KR102651439B1 - system for a cowl cross using laser vision sensor - Google Patents

Abstract

The present invention relates to a welding gap and tracking line compensation system for cowl cross parts using a laser vision sensor. More specifically, the present invention relates to a cowl cross part welding gap and tracking line compensation system using a laser vision sensor while positioning and loading cowl cross parts. About the weld gap and trace line compensation system for cowl cross parts using a laser vision sensor, which can reduce the increase in repair welding as before by checking the weld gap and trace line on the cowl cross part and then proceeding with actual welding or compensation welding. will be.

Description

Cowl cross component welding gap and tracking line compensation system using a laser vision sensor {system for a cowl cross using laser vision sensor}

The present invention relates to a welding gap and tracking line compensation system for cowl cross parts using a laser vision sensor. More specifically, the present invention relates to a cowl cross part welding gap and tracking line compensation system using a laser vision sensor while positioning and loading cowl cross parts. About the weld gap and trace line compensation system for cowl cross parts using a laser vision sensor, which can reduce the increase in repair welding as before by checking the weld gap and trace line on the cowl cross part and then proceeding with actual welding or compensation welding. will be.

A cowl cross (or cowl cross part) is a body made by assembling and manufacturing various parts (brackets, bolts, etc.) made through a press process on a given steel pipe by welding. It refers to a device that has been achieved.

The welding at this time is mainly arc welding such as CO2 and CMT, and it is known that about 20 to 30 small parts are assembled at each location.

Meanwhile, arc welding is known to be very difficult to optimize due to not only molding variations between parts but also deformation due to heat generated during welding (welding heat).

However, as described above, the cowl cross is a method in which numerous brackets, parts, bolts, etc. are assembled by welding, so welding defects in parts inevitably occur frequently, which inevitably leads to an increase in repair welding. Conventionally, the number of workers employed for such repair welding is Considering that a lot of loss occurs due to the time required, there is a need to develop technology to solve this problem.

Korea Intellectual Property Office Application No. 10-2015-0181567

The purpose of the present invention is to check the weld gap and trace line on the cowl cross part using a laser vision sensor while loading the cowl cross part in a fixed position and then proceed with actual welding or compensation welding. It provides a cowl cross component welding gap and tracking line compensation system using a laser vision sensor that can reduce the increase in repair welding as before.

The above purpose includes a cowl cross parts loading step of loading the cowl cross parts by seating them on a fixed loading device provided to be fixed in position; A cowl cross parts scanning step using a laser vision sensor to scan cowl cross parts loaded on the fixed loading device using a laser vision sensor mounted on a sensor robot; and a weld gap and trace line confirmation step of checking the weld gap and trace line on the cowl cross part based on scan information. This is achieved by a weld gap and trace line compensation method using a laser vision sensor.

A welding condition changing step of changing welding conditions of a robot welder disposed adjacent to the laser vision sensor based on the confirmed welding gap and tracking line information; And it may further include a compensation welding step of performing compensation welding on the cowl cross part using the robot welder after the welding conditions are changed.

The above object is a fixed loading device in which cowl cross parts are seated and loaded in a fixed position; A sensor robot equipped with a laser vision sensor that scans the cowl cross parts so as to check weld gaps and tracking lines on the cowl cross parts, and disposed around the fixed loading device; and a robot welder that is disposed on the same side as the sensor robot with respect to the cowl cross part and performs compensation welding on the cowl cross part. A weld gap and tracking line compensation system using a laser vision sensor. It is also achieved by

Based on the scan information of the laser vision sensor, the welding gap and tracking line on the cowl cross part are confirmed, and the welding conditions of the robot welder are controlled to change based on the confirmed welding gap and tracking line information, and then the welding conditions are changed. After this change, it may further include a system controller that controls compensation welding through the robot welder to proceed.

A final inspection jig device including a base plate and a plurality of holding units provided at each location on the base plate to fix the assembled product for inspection of the assembled product after welding is completed, and on which the assembled product is mounted; A laser scanner that three-dimensionally scans the assembled product mounted on the final inspection jig device with a laser; an appearance and welding quality confirmation unit that checks the appearance and welding quality of the assembled product based on information scanned by the laser scanner; and a notification generator that generates a notification about products with poor quality, wherein the system controller can control the operation of the notification generator based on signals or information from the laser scanner and the exterior and welding part quality checker.

According to the present invention, the cowl cross parts are positioned fixed and loaded, and the weld gap and trace line on the cowl cross parts are checked using a laser vision sensor, and then actual welding or compensation welding is performed, thereby eliminating the previous problem. Like this, it has the effect of reducing the increase in repair welding.

