13. The Arc Welding Robot for Hull Sub-assembly Works

概要

論文の詳細を見る
The development and application of an Arc Welding Robot for ship building sub-assembly works are studied here. Robots for such purposes should require a minimum teaching time and should be able to track out welding lines. Moreover, they should be flexible enough to accommodate any size of constructions and different workpiece laying positions, in accordance with the change of production schedules. A large gantry type Arc Welding Robot with the robot language capability and with the arc sensor, which tracks out the welding line and detects its ends, has been newly developed and the new application engineering for this robot has been studied, incorporating task level robot language functions in the sub-program. The robot and its application engineering bring forth the following remarkable features: (1) By use of the robot with task level welding programs, teaching items are reduced to 1/35 of the original. (2) Almost entire welding, including boxing at the ends of welding line, can be performed by the robot throughout the sub-assembly works. (3) More freedom is given to sub-assembly laying positions without altering the welding program. Thus, the sub-assembly works having complicated stiffener arrangements can be welded by the robot reducing the welding man-hour by 75%.
社団法人日本船舶海洋工学会の論文