arc welding robot arc welding robot - phd.dees.unict.it · arc welding robotarc welding robot ......
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Multisensor Data FusionMult isensor Data FusionMult isensor Data FusionMult isensor Data Fusionfor for for for the the the the Control System Control System Control System Control System of of of of an an an an
Dottorato di Ricerca in Ingegneria Elettronica,
Automatica e del Controllo dei Sistemi Complessi
for for for for the the the the Control System Control System Control System Control System of of of of an an an an Arc Arc Arc Arc Welding RobotWelding RobotWelding RobotWelding Robot
Filippo Bonaccorso Tutor Prof. G. Muscato
RAPOLAC clusters expertise and resources from 8participants, including 4 SMEs and 4 universities.The partners are drawn from member states of EU and oneother country, Argentina, and includes specialists in theareas of part manufacturing, microstructural analysis,modelling and control, and environmental specialists.
OUTLINEOUTLINEOUTLINEOUTLINE
• RAPOLACRAPOLACRAPOLACRAPOLAC• SMD PROCESSSMD PROCESSSMD PROCESSSMD PROCESS• WELDINGWELDINGWELDINGWELDING• WELDINGWELDINGWELDINGWELDING• EXPERIMENTAL TEST BEDEXPERIMENTAL TEST BEDEXPERIMENTAL TEST BEDEXPERIMENTAL TEST BED• USER INTERFACEUSER INTERFACEUSER INTERFACEUSER INTERFACE
INTRODUCTIONINTRODUCTIONINTRODUCTIONINTRODUCTION
RAPOLAC is focussed on the Shaped Metal Deposition (SMD)process which is ideal for use in prototype production as well as inmanufacturing, eliminating the need for tooling and shorteningmanufacturing, eliminating the need for tooling and shorteningdevelopment lead-times. It uses no tooling and has low to zeroharmful emissions.
RAPOLAC will carry out research on process automation and willconcentrate on documenting and controlling the material propertiesthrough the development of process models. Process parameters willbe developed for many materials and the cost and environmental
SMD PROCESSSMD PROCESSSMD PROCESSSMD PROCESSSMD PROCESSSMD PROCESSSMD PROCESSSMD PROCESS
SMD INTRODUCTIONSMD INTRODUCTIONSMD INTRODUCTIONSMD INTRODUCTION
Shaped Metal Deposition (SMD) is a near-net shape prototypingsystem patented by Rolls-Royce, licensed to the University ofSheffield and operated in collaboration with Footprint Tools.
• The process allows complex parts to be built directly from the CAD• The process allows complex parts to be built directly from the CADmodel with minimum finishing.• The system creates components from the base up in a layer-wise
fashion, depositing weld material without the need for tooling.• Complex parts can be made with improved material properties, and
it is possible for hybrid components to be created.• The main uses of SMD are one off parts, rapid prototyping, repair
and complex or hybrid components.
SMD INTRODUCTIONSMD INTRODUCTIONSMD INTRODUCTIONSMD INTRODUCTION
Real PartReal PartReal PartReal Part
Experimental Deposition ProcessExperimental Deposition ProcessExperimental Deposition ProcessExperimental Deposition Process
SMD INTRODUCTIONSMD INTRODUCTIONSMD INTRODUCTIONSMD INTRODUCTION
Arc Welding RobotArc Welding RobotArc Welding RobotArc Welding Robot
Layer by LayerLayer by LayerLayer by LayerLayer by LayerDepositionDepositionDepositionDeposition
Up toUp toUp toUp toDesired ShapeDesired ShapeDesired ShapeDesired Shape
SMD INTRODUCTIONSMD INTRODUCTIONSMD INTRODUCTIONSMD INTRODUCTION
The innovative aspect of the SMD process consists of reversing theproduction philosophy actuated up to now, by the traditionalmanufacturing methods, such as machining, where the material isremoved from the work piece to obtain a desired final shape.
