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“Beijing Minyue Technology Co.,Ltd”As China's leading high-tech enterprise for Off-line programming intelligence of industrial robots. Focusing on flexible manufacturing with self-developed RobotSmart-intelligent decision-making system, SmartVision- binocular structured light vision system, SmartEye -laser seam tracking system,Provide new generation of intelligent robot non-teaching welding and cutting solutions.

Our company has an interdisciplinary R&D team of masters and doctors and technical experts from the fields of graphics and automation.More than 90% of them have a master's degree or higher.

متخصص در کنترل ربات، الگوریتم ها و تعامل انسان و ربات، ما متعهد به ارائه راه حل های هوشمند رباتیک بهتر به صنعت تولید جهانی هستیم.

After the user imports the 3D digital model into RobotSmart- intelligent decision system, The software can quickly and automatically generate industrial robot motion code, and at the same time can realize the robot motion simulation, collision detection, obstacle avoidance trajectory planning, singularity avoidance and axis limit detection and other functions, so as to avoid the traditional complicated and inefficient manual teaching programming process.

حرکت به سمت یک مسیر جدید، حل نقاط درد صنعت.

Welding needs of steel structure, ships and other industries are highly non-standardized, small batch, multi-species characteristics, and the welding process is complex and variable. Traditional welding robots can not meet this flexible demand, the need for intelligent welding robots to adapt to the processing parameters and path adjustment.

Difficulty in programming and debugging: Traditional industrial robots are complex to program and debug, requiring specialized skilled workers, and have a fixed working range, making secondary deployment difficult at a later stage.2 This increases the difficulty and cost of using robots.

The shape and size of the workpiece is special, large and long, and it is difficult to locate the workpiece: the traditional workpiece locating adopts the limit pin, and different types of workpieces have different pin arrangement positions, and the process is highly dependent on experience.

A leading company in the steel structure industry, adopting Minyue Technology's one-button start, non-teaching intelligent welding solution.

Step 1: Our customer imports the 3D digital model drawing into the RobotSmart - Intelligent Decision System.

مرحله 2: سیستم تصمیم گیری هوشمند RobotSmart، که می تواند به سرعت و به طور خودکار مسیر ربات صنعتی را ایجاد کند و در عین حال می تواند شبیه سازی حرکت ربات، تشخیص برخورد، اجتناب از تکینگی و تشخیص محدودیت محور را تحقق بخشد.

Step 3: SmartVision-3D binocular structured light vision system performs coarse positioning of the workpiece.3D binocular structured light vision systemscans the surface of the workpiece and performs reverse modeling from the point cloud data. Restore workpiece surface features with modeling accuracy within ±5mm.Probing accuracy within 40 mm for assembly and initial positioning of the workpiece ，Detect the angle of assembly within 10°。Detects changes in weld length within 30 mm (adjustable)。

Step 4: SmartEye - Laser vision tracking system.Scanning the weld seam, confirming the weld seam position and information, correcting the 3D digital model and the actual workpiece weld seam position, and obtaining the actual weld seam position data.Supports multi-robot, multi-external-axis, and positioner cooperative work.

SmartVision-3D binocular structured light vision system importing 3D models drawing，The data of the acquired 3D point cloud is compared with the 3D digital model，The robot only welds welds with 3D point cloud data.When the point cloud data acquired by the sensor matches the 3D model after the workpiece is retrofitted with a new components, the retrofitted components are welded.

واقعاً تولید را با یک دکمه شروع کنید، 2 دقیقه برای شروع قوس، سریع، دقیق، کاملا بدون برنامه، راندمان بالا و دقت بالا.

Intelligent Teach-Free Welding Robot Workstation for Steel Structures

مروری بر محصولات

Ground rail Intelligent welding workstations are characterized by an excellent price/performance ratio.

Intelligent welding workstations are characterized by an excellent price/performance ratio.

An additional axis of external motion for the overall movement of the robot is provided by means of a well dimensioned ground rail. Scientific and compact layout design of the robot , supporting electrical cabinet, welding power supply, barrel welding wire and other components.

Realizes the need for dual-station welding operations with a single robot.The Intelligent Welding Workstation is designed to accommodate workpieces up to 10 meters (L) × 1.2 meters (W) × 0.5 meters (H),

The main welding workpieces include common workpieces such as traveling beams, H-steel beams, and platform beams.

