KR20230101301A - Manufacturing system and method for a cowl cross - Google Patents

Abstract

The present invention relates to a cowl cross component welding quality inspection system and a cowl cross component welding quality inspection method using the same. The cowl cross parts welding quality inspection system of the present invention includes a cowl cross parts welding device for welding cow cross parts through a predetermined welding process; And after the welding process of the cowl cross component welding device unit, a cowl cross component welding quality inspection unit inspecting the welding quality of the finished cowl cross component, which is a welded assembly product, wherein the cowl cross component welding device unit includes a plurality of dog moving device; First and second movable loading devices of a dual structure that are movably mounted on the moving devices and have cow cross parts mounted and loaded on the respective devices; It is provided in common between the first and second movable loading devices, and the first and second cowls can check the welding lines on the first and second cowl cross parts seated on the first and second movable loading devices, respectively. A common sensor robot equipped with a common laser vision sensor that scans cross parts; It is provided in common between the first and second movable loading devices adjacent to the common sensor robot, and includes a common robot welding machine for performing compensation welding on the first and second cowl cross parts, and the cowl cross is completed. The component welding quality inspection unit includes a base plate and a plurality of holding units provided for each position on the base plate and fixing the assembly product to inspect the assembly product formed after welding is completed, but the final assembly product is seated. inspection jig device; an inspection laser vision sensor for three-dimensionally scanning the assembled product seated on the final inspection jig device with a common laser vision sensor; and a system controller for controlling the welding quality of the cowl cross finished part to be inspected based on the sensing value of the inspecting laser vision sensor.

Description

Cowl cross parts welding quality inspection system and cowl cross parts welding quality inspection method using the same {Manufacturing system and method for a cowl cross}

The present invention relates to a cowl cross part welding quality inspection system and a cowl cross part welding quality inspection method using the same, and more particularly, after cutting a welded part, departs from the classical method of inspecting the welding quality of the cut surface. It is possible to inspect the welding quality of the cowl cross parts without cutting the welded part, and as a result, the manpower and time required for inspection can be significantly reduced compared to the prior art. It relates to a cowl cross part welding quality inspection system and a cowl cross part welding quality inspection method using the same.

Cowl Cross (or cowl cross parts) is a body made by assembling and manufacturing several parts (brackets, bolts, etc.) manufactured by a press process on a predetermined steel pipe by welding. refers to a device that has

At this time, arc welding such as CO2 and CMT is the mainstream, and it is known that 20 to 30 small parts are assembled by position.

On the other hand, the quality of the fusion welding is determined by checking not only the shape of the bead that is visible in appearance, but also the shape of the weld cross section.

At this time, in the existing cowl cross parts welding quality inspection method, some samples are taken from the cowl cross parts and cut to check the quality of the welding, but the quality of the unconfirmed parts is judged by the sample inspection result. Inspection is impossible, and there is a problem in that a lot of manpower and time are required for inspection.

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

An object of the present invention is to deviate from the classical method of inspecting the welding quality of the corresponding cut surface after cutting the welded part, to inspect the welding quality of the cowl cross part without cutting the welded part, and thereby inspect the manpower required for inspection. And it is to provide a cowl cross part welding quality inspection system and a cowl cross part welding quality inspection method using the same, which can easily and simply perform total inspection of products as needed because the time can be significantly reduced compared to the prior art.

