Study on arc welding robot weld seam touch sensing location method for structural parts of hull

In mechanical manufacturing field, there are deviations in the production and assembly of the workpiece, especially the large sized structure components. Its low processing and assembly precision severely restricts the robot technology application in the field of great engineering projects. This increasing the production costs, reducing the production efficiency. In this paper, aiming at the field of shipbuilding industry of engineering equipment, added with touch sensing location method of auto-searching for track to the existing system which is arc welding robot for structural parts of hull. designed the kawasaki robotics process control program algorithm and robot control program algorithm, formed the software which contains wire extension consistency ensure function, workpiece weld seam and edge detection function, and workpiece deviation compensation function three parts. according to the characteristics of the structure components, analyzed the space coordinate relationship between the parts and the parts with the foundation, selected the method which is used two kinds of sensing patterns in combination to design the robot control program algorithm, developed the robot path teaching method, finished the compensation function of processing and assembly error of parts, realized the intelligent arc welding robot weld production line with auto-searching for track for structural parts of hull.