船殼小組立用アーク溶接ロボットの夜間無人運転について

概要

論文の詳細を見る
The unmanned operation to be done after the close of working hour improves rate of return on investment of automated machines. But, there is yet no achievement on the subject of arc-welding robots for shipbuilding sub-assembly works, at present. Then, the unmanned operating system of arc-welding Robots for such purposes is studied here. The system is consisted with an unmanned operation controller, an arcwelding robot, welding facilities and welding progrrams written in robot language. The system shows the following features: (1) The system to be flexible enough to accept change of work schedule. (2) The abnormal operation detecting functions to prevent damages of welding works and the Robots. (3) For the easy operation, the complicated operating sequence to be incorporated in the system. (4) The origins of revolute joint angles to be able to adjust without particular instruments. The method of adjustments to be based on the kinematics of manipulators. The system has been successfully operated at a state with some 55% by arc time ratio and the operating hour of the system has increased by 20% with the unmanned operation. Then, the rate of return on investment of the Robots is improved as same ratio. The Robots with the function of unmanned operation are most valuable in the present situation of the labor shortage.
社団法人日本船舶海洋工学会の論文
1990-03-15