Ku twisisa thekinoloji yo landzelerisa weld swi vula ku twisisa swintshuxo hinkwaswo swo tlhariha leswi kotekaka. Kuya hi endlelo ra wena ro welda, switirhisiwa na swilaveko swa nkarhi wa xirhendzevutani, ntlhantlho lowu faneleke hi ntolovelo wuta humelela hiku famba ka nkarhi.
Kambe xana wa swi tiva hinkwaswo leswi nga kona swa swintshuxo swo landzelerisa seam?
Hi swihi swipfuno na swiphiqo swa swintshuxo hinkwaswo swo hambana swa ku landzelerisa seam?
Hi ku ya hi xiyimo xa mina xo welda, hi swihi swintshuxo swa ku landzelerisa seam leswi nga ndzi fanelangiki?
Thekinoloji ya switwi yi nyika swilo swo tala leswi nga kotekaka eka matirhelo ya wena yo welda. Tin’wana i vuswikoti bya ntsengo wa le hansi na lebyi nga nyawuriki, tin’wana ti katsa vuvekisi byo tika na ku endla dizayini leyi anakanyiweke-ku antswa lokukulu i ku hlayisiwa ka mali. Endzhaku ka sweswo, a hi nge . Hangao Tech (Seko Machinery) yi ku yisa ku twisisa tinxaka to hambana ta . welding tracking system for stainless steel TIG welding tube making machinery , misinya ya milawu leyi tirhaka, na swipfuno na swiphiqo swa yona hi ku hambana ka swona.
1. Ku khumba ku twa .
Touch Sensing hi laha robot yi chelaka nhlayo yitsongo ya voltage eka welding nozzle kumbe welding wire. Mintirho ya vona ya fana, ku hambana ntsena ku le ka ndlela leyi ndlela yin’wana na yin’wana yi hundzulaka data yi va robot. Hi ku tirhisa voltage, robot yi ta tlakuka yi ya eka swilo leswi tirhaka, yi yi khumba, ku humelela xirhendzevutana xo koma, kutani robot yi ta rhekhoda ndhawu ya ntikelo lowu rhekhodiweke ivi yi byela ndhawu ya le henhla ka roboto. Eka swiyimo swotala, nhlangano wun’wana na wun’wana wu lava kwalomu ka 2 wa ti touches kuva tikuma xiyimo xa xiyimo xale henhla nale henhla. Robhoti yi ta hlanganisa ti-search vector leti yi tlhela yi endla triangulate xiyimo xa welded joint.
Ekhonweni kumbe eka swihlanganisi swa le handle, ku khumba ka vunharhu ku suka eka robot hi ntolovelo ku laveka ku kuma swiyimo hinkwaswo leswi faneleke ku pfumelela robot ku kuma na 'track' nhlangano.
Touch sensing yi pfuna swinene tani hi xitshunxo xa low-cost joint tracking. Lexi i xitshunxo xo olova lexi simekiweke eka software lexi u nga xi tirhisaka ku suka eka Pendant yo Dyondzisa handle ka tisisiteme to engetela. Vuyelo byin’wana lebyikulu bya ku twa ku khumba hi leswaku u nga nghena eka tindhawu to koma hikuva a ku na hardware handle ka xihlanganisi lexi nozzle ya torha ya robot yi sivelaka ku khumbana na xona.
Kambe, touch sensing yina swipimelo swokarhi, leswi endlaka leswaku kuva xitshunxo lexi tirhaka swinene eka joint sensing na seam tracking. Xosungula iku touch sensing i endlelo ro nonoka, laha vector yin’wana na yin’wana yo lavisisa yi tlakukaka hi 3 kuya eka 5 wa tisekoni. Hikwalaho, loko u ri touch-sensing eka xiphemu xa 2D, u nga engetela 6 ku ya eka 10 wa tisekoni eka xirhendzevutana xa ku welda, naswona loko u khumba xiphemu xa 3D, nkarhi wa xirhendzevutana wa ku sungula ka arc yin’wana ni yin’wana wu engeteleka hi tisekoni ta 15.
Nhlayo ya tinhla ta swihoxo hi touch sensing emakumu ya arc na yona yikulu swinene ku tlula swintshuxo swin’wana. Tintambhu leti govekeke kumbe swilo leswi thyakeke ni leswi nga ni swirhumbana swi endla leswaku swi tika ku endla touch sensing hi ku landzelelana. Touch sensing yitirhisiwa ntsena ku kuma arc starting point kumbe arc end, naswona ayi hoxi xandla eka ku hambana eka ku leha ka weld, hikokwalaho aswingata tlherisela endzhaku switirhisiwa leswinga fambelaniki kumbe switirhisiwa.
Touch sensing yitlhela yiva na swipimelo hi muxaka wa ti solder joints. Fillet na lap joints hi swona switala kuva swiri na swihlanganisi, kambe hambi kuri eka ti lap joints, ku tiya ka swilo swifanele ku tekeriwa enhlokweni. Xin’wana na xin’wana lexintsongo kutlula 5 mm (1/4 inch) xinga hundzuka xiphiqo eka ku endla touch sensing hikuva ti wire tinga hundza eka material thickness ya upper board-yi ku endla u tlula xiphemu, kutani unga ba bodo yale hansi kutani u kuma value leyi hoxeke .
Xibamu xa wena xa robotic welding xi tlhela xi lava wire brake na wire cutter leyi hlomisiweke eka torch package ku tsema waya eka mpfhuka lowu tivekaka ku suka eka tip leswaku ku hlaya ka wena ku va loku nga cincekiki eka endlelo hinkwaro.