The above object is, through a predetermined welding process cowl cross (Cowl Cross) parts welding device for welding the cowl cross parts; And after the welding process of the cowl cross component welding device unit, a cowl cross component welding quality inspection unit inspecting the welding quality of the finished cowl cross component, which is a welded assembly product, wherein the cowl cross component welding device unit includes a plurality of dog moving device; First and second movable loading devices of a dual structure that are movably mounted on the moving devices and have cow cross parts mounted and loaded on the respective devices; It is provided in common between the first and second movable loading devices, and the first and second cowls can check the welding lines on the first and second cowl cross parts seated on the first and second movable loading devices, respectively. A common sensor robot equipped with a common laser vision sensor that scans cross parts; It is provided in common between the first and second movable loading devices adjacent to the common sensor robot, and includes a common robot welding machine for performing compensation welding on the first and second cowl cross parts, and the cowl cross is completed. The component welding quality inspection unit includes a base plate and a plurality of holding units provided for each position on the base plate and fixing the assembly product to inspect the assembly product formed after welding is completed, but the final assembly product is seated. inspection jig device; an inspection laser vision sensor for three-dimensionally scanning the assembled product seated on the final inspection jig device with a common laser vision sensor; and a system controller for controlling the welding quality of the finished cowl cross component to be inspected based on the sensing value of the inspection laser vision sensor.

The system controller extracts the profile of the weld bead of the welded part of the cowl cross finished part detected by the inspection laser vision sensor, classifies and preprocesses the data stored in the database based on the profile of the extracted weld bead, Using an artificial neural network, the tensile strength of the welded part can be predicted and controlled.

The system controller controls the operation of the shared robot welder, but generates a plurality of welding data including a welding torch angle, welding speed, welding current, and welding voltage during compensation welding of the cowl cross part by the shared robot welder. It is possible to control the use of optimized welding correction condition data created based on this.

On the other hand, the above object, the cowl cross component welding step of welding the cowl cross (Cowl Cross) component through a predetermined welding process by the cowl cross component welding device; And a cowl cross finished part welding quality inspection step of inspecting the welding quality of the cowl cross finished part, which is an assembled product that has been welded through a cowl cross finished part welding quality inspection unit, wherein the cowl cross part welding step includes a plurality of moving ( moving device installation step of installing a moving device; A movable loading device mounting step of mounting a movable loading device on each of the moving devices to form a dual structure; First and second cowl cross component loading steps of loading and loading cow cross components on the dual first and second movable loading devices mounted on the moving device to be movable ; Scanning the first cowl cross part loaded on the first movable loading device by using a common laser vision sensor mounted on a common sensor robot operating in common between the first and second movable loading devices A first cowl cross component scanning step using a common laser vision sensor; a first cowl cross component welding line confirmation step of confirming a weld line on a first cowl cross component loaded on the first movable loading device based on the scan information; A welding condition change step of a common robot welder for changing welding conditions of a common robot welder disposed adjacent to the common laser vision sensor based on the identified welding line information of the first cowl cross part; and a first cowl cross part compensation welding progress step of performing compensation welding on the first cowl cross part using the common robot welder after welding conditions are changed. is also achieved by

The welding quality inspection step of the cowl cross finished part may include: an assembly product seating step of seating the finished cowl cross part in a predetermined final inspection jig device; A welding bead detection step of detecting a welding bead for a welded portion of the cowl cross finished part using a laser vision sensor; A welding bead profile extraction step of extracting a profile for a welding bead of the detected weldment; A data classification and pre-processing step of classifying and pre-processing the data stored in the database based on the profile of the extracted welding bead; And a tensile strength prediction step of predicting the tensile strength of the corresponding welded part using an artificial neural network, and when the common robot welder performs compensation welding on the first cowl cross part, it is simultaneously mounted on the common sensor robot. After the common laser vision sensor scans the second cowl cross part loaded on the second movable loading device, based on the scan information, the welding line on the second cowl cross part loaded on the second movable loading device can be identified. there is.

According to the present invention, it is possible to inspect the welding quality of cowl cross parts without cutting the welded part, departing from the classical method of inspecting the welding quality of the cut surface after cutting the welded part, thereby requiring manpower and Since the time can be significantly reduced compared to the prior art, there is an effect of easily and simply performing a total inspection of the product as needed.

