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Ar
c-EyeCS
S
la
servisionsystem
Valk [email protected]
www.valkwelding.com
Makes it happen
Welding seam tracking with
3D laser vision
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Valk Welding develops and builds the Arc-Eye CSS (Circular
Scanning System) laser sensor for real-time seam tracking
applications. The Arc-Eye laser sensor system enables the
welding robot to accurately track the joint to be welded
during the welding process. This is achieved by
scanningposition, orientation and geometry of the part and
automa-
tically correcting the movements of the welding robot where
necessary. The Arc-Eye laser sensor registers all
measurement
deviations within the scanning range of the laser sensor.
This
does away with the need to measure deviations beforehand
and correct them manually in the welding program. This sub-
stantially increases the return and quality of the robotised
welding process.
Benets of seam tracking with
a laser visionsystem
delivers a precisely welded seam
manual program corrections no longer required
complex welding jigs no longer required
raises the process speed
raises the process precision
prevents unnecessary rejection
Valk Welding
Seam tracking for weldi
Deviating measurements
compared to programs?
Products that are a precise fit for the welding robot
cantheoretically be welded one by one by the robot wit-hout any
program corrections. However in practice thewelding seams may
deviate from the program positions
owing to the material being warped by the one-sidedapplication
of heat.With steel structures in particular, deviations over
largelengths can sometimes run up to several centimetres.Irregular
weld-gaps and complex shapes often need to becorrected in a
robotised welding process.
How can this be prevented?
Various methods have been developed to ensure thatthe welding
robot precisely moves along the joint to bewelded. Pre-weld touch
sensing by using the gas cup ofthe welding torch, is the best known
example. The use of
this method is however restricted to corner-joints andT-joints.
Touch sensing with the aid of the welding wire,which Valk Welding
has developed into the Quick TouchSystem, does not have that
restriction and is thereforegaining in popularity. Both methods
check the weldingseam before the start of the welding process.
Why a vision system?
The advantage of using a laser vision system, whichscans the
seam to be welded during the process, is theability to track and
thus follow any deviation in real-time. Deviations are immediately
detected and adapted
during the process so that the welding robot preciselymoves
along the actual position of the seam to be wel-ded. While using a
laser sensor there is no need to checkthe route positions first by
using the gas cup or weldingwire. This way cycle times are
substantially reduced.
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Arc-Eye 3D laser visionsystem
with Arc Eye
Integrated in Valk Welding
tool change
The Arc-Eye laser sensor is fully integrated in the ValkWelding
tool change system. This guarantees perfectcalibration of the laser
sensor in relation to the ToolCenter Point (TCP). Valk Weldings
software engineers
have made a special software interface with thePanasonic welding
robots for this purpose.Valk Welding thus offers a seam tracking
system forwelding applications based on laser vision that is
com-pletely integrated into one single system.
Benets of the Valk
Welding Arc-Eye vision
system
fully integrated in Valk Welding torch switchingperfect
calibration of the camera system in relation to
the TCP
resistant to heat and dirt during the welding processusable as
plug and play system on any Panasonic
welding robotposition, orientation and welding seam
geometrics
measurement possible in just a single scan
Quality improvement
Valk Welding offers welding seam tracking with theArc-Eye laser
sensor in its welding robot systems andother mechanised systems. As
well as time savings, theArc-Eye laser sensor systems make a
substantial contri-
bution to raising product quality, consistent
replication,effective deposition of welding additives and
improvedheat distribution. The latter point results in less
productdeformation and a neater welding seam.
Applications
The Arc-Eye laser sensor is suitable for detecting and
automatically trackingvirtually all welding seams that are found in
practice. The Arc-Eye laser sen-sor corrects the set welding
parameters and robot movements in realtimeduring the production
process. The Arc-Eye laser sensor makes it possible touse the robot
to weld work pieces with an irregular weld-gap of the welding
seam, non-constant measurement tolerances and complex shapes
withoutany manual corrections or search routines being needed in
advance. Thiscreates options for the robotised or mechanised
welding of complex workpieces in single or small series.
Arc Eye
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SteenkistCom
municatie-ww.s
teencom.n
l-2013
The NetherlandsValk Welding B.V.
Staalindustrieweg 15Postbus 60
2950 AB Alblasserdam
[email protected]
Tel. +31 (0)78 69 170 11Fax +31 (0)78 69 195 15
Belgium:
Valk Welding NVTel. +32 (0)3 685 14 77Fax +32 (0)3 685 12 33
France:Valk Welding France
Tel. +33 (0)3 20 10 00 39Fax +33 (0)3 20 10 01 12
Denmark:Valk Welding DK S/ATel. +45 44 68 31 81Fax +45 44 68 31
87
Czech Republic:Valk Welding CZ s.r.o.
Tel.: +420 556 730 954
Fax: +420 556 731 680
Specifications of the
Arc-Eye laser sensor
sensor diameter : 45 mmsensor length : 135 mm
weight : 500 grams
operational temp* : +5C - +40C
ambient temp* : -10C - +60C
cooling : with dry, clean air from +10C - +30C
welding seam forms : commonest types
max speed : depending on the welding process
scanning speed 4000 measures a second
detection : linear CCD
Stand-off type : short / medium / Long
resolution depth : 25m / 60m / 125msideward resolution : 45m /
80m / 175m
visible field : 12mm-18mm / 20mm-34mm / 38mm-76mm
visible depth : 30mm-50mm / 50mm-100mm / 75mm-165mm
nominal distance : 40mm / 75mm / 120mm
laser output : 670 nm, 4.5 mW, class 3R
system output : digital/analogue i/o, rs-232, Ethernet
* Arc Eye is equipped with a sensor which automatically shuts
down the system
when the inside temperature is above 60 C.
