KR102617318B1 - System and method for automation welding of vehicle body - Google Patents

Abstract

According to an embodiment of the present disclosure, an automated vehicle body welding system includes a welding object including a plurality of welding points, a conveyor belt for transporting the welding object to a designated location, and a lower portion of the conveyor belt, wherein the welding object includes a plurality of welding points. A sensor for detecting the position and rotation state, a rotation means installed on the upper part of the conveyor belt and rotating the welding object clockwise or counterclockwise based on the moving direction of the conveyor belt, the positions of the plurality of welding points, and A welding robot including a sensing device for checking the number, a laser unit that emits a laser for laser beam welding and a pressurizing unit disposed along the circumference of the laser unit and pressing the surface of the object to be welded, the conveyor belt, the sensor, It may include a processor electrically connected to the rotation means, the sensing device, and the welding robot. The processor controls the conveyor belt so that the welding object placed on the conveyor belt is located at a designated point of the conveyor belt, and the welding object is spaced from the designated point by a first length in a first direction. When located at a point, the conveyor belt is controlled so that the welded object moves on the conveyor belt by the first length in a second direction opposite to the first direction, and the welded object placed at the designated point through the sensor When the object is rotated by a first angle in the third direction based on the moving direction of the conveyor belt, the rotation means is rotated on the conveyor belt by the first angle in a fourth direction opposite to the third direction. control, and compare the information on the location and number of welding points preset in accordance with the type and size of the welding object with the information on the position and number of welding points of the welding object obtained through the sensing device to determine the difference. Identify, and set the positions of welding points where there are no differences to the positions of preset welding points, and set the positions of welding points where there are differences to the positions of the welding points of the object to be welded obtained through the sensing device. , laser beam welding can be performed on the welding object according to the positions of the set welding points through the welding robot.

Description

Vehicle body automation welding system and method {SYSTEM AND METHOD FOR AUTOMATION WELDING OF VEHICLE BODY}

The present disclosure relates to an automated car body welding system and method. More specifically, the alignment position of the car body is identified on a conveyor belt through a sensor, the alignment position of the car body is corrected through a rotation means, and a camera, lidar sensor, and vision inspection device are used. It relates to an automated car body welding system and method that improves the precision and accuracy of welding by accurately identifying the welding points of the car body and performing laser beam welding on the corresponding welding points.

In automobile manufacturing, the process of assembling and welding car bodies and parts along an automated production line is a very important step. Recently, automobile manufacturers are focusing on improving productivity and quality by introducing automated automobile welding systems.

In general, an automobile automated welding system consists of welding robots and a computer control system. The welding robot performs welding work according to a preset program, and the computer control system manages and monitors the operation of the welding robot.

In particular, in the case of automotive welding systems, productivity can be improved in that welding work can be performed faster and more accurately than humans. Additionally, since precise welding work can be performed, relatively consistent quality can be guaranteed.

Additionally, at car mass production sites, car bodies and parts can be moved along automated conveyor belt lines, and when car bodies and parts are located at designated points, cars can be mass-produced by welding at the welding points of the car body and parts.

Here, resistance spot welding or arc welding are generally widely used as representative joining methods. In particular, for welding between two thin panels, laser beam welding, which allows precision welding, is widely used instead of spot welding, and line automation is used. It is widely used for welding body panels in automobile assembly plants.

These production lines typically use a conveyor belt-type transfer device, and the conveyor belt can be operated to position the car body and parts at a designated point on the conveyor belt in order to weld the car body and parts, but the actual location of the car body and parts may be different from the designated point. This may cause the welding point of the car body and parts to differ from the predetermined point, resulting in the welding robot welding the wrong part. As a result, various welding defects, such as welding defects or welding non-filling, may occur.

In addition, even when the car body is accurately aligned at the standard alignment position, the actual car body differs from the ideal design value, so small errors naturally occur. Conventionally, there is no means to correct this for each welding point, so it depends on the welding point. There were many problems, including the continuous occurrence of welding defects.

In addition, in order to perform laser beam welding, which is used for precision welding, the gap between two panels must be closely adhered to within approximately 0.3mm. However, when using the existing welding method, the two panels are not evenly adhered, resulting in distortion. There is a problem that occurs, and as a result, the structure is not stable, resulting in poor quality.