1 is a schematic layout of a cowl cross component welding quality inspection system according to an embodiment of the present invention.
2 and 3 are operational structural diagrams of the movable loading device region in the welding quality inspection system of the cowl cross parts of FIG.
4 is a perspective view of a state in which first and second cowl cross parts are loaded into first and second movable loading devices.
5 is a structural diagram of a final inspection jig device area in the cowl cross component welding quality inspection system of FIG. 1;
6 is a control block diagram of a welding quality inspection system for cowl cross parts of FIG. 1 of FIG. 1;
7 is a flowchart of a method for inspecting welding quality of cowl cross parts according to an embodiment of the present invention.

Advantages and features of the present invention, and methods for achieving them, will become clear with reference to the embodiments described below in detail in conjunction 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, this embodiment is provided to make the disclosure of the present invention complete, and to completely inform those skilled in the art of the scope of the invention to which the present invention belongs. And the invention is only defined by the scope of the claims.

Thus, in some embodiments, well-known components, well-known operations and well-known techniques have not been described in detail in order to avoid obscuring the interpretation of the present invention.

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

In this specification, the singular form also includes the plural form unless otherwise specified in written phrases. Also, components and operations (actions) referred to as 'include (or include)' 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 in a meaning commonly understood by those of ordinary skill in the art to which the present invention belongs.

In addition, 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.

1 is a schematic layout of a cowl cross component welding quality inspection system according to an embodiment of the present invention, FIG. 2 and FIG. 3 are an operation structure diagram of a movable loading device area in the cowl cross component welding quality inspection system of FIG. 1, 4 is a perspective view of a state in which the first and second cowl cross parts are loaded into the first and second movable loading devices; 6 is a control block diagram of the cowl cross component welding quality inspection system of FIG. 1 of FIG. 1, and FIG. 7 is a flow chart of a cowl cross component welding quality inspection method according to an embodiment of the present invention.

Referring to these drawings, the present invention deviate from the classical method of inspecting the welding quality of the corresponding cut surface after cutting the welded part without cutting the welded part and the welding quality of the cowl cross (10a, 10b, 10') It can be inspected, and as a result, the manpower and time required for inspection can be significantly reduced compared to the prior art, so that the total inspection of the product can be easily and conveniently performed as needed. Hereinafter, the parts before welding are referred to as cowl cross parts 10a and 10b, and the parts after welding are referred to as finished cowl cross parts 10'.

The present invention, which can provide such an effect, can be applied to the cowl cross part welding quality inspection system as shown in FIGS. 1 to 6 and the cowl cross part welding quality inspection method as shown in FIG.

First, the wool cross parts welding quality inspection system according to the present embodiment includes a cowl cross part welding device 101 for welding cow cross parts 10a and 10b through a predetermined welding process, and cowl cross part welding. After the welding process of the device unit 101, the finished cowl cross component welding quality inspection unit 102 inspects the welding quality of the finished cowl cross component 10', which is a welded assembled product.

First, the cowl cross parts welding device 101 is a series of facilities for welding cow cross parts 10a and 10b through a predetermined welding process as described above, and includes first and second moving devices. (180a, 180b), first and second movable loading devices (110a, 110b, loading device), common sensor robot 120 having a common laser vision sensor (123, laser vision sensor), common robot welding machine 130 can include

The first and second moving devices 180a and 180b are devices on which the first and second movable loading devices 110a and 110b are mounted, respectively, and include the first and second movable loading devices 110a and 110b. It serves to move in the direction of the arrows in FIGS. 1 and 2 .

The first and second moving devices 180a and 180b may be applied as linear motors or the like. The first and second moving devices 180a and 180b have the same structure.

The first and second movable loading devices 110a and 110b are movably mounted on the first and second moving devices 180a and 180b, respectively, and the first and second cowl crosses 10a and 10b respectively ) form a place where parts are seated and loaded. Since a dual structure of first and second movable loading devices 110a and 110b is applied to this system, work efficiency and productivity can be increased.

As described above, the first and second cowl crosses 10a and 10b are assembly units composed of steel and assembled by welding dozens of parts. That is, as schematically shown in FIG. 3, the first and second cowl crosses 10a and 10b are a plurality of parts manufactured by a press process on a plurality of first and second pipes 11 and 12. It is a composite product assembled by welding.

