It contains several buttons and settings to create an optimal weld. We used a GUI to control the program which is running on the robot. A picture of the pointcloud with a welding line is given below. Those point cloud coordinates are then calculated back to robotic real world coordinates based on a rotation matrix. The coordinate system is setup based on the first point cloud which was taken. After the point clouds are created, they are merged together based on point overlapping with machine learning. This system creates 10 point clouds in a 180 degree circle around the object on the welding table. We created a Vision system for the robot. The images below show some objects that have been welded by our robot. The welds that are currently possible are straight welds of any size based on the settings given on the welder. Using the current Intel Realsense camera we get accurate measurements of parts with a minimum dimension of 100x100x50 mm (length x width x height). The wirefeeder is shown in the picture above. The fanuc R2000IC is a large robot, therefore we used a seperate wirefeeder to mount on the robot. Although the bracket and camera are close to the torch, heat is not an issue due to the length of the torch. The camera is mounted on the welding torch with support of a small camera arm, seen in the picture below. The robot uses an Intel Realsense D455 stereo vision depth camera, which scans the object on the welding table and converts it to a 3D model in which the user can select welding points via the Graphical User Interface (GUI).įor our solution we choose to 3D print a bracket which holds the welding torch. To meet the requirements, we choose to make a Vision based welding robot. Compare the scanned 3D model with the object on the table.

Set two points in the GUI in which the weld will be made in between.

Have the ability to set the speed of welding.Weld different objects on the welding table.The robot is able to model and weld the part which is on the welding table with the speed that has been given in the Graphical User Interface (GUI). Based on that information the robot has to weld on the exact place.ĭuring this project we have developed the welding system using a Fanuc R2000ic f270 robotic arm. This will give the user the ability to define a weld in the 3D model. This robot has to be able to create a 3D model of the part that is layed down on the welding table. Students: Tim de Bondt, Jasper Klerks, Tim van der Voortĭue to the shortage of good welders Grimbergen has set out a project which asked for the development of a welding robot. Grimbergen Industrial Systems, Alphen a/d Rijn

Welding table 3d print file .stl