Nadgradnja robotske varilne celice z linijskim laserskim triangulacijskim senzorjem za določanje varilnih trajektorij

Pelan, Jernej (author), Klobčar, Damjan (mentor), Trdan, Uroš (comentor)

V delu je opisana nadgradnja robotske varilne celice za varjenje osnov bivalnih enot. Pri nadgradnji se je prvotni merilni sistem s točkovnimi laserskimi triangulacijskimi senzorji, zamenjal s sistemom z linijskimi. Poglavitni razlog za zamenjavo so lokalna variiranja širin zvarnih rež, ki nastanejo zaradi različnih geometrijskih in oblikovnih odstopanj sestavnih delov. Merilni sistem po novem izmeri vse zvarne reže varjenca in določi varilne trajektorije posameznih varov. Predstavljen je potek konfiguracije meritve na zajetem 2D profilu zvarne reže, s programom scanCONTROL Configuration Tools. Nato so predstavljeni izsledki analize meritev širin posameznih zvarnih rež odprtin žepov osnove. V diskusiji so izpostavljeni rezultati meritev tistih zvarnih rež, pri katerih so ocenjene možne prilagoditve za izboljšanje zanesljivosti merjenja in kakovosti varjenja. Iz rezultatov meritev sledi, da so za variiranje nekaterih zvarnih rež najbolj odgovorni plazemski izrezi v vzdolžnih ceveh in pa spodnje plošče žepa, kadar so te izdelane izven predvidenih toleranc. Opazni merilni pogreški določenih zvarnih rež so posledica ovir na posamezni varilni pripravi ter neočiščenih zvarnih spojev. Predstavljeni so še izsledki analize primerov vdora laka v cevi varjenca pri postopku protikorozijske zaščite, ki kažejo na znatno izboljšanje kakovosti varjenja po nadgradnji.

• Language: Slovenian
• Keywords: laserska triangulacija, varjenje MAG, robotsko varjenje, variiranje širin zvarnih rež, meritve zvarnih rež
• Work type: Master's thesis/paper
• Typology: 2.09 - Master's Thesis
• Organization: FS - Faculty of Mechanical Engineering
• Place of publishing: Ljubljana
• Publisher: [J. Pelan]
• Year: 2021
• Number of pages: XXIV, 88, str.
• PID: 20.500.12556/RUL-125659
• UDC: 621.791:007.52:531.715(043.2)
• COBISS.SI-ID: 61791747
• Publication date in RUL: 30.03.2021

PELAN, Jernej, 2021, Nadgradnja robotske varilne celice z linijskim laserskim triangulacijskim senzorjem za določanje varilnih trajektorij [online]. Master’s thesis. Ljubljana : J. Pelan. [Accessed 25 April 2025]. Retrieved from: https://repozitorij.uni-lj.si/IzpisGradiva.php?lang=eng&id=125659

Secondary language

• Language: English
• Title: Upgrade of a robotic welding cell with an in-line laser triangulation sensor for determination of welding trajectories

Abstract

The following work describes the upgrade of a welding cell used for welding of portable cabin floor frames. A new measuring system using laser line sensors, replaced the cell’s original system, that used laser displacement sensors. The main reason for the upgrade, are local variations of gap widths of welding joints, that arise from various geometrical or form deviations of components. The new measuring system now measures all of the welding joints and determines the weld trajectories of individual welds. The configuration of a measuring task on a 2D profile of a welding joint is shown. Analysis of measurements of gap widths of individual welding joints of the forklift pocket openings is presented. The discussion part focuses on those welding joints, which have the potential for possible adjustments, that would improve the reliability of measurements and the quality of welding. The results show, that the gap width variations of several weld joints, are mostly influenced by plasma cuts in hollow profiles and forklift pocket’s lower plates, that deviate too much from their assigned dimensional tolerances. Noticeable measurement errors that are caused by obstructions on separate welding jigs and poor weld preparation, were also observed. Additionally, cases of primer intrusion into hollow sections during corrosion protection process, were analysed. The results show a considerable increase in the quality of welding, after the upgrade.

• Keywords: Laser Triangulation, MAG Welding, Robot Welding, Gap Width Variations of Welding Joints, Measurement of Welding Joint Gap Widths