Various embodiments disclosed in this document can provide methods and devices for solving the above-described problems.

According to an embodiment of the present disclosure, an automated vehicle body welding system includes a welding object including a plurality of welding points, a conveyor belt for transporting the welding object to a designated location, and a lower portion of the conveyor belt, wherein the welding object includes a plurality of welding points. A sensor for detecting the position and rotation state, a rotation means installed on the upper part of the conveyor belt and rotating the welding object clockwise or counterclockwise based on the moving direction of the conveyor belt, the positions of the plurality of welding points, and A welding robot including a sensing device for checking the number, a laser unit that emits a laser for laser beam welding and a pressurizing unit disposed along the circumference of the laser unit and pressing the surface of the object to be welded, the conveyor belt, the sensor, It may include a processor electrically connected to the rotation means, the sensing device, and the welding robot. The processor controls the conveyor belt so that the welding object placed on the conveyor belt is located at a designated point of the conveyor belt, and the welding object is spaced from the designated point by a first length in a first direction. When located at a point, the conveyor belt is controlled so that the welded object moves on the conveyor belt by the first length in a second direction opposite to the first direction, and the welded object placed at the designated point through the sensor When the object is rotated by a first angle in the third direction based on the moving direction of the conveyor belt, the rotation means is rotated on the conveyor belt by the first angle in a fourth direction opposite to the third direction. control, and compare the information on the location and number of welding points preset in accordance with the type and size of the welding object with the information on the position and number of welding points of the welding object obtained through the sensing device to determine the difference. Identify, and set the positions of welding points where there are no differences to the positions of preset welding points, and set the positions of welding points where there are differences to the positions of the welding points of the object to be welded obtained through the sensing device. , laser beam welding can be performed on the welding object according to the positions of the set welding points through the welding robot.

According to an embodiment of the present disclosure, the sensing device includes a camera with a resolution of 5 million or 8 million pixels or a lidar sensor provided with a rail device so that it can move in a direction parallel to the moving direction of the conveyor belt. It can be included.

According to an embodiment of the present disclosure, the processor adjusts the resolution of the camera based on the size of the welding object or the number of welding points identified according to the user's input, and the method of adjusting the resolution includes the welding When the size of the object is larger than the critical size, setting the camera to a first resolution, and when the size of the welding object is smaller than the critical size, setting the camera to a second resolution that is higher than the first resolution. may include.

According to an embodiment of the present disclosure, the processor acquires contrast data on the surface of the welding object based on photographed data of the surface of the welding object through the camera, and based on the contrast data, An area where the light/dark ratio is greater than or equal to a specified ratio may be identified as a welding point of the object to be welded.

According to an embodiment of the present disclosure, the processor changes the moving speed of the LiDAR sensor based on the size of the welding object or the number of welding points identified according to the user's input, and changes the moving speed. In the method, when the size of the welding object is larger than the critical size, the moving speed of the LiDAR sensor in a direction parallel to the moving direction of the conveyor belt is set to a first speed, and the size of the welding object is set to the critical size. If it is smaller, it may include a method of setting a second speed smaller than the first speed.

According to one embodiment of the present disclosure, the processor adjusts the distance at which the sensing device is separated from the conveyor belt based on the size of the welding object or the number of welding points identified according to the user's input, and the separation The method for adjusting the distance is to adjust the sensing device so that the distance between the sensing device and the conveyor belt at the current position becomes larger when the size of the welding object is larger than the critical size, and the size of the welding object is greater than the critical size. If it is smaller than the size, it may include a method of adjusting the sensing device so that the distance between the sensing device and the conveyor belt at the current position is smaller.

According to an embodiment of the present disclosure, the pressing unit of the welding robot may pressurize the gap between the welding points of the object to be welded to within 0.3 mm.

According to an embodiment of the present disclosure, car bodies and parts requiring welding can be located at accurate points on a conveyor belt, and welding defects can be prevented by accurately identifying and correcting welding points of the car body and parts. In addition, by uniformly pressing the two panels to perform laser beam welding, they are brought into uniform contact and distortion is eliminated, improving welding quality and shortening welding time.

In addition, various effects that can be directly or indirectly realized through the present disclosure may be provided.

