Desenvolvimento de um sistema para mapeamento de posição de junta aplicado ao processo de soldagem robotizada

Abstract

The robotic welding is largely used in the manufacturing industry, standing out as a flexible, efficient and precise operation process, which enables high productivity and quality. However, improvements and adaptations have been continuously studied. One of the factors that limit and compromise the quality of this process are the errors made in the alignment of the parts, caused by the processes before the welding (such as: cutting and bending), as well as by the error of the welding operator in positioning the parts. Although this problem can now be solved by high performance equipment, these ones are of high cost, which results in the infeasibility of application in some cases. The objective of these paper was the development of an algorithm for mapping positions, using a LASER distance sensor and a six-axis robotic arm already used in industrial processes. The algorithm was developed at the Twincat Software using an industrial computer with Windows platform as controller. The results obtained showed that the proposed algorithm and the programming were effective for mapping the joints, processing and sending data to the robot and the calculation of a trajectory with precision and repeatability at the parts, positioned in three different ways. Preliminary analyzes suggest the feasibility of implementing the proposed technology in order to minimize welding failures caused by the inaccuracy of the placement of parts in specific market demands. [resumo fornecido pelo autor]