船殻小組立用のアーク溶接ロボットの開発および適用について

概要

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The development and applications of an arc-welding robot for Shipbuilding sub-assembly works are studied here. Robots for such purposses should require only a minimum teaching time and should be able to track out deviations in welding lines. Moreover they should be flexible enough to accommodate for larger constructions and different workpiece laying positions, according to changed production schedules. A Iarge gantry type Arc-welding robot with robot language capability has been newly developed and the new application engineering for this robot has been studied and incorporated in the macro program with the task level robot language functions. The robot and the application engineering shows the following remarkable features : (1) Teaching items for the task level macro programs are reduced to 1/35th of the original. (2) Almost the entire weldings, including corner weldings, can be performed by robots throughout the sub-assembly works. (3) More freedom for sub-assembly laying positions, without altering the welding programs. Thus, the sub-assembly works having complicated stiffener arrangements can be welded by the robot with a 75 % reduction in the welding man-hour.
社団法人日本船舶海洋工学会の論文