CN107052508A - Intelligent welding system and its welding procedure for Analysis of Ship Grillages constructed machine people - Google Patents

Intelligent welding system and its welding procedure for Analysis of Ship Grillages constructed machine people Download PDF

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Publication number
CN107052508A
CN107052508A CN201611263692.4A CN201611263692A CN107052508A CN 107052508 A CN107052508 A CN 107052508A CN 201611263692 A CN201611263692 A CN 201611263692A CN 107052508 A CN107052508 A CN 107052508A
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CN
China
Prior art keywords
welding
mechanical arm
guide rail
welder
ship
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
CN201611263692.4A
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Chinese (zh)
Inventor
郑惠锦
甘露
杨帅
兰玲
朱国斌
王高飞
阎璐
宋金英
吴文烈
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
SHANGHAI LINGANG SHIPBUILDING EQUIPMENT Ltd CORP CSSC
Shanghai Shipbuilding Technology Research Institute
Original Assignee
SHANGHAI LINGANG SHIPBUILDING EQUIPMENT Ltd CORP CSSC
Shanghai Shipbuilding Technology Research Institute
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by SHANGHAI LINGANG SHIPBUILDING EQUIPMENT Ltd CORP CSSC, Shanghai Shipbuilding Technology Research Institute filed Critical SHANGHAI LINGANG SHIPBUILDING EQUIPMENT Ltd CORP CSSC
Priority to CN201611263692.4A priority Critical patent/CN107052508A/en
Publication of CN107052508A publication Critical patent/CN107052508A/en
Pending legal-status Critical Current

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Classifications

    • BPERFORMING OPERATIONS; TRANSPORTING
    • B23MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23KSOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K9/00Arc welding or cutting
    • B23K9/0026Arc welding or cutting specially adapted for particular articles or work
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B23MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23KSOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K9/00Arc welding or cutting
    • B23K9/12Automatic feeding or moving of electrodes or work for spot or seam welding or cutting

Abstract

The present invention relates to a kind of Intelligent welding system for Analysis of Ship Grillages constructed machine people, it is characterised in that:Digital welding power source and control system that Intelligent welding system includes welder, is connected with welder;Welder includes guide rail, and the welding robot system being located on guide rail, and control system is connected with a man-machine interactive system, and described man-machine interactive system butt welding machine device people's system is controlled;Welding robot system includes mechanical arm, and mechanical arm is connected with laser scanning surface part and weldering device.The welding robot system of the present invention, after startup, whole without manual intervention, assembly precision, putting position for structure require relatively low, and whole system dismounting, handling are conveniently, it is possible to resolve larger, the not easily shifted present situation of shipyard workpiece.