شرح تجهیزات

2.1 Equipment System Overview

Ground rail single-unit intelligent welding workstation is mainly used for the automatic welding of all kinds of steel structure fillet weld, the workstation meets the requirements of H-beam structure, cross partition and other fillet weld.

The workstation meets the welding requirements of H-beam structures, cross partitions and other fillet welds.

Ground rail single-unit intelligent welding workstation is mainly used for the automatic welding of all kinds of steel structure fillet weld, the workstation meets the requirements of H-beam structure, cross partition and other fillet weld.

The workstation meets the welding requirements of H-beam structures, cross partitions and other fillet welds.

The system includes a control system, an arc welding robot, a welding power supply and cooling water tank, an intelligent welding vision system, a water-cooled welding gun, and a gun cleaning station.

ویژگی های اصلی:

(1)Non-Programme(No need for traditional complex programming of industrial robots.)

(2)Intelligent welding (Model Bass)

(3)Supports multiple welding nodes(Adaptable to all kinds of workpiece welding)

(4)Laser vision tracking sensor(Effectively solving the weld quality problem of deformation in workpiece welding)

(5)Welding process diversification

The main configurations of this workstation: robot groundrail, robot, travel axis motor, flexible wire kit, welder, water-cooled tank, welding gun, gun cleaning station, computer , display and control suite, welding accessory bracket, all-in-one computer operator's desk, laser vision sensor, 3D vision camera, intelligent welding system (Model Bass + 3D Vision camera Model free + 3D Vision Reverse Modeling ) configured in a flexible way.

1.Basic Product Information
Equipment floor space	12000（Long）x850（Width）
Effective welding range	10000 mm（L）x1200 mm（W）x500mm（H）
Laser Vision System	Laser Vision Tracking Sensor
حالت جوشکاری	Model-driven welding（STEP、IFC）
Adaptation Workpieces	H beam reinforcement plate、Traveling girder、H-steel main weld, platform beam、roof beam.
Welding plate thickness	6 میلی متر تا 18 میلی متر
محدوده جوشکاری	Flat and Vertical Welding，Fillet welding
شرایط جوشکاری	① 80%Ar+20%CO2 ② 1.2mm Solid wire

2.Intelligent Welding System Product Details

The intelligent welding system consists of the following components： Welding Robot，Controller，Teach Pendant，Laser Vision Sensor，IPC and intelligent welding system software.

Table 1-1 Product List

IPC	Robot Teachers
Laser vision sensor	Intelligent decision-making systems

2.2 Intelligent Operating System

رابط اپراتور

Stairway Welding

I-beam welding

Box beam

三、Equipment list

نه	نام محصول	واحد	تعداد	نام تجاری	سخن گفتن
1	Welding station for 12-meter ground rail robot (7-axis)	واحد	1	MINYUE	Intelligent Welding Workstation of Ground Rail.The total length of the ground rail is L=12 meters, and the effective stroke is 10 meters.
2	Robot (2-meter arm span)	واحد	1	FANUC	6KG load 2m arm span
3	Traveling axis motors, flexible line sets.	واحد	1	FANUC
4	دستگاه جوش کاری	واحد	1	MEGMEET	Deep fusion welding machine for all-digital robot
5	مخزن آب خنک کننده	واحد	1	MEGMEET
6	مشعل جوشکاری	واحد	1	TRM	Standard with bump stop, 500A water-cooled 45-degree extended neck
7	firearms clearance station	واحد	1	XJY	Fully automatic pneumatic gun cleaning, wire cutting, spraying anti-splash liquid
8	Robot groundrail (heavy duty)	واحد	1	GXY	1 set of 12-meter robot walking tracks with fully automatic lubrication
9	کامپیوتر صنعتی	واحد	1	MINYUE
10	Display Controls Kit	واحد	1	MINYUE	Shielded Cables, Monitor Keypads
11	Welding Accessory Holder, Cable Kit	واحد	1	MINYUE
12	All-in-one Flip-Top Console	واحد	1	MINYUE
13	Laser vision tracking system/Intelligent Decision System	واحد	1	MIMYUE

The following picture shows the appearance of the complete set of MY-ZZHJ-R-BC-12 (7-axis) welding workstation.

