Robotic Welding of Ship-Subassemblies with fully automatic Offline-Programming

Abstract

Robotic welding of ship-subassemblies with flat structures and good reachability is state of the art. Programming usually is done macro-based or sometimes by using cameras with image processing software for localizing weld seams. Offline programming systems so far are able to handle simple geometries and path planning as long as collision risks are low. But when welding of 3D-structures with large depths is required, where spaces are narrow and weld seams are hard to reach (figure 8), automation with robots reaches its limits. This contribution covers a newly developed robot system for welding ship-subassemblies under the above-mentioned circumstances. A key component of this system is the fully automatic CAD-based offline-programming. It covers planning of the complete welding processes including welding sequences, directions and parameters, all measuring operations concerning workpiece-positions and seam start and end points as well as planning of all motions of the seven-axis gantry robot.