Description

Intelligent welding system and its welding procedure for Analysis of Ship Grillages constructed machine people
Technical field
The present invention relates to the technical field of ship equipment, specifically a kind of intelligence for Analysis of Ship Grillages constructed machine people Energy welding system, more particularly to a kind of welding robot Intelligent welding system between group Vertical board support structure grid in ship.
Background technology
As shipbuilding big country of the world, the current ship output of China be sure to occupy the world first three, but from shipbuilding technology, also fall After western developed country, most processes need substantial amounts of labour.As industry 4.0 and made in China 2025 are carried Go out, shipbuilding industry will develop in terms of automation, intellectuality energetically.
In shipbuilding, welding is in occupation of critical positions, and workload and cost account for the 30%-40% of hull construction. For long straight weld, such as, in the process such as some jigsaw, group be vertical, a large amount of shipyards are set using the automation such as special welding machine It is standby, but for assembling structure in segmentation cabin etc., there is the features such as weld seam is short, structure type is various, be not suitable for using welding The automation equipments such as special plane, are carried out by the way of manual welding at present or all.West prosperity shipbuilding countries, for ship cabin The labyrinths such as room, using intelligent equipments such as welding robots, domestic shipyard is in this direction, also in development, Do not apply real case.
Robot because its is cost-effective, improve efficiency, ensure quality, it is repeatable high the features such as, in manufacturing industry It is used widely.Traditional robot carries out the determination of path of welding using the mode such as teaching, off-line programing, it is adaptable to product compared with Small, of large quantities, the assembling industry such as precisely, such as automobile, parts, but shipbuilding industry is the characteristics of have oneself.Using the present invention as Example, Analysis of Ship Grillages structure is the typical structure of ship's space, and wherein welding line structure is various informative, and amount essay is more, and weld seam is short and small, and Shipyard assembly precision is not high, also has deviation even if identical structure, so the teaching mode of traditional robot not only operation element amount It is huge, and inefficiency, it is clear that be not suitable for shipbuilding industry.
The content of the invention
It is an object of the invention to provide a kind of improved Intelligent welding system for Analysis of Ship Grillages constructed machine people, it Low precision, some shortcomings of inefficiency in the prior art can be overcome.
To achieve these goals, the technical scheme is that:Intelligent welding for Analysis of Ship Grillages constructed machine people System, it is characterised in that:The digital welding power source that described Intelligent welding system includes welder, is connected with welder And control system;Described welder includes guide rail, and the welding robot system being located on guide rail, and control system is connected with One man-machine interactive system, described man-machine interactive system butt welding machine device people's system is controlled;Described welding robot system System includes mechanical arm, and mechanical arm is connected with laser scanning surface part and weldering device.
Further, described guide rail is arranged on guide rail framework, and guide rail framework is provided with welder base, welder Base is provided with directive wheel, and welder can be slided by directive wheel on guide rail framework;Welder base is sent provided with welding Silk device and clear rifle cut an equipment.
Described welding method comprises the following steps:A, welded using Intelligent welding system, tied first according to welding Configuration formula, control system planning weld information collection position, and according to the scanning range of laser scanner, the corresponding machinery of establishment The movement locus of arm;
B, the motion of mechanical arm first time pre-welding, mechanical arm drive laser scanner scanning weld information collection position, complete Into after scanning, weld seam actual position information is transmitted to control system, control system is compiled again after being contrasted with preset data Make the welding track of corresponding mechanical arm;
C, weldering device carry out welding job, when mechanical arm assigns to arrival weld seam start-stop position, control system control machinery Arm has performed receipts arc program;
D, when a welding unit end-of-job, mechanical arm drives clear rifle to cut an equipment and cuts silk, bonding machine to complete clear rifle Device people system is moved to next welding unit by guide rail and worked on automatically.
Further, in b step, laser scanning part, which transmits the position while welding characteristic point data being collected into control, is Obtained data and preset data are contrasted, calculated, drawn departure, welding rail is re-started immediately by system, control system Mark plans and is converted into the mobile data of mechanical arm, and feeds data back to mechanical arm, and mechanical arm is according to finally giving Data moved.
The welding robot system of the present invention is specific in ship organize Vertical board support structure, welding of the invention when using After robot system starts, whole process, can be automatic by guide rail after the work that robot terminates a unit without manual intervention Next unit is moved to be operated.Assembly precision, putting position for structure require relatively low, and whole system is dismounted, hung Fortune is convenient, it is possible to resolve larger, the not easily shifted present situation of shipyard workpiece.
Brief description of the drawings
Fig. 1 is the structural representation of one embodiment of the invention.
Fig. 2 is guide rail structure schematic diagram of the invention.
The structural representation of Fig. 3 welded blanks required for the Intelligent welding system of the present invention.
Fig. 4 mends plate round-corner transition schematic diagram for the Analysis of Ship Grillages constructed machine people welding of the present invention.
Fig. 5 mends plate overlap joint transition schematic diagram for the Analysis of Ship Grillages constructed machine people welding of the present invention.