Figure 1 is a flowchart of a method for compensating welding gaps and tracking lines for cowl cross components using a laser vision sensor according to an embodiment of the present invention.
Figure 2 is a structural diagram of the fixed loading device area in the cowl cross component welding gap and tracking line compensation system using a laser vision sensor according to an embodiment of the present invention.
Figure 3 is a perspective view of a cowl cross component loaded into a fixed loading device.
Figure 4 is a structural diagram of the final inspection jig device area in the cowl cross component welding gap and tracking line compensation system using a laser vision sensor according to an embodiment of the present invention.
Figure 5 is a control block diagram of a cowl cross component welding gap and tracking line compensation system using a laser vision sensor according to an embodiment of the present invention.

The advantages and features of the present invention and methods for achieving them will become clear by referring to the embodiments described in detail below along with the accompanying drawings.

However, the present invention is not limited to the embodiments disclosed below and will be implemented in various different forms.

In this specification, the present embodiments are provided to ensure that the disclosure of the present invention is complete and to fully inform those skilled in the art of the scope of the invention. And the present invention is only defined by the scope of the claims.

Accordingly, in some embodiments, well-known components, well-known operations and well-known techniques are not specifically described in order to avoid ambiguous interpretation of the present invention.

Like reference numerals refer to like elements throughout the specification. And the terms used (mentioned) in this specification are for describing embodiments and are not intended to limit the present invention.

In this specification, singular forms also include plural forms unless specifically stated in the phrase. Additionally, components and operations (operations) referred to as 'include (or, provided with)' do not exclude the presence or addition of one or more other components and operations.

Unless otherwise defined, all terms (including technical and scientific terms) used in this specification may be used with meanings that can be commonly understood by those skilled in the art to which the present invention pertains.

Additionally, terms defined in commonly used dictionaries are not interpreted ideally or excessively unless they are defined.

Hereinafter, preferred embodiments of the present invention will be described with reference to the accompanying drawings.

Figure 1 is a flowchart of a cowl cross component welding gap and tracking line compensation method using a laser vision sensor according to an embodiment of the present invention, and Figure 2 is a cowl cross component welding gap using a laser vision sensor according to an embodiment of the present invention. and a structural diagram of the fixed loading device area in the tracking line compensation system, Figure 3 is a perspective view of the cowl cross component loaded in the fixed loading device, and Figure 4 is a cowl cross component using a laser vision sensor according to an embodiment of the present invention. FIG. 5 is a structural diagram of the final inspection jig device area in the weld gap and tracking line compensation system, and FIG. 5 is a control block diagram of the cowl cross component welding gap and tracking line compensation system using a laser vision sensor according to an embodiment of the present invention. This is a control block diagram of a welding gap and tracking line compensation system using a laser vision sensor.

Referring to these drawings, the present invention is to load the cowl cross (10) part by fixing its position and detect the weld gap and tracking on the cowl cross (10) part using a laser vision sensor (123). By checking the line and then proceeding with actual welding or compensation welding, it is possible to reduce the increase in repair welding as before.

The present invention, which can provide such effects, includes a cowl cross component welding gap and tracking line compensation method using a laser vision sensor as shown in FIG. 1, and a cowl cross component welding gap and tracking line compensation method using a laser vision sensor as shown in FIGS. 2 to 5. The scope of rights may be applied to the tracking line compensation system.

First, referring to Figure 1, the welding gap and tracking line compensation method using a laser vision sensor includes a cowl cross component loading step (S110), a cowl cross component scanning step using a laser vision sensor (S120), and a welding gap and tracking line confirmation step. (S130), a welding condition change step (S140), and a compensation welding progress step for cowl cross parts (S150).

The cowl cross component loading step (S110) is a process of loading the cowl cross (10) component by seating it on a fixed loading device (110) that is provided to be fixed in position as shown in FIGS. 2 and 3.

The cowl cross parts scanning step (S120) using a laser vision sensor is a cowl cross (10) loaded on a fixed loading device (110) using a laser vision sensor (123, laser vision sensor) mounted on the sensor robot (120). This is a process of scanning parts. The gap for all welds can be measured.

The welding gap and tracking line confirmation step (S130) is a process of checking the welding gap and tracking line on the cowl cross 10 part based on scan information.

The welding condition changing step (S140) is a process of changing the welding conditions of the robot welder 130 placed adjacent to the laser vision sensor 123 based on the confirmed welding gap and tracking line information.

The compensation welding progress step (S150) of the cowl cross parts is a process of performing compensation welding on the cowl cross parts (10) using the robot welder 130 after the welding conditions are changed. Compensation welding is an automatic welding process using a robot welder (130).

The welding gap and tracking line compensation system according to this embodiment for carrying out this process step by step includes a fixed loading device (110), a sensor robot (120) equipped with a laser vision sensor (123), It may include a robot welder 130, a final inspection jig device 140, a laser scanner 150, an appearance and welding zone quality check unit 160, and a system controller 170.

