Large-scale Structure Of The Ship Robotic Welding Key Technology Research

Considering the current situation of low production efficiency, poor welding quality and work environment ,and the problems of the low productivity, the human-caused factors in quality of the welding, the high labor intensity, the complicated transmutation in the eggbox produce process; this paper is to apply welding robot to the eggbox. Robot welding required components of simple structure, high precision, batch production, flat position and so on, however eggbox is of the complex structure, low assembly precision, single-piece production and including the filler welding in the vertical position. It is need to reach the process of wielding robot and verify the feasible by simulation.Study the T-joint without paint and gap welding robot welding process including flat fillet weld and filler welding in the vertical position, then research T-joint with paint and different gaps welding process. By changing the current-voltage and welding torch swing path, the gas flow, and other parameters, according to welding process to develop the robot optimized welding parameters of flat fillet weld and filler welding in the vertical position on the condition of the surface with paint and different gaps. In the case of larger gap, through the use of multi-layer multi-channel technology, to further improve the robot welding technology.Through the application of the Kuka Sim Pro software and the establishment of 3-D sliding track, the model of robot, and the research in the simulated experiment of the welding workstations system to verify the gun accessibility, and feasibility of robotic workstations. The Kuka Sim Pro-based programming was used to apply the robot kinematics in the control of the welding robot by the simulation system to prove that the workstation meets the requirements of welding.The simulating parts were designed according to the structural characteristics of eggbox in this article. Using the location sensing technology of robot control system, it was to find the seam's initial position by welding torch, then it was reduced the location requirements, and reduced the time of adjusting the welding torch. Using the arc tracking technology, it was truly feedback the welding seam's changes and amend the torch in real-time on the welding process; Completed the welding of the simulation of eggbox structure, verify a robot workstation used in eggbox structure which in the actual production conditions is feasible. Compared with the original manual welding procedure, the smooth bead and the stability of welding quality were obtained by using robot welding technology, the great social and economic benefits were obtained.