Figure 1a is a view looking down at an automated car body welding system according to an embodiment.
Figure 1b is a side view of an automated car body welding system according to an embodiment.
Figure 2 shows a block diagram of an automated car body welding system according to an embodiment.
Figure 3 shows a flowchart of an operation for correcting a welding point and performing welding using an automated car body welding system according to an embodiment.
In relation to the description of the drawings, identical or similar reference numerals may be used for identical or similar components.

Hereinafter, various embodiments of the present invention are described with reference to the accompanying drawings. However, this is not intended to limit the present invention to specific embodiments, and should be understood to include various modifications, equivalents, and/or alternatives to the embodiments of the present invention.

Below, with reference to the attached drawings, embodiments of the present invention will be described in detail so that those skilled in the art can easily implement the present invention. However, the present invention may be implemented in many different forms and is not limited to the embodiments described herein. In order to clearly explain the present invention in the drawings, parts that are not related to the description are omitted, and similar parts are given similar reference numerals throughout the specification.

Throughout the specification, when a part is said to “include” a certain element, this means that it may further include other elements rather than excluding other elements, unless specifically stated to the contrary. In addition, terms such as "... unit", "... unit", and "module" used in the specification refer to a unit that processes at least one function or operation, which may be implemented as hardware or software or a combination of hardware and software. there is.

In this document, expressions such as “have,” “may have,” “includes,” or “may include” refer to the relevant features (e.g., numerical values, functions, operations, or components such as parts). Indicates presence and does not exclude the presence of additional features.

In this document, expressions such as “A or B, “at least one of A or/and B,” or “one or more of A or/and B” may include all possible combinations of the items listed together. For example, “A or B”, “at least one of A and B”, or “at least one of A or B” (1) includes at least one A, (2) includes at least one B, or (3) it may refer to all cases including both at least one A and at least one B.

As used herein, expressions such as “first,” “second,” “first,” or “second” may describe various elements in any order and/or importance, and may refer to one element as another. It is only used to distinguish from components and does not limit the components. For example, a first user device and a second user device may represent different user devices regardless of order or importance. For example, a first component may be renamed a second component without departing from the scope of rights described in this document, and similarly, the second component may also be renamed to the first component.

Throughout the specification, when a part is said to be "connected" to another part, this includes not only the case where it is "directly connected," but also the case where it is "electrically connected" with another element in between. . In addition, when a part is said to "include" a certain component, this does not mean excluding other components unless specifically stated to the contrary, but may further include other components, and one or more other features. It should be understood that it does not exclude in advance the presence or addition of numbers, steps, operations, components, parts, or combinations thereof.

FIG. 1A is a view looking down at the automated vehicle body welding system 100 according to an embodiment, and FIG. 1B is a view of the automated vehicle body welding system 1000 according to an embodiment as viewed from the side.

1A and 1B, the vehicle body automated welding system 100 includes a welding object 101, a conveyor belt 102, a detection device 103, a sensor 104, a welding robot 106, and a rotation means ( 107) may be included. However, the system 100 is not limited to the components shown in FIGS. 1A and 1B, and some components may be omitted or added.

According to one embodiment, the welding object 101 includes a plurality of welding points that require welding, and may be understood as an object placed on the conveyor belt 102 and moved to a designated location for welding. For example, the object to be welded 101 may mean a vehicle body panel or a vehicle body frame.

According to one embodiment, the conveyor belt 102 may be understood as a device for transporting the welding object 101 to a designated point for welding through the welding robot 106. According to FIGS. 1A and 1B, the conveyor belt 102 can transport the object to be welded 101 in the -x-axis direction.

According to one embodiment, the sensing device 103 refers to a device for checking the location and number of welding points of the welding object 101 when the welding object 101 is located at a designated point on the conveyor belt 102. can do. For example, the sensing device 103 may refer to a camera, LiDAR sensor, or vision inspector. However, it is not limited to the above-described example and may refer to a device capable of identifying the number and location of welding points of the object 101 to be welded.