The fixed loading device 110 forms a place where the cowl cross 10 components are seated and loaded, as shown in FIGS. 2 and 3. In particular, in the case of this embodiment, the cowl cross 10 component is loaded in a fixed position on the fixed loading device 110.

Referring to FIG. 3, the cowl cross 10, as described above, is an assembly unit made of steel and dozens of parts assembled by welding. That is, the cowl cross 10 is a composite product in which a plurality of parts manufactured through a press process are assembled on a plurality of first and second pipes 11 and 12 by welding.

To manufacture the cowl cross 10, a fixed loading device 110 is provided, that is, a place where the parts forming the cowl cross 10 are loaded and assembled by welding.

The fixed loading device 110 is used to weld the parts forming the cowl cross 10 including the first and second pipes 11 and 12 connected at different heights. This forms the loading location.

The first and second pipes (11, 12), which are initially loaded into the fixed loading device (110), must be firmly positioned so as not to shake, so that numerous parts in the first and second pipes (11, 12) are accurately positioned in each position. Can be welded.

To this end, the fixed loading device 110 may include a loading base 111 and a plurality of clamping units 113 provided at each location on the loading base 111.

The loading base 111 includes a plurality of clamping units 113 and supports the cowl cross 10 components.

And, the clamping units 113 clamp the first and second pipes 11 and 12 forming the cowl cross 10 or parts welded thereto at the corresponding positions. Accordingly, multiple clamping units 113 are provided and mounted on the loading base 111 with different sizes and directions.

The sensor robot 120 is a robot placed around the fixed loading device 110 and includes a laser vision sensor (123) that scans the cowl cross (10) part to check the weld gap and tracking line on the cowl cross (10) part. , laser vision sensor) is installed.

The laser vision sensor 123 is a non-contact sensor that detects weld lines on a member or structure, especially weld gaps and tracking lines, with a laser, while automatically tracking the movement and accurately positioning the robot welder 130 in real time. As a result, the sensing value is more accurate than other sensors.

As shown in FIG. 2, the robot welder 130 is placed on the same side as the sensor robot 120 with respect to the cowl cross 10 parts, and is a device that performs compensation welding on the cowl cross 10 parts. Here, compensation welding includes welding the originally determined target position and welding a new welding position that has been re-tracked and corrected through the laser vision sensor 123.

The final inspection jig device 140 is a device different from the fixed loading device 110 as shown in FIG. 4, and serves as a place where the assembled product 10 after welding is completed is placed.

The final inspection jig device 140 may include a base plate 141 and a plurality of holding units 143 provided at each location on the base plate 141. The final assembled product for which compensation welding has been completed can be seated on the base plate 141 through the plurality of holding units 143. At this time, the holding units 143 hold the assembled product at the corresponding position. Accordingly, several holding units 143 are provided and mounted on the base plate 141 with different sizes and directions.

The laser scanner 150 serves to scan the assembled product mounted on the final inspection jig device 140 in three dimensions with a laser. This laser scanner 150 may include a scanner support 151 and a scanning module 152 that is provided at an end of the scanner support 151 and actually performs a scanning operation.

Considering that the length of the assembled product is long, the laser scanner 150 in this embodiment is a position-fixed type in that scanning must be performed on the long assembled product mounted on the final inspection jig device 140. Instead, it is implemented as a mobile type, that is, an electric type. For this purpose, the following configurations are added.

The laser scanner 150 is connected to a second moving module 155 that supports the laser scanner 150 so as to be movable.

The second moving module 155 can move along the X-axis and Y-axis, which are the coordinates of FIG. 4. For this purpose, a second X-axis gantry 156 and a second Y-axis gantry 157 are provided.

The second X-axis gantry 156 is connected to the second moving module 155 and serves to move the second moving module 155 to a predetermined It is connected to the X-axis gantry 156 and serves to move the second X-axis gantry 156 along the Y-axis crossing the X-axis.

And a second up/down driver 158 is connected between the second moving module 155 and the vision device 150. The second up/down driving unit 158, which can be applied as a cylinder, serves to drive the vision device 150 up/down in the Z-axis, which is the vertical direction.

In addition to the second up/down driver 158, the second X-axis gantry 156 and the second Y-axis gantry 157 are applied, and as the second moving module 155 operates, the laser scanner 150 The scanning module 152 can access the assembled product and scan it in three dimensions with a laser.

The appearance and welding part quality check unit 160 serves to check the appearance and welding part quality of the assembled product based on information scanned by the laser scanner 150.

The appearance and welding part quality check unit 160 may be a sensor, a camera, or a computer device with a separate program built in, and may operate in conjunction with the system controller 170. Of course, in some cases, the appearance and weld quality check unit 160 may be an element of the system controller 170.

