Robot-based adaptive laser wire welding of ship steel plates

As expanding of laser welding application, it has paid attention on laser welding of ship structures. For this purpose, a study on laser wire welding based on robot and tracking sensor for ship structures has been carried out. After the basic investigation on influence of welding parameters on weld formation, optimal specification was determined. For tolerating the variable joint gap width, the gap adaptability of laser wire welding was investigated, and an adaptive wire filling model drawing a relationship between welding speed, gap width, reinforcement, wire speed and laser power was established. With the help of a laser version sensor in front of welding head, with which the gap width can be measured during welding, an adaptive laser wire welding for butt joints of 6~8mm thick ship steel plates could be realized. Meanwhile, by use of the same laser version sensor, a seam tracking with an accuracy of 0.05 mm in x-direction is also expectable.