CAJ | 학술논문

焊接柔性生产单元由直角坐标机器人、垛机和机器视觉系统集成，直角坐标机器人执行零件上下料、焊枪抓取、焊接；垛机是加工零件的存储站；机器视觉系统负责叶轮焊接部位检测、焊点质量检测和焊枪钨针烧蚀状态检测。该柔性生产单元适用于各种型号叶轮的自动焊接。
한접유성생산단원유직각좌표궤기인、타궤화궤기시각계통집성，직각좌표궤기인집행령건상하료、한창조취、한접；타궤시가공령건적존저참；궤기시각계통부책협륜한접부위검측、한점질량검측화한창오침소식상태검측。해유성생산단원괄용우각충형호협륜적자동한접。
The welding FMC is composed of a Cartesian coordinate robot, stacking machine and machine vision system integration. The stacking machine is a storage station of processing workpieces. Feeding these workpieces, operating welding torch, welding of these workpieces is performed by the Cartesian robot. The pump impeller welding position detection, solder joint quality inspection and Tungsten needle ablation state detection are performed by the machine vision system. The FMC is adapted to various types of impeller automatic welding.