Fig. 6 welds cornerite schematic diagram for the Analysis of Ship Grillages constructed machine people of the present invention.
Fig. 7 is Fig. 6 partial enlargement structural representation.
Fig. 8 is control system electric diagram of the invention.
Embodiment
The invention will be further described with reference to the accompanying drawings and examples.
The sign of each accompanying drawing is expressed as follows:
1 weldering device, 2 laser scanning parts, 3 mechanical arms, 4 clear rifles cut an equipment, 5 guide rails, 6 welding wire feeders, 7 digitlizations Welding hole, 14 vertical bones are crossed in the source of welding current, 8 control systems, 9 man-machine interactive systems, 10 bottom plates, 11 floors, 12 benefit plates, 13.
Intelligent welding system of the present invention for Analysis of Ship Grillages constructed machine people, its difference with the prior art exists In:Digital welding power source and control system that described Intelligent welding system includes welder, is connected with welder;Institute The welder stated includes guide rail, and the welding robot system being located on guide rail, and control system is connected with a man-machine interaction system System, described man-machine interactive system butt welding machine device people's system is controlled;
Described welding robot system includes mechanical arm, and mechanical arm is connected with laser scanning surface part and weldering device.
Optionally, described guide rail is arranged on guide rail framework, and guide rail framework is provided with welder base, welder Base is provided with directive wheel, and welder can be slided by directive wheel on guide rail framework;Welder base is sent provided with welding Silk device and clear rifle cut an equipment.
Further, described guide rail is formed by connecting by longitudinal rail bar and cross slide way bar, and longitudinal rail bar is with laterally leading The junction of rail bar is provided with projection contacts bar, and described projection contacts bar is guide track limiting device, and whole track is rectangle, The both ends and middle part of track are provided with border card-bit part, and described border card-bit part has six pieces, is two-by-two one group, sets respectively In the two ends and middle part of track, border card-bit part is arranged at the lower section of track, and every block boundary card-bit part is by one piece of bottom plate and is located at Raised card article on bottom plate is constituted, and the distance between card article and guide rail are 10-35mm, and card article is electromagnet, and said structure can Accurately to control walking, stopping and divertical motion of the welding robot on guide rail.
In one embodiment, welder base is provided with support arm, is between described mechanical arm and support arm It is rotatably connected, mechanical arm is provided with shaft flange disk, described weldering device and laser scanning part is arranged at shaft flange disk On, described laser scanning part is arranged at the lower section of weldering device.
Further, support arm is also rotatably to connect provided with welding wire feeder, between weldering device and mechanical arm Connect, weldering device is provided with welding gun.
In an embodiment of the method, described welding method comprises the following steps:A, using Intelligent welding system carry out Welding, first according to welding structure form, control system planning weld information collection position, and according to the scanning of laser scanner Scope, works out the movement locus of corresponding mechanical arm;B, the motion of mechanical arm first time pre-welding, mechanical arm drive laser Scanner scanning weld information collection position, is completed after scanning, and weld seam actual position information is transmitted to control system, control system System regroups the welding track of corresponding mechanical arm after being contrasted with preset data;C, weldering device carry out Welder Make, when mechanical arm assigns to arrival weld seam start-stop position, control system control machinery arm has performed receipts arc program;D, when one During individual welding unit end-of-job, mechanical arm drives clear rifle to cut an equipment and cuts silk to complete clear rifle, and welding robot system leads to Cross guide rail and move to next welding unit automatically and work on.
Further, in b step, laser scanning part, which transmits the position while welding characteristic point data being collected into control, is Obtained data and preset data are contrasted, calculated, drawn departure, welding rail is re-started immediately by system, control system Mark plans and is converted into the mobile data of mechanical arm, and feeds data back to mechanical arm, and mechanical arm is according to finally giving Data moved.Wherein, weld seam quantity depend on mend plate quantity and cross welding hole quantity, mend plate can on the left of framed plate structure, Right side, bilateral, nothing, crossing welding hole can be above left side, right side, benefit plate, nothing.
The present invention compared with prior art, with obvious advantage.The welding robot system of the present invention, after startup, entirely Cheng Wuxu manual interventions, assembly precision, putting position for structure require relatively low, and whole system dismounting, handling are conveniently, can Solve larger, the not easily shifted present situation of shipyard workpiece.
In another embodiment of the method, weldering device is when carrying out Analysis of Ship Grillages structure welding, including fillet welding in the vertical position, the straight angle Weldering, fillet weldering and cornerite weldering, weld gap is in 0-5mm, and surface of steel plate pretreatment primer, weld seam nearby need not polishing;Welded It is in 40 ° between weldering device and steel plate when Cheng Caiyong CO2 gas shielded arc weldings, flux-cored wire, flat fillet weld and the welding of fillet welding in the vertical position position Angle, weldering device band V-type is swung, and weldering device is stopped 0.5-1.5 seconds when swinging to two side ends according to weld gap.
For example, when being welded, plate is mended from during fillet welding in the vertical position changes into flat fillet weld in welding, there is a round-corner transition; Now angle of welding gun is changed greatly, and robot need to adjust larger angle in a short time, in the process, and such as Fig. 4 positions A is in place Put B.Because of the theory of mechanics of robot, it is difficult to ensure that welding quality, need to do corresponding engineer testing checking.Mend the fillet welding in the vertical position at plate Separately welded with flat fillet weld, blow-out is excessively located in fillet.Specifically fillet welding in the vertical position is welded from bottom to top, and in circular arc blow-out, is put down Fillet welding is welded from left to right, and in circular arc blow-out, two weld seams are overlapped at blow-out, and two weld seam blow-out points cross other side 3- respectively 5mm。
