Study On Robot Welding Technique For Double-hull Ship Block

The current production process of cabin cubicle structure in the domestic shipyard has such problems as follows: low productivity, poor quality of welding and status of the production environment, great human factors, high labor intensity, and deformation complex, e.g. .To solve these problems, the idea of using robots for welding was proposed. And two specific design ideas were put forward: gantry frame robot welding system and crane hanging-basket type robot welding system. Through comparing the actual situation, the advantages and disadvantages between the two programs, crane hanging-basket type robot welding system was chosen as the main research object.According to the requirements of cabin cubicle structure welding system, reasonable choice of robot, welding power source, wire feed system and other equipment for the welding system was made, and a detailed description of the selected equipment was made in this paper. According to the requirements of the construction site, three plans for the distribution of the crane hanging-basket type robot welding system were designed. And one distribution plan was determined by comparison. The basket manufactured and processing equipment installed was completed based on programs.In this paper, Kuka Sim Pro software was used to build the model of the crane hanging-basket type robot welding system. The simulation research of the robot welding system was also operated by the software to test and verify the accessibility of welding gun and the feasibility of the robot welding station. The robot kinematics was applied in the simulation system control of welding robot, and then the best robot welding path was obtained. And simulation results were used to modify the internal software setting of robot in order to achieve the soft limit to get a safe working environment.Research on the robot welding technology of T-type joint was carried out then. Through studying the welding parameters and according to process requirements, the processing parameters under different condition were developed.In this paper, through teaching the robot, the accessibility of the robot inside the cabin cubicle structure was tested and verified. According to the requirements of ship welding process, reasonable welding sequence was also formulated. The complement of welding simulation parts of cabin cubicle structure certified the feasibility of the application of the robot work station in actual production. Compared to the original hand-welding process, the robot welding process has such advantages as follows: better appearance of weld, stable welding quality and high efficiency, and, all in all, the application of robot welding has great social and economic benefits.