پیکربندی تجهیزات

4.1 Basic configuration of a stand-alone workstation

4.2 Layout of multiple workstations

1、 FANUC M-10ia/8L Robot

مدل نیست	M-10ia/8L
مکانیزم	ربات مفصلی
Controlled Axes	6 axle（J1，J2，J3，J4，J5，J6）
شعاع قابل دسترسی	۶۰ میلی‌متر
روش نصب	نصب زمینی
Range of motion (maximum speed)	J1	340º/360º  (200º/s)	J2	250º  (200º/s)	J3	447º  (210º/s)
	J4	380º  (430º/s)	J5	380º  (430º/s)	J6	720º  (630º/s)
Maximum wrist movement speed	2000 میلی متر در ثانیه
Maximum Wrist Load	کیلوگرم ۷۳۰۰
J3 Maximum arm load	کیلوگرم ۷۳۰۰
Allowable load torque on wrist	J4	16.1 نیوتن متر	J5	16.1 نیوتن متر	J6	5.9 نیوتن متر
Allowable Wrist Load Inertia	J4	0.63 کیلوگرم متر مربع	J5	0.63 کیلوگرم متر مربع	J6	0.061 کیلوگرم متر مربع
روش رانندگی	AC servo motor drive
دقت موقعیت یابی را تکرار کنید	± 0.08 میلی متر
وزن ربات	کیلوگرم ۷۳۰۰
قدرت ورودی	2 kVA ( 1 kW )
شرایط نصب	Ambient temperature：0 ~ 45⁰C Ambient humidity：Normally below 75% RH (no condensation), short-term below 95% RH (within 1 month) vibration acceleration：4.9 m/s² (0.5G)以下

A.Robot Control System

توانمندی ها	سخن گفتن
Welding restart function
Temporary stop and restart function
عملکرد ضد برخورد
Program Editing Functions	Position, command change, insertion, deletion, program copy and delete, merge
Program change function	Parallel, rotary movement, mirror transformation, etc.
program callout function
Damping control
Trajectory constancy control
High precision trajectory control
Precise control of cornering high-speed work
self-diagnostic function	Fault categorization and data display
بازیابی نقص برق	Interrupted by a power failure and can be switched to the stop position to start working after powering up again.
حافظه خارجی	SUB jack, LAN or Ethernet
External Output Inputs	I/O 40 points/CC-LINK (bus module)

4.3 Ground rail parameters

نام	Ground rail system	محیط نصب	دما	-10-45 ℃
مدل	MY-100/1T/12M		رطوبت	20-80٪
ساختار	Single Ground Rail		لرزش	4.9m/s2 less
بارها	1000 کیلوگرم		دیگر	There must be no ignitable or corrosive gases or liquids, no water or oil, etc., and there must be no sources of high intensity interference in close proximity.
position accuracy	± 0.1mm
External axis	1
X Track length	6M / 9M / 12M		حداکثر سرعت سفر	60 متر در دقیقه

Ground Rail Configuration

نام	مشخصات	نام تجاری	سخن گفتن
ریل	MY-100/1T/12M	MINYUE	Load capacity 1000kg
گیرنده	MAB115-10	MINYUE
موتور سروو	MINYUE 2.2KW	MINYUE	2.2KW
راهنمای خطی	35 Heavy Duty Square	MINYUE	6 sets of sliders
Tank chain	Bridge 45＊150＊150＊6500	MINYUE	M2 oblique tooth

4.7Laser Vision Tracking System -SmartEye

ویژگی های محصول

Warranty, after-sales service

The equipment is warranted free of charge under normal conditions for a period of 12 months from the date of final acceptance.

During the warranty period, the seller shall provide equipment maintenance and replacement parts free of charge for damage to parts caused by the quality of the equipment itself, with the exception of wear parts and consumable parts.

Lifelong service: During the project warranty period and outside the warranty period, Party B is responsible for regular visits to Party A to understand the use of equipment, collect Party A's comments and suggestions, free repair and maintenance of the equipment, more than the warranty period after the maintenance and other costs are charged only the cost of fees.