摘要
针对船舶典型板架结构的特点,传统焊接机器人无法进行高效率运用的现状,开发出一种无需人工示教编程的全自动机器人焊接系统。该系统采用结构化非示教编程技术,通过激光扫描来获取结构数据,经过后台计算得到焊缝具体位置及起止点。整个焊接过程无需人工干预,机器人系统可自动寻找焊缝并进行焊接,包括平角焊、立角焊、包角焊、圆弧焊等多个复杂位置焊缝。该机器人系统适用于船舶典型板架结构的焊接,解决了传统焊接机器人无法焊接装配精度不高、无工装夹具、焊缝短且结构复杂的结构件的问题。
According to the characteristics of the typical ship plate structure, and because the traditional welding robot can not be used efficiently, a kind of automatic robot system with non teaching programming is invented. The structure of non teaching programming technolo- gy is used in this system, and structural data is obtained by laser scanning. The specific loca- tion of the weld joint and the starting and ending points are calculated by backstage. No man- ual intervention throughout the welding process, the welding, including fillet welding, verti- cal fillet welding, bao welding, circular arc welding and other complex weld position can be found and welded automatically by the robot system. The robot system is suitable for the welding of the typical ship plate structure, and solves the problem that the traditional welding robot can not weld joint like the low assembly accuracy, no tooling fixture, short welding joint and complex structure.
关键词
机器人焊接
船舶
典型板架结构
非示教编程
robot welding system
ship
typical plate structure
non teaching program-ming fixture
