This paper introduces an autonomous mobile welding robot which can be applied into double hull assembly line in shipbuilding. The developed robot consists of 5-axis carriage-type body, a controller, and a welding power supply and is capable of welding fully automatically without any interruption by an operator in a cell such as a commercial industrial robot system. This is also characterized by not only automatic seam tracking ability by arc sensor and automatic feature-point detection function by a touch sensor, but also an automatic generation function of job program by a convenient GUI(graphic user interface). The weight of the robot is totally 23 kg so that it could be handled by manual in the closed double hull structure. This system was already tested in a field and their performance had been proven successfully. The mobile based welding robot has been developed for assembly welding of the double hull ship structure in shipbuilding. The features of the system can be summarized as follows: 1) Job program of the welding robot including robot motion and welding condition are automatically generated by the developed simply GUI software. 2) All functions including touch sensing, arc sensing, and path planning were well run. It gave all sequences to be executed automatically. 3) The PC based controller having highest priority on the Windows XP was tested and proved with real-time execution. 4) The welding performance of the robot comparing to other commercial robots is nearly same.


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    Title :

    Development and control of autonomous mobile welding robot for the double hull ship structure in shipbuilding


    Additional title:

    Entwicklung und Kontrolle eines autonomen mobilen Schweißroboters für Doppelrumpfstrukturen im Schiffsbau


    Contributors:


    Publication date :

    2008


    Size :

    9 Seiten, 10 Bilder, 5 Quellen



    Type of media :

    Conference paper


    Type of material :

    Storage medium


    Language :

    English




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