According to one embodiment, the sensing device 103 may include a first sensing device 103-1 and a second sensing device 103-2. The first sensing device 103-1 may be located on one side (e.g., +Y-axis direction) of the conveyor belt 102, and the second sensing device 103-2 may be located on the other side of the conveyor belt 102. (e.g. -Y axis direction). The first sensing device 103-1 is located at a location spaced apart from a specified point (e.g., reference line 105) of the conveyor belt 102 by a specified distance (e.g., 2 m) on one side (e.g., +Y axis direction). Can be installed. The second sensing device 103-2 is located at a location spaced apart from a specified point (e.g., reference line 105) of the conveyor belt 102 by a specified distance (e.g., 2 m) on the other side (e.g., -Y-axis direction). Can be installed. The specified distance is not limited to the illustrated distance and may include 1 m or 3 m.

According to FIG. 1A, the sensing device 103 may be understood as being located at a point spaced apart from the reference line 105 by a specified distance in the +Y-axis or -Y-axis direction, but may not be limited thereto. For example, the first sensing device 103-1 detects a specified distance (e.g., 1 m) in the +Y-axis direction from a point spaced apart from the reference line 105 by a first distance (e.g., 1 m) in the + : Can be installed at a distance of 2m). The second sensing device 103-2 is a specified distance (e.g., 2 m) in the -Y axis direction from a point spaced apart from the reference line 105 by a first distance (e.g., 1 m) in the +X or -X axis direction. It can be installed in a remote location.

According to one embodiment, the distance between the sensing device 103 and the conveyor belt 102 may be automatically adjusted. For example, the sensing device 103 can be moved closer or further away from the conveyor belt 102 by a specified distance, and a separate rail device can be provided for this purpose. That is, the sensing device 103 may be located on the rail device, and the distance from the conveyor belt 102 may be adjusted depending on the size of the welding object 101 or the number of welding points of the welding object 101. there is. For example, if the size of the object to be welded 101 is larger than the critical size, the sensing device 103 may be moved further away from the conveyor belt 102 in the Y-axis direction than its current position. If the size of the welding object 101 is smaller than the critical size, the sensing device 103 may be moved to be closer to the conveyor belt 102 in the Y-axis direction than the current position. For another example, if the number of welding points of the welding object 101 is greater than the critical number (e.g., 30), the sensing device 103 is moved closer to the conveyor belt 102 in the Y-axis direction than the current position. can be moved If the number of welding points of the object to be welded 101 is less than the critical number (eg, 30), the sensing device 103 may be moved further away from the conveyor belt 102 in the Y-axis direction than its current position.

According to one embodiment, when the sensing device 103 is a camera, the camera may change the shooting resolution of the camera depending on the size of the welding object 101 or the number of welding points included in the welding object 101. . For example, if the size of the welding object 101 is larger than the critical size, the camera may be set to a low resolution (eg, first resolution). If the size of the welding object 101 is smaller than the critical size, the resolution of the camera may be set to high resolution (eg, second resolution). For another example, when the number of welding points of the welding object 101 is greater than the critical number (eg, 30), the resolution of the camera may be set to high resolution (eg, second resolution). If the number of welding points of the welding object 101 is less than the critical number (eg, 30), the resolution of the camera may be set to a low resolution (eg, first resolution). The first resolution may mean 5 million pixels, and the second resolution may mean 8 million pixels.

According to one embodiment, the camera may photograph the welding object 101 to confirm the welding point of the welding object 101 according to a set resolution, and the captured data may be transmitted to the processor of the system 100 (e.g., FIG. It can be transmitted to the processor 201 of 2). The processor (e.g., the processor 201 in FIG. 2) may confirm the difference by comparing the number and location of welding points of the welding object 101 preset based on the photographed data with the number and location of welding points confirmed by photographing. .

According to one embodiment, the camera can obtain data on the brightness and darkness of the surface of the object 101 to be welded by photographing the surface, and transmit the data to the processor 201. Based on the data, the processor 201 may identify an area where the ratio of light and dark to the surface is greater than or equal to a specified ratio as a welding point. For example, the processor (eg, the processor 201 of FIG. 2 ) may determine an area where the light/dark ratio of the surface of the welded object 101 is 500:1 as the welding point of the welded object 101 . The processor 201 compares the number and positions of welding points of the welding object 101 that are preset based on data on the brightness and darkness of the surface of the welding object 101 and the welding points identified based on the brightness data. You can check the difference.

