Adaptive laser welding with adaptive seam tracking

V diplomski nalogi je opisano lasersko daljinsko varjenje z adaptivnim sledenjem zvarnemu robu. Sistem sestoji iz robotske roke, vlakenskega laserja moči 400 W, skenirne glave, kamere ter računalnika s programom za obdelavo video signala in krmiljenje skenirne glave. Sledenje zvarnemu robu se izvaja po principu laserske triangulacije in aktivnega osvetljevanja površine. Sistem, ki je še v razvojni fazi, smo v okviru te naloge eksperimentalno okarakterizirali z vidika natančnosti sledenja, časovnega odziva na motnjo ter optimalne hitrosti varjenja nerjaveče pločevine debeline 1,5 mm. Na osnovi makrografskih slik zvarjencev smo ugotovili, da optimalna hitrost varjenja znaša 60 cm/min., kar je 50 % višja vrednost od teoretične napovedi (40 cm/min.). Nadalje smo ugotovili, da natančnost sledenja znaša 0,063 mm, časovni odziv pa z absolutnim krmiljenjem znaša 36 ms, s PID-krmilnikom pa 270 ms.Theme of this task is remote laser welding with adaptive seam tracking. The system consist of robot arm, fiber laser with power of 400 W, laser head, camera and computer with video signal and laser head controlling software. Remote Seam tracking is based on triangulation and active surface lighting. The system we used, which is still in development phase, has been experimentally characterized from the perspective of seam tracking, distraction time response and optimal welding speed of 1.5 mm thick stainless steel plate. Based on macrographic images of welds, we got to the point, that laser welding optimal speed is 60 cm/min, which is 50% higher than theoretical value (40 cm/min). Furthermore, we found out that seam tracking precision is 0.063 mm, time response with absolute controlling is 36 ms, and 270 ms with PID controller