, it is necessary to overlap graded seal in an embodiment of the method, plate and the flat fillet weld position of floor junction are being mended, together Sample is excessive, too fast because angle of welding gun changes, and causes problem of faulty soldering easily occur in overlap welding position.As Fig. 5 from position A to Position B arrives position C again.The present invention is used and slightly stopped in the fillet welding in the vertical position starting the arc, about 1-2 seconds, and welding gun is less than with bottom plate angle 30 °, so when flat fillet weld B location is welded, it is ensured that weld seam is full.
In an embodiment of the method, cornerite welding is carried out using Intelligent welding system, when cornerite is shipyard welding procedure Common deficiency position.During robot welding, not only because angle of welding gun variation issue can produce defect, as technique is former Because causing quality problems.Such as Fig. 6 is by position A to position B, by position C to position D, by position E to position F.Solved this problem both Need to do corresponding engineer testing, adjusting process parameter will also adjust path of welding.The present invention uses and uses two in same position Road welds mode to realize that cornerite is welded, both by position A(C、E)It is welded to position B(D、F), then by position B(D、F)It is welded to position A (C、E), centre is not stopped.
In a specific embodiment, the fillet welding in the vertical position of Analysis of Ship Grillages structure, flat fillet weld, for A grades of steel of common 12mm thickness peculiar to vessel, Using CO2Gas shield welding, foot welding height 7mm or so, determine robot welding specific process parameter as shown in Table 1 and Table 2.
The flat fillet weld technological parameter of table 1
The fillet welding in the vertical position technological parameter of table 2
Specifically, on the position whole Intelligent welding system dropping place welded to needs, by man-machine interactive system, using one Keyed Starting mode is started working.Mechanical arm drives the laser scanning system installed in its forward position to be carried out along particular track Move and collect receipt, laser scanning system is by the data being collected into(Position while welding characteristic point)Transmit to control system, control Obtained data and preset data are contrasted, calculated by system, draw difference(Departure), welding track is re-started immediately The mobile data of mechanical arm is planned and be converted into, and feed data back to mechanical arm, mechanical arm is according to finally giving Data are moved.Welding system cooperates with mechanical arm, when mechanical arm arrives separately at weld seam start-stop position, welding System has performed receipts arc program automatically.When a welding unit end-of-job, mechanical arm performs clear rifle and cuts a program automatically Silk is cut and, which completes clear rifle, and next welding unit is moved to by guide rail automatically working on.
Welding system, laser scanning system, the robot arm system of the present invention is uniformly coordinated control by switch board, mutually Mutually use DeviceNet protocol communications.
First, according to welding structure form, planning weld information collection position, and according to the scanning model of laser scanner Enclose, work out corresponding mechanical arm movement locus, it is driven laser scanner scanning weld information collection position, meanwhile, root According to same welding structure form, corresponding mechanical arm welding track is worked out.Secondly, laser scanner is fixed on mechanical arm On shaft flange disk, be equally fixed on mechanical arm shaft flange disk welding gun formation fixed space geometrical relationship, and control This relational model is set up in system.In the course of the work, laser scanner is completed after scanning, and weld seam actual position information is transmitted To control system, according to laser scanner and the spatial relation model of welding gun, with reference to the mechanical arm welding woven Track, system adjust automatically machinery arm actual welding position deviation amount, and start welding.
Therefore, the invention has the advantages that:
Using above-mentioned welding robot system, the laser scanning system can collect weld information, and pass by automatically scanning Control system is transported to, control system carries out computing to the information being collected into, and transmits to robotic arm, makes it according to actual welds Track is welded, and whole process is without manual intervention.
Using above-mentioned welding robot system, robot can be controlled by man-machine interactive system, including start, control System, in real time parameter adjustment, monitoring.
Using above-mentioned welding robot system, an equipment can be cut by clear rifle, automatic or manual is carried out according to actual conditions Clear rifle cuts silk.
Using above-mentioned welding robot system, after the work that robot terminates a unit, can automatically it be moved by guide rail It is operated to next unit.
Using above-mentioned welding robot system, workpiece is put without fixed, robot system dropping place without especially accurate, work Part assembly precision demand is not high.
The present invention compared with prior art, with obvious advantage.The welding robot system of the present invention, after startup, entirely Cheng Wuxu manual interventions, assembly precision, putting position for structure require relatively low, and whole system dismounting, handling are conveniently, can Solve larger, the not easily shifted present situation of shipyard workpiece.
Above content is to combine specific preferred embodiment further description made for the present invention, it is impossible to assert Present invention specific implementation is confined to these above-mentioned explanations.For general technical staff of the technical field of the invention, Without departing from the inventive concept of the premise, some simple deduction or replace can also be made, the present invention should be all considered as belonging to Protection domain.

