This arc welding robot is developed, as the first step, for the purpose of automatic horizontal and vertical fillet welding of large steel structures like sub-assembly for shipbuilding. Its characteristics are as follows: 1) It has a hand which acts as a welding torch, suspended on a travelling gantry type structure and can control seven axes simultaneously. 2) The starting and ending points of each welding line are detected, and filler-aiming point on welding line is corrected by means of optical data obtained through an image sensor camera. 3) Instruction to the robot is given by a dialogue mode, utilizing a character display working interactively. 4) With one mini-computer (senior computer), the robots up to four can be controlled as a group. 5) Input data of the robot can be generated by the information concerning the data base of hull structure design and a dialogue mode using a graphic display. Through welding experiments with the robot developed, the authors have found bright prospects to apply it to practical uses. So, as the second steps, they are now developing a robot that has two hands and can do fillet welding on both sides at same time to improve sensing function and welding efficiency.

  • Corporate Authors:

    Mitsui Shipbuilding and Engineering Company, Ltd

    6-4 Tsukiji, 5-chome, Chuo-ku
    Tokyo,   Japan 
  • Authors:
    • Nozaki, T
    • Mokudai, N
    • Higo, Y
    • Osaki, S
    • Inuiya, N
    • Nandate, T
    • Kishimota, M
    • SAITO, A
  • Publication Date: 1978

Media Info

  • Pagination: p. 31-43
  • Serial:

Subject/Index Terms

Filing Info

  • Accession Number: 00184780
  • Record Type: Publication
  • Source Agency: Mitsui Shipbuilding and Engineering Company, Ltd
  • Files: TRIS
  • Created Date: Jan 13 1979 12:00AM