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Ship assembly plate welding robot and welding method based on remote correction

A welding robot and robot technology, applied in welding equipment, welding accessories, program control manipulators, etc., can solve the problem of low efficiency of remote operation of welding robots, and achieve the effect of ensuring robustness and stability

Active Publication Date: 2021-05-25
BEIBU GULF UNIV
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  • Abstract
  • Description
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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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  • Ship assembly plate welding robot and welding method based on remote correction
  • Ship assembly plate welding robot and welding method based on remote correction
  • Ship assembly plate welding robot and welding method based on remote correction

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Embodiment Construction

[0033] The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only some, not all, embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the protection scope of the present invention.

[0034] Such as Figure 1 to Figure 2 As shown, the ship assembly welding robot based on remote correction includes a follower welding robot 9, an active robot 12, a control system 15 and a human-computer interaction system 14;

[0035] The end of the follow-up welding robot 9 is equipped with a structured light vision scanning device 2 and a welding torch 1. A welding robot controller 8 is installed on the follow-up welding robot 9. The input end of the weldin...

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Abstract

The present invention relates to the technical field of ship equipment, in particular to a welding robot for ship erecting plates based on remote correction, including a follow-up welding robot, an active robot, a control system and a human-computer interaction system; the end of the follow-up welding robot is equipped with structured light vision scanning Device, welding torch, welding robot controller is installed on the follow-up welding robot, welding torch model and force application handle are installed on the end of the active robot, active robot controller is installed on the top of the active robot, and a force sensor is installed on the bottom of the force application handle; Robot controllers include impedance controllers, fuzzy self-tuning controllers, and inverse dynamic models. The follow-up welding robot of the present invention is controlled by the follow-up of the active robot, and by applying external force to the force-applying handle, the position and force compliance control of the end of the active robot can be realized, so that the welding track of the follow-up welding robot returns to the autonomous scanning range. , to achieve remote calibration.

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...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B23K9/02B23K9/127B23K9/32B25J11/00B25J9/16
CPCB23K9/02B23K9/127B23K9/1274B23K9/32B23K9/328B25J9/16B25J9/1679B25J11/00
Inventor 冯志强王跃飞陈海锋
Owner BEIBU GULF UNIV
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