According to one embodiment, when the sensing device 103 is a LiDAR sensor, the LiDAR sensor moves according to the size of the welding object 101 or the number of welding points included in the welding object 101. The welding object 101 can be sensed while changing the speed. For example, when the size of the welding object 101 is larger than the critical size, the moving speed of the LiDAR sensor may be set to the first speed. When the size of the welding object 101 is smaller than the critical size, the moving speed of the LiDAR sensor may be set to the second speed. The first speed may be greater than the first speed. The moving speed may mean moving speed in a direction parallel to the conveyor belt 102.

According to one embodiment, the LIDAR sensor may sense the surface of the welded object 101 while moving around the welded object 101 located on the reference line 105 at a specified moving speed. The LiDAR sensor can transmit sensing data to the processor of the system 100, and the processor can identify the location and number of welding points of the welding object 101 based on the sensing data.

According to one embodiment, the LIDAR sensor may sense the welding object 101 to check the welding point of the welding object 101 according to a set movement speed, and the sensed data is transmitted to the processor of the system 100. (e.g., processor 201 in FIG. 2). The processor (e.g., processor 201 in FIG. 2) may check the difference by comparing the number and location of welding points of the welding object 101 preset through the sensed data with the number and location of welding points confirmed by photography.

According to one embodiment, the sensor 104 may be located at the lower part of the conveyor belt 102 and may identify the location of the object to be welded 101 on the conveyor belt 102. For example, the sensor 104 may include a LiDAR sensor or a position detection sensor, and may identify whether the position of the welding object 101 is at a designated position on the conveyor belt 102. For example, the processor of the system 100 may identify whether the welding object 101 is located on the reference line 105 of the conveyor belt 102 based on sensing data acquired through the sensor 104.

According to one embodiment, the welding robot 106 may mean a robot for welding the welding points of the welding object 101 when the welding object 101 on the conveyor belt 102 is located on the reference line 105. there is. For example, it is identified through the sensor 104 whether the - When positioned, the welding robot 106 can weld the welding points of the object 101 to be welded.

According to one embodiment, the welding robot 106 (or the processor of the system 100) performs the welding process identified through the location and number of welding points preset for each type or size of the welding object 101 and the detection device 103. By comparing the location and number of points, differences can be identified. Based on the identified difference value, the welding robot 106 changes the information of the welding points where there is a difference to the welding points identified through the sensing device 103, and based on the changed information, the sensing device 103 ) You can proceed with welding at the identified welding points.

According to one embodiment, the welding robot 106 may perform laser beam welding. The welding robot 106 may be a device designed to reduce the gap between two panels of the welding object 101 to within the length of the laser beam weldable range (eg, 0.3 mm). For example, the welding robot 106 may include a laser unit for performing laser beam welding and a pressurization unit for evenly pressing the area around the welding points of the two panels of the object to be welded 101 . For example, a pressurizing portion may be located around the laser portion from which the laser is emitted.

According to FIG. 1B, the rotation means 107 may be installed at a position spaced apart from the reference line 105 of the conveyor belt 102 by a specified distance (e.g., 5 m) in the +Z axis direction, and the rotation means 107 may be It may refer to a device in the form of two robot arms that can rotate an object (eg, the welding object 101) by a specified angle on the conveyor belt 102.

According to one embodiment, after the welding object 101 is transported to the baseline 104 on the conveyor belt 102, the sensor 104 located below the conveyor belt 102 detects the welding object 101 when it reaches the baseline 105. It is possible to identify whether the conveyor belt 102 is located in a direction and how much it has rotated based on the moving direction (e.g. -X-axis direction) of the conveyor belt 102. For example, the sensor 104 may identify that the object to be welded 101 has rotated clockwise by 30 degrees based on the -X axis direction. When the welding object 101 is rotated by a first angle (e.g., 30 degrees) in the first direction (e.g., clockwise) based on the moving direction (e.g., -X-axis direction) of the conveyor belt 102, the rotation means ( 107) is rotated by the first angle (e.g., 30 degrees) in a direction opposite to the first direction (e.g., counterclockwise), so that the welding object 101 moves in the moving direction of the conveyor belt 102 (e.g., -It can be manipulated to be parallel to the X-axis direction.

