|SungWon Kang, JungWoo Lee, JungMin Kim, Junsu Ahn, JeWook Park, JinWook Kim, JieHyeung Lee, Gilwhoan Chu
Rapid spreading such like wave nationally, the avoidance of 3D work is one of serious social problem in Korea, it makes difficult to stable supply the qualified welders to Korean shipyards. Mean while, the welding process of block vs. block on the outdoor workplace in the shipyard is mainly depends on the manual welding, so production efficiency is low due to manual welding. In addition, there are always existing high risks of industrial accidents within poor working conditions such as enclosed areas, so dramatic changes through automation are needed in the workplace. To solve these problems, we have developed lightweight 6-axis welding robot, controller, and application S/W, which is an achievement of solving one of the challenging tasks of shipyard automation task. Particularly, we had developed the lightweight manipulator for the YAMAL LNGC project in 2016 for the first time, and we have reformed link parameters of the manipulator for T-bar longi exclusively in this study. The robotic welding in the erection stage is largely divided into three parts depending on the position of longi in the double hull structure of the vessel; a lower part, an upper part, and a wall part. We have successfully developed the lower part longi in this study, even more, we have plan to develop the upper part for the next time.
Key functions of the development robot;
1. Smart detection sensor for a welding groove and automatic calculation of welding condition using LDS(Laser Displacement Sensor).
2. Robot S/W for erection T-bar: OLP(Off-Line Programming), GUI, Controller S/W
3. Convenience devices for operation: Robot cart, Robot setting device, Wireless T.P.