Metode avtomatskega sledenja trajektorije vara v MIG/MAG robotskem varjenju

magistrsko delo

Benjamin Meglič (Author), Tomaž Vuherer (Mentor), Aleš Hace (Mentor)

Abstract

MIG/MAG postopek je zelo pogost način spajanja kovin in že zelo dolgo v uporabi v industrijskih robotskih aplikacijah. Pri varjenju z robotom želimo glede na situacijo zagotoviti dober var na pravem mestu, kar nam omogočajo različne metode. Večina metod deluje na podlagi podatkov ki jih robot pridobi s s pomočjo hitro odzivnih senzorjev. Glede na povratne informacije, robot nadaljuje po predvideni poti, spremeni pot oziroma se v najslabšem primeru ustavi. Z gibanjem se hkrati glede na situacijo spreminjajo tudi varilni parametri, katere smo podrobneje preučili. Podrobneje smo se seznanili z metodo sledenja trajektoriji vara preko varilnega obloka. Senzor obloka smo preizkusili na varilnem robotu Motoman kot tudi na robotu OTC Daihen. Varjenje smo izvedli pri različnih frekvencah nihanja pri vklopljenem in izklopljenjem senzorju. Kakovost zvarov smo preverili s prerezi na začetku, sredini in na koncu kotnega zvara. Analizirali ter komentirali smo kot zvara, velikost zvara, pretopitev, ter ploščine pri različnih frekvencah nihanja pištole.

Keywords

robotsko MIG/MAG varjenje;nadzor varjenja prek trajetorije vara pri MIG/MAG varjenju;zaznavanje preko obloka;magistrske naloge;

Data

Language:	Slovenian
Year of publishing:	2016
Typology:	2.09 - Master's Thesis
Organization:	UM FS - Faculty of Mechanical Engineering
Publisher:	[B. Meglič]
UDC:	007.52:621.791(043.2)
COBISS:	19784470
Views:	987
Downloads:	151
Average score:	0 (0 votes)
Metadata:

Other data

Secondary language:	English
Secondary title:	Automatic tracking methods of weld trajectory in MIG/MAG welding
Secondary abstract:	MIG (Metal Inert Gas)/MAG (Metal Active Gas) is currently one of the most widely used arc welding methods for industrial robotic applications. With every automated - robotic welding, we want to achieve right positioned and good weld quality. To achieve this we use different methods. Most of methods are relaying on sensor real time feedback. Based on sensor feedback robot is welding on programed path or in case needed deviate path or in worse case it stops. With changing of path from there is also change in welding parameters itself, which was one of the focuses of this thesis. The main focus is on variety types of arc sensors and basic principles of work. Practically we focus on, automatic tracking method of weld trajectory at different frequency oscillation of welding torch. We used Motorman’s and OTC Daihen’s welding Robots. We tested with tracking method (arc sensor) enabled or disabled at different torch oscillation. We analysed dimensions of welds, angles and square roots. Welds were analysed at the beginning, middle and end of each weld with explanation of final results and conclusions.
Secondary keywords:	MIG/MAG robotic welding;through the arc sensing in Robotic MIG/MAG welding;sensing through the arc;
URN:	URN:SI:UM:
Type (COBISS):	Master's thesis/paper
Thesis comment:	Univ. v Mariboru, Fak. za strojništvo
Pages:	XV, 63 str.
ID:	9149015