The Seam Tracking System is designed to be used in robotic welding systems and is intended to automatically control the position of the welding head during the welding process.
Documentation
The system includes:
- Special 2D laser scanners with different ranges;
- Controller for connection to robot (option);
- Software for for seam recognition and tracking;
- Calibration tool.
- Automatic recognition of the objects to measure in accordance with the selected template. There is no need to set the measurement area manually;
- Noise reduction: intellectual filtering of the side objects;
- Implementation of various protocols for communication with industrial robots;
- Calibration of the scanner in accordance with the robot arm.
RF627Weld. Specification
| Sampling rate, accuracy, resolution | |
| Nominal sampling rate (full working range) |
484 profiles/s (standard mode), 938 profiles/s (DS mode) |
| Maximum sampling rate (ROI mode) |
5096 profiles/s, 6800 profiles/s (DS mode) |
| Linearity (measurement error), Z axis |
±0.05% of the range (standard mode), ±0.1% of the range (DS mode) |
| Linearity (measurement error), X axis | ±0.2% of the range |
| Resolution, Z axis |
0.01% of the range (standard mode), 0.02% of the range (DS mode) |
| Resolution, X axis | 648 or 1296 points (programmable value) |
| Laser | |
|
660 nm or 405 nm or 450 nm or 808 nm Class 2M according to IEC/EN 60825-1:2014 |
|
| Interface | |
| Basic | Ethernet / 1000 Mbps |
| Synchronization inputs | RS422, 3 channels |
| Power supply | 9...30 V or 12...39 V for scanners with Blue laser |
| Power consumption, not more | 6 W (without a built-in heater) |
| Environmental resistance | |
| Enclosure rating | IP67 |
| Vibration | 20 g / 10...1000 Hz, 6 hours for each of XYZ axes |
| Shock | 30 g / 6 ms |
| Operating ambient temperature, °С |
-20…+40 or -20…+120 for scanners with built-in air cooling system |
| Storage temperature, °С | -20…+70 |
| Relative humidity | 5-95% (no condensation) |
| Housing/windows material | aluminum/glass |
Operating ranges and overall dimensions:
| Range | MR, mm | SMR, mm | Хsmr, mm | Xemr, mm | Size, mm |
| 68/25-22/24 | 25 | 68 | 22 | 24 | Fig. 1 |
| 69/130-35/86 | 130 | 69 | 35 | 86 | Fig. 2 |
| 70/100-48/82 | 100 | 70 | 48 | 82 | - |
| 70/150-58/122 | 150 | 70 | 58 | 122 | - |
| 95/150-53/106 | 150 | 95 | 53 | 106 | - |
| 82/200-60/150 | 200 | 82 | 60 | 150 | - |
| 91/250-65/180 | 250 | 91 | 65 | 180 | Fig. 3 |
Detailed CAD documentation (2D and 3D) is available on request at support@riftek.com.
Overall and mounting dimensions of laser scanners:
Figure 1
Figure 2
Figure 3
Controller, specification:
| Parameter | Value | |
| Screen size | 10" | |
| Screen resolution | 1366х768 | |
| Screen type | IPS | |
| Operating system | GNU/Linux | |
| RAM | 2 GB | |
| Internal memory | 32 GB | |
| Power supply | 220 V | |
| Housing material | aluminum | |
| Weight, gram | 2500 | |
| Environmental resistance | ||
| Operating ambient temperature | 0…+45 °С | |
| Relative humidity | 5-95% (no condensation) | |
| Storage temperature | -20…+65 , °С | |
Overall dimensions:
Overall and mounting dimensions of the controller are shown in Figure 4:
Figure 4
Step 1
RF627Weld Laser scanner is mounted next to the welding torch of the robot:
Connect equipment in accordance with functional diagram:
- Connection between the scanner and Controller RIFTEK RF017 (or PC) with Riftek Lamia;
- Connection between Controller RIFTEK RF017 (or PC) with Riftek Lamia and the robot controller;
- Connection between the robot and the robot controller.
Step 2
Select Template:
Step 3
Select Robot Exchange Protocol:
Step 4
A preliminary scan is carried out and joint coordinates are determined, or welding with position correction in real time is caaried out:
1. Robot for steel roll marking
RF625 Laser Scanner together with Riftek Lamia Software are used to determine the diameter and shape of the roll before marking.
2. Robot for locomotive bogie frame welding
RF625 Laser Scanner together with Riftek Lamia Software are used to determine the coordinates of the weld.
3. Welding of swing-motion truck frame
RF625 Laser Scanner together with Riftek Lamia Software are used to control the robot in real time.
4. Robots for dump truck bed side welding
RF625 Laser Scanner together with Riftek Lamia Software are used to control the robot in real time.
5. Robot for Disk Welding
RF625 Laser Scanner together with Riftek Lamia Software are used to control the robot in real time.
6. Robotic Gas Cutting of Large Diameter Pipes
СRemovable RF625 scanner and Riftek Lamia are used for hole measuring in process of pipe gas-cutting.
7. Robotic bucket welding
RF625 Laser Scanner together with Riftek Lamia Software are used to control the robot in real time.
Example of item designation when ordering
RF627Weld.(WAVE)-SMR/MR-Xsmr/Xemr-M(R)-AC-C
| Symbol | Description |
| (WAVE) | Laser wavelength. 660 nm – no symbol, 405 nm or 450 nm – BLUE, 808 nm – IR. |
| SMR | Beginning of the measuring range for Z, mm. |
| MR | Measuring range for Z, mm. |
| Xsmr | Measuring range for X-coordinate at the beginning of the measuring range for Z-coordinate, mm. |
| Xemr | Measuring range for X-coordinate at the end of the measuring range for Z-coordinate, mm. |
| М | Cable length, m. |
| R | Option, robot-cable. |
| AC | Built-in air cooling system. Ordering a water cooling system requires consultation with the manufacturer. |
| C | Controller. |
Example: RF627Weld.BLUE-70/50-30/42-5-AC-С – Scanner with a blue laser, SMR - 70 mm, MR - 50 mm, Xsmr - 30 mm, Xemr - 42 mm, cable length - 5 m, air cooling system, controller.