Fillet welding is one of the most widespread types of welding in the industry, which is still carried out manually or automated by contact. This paper aims to describe an online programming system for noncontact fillet welding robots with U and L shaped structures, which responds to the needs of the Fourth Industrial Revolution. In this paper, the authors propose an online robot programming methodology that eliminates unnecessary steps traditionally performed in robotic welding, so that the operator only performs three steps to complete the welding task. First, choose the piece to weld. Then, enter the welding parameters. Finally, it sends the automatically generated program to the robot. The system finally managed to perform the fillet welding task with the proposed method in a more efficient preparation time than the compared methods. For this, a reduced number of components was used compared to other systems, such as, a structured light 3D camera, two computers and a concentrator, in addition to the six axis industrial robotic arm. The operating complexity of the system has been reduced as much as possible. To the best of the authors knowledge, there is no scientific or commercial evidence of an online robot programming system capable of performing a fillet welding process, simplifying the process so that it is completely transparent for the operator and framed in the Industry 4.0 paradigm. Its commercial potential lies mainly in its simple and low cost implementation in a flexible system capable of adapting to any industrial fillet welding job and to any support that can accommodate it.
翻译：平板焊接是该行业最广泛的焊接类型之一,该行业仍然通过接触手动或自动进行焊接。本文件旨在描述一个在线编程系统,用于与U型和L型结构的不接触的平板焊接机器人的在线编程系统,该系统响应了第四次工业革命的需要。在本文件中,作者建议采用在线机器人编程方法,消除传统上在机器人焊接中实施的不必要步骤,这样操作者只能执行三个步骤来完成焊接任务。首先,选择将部件焊接。然后,输入焊接参数。最后,它将自动生成的程序发送给机器人。这个系统最终设法在比比较方法更高效的准备时间里完成与拟议方法的焊接。为此,与其它系统相比,例如结构化的3D照相机、两台计算机和调试器等,这样操作者除六轴工业机械臂外,只能完成三个步骤的焊接。系统的运作复杂性已经尽可能降低。最后,它将自动生成的程序发送给机器人。最后,这个系统最终得以在比比较的方法更高效的准备时间里完成焊接焊接和商务程序,一个能够完全简化的在线机器人操作的操作系统的操作系统。
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