The notification generator 165 serves to generate a notification about products with poor quality. Notification generation methods can vary, including lamps, buzzers, or information transmission to an administrator terminal.

Meanwhile, this system is further equipped with a system controller 170 for organic control of the system.

The system controller 170 confirms the welding gap and tracking line on the cowl cross 10 part based on the scan information of the laser vision sensor 123, and the robot welder 130 based on the confirmed welding gap and tracking line information. ) is controlled to change the welding conditions, and then controlled to proceed with compensation welding through the robot welder 130 after the welding conditions are changed.

In addition, the system controller 170 controls the operation of the notification generator 165 based on signals or information from the laser scanner 150 and the appearance and welding zone quality checker 160 to proceed with the inspection process.

The system controller 170 that performs this role may include a central processing unit (171, CPU), memory (172, MEMORY), and a support circuit (173, SUPPORT CIRCUIT).

In this embodiment, the central processing unit 171 confirms the weld gap and trace line on the cowl cross 10 part based on the scan information of the laser vision sensor 123, and based on the confirmed weld gap and trace line information It can be one of various computer processors that can be applied industrially to control the welding conditions of the robot welder 130 to be changed and then to control compensation welding through the robot welder 130 after the welding conditions are changed. there is.

Memory 172 (MEMORY) is connected to the central processing unit 171. Memory 172 is a computer-readable recording medium that can be installed locally or remotely, for example, in a readily available storage medium such as random access memory (RAM), ROM, floppy disk, hard disk, or any other digital storage form. It may be at least one memory.

The support circuit 173 (SUPPORT CIRCUIT) is combined with the central processing unit 171 to support typical operations of the processor. This support circuit 173 may include a cache, power supply, clock circuit, input/output circuit, subsystem, etc.

In this embodiment, the system controller 170 confirms the welding gap and tracking line on the cowl cross 10 component based on the scan information of the laser vision sensor 123, and based on the confirmed welding gap and tracking line information. After controlling to change the welding conditions of the robot welder 130, compensation welding is controlled to proceed through the robot welder 130 after the welding conditions are changed. This series of control processes, etc., will be stored in the memory 172. You can. Typically, software routines may be stored in memory 172. Software routines may also be stored or executed by other central processing units (not shown).

Although the process according to the present invention has been described as being executed by software routines, it is also possible that at least some of the processes according to the present invention are performed by hardware. As such, the processes of the present invention may be implemented as software running on a computer system, as hardware such as an integrated circuit, or as a combination of software and hardware.

According to this embodiment, which operates based on the structure described above, the cowl cross (10) is loaded by fixing the position of the cowl cross (10) using a laser vision sensor (123). 10) By checking the weld gap and trace line on the part and then proceeding with actual welding or compensation welding, it is possible to reduce the increase in repair welding as before.

As such, the present invention is not limited to the described embodiments, and it is obvious to those skilled in the art that various modifications and changes can be made without departing from the spirit and scope of the present invention. Therefore, it should be said that such modifications or variations fall within the scope of the claims of the present invention.

10: cowl cross 110: fixed loading device
111: loading base 113: clamping unit
120: sensor robot 123: laser vision sensor
130: Robot welder 140: Final inspection jig device
150: Laser scanner 160: Appearance and welding quality check unit
165: Notification generator 170: System controller

Claims (5)

delete delete A fixed loading device in which cowl cross parts are seated and loaded in a fixed position;
A sensor robot equipped with a laser vision sensor that scans the cowl cross parts so as to check weld gaps and tracking lines on the cowl cross parts, and disposed around the fixed loading device;
A robot welder disposed on the same side as the sensor robot with respect to the cowl cross part and performing compensation welding on the cowl cross part;
Based on the scan information of the laser vision sensor, the welding gap and tracking line on the cowl cross part are confirmed, and the welding conditions of the robot welder are controlled to change based on the confirmed welding gap and tracking line information, and then the welding conditions are changed. A system controller that controls compensation welding through the robot welder after this change;
A final inspection jig device including a base plate and a plurality of holding units provided at each location on the base plate to fix the assembled product for inspection of the assembled product after welding is completed, and on which the assembled product is mounted;
A laser scanner that three-dimensionally scans the assembled product mounted on the final inspection jig device with a laser;
an appearance and welding quality confirmation unit that checks the appearance and welding quality of the assembled product based on information scanned by the laser scanner; and
It includes a notification generating unit that generates a notification about products with poor quality,
The system controller controls the operation of the notification generator based on signals or information from the laser scanner and the appearance and weld quality check unit. A cowl cross component welding gap and tracking line compensation system using a laser vision sensor. delete delete

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