For the manufacture of the first and second cowl crosses 10a and 10b, the first and second movable loading devices 110a and 110b, that is, the components constituting the first and second cowl crosses 10a and 10b are loaded. First and second movable loading devices 110a and 110b forming a place to be assembled by welding are provided. The structures of the first and second movable loading devices 110a and 110b are the same.

The first and second movable loading devices 110a and 110b form first and second cowl crosses 10a and 10b including first and second pipes 11 and 12 connected at different heights. In order to weld the parts, the first and second cowl crosses 10a and 10b form a place where the parts are loaded.

The first and second pipes 11 and 12 initially loaded into the first and second movable loading devices 110a and 110b must be firmly fixed so as not to shake, so that the first and second pipes 11 and 12 Numerous parts can be precisely welded position by position.

To this end, the first and second movable loading devices 110a and 110b may include a loading base 111 and a plurality of clamping units 113 provided on the loading base 111 for each position.

The loading base 111 includes a plurality of clamping units 113 to support the first and second cowl crosses 10a and 10b.

Also, the clamping units 113 clamp the first and second pipes 11 and 12 constituting the first and second cowl crosses 10a and 10b or parts welded thereto at corresponding positions. Therefore, the clamping units 113 are provided in several numbers and are mounted on the loading base 111 with different sizes and directions.

The common sensor robot 120 is a robot provided in common between the first and second movable loading devices 110a and 110b of a dual structure.

In such a common sensor robot 120, a common laser vision sensor 123 for scanning the first and second cowl crosses 10a and 10b parts to check the welding lines on the first and second cowl crosses 10a and 10b parts, laser vision sensor) is mounted.

The common laser vision sensor 123 is a non-contact sensor for accurately locating the common robot welder 130 in real time by automatically tracking the movement while searching for a welding line on a member or structure with a laser. Sensing value is correct.

The common robot welding machine 130 is provided in common between the first and second movable loading devices 110a and 110b adjacent to the common sensor robot 120, and is attached to the first and second cowl cross parts 10a and 10b. It is a device that proceeds with compensation welding. Here, the compensation welding includes welding the originally determined target position and welding a new welding position that is tracked and corrected again through the common laser vision sensor 123 .

Next, the cowl cross finished part welding quality inspection unit 102 inspects the welding quality of the cowl cross finished part 10', which is the finished assembly product after the welding process of the cowl cross part welding device 101 has been completed. As a series of facilities, it may include a final inspection jig device 140, an inspection laser vision sensor 150, and a system controller 170.

As shown in FIG. 5, the final inspection jig device 140 is a device different from the first and second movable loading devices 110a and 110b, and the cowl cross finished part 10', which is a final assembly product formed after welding is completed, is seated. make a place

The final inspection jig device 140 may include a base plate 141 and a plurality of holding units 143 provided on the base plate 141 for each position. A final assembly product, after which compensation welding has been completed, may 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, the holding units 143 are provided in several numbers and are mounted on the base plate 141 with different sizes and directions.

The inspection laser vision sensor 150 serves to three-dimensionally scan the assembly product seated on the final inspection jig device 140 with a laser. The inspection laser vision sensor 150 may include a scanner support 151 and a scanning module 152 provided at an end of the scanner support 151 to substantially perform a scan operation.

Considering that the length of the assembled product is long, the inspection laser vision sensor 150 in this embodiment should perform a scanning operation on the long assembled product seated on the final inspection jig device 140 It is implemented as a movable rather than a fixed position, in other words, a motorized type. To this end, the following configurations are added.

A second moving module 155 movably supporting the inspection laser vision sensor 150 is connected to the inspection laser vision sensor 150 .

The second moving module 155 is movable along the X-axis and Y-axis, which are the coordinates of FIG. 5 . To this end, 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 in a predetermined X-axis, and the second Y-axis gantry 157 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.

