Ship assembly plate welding robot based on remote calibration and welding method of ship assembly plate welding robot

Abstract

The invention relates to the technical field of ship equipment, in particular to a ship assembly plate welding robot based on remote calibration. The ship assembly plate welding robot comprises a servo welding robot, an active robot, a control system and a man-machine interaction system; a structure light visual scanning device and a welding gun are arranged at the tail end of the servo welding robot; the servo welding robot is provided with a welding robot controller; a welding gun model and a force applying handle are arranged at the tail end of the active robot; the active robot is providedwith an active robot controller; a force sensor is arranged at the bottom of the force applying handle; and the active robot controller comprises an impedance controller, a fuzzy self-tuning controller and a reverse kinematic model. According to the ship assembly plate welding robot based on the remote calibration, the servo welding robot is under the servo control of the active robot, and external force is applied to the force applying handle, so that flexibility control over position and force of the tail end of the active robot is achieved, the welding trajectory of the servo welding robotreturns to be achieved within an autonomous scanning scope, and the remote calibration is achieved.

Description

technical field [0001] The invention relates to the technical field of ship equipment, in particular to a ship assembly plate welding robot and a welding method based on remote correction. Background technique [0002] In shipbuilding, welding plays an important role. The ship plate frame structure is a typical structure of ship cabins. Its weld seam structure has various forms, many small pieces, and short weld seams. Therefore, the welding of ship plate frame structure requires higher transfer accuracy of welding robots. The existing intelligent welding robot that is used for ship plate frame structure also occurs, and as the announcement number is CN 206484130U patent name is the Chinese patent of the intelligent welding system for ship plate frame structure robot, discloses that intelligent welding system comprises welding device, and welding The digital welding power supply and control system connected to the device; the welding device includes a guide rail and a weldi...

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Problems solved by technology

[0003] The object of the present invention is to address the above problems, and provide a welding robot and a welding method for a ship's vertical plate based on remote calibration. Remote calibration of welding robots solves the problem of inefficiency that existing welding robots cannot operate remotely

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