Development of rail-less welding robot with laser sensor used for the butt welding of block to block in the shipbuilding process

摘要

One - sided two electrodes CO{sub}2 welding, which is used for a block - to - block jointing in shipbuilding, requires manual operation of observing the molten pool, of fixing the welding parameters optimum and of adjusting the torch position,taking into consideration the root gap variation and occasional misalignment. Even an automated conventional welding system also requires a rail for guiding the welding carriage, which must be set before and or during the welding operation.The newly developed welding robot described in this paper is completely rail free, able to compute out the welding parameters based on the laser - detected profile data, and can maintain the torch position precisely by controlling the direction of thecarriage without the use of a rail.