ARC WELDING ADAPTIVE LASER VISION

Kawasaki Robotics has integrated our arc welding robot with a structured laser light camera technology. The Adaptive Laser Vision System provides the Kawasaki Arc Welding Robot with position and weld joint attribute information never before available in a user friendly and functional package. Part Finding, Seam Finding, Seam Tracking and Adaptive Process Control permit robot welding applications never before possible. A Production Hardened laser camera is mounted to the robot next to the welding torch. This permits the robot to see weld joints, edges, holes or other geometry. With this vision information fed into the Kawasaki Robot Control a variety of powerful capabilities are created. Weld starts and ends can be found, skip welds can be located with the welds adaptively controlled, and continous welds can be tracked with the weld process and weave parameters optimized in real time.

Specifications
Camera Performance: Field of View: 60 or 90 mm Colling: Water or Air Spatter Protection: Fixed Shield or Doors Smoke Protection: Laminar Gas Flow & Lens Change Scan Rate: 20 HZ and 60 HZ Laser Type: Diffused or Scanning Laser Power: Class IIIB (No operator protection required) Recognition: Standard Weld Joints & Custom Geometry

3D Camera Vision Processor Seam Location Gap & Area

System Performance:
Tracking Speed: over 2.5m/m (100 IPM) Program Functions: Vision Joint Selection Laser Tracking (LT) Seam Start Detect Seam Start Offset Seam End Detect Seam End Offset Seam Track Seam Track Bias Adaptive Process Control Stationary Recognition (LSEN) Scan Until Recognize (LXAC)

Kawasaki AD Controller

Coordinate Conversion
Camera World to Robot World Adaptive Weave

Adaptive Condition Table Correction of Process

Pulse Wire Feed Amperage & Voltage

Correction of Trajectory
Seam Locating Weld Position Weave Parameters

Robot Arm

Welder

ARC WELDING ADAPTIVE LASER VISION

Adaptive Laser Vision Features Scan Until Recognized Stationary Recognition

Scan Until Recognized: The camera is turned on and moved toward the area to be recognized. When found, the location and gap is calculated and recorded by the robot control. This feature is good for seam start and end locating or feature finding.

Stationary Recognition: The camera is held stationary over the item to be located. The location and gap or area is then calculated and recorded by the robot control. This feature is good for skip weld locating and gap detection.

Using stationary or scan locations the robot can shift a program, a start or stop position or pre-inspect a weld path. Location information is compatible with either point shift or frame align mathematics. Using AS Language capabilities the system can also be structured similar to a two-pass vision system.

Seam Tracking

Adaptive Process Control

ADAPTIVE TABLE: 4
WEAVE WEAVE GAP SPEED AMPS VOLTS AMPLITUDE FREQUENCY 1 2 3 4 200 180 160 120 350 375 400 400 27.2 29.0 31.0 31.5 1 1.5 2 2.4 4 4 4 4

Seam Tracking: The weld joint is recognized by the camera looking ahead during arc welding. Using the vision information the robot control revises the program path to track the joint, compensating for changes in fitup and movement. Automatic seam start and end detection can be used with tracking.

Adaptive Process Control: Based on vision information, the welding process is modified and optimized real time as the robot tracks the welding joint. Joint information acquired during stationary or scan recognitions can also be used to select or adjust welding conditions.

Kawasaki Robotics (USA), Inc.

Kawasaki Robotics (USA), Inc.

02/01

28059 Center Oaks Court Wixom, MI 48393 Phone: (248) 305-7610 Fax: (248) 305-7618

2726 River Green Cr. Louisville, KY 40206 Phone: (502) 893-3889 Fax: (502) 893-3830

1155 North Service Road West Suite #4 Oakville, Ontario L6M 3E3 Canada Phone: (905) 465-0880 Fax: (905) 465-1221

Kawasaki Motors Mfg. Corp., U.S.A. 6600 North West 27th St. Lincoln, NE 68524 Phone: (402) 476-6600 Fax: (402) 476-6672