Touch sensing yitlhela yi lava matlhelo yo basa, hikuva swiphemu leswinga welderiwangiki kahle kumbe leswi tsemiweke swinga humesa ku hlayiwa ka mavunwa.
2. Hi ku tirhisa ku landzelerisa ka arc seam .
Hi ku tirhisa Arc Seam Tracking (Tast) i xiteji xa vumbirhi xa ku tirhisiwa ka wena ka touch sensing. Endzhaku ka ku khumba ka touch, u ta kuma ndhawu yo sungula ya arc na arc ending point, ivi u chela 'through arc seam tracking'. Tast yinga landzelela z-axis na y-axis ya nhlangano, leyi faneleke swinene eka switirhisiwa swo tiya.
Tast yi lava endlelo ro luka. Loko waya wu cinca ku suka eka tlhelo rin’wana ra nhlangano ku ya eka rin’wana, voltage ya cinca. Leswi swivangiwa hikuva ku engeteriwa ka waya swihunguteka hiku cinca ka tip kuya eka mpfhuka wo tirha. Leswi swi pfumelela robot ku hlamusela ku cinca ka voltage na ku lulamisa ndlela yo dyondzisa ku hlayisa xiyimo xa kahle xa welding eka nhlangano.
Tast yi lulamerile eka ti thicker material lap joints, leti lavaka kuva ti 5 mm (1/4 inch) kumbe ti tsindziyerile kuva ti hlayisa ku tiya. A swi hlohleteriwi ku endla tast eka vukulu bya le hansi (entiyisweni, a ndzi si tshama ndzi swi vona hi ku tirhisa seam tracking app eka malembe ya mina ya ntirho), handle ka sweswo u nga ha nghenisa ekhombyeni ku landzelerisa switsotswana kumbe ku jika-jika-ku welda-leswi swi ta hunguta vutshembeki bya weld hi nkarhi wa endlelo hinkwaro.
Xivangelo xa leswaku swi nga hlohleteriwi ku tirhisa switirhisiwa swo olova hi nkarhi wa endlelo hinkwaro ro welda, naswona switala ku hlamba kumbe ku susa makatla ya plate yale henhla. Ku basisiwa loku aku vanga ku cinca lokukulu ka voltage, leswi endlaka leswaku robot yi secha-leswi hi laha khombo ra switsotswana ri nghenaka kona.
Xihinga xin’wana xa tast hileswaku ufanele ku engetela nkarhi wa xirhendzevutani hikuva swilava leswaku robot yi hundza eka mahlangano. Hi ntolovelo, rivilo ra ku famba ra Tast ri pimiwile eka 35-50 wa tisentimitara hi minete. TAST yitlhela yiva na swipimelo eka switirhisiwa swa MIG-tig kumbe plasma aswi koteki.
Eku heteleleni, tast yi ringaniseriwa eka nsimbi ya khaboni kumbe nsimbi leyi nga riki na swilo swo bola. Voltage ayi fambisani na aluminium, naswona tast yinga endliwa hiku tshembheka. Xiyimo xa swilo leswi na xona i xa nkoka swinene. Ku basa ka xiphemu, swipimelo kumbe rust swina nkucetelo eka ntlawa wa parameter hikuva u veka mpimanyeto lowu lavekaka eka ku cinca ka voltage. Hikokwalaho, ku cinca ka voltage ya 2% eka negative y hikokwalaho ka oxide scale kumbe rust eka nsimbi swita vanga swihlawulekisi leswinga fambelaniki swa tast.
Leswi robot yifaneleke ku welderiwa kuva yi landzelerisa, tast ayi koti ku endla ntirho wo oma na yona. Ku namarhela na kona ku na xiphiqo, hikuva loko u hundza eka tack, ku humela ehandle ku ta cinca, kutani robot yi ta lahlekeriwa hi ndlela ku kondza yi huma eka tlhelo rin’wana ra tack weld.
3. Sisiteme ya xivono xa 2D .
Anakanya hi 2D Vision ku fana na khamera. Yi teka xifaniso xa ndzavisiso xa xiphemu lexinene yi nga si ba arc naswona yi fambisana na xifaniso xa ndzavisiso na xiphemu xin’wana na xin’wana lexintshwa lexi landzelaka-ku susa offset yihi na yihi na ku lulamisa ndlela yo welda. Yi nyika ntsena swifaniso swa ntima na swo basa, laha xifaniso xi nga ehenhla ka xona. 2D ayi koti ku kumisisa ku leha kumbe ku enta, naswona ayi tekiwi tani hi endlelo ro tshembheka ro landzelerisa seam.
Mahlangano yofana na V-joints na lap joints yana xiphiqo swinene eka 2D Vision hikuva ayi koti ku kumisisa vuenti bya tinxaka leti ta welded joints. Switirhisiwa swo hatima swo fana na aluminiyamu na swona swi na xiphiqo eka tisisiteme ta 2D. Hi ntolovelo, 2D yi tirhisiwa ku kuma swiphemu ematshan’wini yo landzelerisa. I sisiteme leyi simekiweke eka xivono, hikokwalaho ku kavanyeteka ka ku vonakala ka le handle i ka nkoka swinene eka matirhelo ya swiphemu swa mahlo. Ku engetela kwalaho, lens ya khamera yi na vuxiyaxiya swinene eka welding spatter na arc damage.