Claims (9)

1. the Intelligent welding system for Analysis of Ship Grillages constructed machine people, it is characterised in that:Described Intelligent welding system includes Welder, the digital welding power source and control system being connected with welder;
Described welder includes guide rail, and the welding robot system being located on guide rail, and it is man-machine that control system is connected with one Interactive system, described man-machine interactive system butt welding machine device people's system is controlled;
Described welding robot system includes mechanical arm, and mechanical arm is connected with laser scanning surface part and weldering device.
2. the Intelligent welding system according to claim 1 for Analysis of Ship Grillages constructed machine people, it is characterised in that:It is described Guide rail be arranged on guide rail framework, guide rail framework be provided with welder base, welder base be provided with directive wheel, welding Device can be slided by directive wheel on guide rail framework;
Welder base cuts an equipment provided with welding wire feeder and clear rifle.
3. the Intelligent welding system according to claim 1 for Analysis of Ship Grillages constructed machine people, it is characterised in that:Welding Device pedestal is provided with support arm, to be rotatably connected between described mechanical arm and support arm, and mechanical arm is provided with axle Ring flange, described weldering device and laser scanning part is arranged on shaft flange disk, and described laser scanning part is arranged at weldering The lower section of gun apparatus.
4. the welding method of the Intelligent welding system according to claim 1 for Analysis of Ship Grillages constructed machine people, it is special Levy and be:Described welding method comprises the following steps:A, welded using Intelligent welding system, tied first according to welding Configuration formula, control system planning weld information collection position, and according to the scanning range of laser scanner, the corresponding machinery of establishment The movement locus of arm;
B, the motion of mechanical arm first time pre-welding, mechanical arm drive laser scanner scanning weld information collection position, complete Into after scanning, weld seam actual position information is transmitted to control system, control system is compiled again after being contrasted with preset data Make the welding track of corresponding mechanical arm;
C, weldering device carry out welding job, when mechanical arm assigns to arrival weld seam start-stop position, control system control machinery Arm has performed receipts arc program;
D, when a welding unit end-of-job, mechanical arm drives clear rifle to cut an equipment and cuts silk, bonding machine to complete clear rifle Device people system is moved to next welding unit by guide rail and worked on automatically.
5. the welding method of the Intelligent welding system according to claim 4 for Analysis of Ship Grillages constructed machine people, it is special Levy and be:In b step, laser scanning part transmits the position while welding characteristic point data being collected into control system, control system Obtained data and preset data are contrasted, calculated, departure is drawn, welding track is re-started immediately and plans and converts Into the mobile data of mechanical arm, and mechanical arm is fed data back to, mechanical arm is transported according to the data finally given It is dynamic.
6. the welding method of the Intelligent welding system according to claim 4 for Analysis of Ship Grillages constructed machine people, it is special Levy and be:
In step c, weldering device is when carrying out Analysis of Ship Grillages structure welding, including fillet welding in the vertical position, flat fillet weld, fillet weldering and cornerite Weldering, weld gap is in 0-5mm, and surface of steel plate pretreatment primer, weld seam nearby need not polishing;
When welding process uses CO2 gas shielded arc weldings, flux-cored wire, flat fillet weld and the welding of fillet welding in the vertical position position, weldering device and steel It is in 40 ° -45° angle between plate, weldering device band V-type is swung, and weldering device is stopped when swinging to two side ends according to weld gap 0.5-1.5 seconds.
7. the welding method of the Intelligent welding system according to claim 4 for Analysis of Ship Grillages constructed machine people, it is special Levy and be:In step c, when being welded, plate is mended from during fillet welding in the vertical position changes into flat fillet weld in welding, there is a fillet mistake Cross;
Mend fillet welding in the vertical position and flat fillet weld at plate separately to weld, overlapping blow-out point is excessively located in fillet.
8. the welding method of the Intelligent welding system according to claim 4 for Analysis of Ship Grillages constructed machine people, it is special Levy and be:Described Intelligent welding system includes welder, the digital welding power source being connected with welder and control system System;
Described welder includes guide rail, and the welding robot system being located on guide rail, and it is man-machine that control system is connected with one Interactive system, described man-machine interactive system butt welding machine device people's system is controlled;
Described welding robot system includes mechanical arm, and mechanical arm is connected with laser scanning surface part and weldering device;
Described guide rail is arranged on guide rail framework, and guide rail framework is provided with welder base, and welder base is provided with and led To wheel, welder can be slided by directive wheel on guide rail framework;
Welder base cuts an equipment provided with welding wire feeder and clear rifle.
9. the welding method of the Intelligent welding system according to claim 8 for Analysis of Ship Grillages constructed machine people, it is special Levy and be:Welder base is provided with support arm, to be rotatably connected between described mechanical arm and support arm, manipulator Arm is provided with shaft flange disk, and described weldering device and laser scanning part is arranged on shaft flange disk, described laser scanning Part is arranged at the lower section of weldering device.
CN201611263692.4A 2016-12-30 2016-12-30 Intelligent welding system and its welding procedure for Analysis of Ship Grillages constructed machine people Pending CN107052508A (en)

