An experiment of detection and localization in tooth saw shape for butt joint using KUKA welding robot

Shah, Hairol Nizam Mohd; Sulaiman, Marizan; Shukor, Ahmad Zaki; Kamis, Zalina

doi:10.1007/s00170-018-2092-9

Cited by 9 publications

(4 citation statements)

References 8 publications

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“…However, the study does not specify the limitations and limits of applicability of the proposed method of segmentation of the gap. A similar conclusion can be drawn from [20], in which a threshold transformation is performed to select the gap, while the threshold value is not explicitly defined.…”

Section: Problem Formulationsupporting

confidence: 56%

“…The images of the welded gap presented in Figure 11 were obtained in HD resolution from a STC-HD93DV CCD camera installed on the LRC-W tool according to the scheme shown in Figure 6. The system described in [20] was used as LED illumination. Figure 11a shows a photo containing part of the gap (the line continues beyond the photo), Figure 11b shows a photo containing the entire gap (including the edges of the line) of the workpieces being welded, and Figure 11c shows an image of an arc-shaped gap.…”

Section: Segmentation and Recognition Of The Gap To Be Weldedmentioning

confidence: 99%

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Development of Mechanisms for Automatic Correction of Industrial Complex Tools in the Preprocessing of Laser Welding for Small-Scale and Piece Production Using Computer Vision

2020

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This paper is devoted to the development and improvement of mechanisms for the functioning of an automated system for correcting the points of the planned trajectory of the tool of a laser robotic welding complex in the pre-process. Correction of the points of the planned trajectory is carried out in two stages: in the first stage, the focal laser radiation is corrected; in the second stage, the position of the tool is corrected. Correction of the focal laser radiation is carried out in conjunction with the automated focusing of the camera by moving the tool of the industrial complex along its own axis. The functioning of position correction mechanisms is based on methods for recognizing the edges of the gap line to be welded from the image obtained from the charge-coupled device (CCD) camera. The edges of the gap to be welded in the image are segmented using threshold selection. The boundaries of the threshold selection segment are the extreme values of the pixel distribution of the entire image in brightness. For unambiguous recognition of the desired edges based on the segmentation result, the features defining them as a pair of continuous, conditionally parallel lines are formalized. Relative to the recognized pair of edges, the correct position of the planned trajectory point relative to the current position of the welding head is determined. To transfer the correct position, we formalized the calculation model and chose an arbitrary point in the flat image in the workspace laser robotic welding complex, considering the orientation of the tool and the position of the camera. The results obtained made it possible to develop a correction system and successfully test it in the industrial complex.

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Section: Problem Formulationsupporting

confidence: 56%

Section: Segmentation and Recognition Of The Gap To Be Weldedmentioning

confidence: 99%

Development of Mechanisms for Automatic Correction of Industrial Complex Tools in the Preprocessing of Laser Welding for Small-Scale and Piece Production Using Computer Vision

2020

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“…Os trabalhos de [57], [58] e [59] utilizam sistemas com câmeras para captura de imagens da junta e definição de pontos da trajetória. [60], [61] e [62] vão além e, a partir da captura de imagens e definição de pontos da trajetória, realizam a eliminação de pontos indesejáveis.…”

Section: Detecção De Juntas E Desenvolvimento De Trajetórias De Soldaunclassified

Evolução dos Processos de Automação em Células de Soldagem: Uma Revisão da Literatura

2022

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Resumo: O processo de soldagem é um método de união de materiais metálicos por meio do aquecimento até uma temperatura adequada. Esse processo é crucial na manufatura de diversos componentes, desde a microeletrônica até componentes estruturais de máquinas pesadas. Com o advento da automação industrial, houve o início da utilização de robôs de solda na indústria, visando uma maior produtividade, qualidade e acuracidade do processo. A partir do século XXI, com a chegada da Indústria 4.0, é possível enxergar novas oportunidades de melhoria no processo de solda, tais como a introdução do sistema CPS (Cyber Physical System), a realidade aumentada e a realidade virtual. Tais técnicas permitem não só a automatização da operação de soldagem, mas também um maior controle do processo, cruzando informações do método planejado com a operação real de modo dinâmico e adaptativo. Nesse contexto de diversificado portifólio de tecnologias usadas no processo de soldagem, o presente trabalho se propõe a realizar uma revisão da literatura com o objetivo de mapear as principais evoluções tecnológicas da automação dos processos de soldagem a arco nos últimos anos.

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“…There are many welding robots working in different industrial occasions, such as in rapidly forming metals [7], shipbuilding engineering [8], and components manufacturing [9]. During these applications, industrial robots can improve the welding process in various kinds of functions, such as in detecting and localizing tooth saw shape for the butt joint [10], assisting the welding process following a straight line [11], and more. However, traditional robots, which have no light-weight design, have unwieldy structures, which may induce the robots that require more energy to complete some unnecessary movements.…”

Section: Introductionmentioning

confidence: 99%

Light-Weight Topological Optimization for Upper Arm of an Industrial Welding Robot

Yao

Zhou

Lin

et al. 2019

Metals

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To reduce weight and improve overall performance of the industrial welding robot, light-weight design using the finite element method and structural topological optimization is presented in this paper. The work analyzed an upper arm of an industrial welding robot in the most unfavorable working condition, both under static and dynamic working situations, using ABAQUS and ADAMS software tools. Then the Tosca unit in ABAQUS was employed to accomplish the structural topological optimization, in order to reduce weight and improve the natural frequencies under the situation of low orders. The analyses results showed that the actual weight had been reduced to 17.9%, and the natural frequencies in low orders had increased. The maximum Mises stress, tensile stress, and elastic displacement of the gyration center had decreased. Lastly, an actual product was produced according to the model obtained from preceding analyses. The experiments of the repeatability tests showed that the overall performance of the optimized upper arm had been improved when compared to the original one. This research can present references and foundations for the kinetic analyses under the static and dynamic working conditions, and structural topological optimization designs for relative industrial welding robots.

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An experiment of detection and localization in tooth saw shape for butt joint using KUKA welding robot

Cited by 9 publications

References 8 publications

Development of Mechanisms for Automatic Correction of Industrial Complex Tools in the Preprocessing of Laser Welding for Small-Scale and Piece Production Using Computer Vision

Development of Mechanisms for Automatic Correction of Industrial Complex Tools in the Preprocessing of Laser Welding for Small-Scale and Piece Production Using Computer Vision

Evolução dos Processos de Automação em Células de Soldagem: Uma Revisão da Literatura

Light-Weight Topological Optimization for Upper Arm of an Industrial Welding Robot

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