Figure 2 shows a block diagram of an automated vehicle body welding system 100 according to an embodiment.

Referring to Figure 2, the vehicle body automated welding system 100 includes a processor 201, a conveyor belt 102, a detection device 103, a sensor 104, a welding robot 106, and a rotation means 107. can do. Components of system 100 are not limited to those shown in FIG. 2 . The description in FIG. 1 of the components of system 100 (e.g., conveyor belt 102, sensing device 103, sensor 104, welding robot 106, and rotation means 107) is shown in FIG. The same can be applied to the explanation in 2.

According to one embodiment, the processor 201 is electrically connected to the components (e.g., conveyor belt 102, detection device 103, sensor 104, welding robot 106, and rotation means 107). and/or may be operably connected. The processor 201 may perform data communication with components (e.g., conveyor belt 102, sensing device 103, sensor 104, welding robot 106, and rotation means 107), Data can be processed and analyzed, and commands can be delivered to the above components.

According to one embodiment, the welding object 101 includes a plurality of welding points that require welding, and may be understood as an object placed on the conveyor belt 102 and moved to a designated location for welding. For example, the object to be welded 101 may mean a vehicle body panel or a vehicle body frame.

According to one embodiment, the sensing device 103 determines the location and number of welding points of the welding object 101 when the welding object 101 is located at a designated point on the conveyor belt 102. It may mean a device for checking. For example, the sensing device 103 may refer to a camera, LiDAR sensor, or vision inspector. However, it is not limited to the above-described example and may refer to a device capable of identifying the number and location of welding points of the object 101 to be welded.

According to one embodiment, the sensor 104 may be located at the lower part of the conveyor belt 102 and may identify the location of the object to be welded 101 on the conveyor belt 102. For example, the sensor 104 may include a LiDAR sensor or a position detection sensor, and may identify whether the position of the welding object 101 is at a designated position on the conveyor belt 102. For example, the processor of the system 100 may identify whether the welding object 101 is located on the reference line 105 of the conveyor belt 102 based on sensing data acquired through the sensor 104.

According to one embodiment, the welding robot 106 may mean a robot for welding the welding points of the welding object 101 when the welding object 101 on the conveyor belt 102 is located on the reference line 105. there is. For example, it is identified through the sensor 104 whether the - When positioned, the welding robot 106 can weld the welding points of the object 101 to be welded.

According to one embodiment, the rotation means 107 may be installed at a location spaced apart from the reference line 105 of the conveyor belt 102 by a specified distance (e.g., 5 m) in the +Z axis direction, and the rotation means 107 may refer to a device in the form of two robot arms that can rotate an object (eg, the welding object 101) by a specified angle on the conveyor belt 102.

FIG. 3 shows a flowchart of an operation for correcting welding points and performing welding using the automated vehicle body welding system 100 according to an embodiment.

The operations shown in FIG. 3 are not limited to the operation sequence shown in FIG. 3, and the operation sequence may be changed or the operations may be performed simultaneously.

In operation 301, the processor 201 (e.g., a processor of system 100) may control the conveyor belt 102 such that the object 101 to be welded is located at the reference line 105 of the conveyor belt 102. For example, according to FIG. 1A , the processor 201 may transport the conveyor belt 102 in the -X-axis direction so that the object to be welded 101 is positioned on the reference line 105 .

In operation 302, the processor 201 may identify whether the object to be welded 101 is located on the reference line 105 of the conveyor belt 102 through the sensor 104. If the welded object 101 is located on the reference line 105, the processor 201 performs operation 304, and if the welded object 101 is not located on the reference line 105, the processor 201 performs operation 303. It can be done.

In operation 303, the processor 201 may further move the conveyor belt 201 so that the welding object 101 is positioned at the reference line 105. For example, if the welding object 101 is moved further than the reference line 105 by a specified distance in the +X axis direction, the processor 201 adds the conveyor belt 201 in the -X axis direction by the specified distance. By moving, the welding object 101 can be positioned on the reference line 105. For another example, if the welding object 101 is moved further than the reference line 105 by a specified distance in the -X-axis direction, the processor 201 moves the conveyor belt 201 in the +X-axis direction by the specified distance. The pendulum may be moved so that the welding object 101 is positioned on the reference line 105.