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CN114147317A (en) * 2021-10-26 2022-03-08 上海中船临港船舶装备有限公司 Robot welding process for ship curved surface structure
CN114571123A (en) * 2022-04-01 2022-06-03 广船国际有限公司 Full-position welding method for patch board
CN114770012A (en) * 2022-06-20 2022-07-22 中铁山桥集团有限公司 Automatic rust removal, assembly and positioning welding equipment for diaphragm plate structure
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CN108173096A (en) * 2017-12-11 2018-06-15 上海电气电站设备有限公司 The Full-automatic welding method of stator of steam turbine generator hollow core conductor end connection
CN108500420A (en) * 2018-03-29 2018-09-07 江苏新时代造船有限公司 One kind founding part system based on networking intelligent recognition multirobot automatic welding ship group
CN109291079B (en) * 2018-11-21 2022-02-22 苏州工业园区职业技术学院 Industrial robot self-assembly system and method
CN109291079A (en) * 2018-11-21 2019-02-01 苏州工业园区职业技术学院 A kind of self assembly system of industrial robot and method
CN109530865A (en) * 2019-01-16 2019-03-29 绍兴汉立工业自动化科技有限公司 A kind of chassis of container welding procedure of band three-dimensional weld seam recognition
CN109746602A (en) * 2019-03-28 2019-05-14 北部湾大学 A kind of welding robot of ship group Vertical board support structure
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CN111360370A (en) * 2020-03-02 2020-07-03 中船第九设计研究院工程有限公司 Welding robot welding seam positioning method for processing shipyard parts
CN111347134A (en) * 2020-03-02 2020-06-30 中船第九设计研究院工程有限公司 Composite welding process for ship steel plate
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CN112935540A (en) * 2021-02-01 2021-06-11 中国航空制造技术研究院 Thin-wall structure laser welding system and method based on multi-robot cooperation
CN113510338A (en) * 2021-07-30 2021-10-19 广船国际有限公司 Automatic welding process applied to ship flat fillet welding
CN113600967B (en) * 2021-08-11 2022-10-11 潍坊新松机器人自动化有限公司 Welding method and multi-robot welding workstation
CN113600967A (en) * 2021-08-11 2021-11-05 潍坊新松机器人自动化有限公司 Welding method and multi-robot welding workstation
CN114147317A (en) * 2021-10-26 2022-03-08 上海中船临港船舶装备有限公司 Robot welding process for ship curved surface structure
CN114012295A (en) * 2021-10-29 2022-02-08 上海中船临港船舶装备有限公司 Robot welding system and method for ship curved surface structure
CN114571123A (en) * 2022-04-01 2022-06-03 广船国际有限公司 Full-position welding method for patch board
CN114770012A (en) * 2022-06-20 2022-07-22 中铁山桥集团有限公司 Automatic rust removal, assembly and positioning welding equipment for diaphragm plate structure
CN114905115A (en) * 2022-06-30 2022-08-16 中船黄埔文冲船舶有限公司 Robot welding method and device for assembling vertical welding seams
CN115041856A (en) * 2022-06-30 2022-09-13 中船黄埔文冲船舶有限公司 Welding method and device for intermediate-assembled vertical fillet weld
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