A second up/down driver 158 is connected between the second moving module 155 and the vision device 150 . The second up/down driver 158, which may be applied as a cylinder, serves to up/down drive the vision device 150 in the Z-axis, which is a 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 inspection laser vision sensor 150 The scanning module 152 of ) can approach the assembled product and perform a 3D scan with a laser.

The system controller 170 controls the welding quality of the cowl cross finished part 10' to be inspected based on the sensing value of the inspection laser vision sensor 150.

In other words, in this embodiment, the system controller 170 extracts the profile of the welding bead of the welding part of the cowl cross finished part 10' detected by the inspection laser vision sensor 150, and then the profile of the extracted welding bead. Based on this, the data stored in the database is classified and preprocessed, and then the artificial neural network is used to predict and control the tensile strength of the welded part.

Of course, the system controller 170 applied to this embodiment also controls the operation of the shared robot welder 130 together. That is, optimized welding correction based on a plurality of welding data including welding torch angle, welding speed, welding current, and welding voltage during compensation welding of the cowl cross parts 10a and 10b by the shared robot welder 130. Controls the use of conditional data.

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

The central processing unit 171 is a variety of computer processors that can be applied industrially to inspect and control the welding quality of the cowl cross finished part 10' based on the sensing value of the inspection laser vision sensor 150 in this embodiment. can be one of

The 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, and is readily available, such as, for example, random access memory (RAM), ROM, floppy disk, hard disk, or any other form of digital storage. It may be at least one memory.

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

In this embodiment, the system controller 170 extracts the profile of the welding bead of the welding part of the cowl cross finished part 10 'detected by the inspection laser vision sensor 150, and then based on the profile of the extracted welding bead. After classifying and preprocessing the data stored in the database, the artificial neural network is used to predict and control the tensile strength of the welded part. This series of control processes and the like can be stored in the memory 172. 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 processes according to the present invention have been described as being executed by software routines, it is possible that at least some of the processes of the present invention are performed by hardware. As such, the processes of the present invention may be implemented in software running on a computer system, implemented in hardware such as an integrated circuit, or implemented by a combination of software and hardware.

On the other hand, the cowl cross parts welding quality inspection method according to the present embodiment, which can be performed by such a system, welds the cowl cross parts 10a and 10b through a predetermined welding process by the cowl cross parts welding device 101. Cowl cross finished parts welding quality inspection step of inspecting the welding quality of the cowl cross finished parts (10'), which is an assembled product that has been welded through the cowl cross parts welding step (S100a) and the cowl cross finished parts welding quality inspection unit 101 (S100b) may be included.

First, the cowl cross parts welding step (S100a) is a process of welding the cowl cross parts (10a, 10b) through a predetermined welding process by the cowl cross parts welding device 101, a moving device installation step (S111), movable loading device mounting step (S112), first and second cowl cross component loading steps (S113), first cowl cross component scanning step using a common laser vision sensor (S114), first cowl cross component welding line confirmation step (S115) ), a welding condition change step of the shared robot welder (S116), and a first cowl cross part compensation welding progress step (S117).

The moving device installation step (S111) is a process of installing a plurality of moving devices 180a and 180b. The first and second moving devices 180a and 180b may be installed so that the common sensor robot 120 and the common robot welder 130 are disposed between them.

The movable loading device mounting step (S112) is a process of forming a dual structure by mounting the first and second movable loading devices 110a and 110b on the first and second moving devices 180a and 180b, respectively. am.

In the first and second cowl cross component loading steps (S113), the first and second movable loading devices (dual) mounted on the first and second moving devices 180a and 180b to be movable This is a process of mounting and loading the first and second cowl cross parts 10a and 10b on 110a and 110b, respectively.

The first cowl cross part scanning step (S114) using a common laser vision sensor is a common laser vision sensor ( 123, a process of scanning the component of the first cowl cross 10a loaded on the first movable loading device 110a by using a laser vision sensor.

