Repair Welding Coordinate Conversion for Accurate Defect Rework
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Solution Overview
Problem
Existing repair welding systems face challenges in executing inspections and repairs using different robots, and require position information in the inspection robot coordinate system, which can lead to deviations in repair-welded portions.
Innovation Solution
A repair welding system that includes an inspection device connected to an inspection robot and a welding device connected to a welding robot. The inspection device determines defective portions, extracts defect type and position information, converts this information into the welding robot's coordinate system, and transmits it to the welding device for executing a repair welding without using position information from the inspection robot's coordinate system.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If position information from the inspection robot coordinate system is used for repair welding, then the inspection and welding can be performed by different robots, but the repair-welded portions may deviate from the intended positions
Solution Approach 1:
A coordinate system conversion unit is introduced as an intermediary component that converts position information from the inspection robot's coordinate system to the welding robot's coordinate system. This mediator resolves the incompatibility between different coordinate systems, enabling accurate position transfer while maintaining the ability to use different robots for inspection and welding operations
Solution Approach 2:
The system changes the coordinate system parameter from the inspection robot's reference frame to the welding robot's reference frame through mathematical conversion. This parameter transformation allows position information to be accurately interpreted in the context of the welding robot's workspace, preventing position deviations
2Reliability
If the inspection device and welding device are integrated into one system, then the repair welding process becomes more coordinated, but the system complexity increases
Solution Approach 1:
The system is segmented into distinct functional modules: an inspection device for detecting defects, a coordinate system conversion unit for transforming position data, and a welding device for executing repairs. This segmentation maintains reliability through coordinated operation while managing complexity by keeping each module's function clear and separate
Data Source
AI summary
The repair welding system includes an inspection device and a welding device. The inspection device determines whether there is a defective portion in a welded portion. In a case that there is the defective portion in the welded portion, the inspection device extracts at least defect type information of the defective portion and inspection coordinate system defective portion position information, converts the inspection coordinate system defective portion position information into position information corresponding to a coordinate system of the welding robot and generates welding coordinate system defective portion position information, and transmits the defect type information and the welding coordinate system defective portion position information to the welding device. The welding device instructs execution of a repair welding on the defective portion based on the defect type information and the welding coordinate system defective portion position information.