Automatic Welding Of Ship Cabin Plate Based On Off-line Programming And Laser Tracking

Welding is a key technology in the construction of ship equipment.The workload of welding accounts for more than 50% of the total workload,and the cost is about 40% of the total cost during the hull construction.In the welding of medium plate with the curved surface which is in large scale,the traditional manual method of multi-layer and multi-pass welding is usually adopted,which is in low efficiency and unstable welding quality.the technology of robot automatic welding has the advantages of high welding efficiency and stable welding formation.Aiming at the problems of heavy online teaching workload and harsh working environment in the process of robot automatic welding,technology of off-line programming is applied to the automatic welding process of robot curved medium plate can significantly improve the production efficiency and the working environment of workers.Aiming at the positioning errors caused by the deviation between the theoretical model and the actual workpiece,the positioning deviation of the actual workpiece and the welding deformation in the off-line programming process,the technology of laser tracking is applied to the welding of medium plates on the curved surface of large ships to track the weld seam in real time.It can significantly improve the precision of welding and welding quality.Aiming at the problems that the thick plate of the ship surface needs to be welded for many times and the welding efficiency is low,the special design of the welding head can realize the single-side welding and double-side forming of the medium plate of the surface of the large ship,and improve the welding efficiency to the maximum extent.Therefore,the welding robot,Off-line programming technique,the weld tracking system,and the special welding head could be widely used for the welding of medium plate on the curved surface of large ships.In this paper,the full-door gantry,welding robot,LORCH welding machine,industrial personal computer,interchanger,laser vision sensor,Off-line programming technique and self-designed three-gun and double-wire welding head which can realize the single side welding and double side forming of medium and thick plate on the surface of large ships were equipped to constitute an efficient welding platform which can achieve the welding test of 12-30 mm ship curved plate.The communication between gantry and robot,between robot and welding machine,between gantry and general control,and between robot and general control is established through the network connection,which realizes the communication between various equipment in the long distance automatic welding process of medium plate on the curved surface of large ships and the long distance movement of robot.The SolidWorks software was adopted to design the dimension of the key components and model the key components in the offline simulation workstation,and the established model was imported into the simulation software RobotStudio to build the simulation workstation.The feasibility of the high-efficiency welding platform in the long-distance automatic welding process of thick plate in large ship surface is verified by the visual interface of the simulation software.The laser vision sensing technology was applied to the welding process,the welding robot can adjust the welding path timely and improve the welding precision effectively through the real-time feedback of the welding information in the welding process.