okwakhiwa kwezingxenye zepuleti eligobile le-hull kanye nesiteki kukhulu, ukuwohloka kwe-thermal yokushisela kuyaqhubeka nokushintsha indawo ye-groove, futhi ukufundisa okwenziwa ngesandla komthungo ogobile kunzima kakhulu.
Isixazululo sombono we-3D: ukuskena okuqhubekayo kwe-contour yenqubo yokushisela,{0}}ukulungiswa kwesikhathi sangempela kwe-robot motion trajectory, ukukhiya okuqhubekayo kwe-groove engaphezulu egobile ngokushisela i-arc yesibhamu, ukushisela okuzenzakalelayo kwe-weld ende endaweni eyinkimbinkimbi egobile kanye nokushintshwa kwe-welding{1}}ye-altitude eshintshwayo.
Izingxenye Zesakhiwo Semishini Yokwakha
I-heavy high-yensimbi yokushisela amandla, i-multiple groove kanye{1}}ne-angle eningi{1}}ehlangene, ukuchezuka okukhulu kwe-punching/assembly kwezinto ezingenayo, ukushintsha okuvamile kokukhiqizwa kwenqwaba encane namamodeli amaningi.
Isixazululo sombono we-3D: I-AI ihlonza ngokuzenzakalelayo amajoyinti ahlukahlukene, kanye{0}}nokhiye owodwa wokukhiqiza wethrekhi yokushisela ephelele ngemva kokuskena okubonakalayo. Iqoqo lezinqubo eziyisisekelo lihlanganisa izingxenye eziningi zesakhiwo, linciphisa kakhulu isikhathi sokushintsha abafundisi bemiboniso yokukhiqiza.
Izisetshenziswa Zomkhumbi Wokucindezela
Usayizi we-groove kanye nokuqiniswa kwe-weld ye-circumferential kanye ne-longitudinal pressure bearing welds kuthinta ngokuqondile ukuphepha kwengcindezi yezinto zokusebenza. Izinga lokuhlola ikhwalithi yemboni liqinile, futhi ukukhubazeka kobukhulu bejometri akuvunyelwe.
Isixazululo sombono we-3D: real-ukulandelela isikhathi sokushisela kuqedwa ngesikhathi sokushisela,{1}}isikhathi sangempela sesithathu{2}}ukutholwa kwe-contour ye-inthanethi ye-contour kuqediwe ngemva kokuba ukushiselwa, ukuhlolwa kwekhwalithi kuqediwe esiteshini esifanayo, futhi ucezu lokusebenza olunosayizi ongafanelekile luyamukelwa ngesikhathi sangempela ukuze kuhlangatshezwane{3}}nezidingo zokuhlola zangaphambili zokutholwa kwesisetshenziswa esikhethekile.
Uma ibhizinisi lakho lihlangabezana nezinselele zokushisela ngezakhi ezisindayo, singenza ngendlela oyifisayo izixazululo zokuvuselela umugqa wokukhiqiza ukuze sikhiphe ngokushesha imigqa yokukhiqiza edidiyelwe yombono we-3D. Izixazululo zethu zisiza ukukhulisa amazinga esivuno sokushisela, ukunciphisa izindleko zokukhiqiza zizonke, ukwakha{2}}isistimu yokulawula ikhwalithi yedijithali evaliwe, kanye nezimboni ezisekelayo ekuthuthukeleni ekukhiqizeni okuhlakaniphile okuvumelana nezimo.