DrawbacksDrawbacksDrawbacksDrawbacks::::DrawbacksDrawbacksDrawbacksDrawbacks::::• Large waste of material in scraps• Large prototyping time• High energy required.
All this costs increase depending of thematerial used.
SIMPLE DEPOSITIONSSIMPLE DEPOSITIONSSIMPLE DEPOSITIONSSIMPLE DEPOSITIONS
WELDINGWELDINGWELDINGWELDINGWELDINGWELDINGWELDINGWELDING
Vx
Z-axis
TIG WELDINGTIG WELDINGTIG WELDINGTIG WELDING
2D Heat Diffusion Equation2D Heat Diffusion Equation2D Heat Diffusion Equation2D Heat Diffusion Equation
Rosenthal’s (1938) Simplified SolutionRosenthal’s (1938) Simplified SolutionRosenthal’s (1938) Simplified SolutionRosenthal’s (1938) Simplified Solution
Decreasing Decreasing Decreasing Decreasing the the the the CurrentCurrentCurrentCurrent
Workpiece
Travel Travel Travel Travel Speed and CurrentSpeed and CurrentSpeed and CurrentSpeed and Currentaffects the
Welding pool widthWelding pool widthWelding pool widthWelding pool widthaffects the
Workpiece final thicknessWorkpiece final thicknessWorkpiece final thicknessWorkpiece final thickness
Increasing the Travel Increasing the Travel Increasing the Travel Increasing the Travel SpeedSpeedSpeedSpeed
TIG WELDINGTIG WELDINGTIG WELDINGTIG WELDING
TheTheTheThe layerlayerlayerlayer heightheightheightheight hhhh isisisis affectedaffectedaffectedaffected bybybyby thethethethe spatialspatialspatialspatialdistributiondistributiondistributiondistribution ofofofof thethethethe materialmaterialmaterialmaterial depositeddepositeddepositeddeposited....SoSoSoSo itititit dependsdependsdependsdepends onononon::::•TheTheTheThe TravelTravelTravelTravel speedspeedspeedspeed (TS)(TS)(TS)(TS)•TheTheTheThe amountamountamountamount ofofofof materialmaterialmaterialmaterial injectedinjectedinjectedinjected (WF(WF(WF(WF))))•TheTheTheThe ArcArcArcArc CurrentCurrentCurrentCurrent IIII•TheTheTheThe ArcArcArcArc LengthLengthLengthLength•TheTheTheThe ArcArcArcArc LengthLengthLengthLength
EXPERIMENTAL TEST BEDEXPERIMENTAL TEST BEDEXPERIMENTAL TEST BEDEXPERIMENTAL TEST BEDEXPERIMENTAL TEST BEDEXPERIMENTAL TEST BEDEXPERIMENTAL TEST BEDEXPERIMENTAL TEST BED
SM
DS
MD
SM
DS
MD
PR
OC
ES
SP
RO
CE
SS
PR
OC
ES
SP
RO
CE
SS
AmperageAmperageAmperageAmperage
Wire Feed RateWire Feed RateWire Feed RateWire Feed Rate1) Torch Height from the Bead1) Torch Height from the Bead1) Torch Height from the Bead1) Torch Height from the Bead
2) Bead width and height2) Bead width and height2) Bead width and height2) Bead width and heightC
ON
TR
OL
CO
NT
RO
LC
ON
TR
OL
CO
NT
RO
LDesired ShapeDesired ShapeDesired ShapeDesired Shape
Production TimeProduction TimeProduction TimeProduction Time
CONTROLLER KEY PARAMETERSCONTROLLER KEY PARAMETERSCONTROLLER KEY PARAMETERSCONTROLLER KEY PARAMETERS
SM
DS
MD
SM
DS
MD
PR
OC
ES
SP
RO
CE
SS
PR
OC
ES
SP
RO
CE
SS
Travel SpeedTravel SpeedTravel SpeedTravel Speed
Step Step Step Step HeightHeightHeightHeight
2) Bead width and height2) Bead width and height2) Bead width and height2) Bead width and height