The first cowl cross component welding line confirmation step (S115) is a process of confirming a weld line on the first cowl cross 10a component loaded on the first movable loading device 110a based on the scan information.

The welding condition changing step (S116) of the common robot welder changes the welding conditions of the common robot welder 130 disposed adjacent to the common laser vision sensor 123 based on the welding line information of the confirmed first cowl cross 10a part. It is a process of change.

The first cowl cross component compensation welding step (S117) is a process of performing compensation welding on the first cowl cross 10a component using the shared robot welder 130 after the welding conditions are changed.

On the other hand, when the common robot welder 130 proceeds with compensation welding for the first cowl cross 10a part, at the same time, the common laser vision sensor 123 mounted on the common sensor robot 120 is second movable as shown in FIG. After scanning the second cowl cross component 10b loaded on the loading device 110b, based on the scan information, a welding line on the second cowl cross 10b component loaded on the second movable loading device 110b is measured. Check. When the confirmation is completed, based on this information, the common robot welder 130 proceeds with compensation welding for the second cowl cross 10b component as shown in FIG. 1, and the common laser vision sensor 123 proceeds with the opposite operation. As such, in the case of this embodiment, since the common laser vision sensor 123 and the common robot welder 130 alternately work in opposite directions, workability can be increased, thereby contributing to productivity improvement. For reference, in the flowchart of FIG. 6, the procedure for the second movable loading device 110b is omitted.

Next, the cowl cross finished part welding quality inspection step (S100b) is a process of inspecting the welding quality of the cowl cross finished part 10', which is an assembled product that has been welded through the cowl cross finished part welding quality inspection unit 101, Assembled product seating step (S121), welding bead detection step (S122), welding bead profile extraction step (S123), data classification and preprocessing step (S124), and tensile strength prediction step (S125) may be included.

The assembled product seating step (S121) is a process of seating the cowl cross finished part 10' on a predetermined final inspection jig device 140, as shown in FIG.

The welding bead detection step (S122) is a process of detecting a welding bead for a welded portion of the cowl cross finished part 10' by using a laser vision sensor 150.

The welding bead profile extraction step (S123) is a process of extracting the profile of the weld bead of the detected weldment.

The data classification and preprocessing step (S124) is a process of classifying and preprocessing the data stored in the database based on the extracted welding bead profile.

The tensile strength prediction step (S125) is a process of predicting the tensile strength of the welded part using an artificial neural network.

Cowl cross welding complete parts including the assembly product seating step (S121), welding bead detection step (S122), welding bead profile extraction step (S123), data classification and preprocessing step (S124), and tensile strength prediction step (S125) Unlike the prior art in this embodiment, the total quality inspection step (S120) proceeds as it is without cutting the cowl cross finished part 10'. Therefore, total inspection is possible as needed, and manpower and time required for inspection can be significantly reduced compared to the prior art.

According to the present embodiment, which operates based on the structure as described above, after cutting the welded portion, the cowl cross (10a, 10b, 10 ') It is possible to inspect the welding quality of the parts, and as a result, the manpower and time required for inspection can be significantly reduced compared to the prior art, so that the total inspection of the product can be easily and conveniently performed as needed.

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 variations can be made without departing from the spirit and scope of the present invention. Accordingly, it should be said that such modifications or variations fall within the scope of the claims of the present invention.

10a, 10b: first and second cowl crosses
101: cowl cross parts welding device
102: Cowl Cross Finished Parts Welding Quality Inspection Department
110a, 110b: first and second movable loading devices
111: loading base 113: clamping unit
120: common sensor robot 123: common laser vision sensor
130: common robot welding 140: final inspection jig device
150: inspection laser vision sensor 170: system controller
180a, 180b: moving device

Claims (5)

