Intelligent Welding Technology for Large Deep and Narrow Shaped Box with Robot

Aiming at the difficulty in customizing the production of shaped boxes in large-scale port lifting equipment, a cantilever welding robot comprised of Cartesian and articulation was developed. Based on field bus technology, a fast parameter programming system suitable for robot welding of shaped box developed. Also, the composite sensing method of laser ranging, wire contact seeking and “bow”-shaped oscillating arc tracking is proposed, which overcomes the difficulty of positional accessibility of deep and narrow lattice space, and the long time and single contact of traditional online/offline task programming. Finally, the internal robot intelligent welding of the large-beam box lifting equipment with a length of about 80 m, a height of about 2.4 m and an internal net width of about 0.6 m realized.