In operation 304, the processor 201 may identify whether the object to be welded 101 is rotated based on the moving direction (eg, -X-axis direction) of the conveyor belt 102 through the sensor 104. For example, the processor 201 may identify whether the object to be welded 101 is rotated by a first angle (eg, 30 degrees) in the first direction (eg, clockwise) based on the direction of movement. For another example, the processor 201 may identify whether the object to be welded 101 is rotated by a second angle (eg, 40 degrees) in a second direction (eg, counterclockwise) based on the direction of movement. Examples of the first angle and the second angle are not limited to the above-described examples, and various angles are possible. When the welding object 101 is rotated based on the moving direction of the conveyor belt 102, the processor 201 performs operation 305, and when the object 101 is not rotated, the processor 201 performs operation 306. there is.

In operation 306, when the welding object 101 is located at the reference line 105 of the conveyor belt 102 and is parallel to the moving direction of the conveyor belt 102, the processor 201 processes the welding object 101. Differences can be identified by comparing information about the location and number of welding points preset for each type and size with information about the location and number of welding points of the welding object 101 obtained through the sensing device 103. .

In operation 307, the processor 201 sets the positions of the welding points where there is no difference to the positions of preset welding points, and sets the positions of the welding points where there is a difference to the positions of the welding points obtained through the sensing device. Thus, laser beam welding can be performed.

According to one embodiment, the vehicle body automated welding system 100 includes a welding object 101 including a plurality of welding points, a conveyor belt 102 for transporting the welding object to a designated location, and a lower portion of the conveyor belt. a sensor 104 for detecting the position and rotation state of the welding object, and a rotation means installed on the upper part of the conveyor belt to rotate the welding object clockwise or counterclockwise based on the moving direction of the conveyor belt. (107), a sensing device 103 for confirming the position and number of the plurality of welding points, a laser unit that emits a laser for laser beam welding, and a laser unit disposed along the circumference of the laser unit to pressurize the surface of the object to be welded. It may include a welding robot 106 including a pressing part, the conveyor belt, the sensor, the rotation means, the sensing device, and a processor 201 electrically connected to the welding robot. The processor 201 controls the conveyor belt so that the welding object placed on the conveyor belt 102 is located at a designated point of the conveyor belt, and the welding object is moved in a first direction from the designated point. When located at a first point spaced apart by the length, the conveyor belt is controlled to move the welded object on the conveyor belt by the first length in a second direction opposite to the first direction, and the specified When the welding object placed at the point is rotated by a first angle in the third direction based on the moving direction of the conveyor belt, the welding object is rotated on the conveyor belt by the first angle in the fourth direction opposite to the third direction. The rotation means is controlled to rotate, and information on the position and number of welding points preset in response to the type and size of the welding object is obtained through the sensing device. Differences are identified by comparing information, the positions of welding points where there are no differences are set to the positions of preset welding points, and the positions of welding points where there are differences are obtained through the sensing device. The positions of the points are set, and the welding robot can perform laser beam welding on the object to be welded according to the positions of the set welding points.

According to one embodiment, the sensing device may include a camera with a resolution of 5 million or 8 million pixels or a lidar sensor provided with a rail device so that it can move in a direction parallel to the moving direction of the conveyor belt. there is.

According to one embodiment, the processor adjusts the resolution of the camera based on the size of the welding object or the number of welding points identified according to the user's input, and the method of adjusting the resolution includes the size of the welding object. When is larger than the critical size, setting the camera to a first resolution, and when the size of the welding object is smaller than the critical size, setting the camera to a second resolution that is higher resolution than the first resolution. You can.

According to one embodiment, the processor acquires contrast data on the surface of the welding object based on photographed data of the surface of the welding object through the camera, and based on the contrast data, determines the brightness and darkness of the welding object. An area where the ratio is greater than or equal to a specified ratio may be identified as a welding point of the object to be welded.

According to one embodiment, the processor changes the moving speed of the LiDAR sensor based on the size of the welding object or the number of welding points identified according to the user's input, and the method of changing the moving speed includes the If the size of the welding object is larger than the critical size, the moving speed of the lidar sensor in a direction parallel to the moving direction of the conveyor belt is set to a first speed, and if the size of the welding object is smaller than the critical size , may include a method of setting a second speed smaller than the first speed.