A cowl cross parts welding unit for welding cow cross parts through a predetermined welding process; and
After the welding process of the cowl cross parts welding device unit, a cowl cross finished parts welding quality inspection unit inspecting the welding quality of the cowl cross finished parts, which are assembled products that have been welded,
The cowl cross parts welding device,
a plurality of moving devices;
First and second movable loading devices of a dual structure that are movably mounted on the moving devices and have cow cross parts mounted and loaded on the respective devices;
It is provided in common between the first and second movable loading devices, and the first and second cowls can check the welding lines on the first and second cowl cross parts seated on the first and second movable loading devices, respectively. A common sensor robot equipped with a common laser vision sensor that scans cross parts;
A common robot welder provided in common between the first and second movable loading devices adjacent to the common sensor robot and performing compensation welding on the first and second cowl cross parts,
The cowl cross finished parts welding quality inspection unit,
A final inspection jig device having a base plate and a plurality of holding units provided on the base plate for each position and fixing the assembled product to inspect the assembled product formed after welding is completed, but on which the assembled product is seated;
an inspection laser vision sensor for three-dimensionally scanning the assembled product seated in the final inspection jig device with a common laser vision sensor; and
The cowl cross component welding quality inspection system comprising a system controller for controlling to inspect the welding quality of the cowl cross finished component based on the sensing value of the inspection laser vision sensor.
According to claim 1,
The system controller extracts the profile of the weld bead of the welded part of the cowl cross finished part detected by the inspection laser vision sensor, classifies and preprocesses the data stored in the database based on the profile of the extracted weld bead, A cowl cross parts welding quality inspection system characterized by predictably controlling the tensile strength of the welded part using an artificial neural network.
According to claim 1,
The system controller controls the operation of the shared robot welder, but generates a plurality of welding data including a welding torch angle, welding speed, welding current, and welding voltage during compensation welding of the cowl cross part by the shared robot welder. A cowl cross parts welding quality inspection system characterized by controlling the use of optimized welding correction condition data based on the basis.
A cowl cross component welding step of welding a cowl cross component through a predetermined welding process by a cowl cross component welding device; and
Including a cowl cross finished parts welding quality inspection step of inspecting the welding quality of the cowl cross finished parts, which are assembled products that have been welded through the cowl cross finished parts welding quality inspection unit,
The cowl cross component welding step,
A moving device installation step of installing a plurality of moving devices;
A movable loading device mounting step of mounting a movable loading device on each of the moving devices to form a dual structure;
First and second cowl cross component loading steps of loading and loading cow cross components on the dual first and second movable loading devices mounted on the moving device to be movable ;
Scanning the first cowl cross part loaded on the first movable loading device by using a common laser vision sensor mounted on a common sensor robot operating in common between the first and second movable loading devices A first cowl cross component scanning step using a common laser vision sensor;
a first cowl cross component welding line check step of checking a weld line on the first cowl cross component loaded on the first movable loading device based on the scan information;
A welding condition change step of a common robot welder for changing welding conditions of a common robot welder disposed adjacent to the common laser vision sensor based on the identified welding line information of the first cowl cross part; and
A first cowl cross part compensation welding progress step of performing compensation welding on the first cowl cross part using the shared robot welder after the welding conditions are changed. Method for inspecting welding quality of cow cross parts.
According to claim 4,
The cowl cross finished parts welding quality inspection step,
Assembled product seating step of seating the finished cowl cross part in a predetermined final inspection jig device;
A welding bead detection step of detecting a welding bead for a welded portion of the cowl cross finished part using a laser vision sensor;
A welding bead profile extraction step of extracting a profile for a welding bead of the detected weldment;
A data classification and pre-processing step of classifying and pre-processing the data stored in the database based on the profile of the extracted welding bead; and
It includes a tensile strength prediction step of predicting the tensile strength of the welded part using an artificial neural network,
When the common robot welder performs compensation welding on the first cowl cross part, at the same time, the common laser vision sensor mounted on the common sensor robot scans the second cowl cross part loaded on the second movable loading device. Then, based on the scan information, the weld line on the second cowl cross component loaded on the second movable loading device is checked.

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