3) Welding Pool Shape3) Welding Pool Shape3) Welding Pool Shape3) Welding Pool Shape
CO
NT
RO
LC
ON
TR
OL
CO
NT
RO
LC
ON
TR
OL
Desired ShapeDesired ShapeDesired ShapeDesired Shape
Desired Mechanical Desired Mechanical Desired Mechanical Desired Mechanical Properties of the Properties of the Properties of the Properties of the final work piecefinal work piecefinal work piecefinal work piece
PROCESS FEEDBACKPROCESS FEEDBACKPROCESS FEEDBACKPROCESS FEEDBACK
SOUNDSOUNDSOUNDSOUND
LIGHTLIGHTLIGHTLIGHT
VOLTAGEVOLTAGEVOLTAGEVOLTAGE
CCD CameraCCD CameraCCD CameraCCD Camera
WorkpieceWorkpieceWorkpieceWorkpiece
SOUNDSOUNDSOUNDSOUND
Thermal CameraThermal CameraThermal CameraThermal Camera
Torch Torch Torch Torch Height from the Height from the Height from the Height from the BeadBeadBeadBead====
Arc LengthArc LengthArc LengthArc Length
Weld pool geometryWeld pool geometryWeld pool geometryWeld pool geometry====
Bead Width and HeightBead Width and HeightBead Width and HeightBead Width and Height
Kuka Robot
Tig
Torch Torch Torch Torch HeightHeightHeightHeightfrom from from from the Beadthe Beadthe Beadthe Bead
Bead Bead Bead Bead widthwidthwidthwidthand and and and heightheightheightheight
RS RS RS RS 485485485485
EthernetEthernetEthernetEthernet
IR SensorsIR SensorsIR SensorsIR Sensors
MicrophoneMicrophoneMicrophoneMicrophone
CONTROLLER KEY PARAMETERSCONTROLLER KEY PARAMETERSCONTROLLER KEY PARAMETERSCONTROLLER KEY PARAMETERS
Tig
Welder NI NI NI NI LabVIEWLabVIEWLabVIEWLabVIEWRealRealRealReal TimeTimeTimeTime TargetTargetTargetTarget
Welding Welding Welding Welding Pool Pool Pool Pool DimensionsDimensionsDimensionsDimensions
Temperature Temperature Temperature Temperature ProfilesProfilesProfilesProfiles
DeviceNetDeviceNetDeviceNetDeviceNet Protocol Protocol Protocol Protocol
AmperageAmperageAmperageAmperageWire Feeder RateWire Feeder RateWire Feeder RateWire Feeder Rate
Travel SpeedTravel SpeedTravel SpeedTravel SpeedStep HeightStep HeightStep HeightStep Height
Arc Arc Arc Arc LengthLengthLengthLengthTorch positionTorch positionTorch positionTorch position
RS RS RS RS 485485485485
Sensors FeedbackSensors FeedbackSensors FeedbackSensors Feedback
RS 232 / RS 485 / Firewire / USB 2.0
Thermal CameraThermal CameraThermal CameraThermal Camera
CCD CameraCCD CameraCCD CameraCCD Camera
IR SensorsIR SensorsIR SensorsIR Sensors
USER INTERFACEUSER INTERFACEUSER INTERFACEUSER INTERFACEUSER INTERFACEUSER INTERFACEUSER INTERFACEUSER INTERFACE
USER INTERFACEUSER INTERFACEUSER INTERFACEUSER INTERFACE
STATUS MONITORSTATUS MONITORSTATUS MONITORSTATUS MONITOR
WELDING SETTINGSWELDING SETTINGSWELDING SETTINGSWELDING SETTINGS
SENSORS INTERFACESENSORS INTERFACESENSORS INTERFACESENSORS INTERFACE
INIT TABINIT TABINIT TABINIT TAB
POSITION TABPOSITION TABPOSITION TABPOSITION TAB
SOUND TABSOUND TABSOUND TABSOUND TAB
IRIRIRIR----SENSORS TABSENSORS TABSENSORS TABSENSORS TAB
L
IMAGE PROCESSINGIMAGE PROCESSINGIMAGE PROCESSINGIMAGE PROCESSINGArcArcArcArc----Length Length Length Length MasuringMasuringMasuringMasuring