According to one embodiment, the processor adjusts the distance that the sensing device is spaced from the conveyor belt based on the size of the welding object or the number of welding points identified according to the user's input, and adjusts the spaced distance. The adjusting method is to adjust the sensing device so that the distance between the sensing device and the conveyor belt at the current position becomes larger when the size of the welding object is larger than the critical size, and when the size of the welding object is smaller than the critical size. In this case, it may include a method of adjusting the sensing device so that the distance between the sensing device and the conveyor belt becomes smaller at the current location.

According to one embodiment, the pressing unit of the welding robot may pressurize the gap between the welding points of the welding object to be within 0.3 mm.

Claims (7)

In the car body automated welding system,
A welding object including a plurality of welding points;
a conveyor belt transporting the welded object to a designated location;
A sensor installed at the lower part of the conveyor belt to detect the position and rotation state of the welding object;
Rotating means installed on the upper part of the conveyor belt and rotating the welding object clockwise or counterclockwise based on the moving direction of the conveyor belt;
A sensing device for checking the location and number of the plurality of welding points;
A welding robot including a laser unit that emits a laser for laser beam welding and a pressurizing unit disposed along the circumference of the laser unit and pressing the surface of the object to be welded;
Comprising a processor electrically connected to the conveyor belt, the sensor, the rotation means, the sensing device, and the welding robot,
The processor:
Controlling the conveyor belt so that the welding object placed on the conveyor belt is located at a designated point on the conveyor belt,
When the welding object is located at a first point spaced apart by a first length in a first direction from the designated point, the welding object moves on the conveyor belt by the first length in a second direction opposite to the first direction. Control the conveyor belt to
When the welding object placed at the designated point through the sensor rotates by a first angle in the third direction based on the moving direction of the conveyor belt, the welding object is rotated by the first angle in the fourth direction opposite to the third direction. Controlling the rotation means to rotate on the conveyor belt by an angle,
Identifying differences by comparing information on the location and number of welding points preset in response to the type and size of the welding object with information on the position and number of welding points of the welding object obtained through the sensing device,
The positions of the welding points where there is no difference are set to the positions of preset welding points, and the positions of the welding points where there is a difference are set to the positions of the welding points of the object to be welded obtained through the sensing device. Performing laser beam welding on the welding object according to the positions of the set welding points using a robot,
The sensing device includes a camera with a resolution of 5 or 8 million pixels or a lidar sensor equipped with a rail device to enable movement in a direction parallel to the moving direction of the conveyor belt,
The processor:
Adjusting the resolution of the camera based on the size of the welding object or the number of welding points identified according to the user's input,
To adjust the above resolution:
If the size of the welding object is larger than the critical size, set the camera to a first resolution,
When the size of the welding object is smaller than the threshold size, the system sets the camera to a second resolution that is higher than the first resolution.
In claim 1,
The processor:
Obtaining contrast data on the surface of the welded object based on photographed data of the surface of the welded object through the camera,
Based on the light and dark data, the system identifies an area where the light and dark ratio is greater than or equal to a specified ratio as a welding point of the object to be welded.
In claim 1,
The processor:
Changing the moving speed of the LiDAR sensor based on the size of the welding object or the number of welding points identified according to the user's input,
To change the above movement speed:
When the size of the welding object is larger than the critical size, the moving speed of the lidar sensor in a direction parallel to the moving direction of the conveyor belt is set to a first speed,
If the size of the object to be welded is smaller than the critical size, the system is set to a second speed that is smaller than the first speed.
In claim 1,
The processor:
Based on the size of the welding object or the number of welding points identified according to the user's input, the sensing device adjusts the distance separated from the conveyor belt,
How to adjust the above distance:
If the size of the welding object is larger than the critical size, adjust the sensing device so that the distance between the sensing device and the conveyor belt at the current position becomes larger,
When the size of the object to be welded is smaller than the critical size, the system adjusts the sensing device so that the distance between the sensing device and the conveyor belt at the current position is smaller.
In claim 1,
A system in which the pressurizing part of the welding robot pressurizes the gap between the welding points of the welding object to within 0.3mm.
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