Towards Automated Welding in Big Shipbuilding Assisted by Programed Robotic Arm Using a Measuring Arm

Abstract

This paper presents an automated robotic welding system adapted for shipbuilding in large shipyards. This solution has been devised in the shipyard of Navantia located in the south of Spain, in the context of ROBOT FASE II R&D project. It also presents the human teams that have developed this welding system. The article explains the 3 parts that make up the welding system. The location of the robotic welding arm of the Fanuc brand is detailed in the first part. In addition, the gantry and spatial coordinate axes are described and indicated where the robotic arm is housed. The second part contains the system capture of the coordinates in the space for the reading of the singular points to be soldered. These points are measured by a portable measuring arm. The last part is composed of the system of communication between the different parts throughout the computer. The computer is responsible for synchronizing the measuring arm and the robotic welding arm by translating the points to be soldered.