TroughTroughTroughTroughImage ProcessingImage ProcessingImage ProcessingImage Processing
ZZ ZZ-- -- a
xis
axis
ax
is
axis
WorkpieceWorkpieceWorkpieceWorkpiece
WebcamWebcamWebcamWebcam
IMAGE PROCESSINGIMAGE PROCESSINGIMAGE PROCESSINGIMAGE PROCESSINGArcArcArcArc----Length Length Length Length MesuringMesuringMesuringMesuring
Trough Trough Trough Trough Image ProcessingImage ProcessingImage ProcessingImage Processing
IMAGE PROCESSINGIMAGE PROCESSINGIMAGE PROCESSINGIMAGE PROCESSINGWeldingWeldingWeldingWelding----pool Geometry Measuringpool Geometry Measuringpool Geometry Measuringpool Geometry Measuring
TroughTroughTroughTroughImage ProcessingImage ProcessingImage ProcessingImage Processing
Video CameraVideo CameraVideo CameraVideo Camera
IMAGE PROCESSINGIMAGE PROCESSINGIMAGE PROCESSINGIMAGE PROCESSING
Thermal CameraThermal CameraThermal CameraThermal Camera
PassBandPassBandPassBandPassBand filter, CWL : filter, CWL : filter, CWL : filter, CWL : 610nm610nm610nm610nm
CONCLUSIONCONCLUSIONCONCLUSIONCONCLUSION
•Each module is identified as an elementary unit or as avirtual machine that communicates with the other modulesto assure a good process control.• Several algorithms were designed and developed to obtain
this result.this result.•The proposed interface has been adopted in many different
trials to get the best working conditions and the tuningparameters for the controller.•The interface has been also really useful to monitor the
process during the experiments, allowing to check in realtime most of the parameters and to monitor the outputs.
PATENTPATENTPATENTPATENT aboutaboutaboutabout aaaa controlcontrolcontrolcontrol methodmethodmethodmethod forforforfor arcarcarcarc weldingweldingweldingwelding depositiondepositiondepositiondepositionprocessprocessprocessprocess ((((inininin progress)progress)progress)progress)
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PUBLICATIONSPUBLICATIONSPUBLICATIONSPUBLICATIONS
GGGG.... SpampinatoSpampinatoSpampinatoSpampinato,,,, LLLL.... CantelliCantelliCantelliCantelli,,,, ISRISRISRISR09090909
“A“A“A“A ClosedClosedClosedClosed LoopLoopLoopLoop WeldingWeldingWeldingWelding ControllerControllerControllerController forforforfor aaaa RapidRapidRapidRapid ManufacturingManufacturingManufacturingManufacturingProcess”Process”Process”Process” GGGG.... Muscato,Muscato,Muscato,Muscato, GGGG.... SpampinatoSpampinatoSpampinatoSpampinato,,,, LLLL.... CantelliCantelliCantelliCantelli,,,, EFTAEFTAEFTAEFTA08080808
“Control“Control“Control“Control ofofofof WeldingWeldingWeldingWelding forforforfor RapidRapidRapidRapid ManufacturingManufacturingManufacturingManufacturing:::: TwoTwoTwoTwo CasesCasesCasesCases Study”Study”Study”Study”FFFF.... Bonaccorso,Bonaccorso,Bonaccorso,Bonaccorso, CCCC.... Bruno,Bruno,Bruno,Bruno, LLLL.... CantelliCantelliCantelliCantelli,,,, DDDD.... Longo,Longo,Longo,Longo, GGGG.... Muscato,Muscato,Muscato,Muscato, GGGG....SpampinatoSpampinatoSpampinatoSpampinato,,,, SIDRASIDRASIDRASIDRA08080808
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