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Robotic Application in Welding

This document is a seminar report on robotic application in welding technology. It discusses how robots are increasingly being used for welding due to benefits like seam tracking, reducing labor shortages, and increasing accuracy and quality. Several examples of industrial welding robots are provided like KUKA, FANUC, and Panasonic. Underwater robotic welding technology is also summarized. Challenges in robotic welding include achieving stable, high-quality welds in a complex welding process. Future areas of research include visual control, virtual reality, and intelligent cooperative control of welding robots.

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257 views17 pages

Robotic Application in Welding

This document is a seminar report on robotic application in welding technology. It discusses how robots are increasingly being used for welding due to benefits like seam tracking, reducing labor shortages, and increasing accuracy and quality. Several examples of industrial welding robots are provided like KUKA, FANUC, and Panasonic. Underwater robotic welding technology is also summarized. Challenges in robotic welding include achieving stable, high-quality welds in a complex welding process. Future areas of research include visual control, virtual reality, and intelligent cooperative control of welding robots.

Uploaded by

pankaj kumar
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© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
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A SEMINAR REPORT

on
ROBOTIC APPLICATION IN WELDING TECHNOLOGY
SOURAV ADHIKARY
Production Engineering 2nd Semester
ROLL NO.: 002011702007
Session: 2020-2022
Guided by

Prof. Dr. SOUREN MITRA

JADAVPUR UNIVERSITY
Welding Technology
 Production of localized permanent joints
 With or without application of heat, pressure or pressure alone and
filler materials

 Applications:
 Shipbuilding, automobile manufacturing, building construction, and
pipelines
 More complex application fields including aircraft, space vehicles,
and nuclear reactors.
Why robots are used in welding?
 Benefit from Seam tracking system
 Shortage of skilled labor and increasing production demands
 Fully automated using sensors of robots with increased accuracy
 Higher the quality of the welds and the more uniform
 Faster production cycle
 Rapid response to market demands
 Underwater welding process
 Remotely operated technology in hazardous environment
Example of welding robots
 KUKA
 High precision in confined spaces
 Useable in environments with a high degree of fouling and high
temperatures

 FANUC
 Six degrees of freedom servo-driven parallel link robot
 Extreme rigidity and exceptional repeatability

 PANASONIC
 High quality welding with high production rate
Example of welding robots

KUKA KR 6-2 robot FANUC F-200iB robot


Example of welding robots
 MOTOMAN
 First 7-axis arc welding robot
 Reduce floor space and achieve higher robot density for increased
production

 CLOOS
 Equipped with seventh axis
 Welding of complex work pieces

 DAIHEN
 MIG, CO2, and TIG welding applications, and Air Plasma Cutting
applications.
Example of welding robots

(a) MOTOMAN VA1400 robotic arm , (b) CLOOS QIROX


welding robots and (c) The Daihen FD-V6 robot
Underwater robot local dry welding system
 Uses
 Performing repairs in accidents like pool cracks, holes, and crevices

 What is it?
 Dry welding effect by adopting a mini drain cap that displaces the
small area of the welding position.

 Components
 Full-digital high-power welding power supply
 A compact diving wire feeding device
 A mini drain cap
 A fault diagnosis system
 A special underwater torch
 System operates with a robot and visual system
Underwater robot local dry welding system
 Process
 Panoramic camera was used for coarse location of welding area and
a binocular visual system was used for the position coordinates
 Provides basic data for the welding path planning
 Connected to the remote operating terminal via CAN
 Power supply discharged the shielding gas, drainage gas, and filler
wire successively.
 Computer aided monitoring and quality analysis of the welding
process
 A fault self diagnostic alarm system was used for real-time
monitoring and fault diagnosis
Underwater robot local dry welding system
 Process

Schematic of the proposed welding system


Design of the mini drain cap
 Directly determine the stability and drainage effectiveness of the
local gas-phase area
 Principle of the convergent nozzle
 High-temperature protection covers
 Formation of a relatively enclosed space
Design of the mini drain cap

 Consisted of two gas channels


 Direct intake was adopted mainly for protection of the welding arc
and the molten metal area by the internal shielding gas
 Multichannel tangential spiral intake was used for the outer drainage
gas
 For effective desludging, a buffer zone for the dust
 Method for preventing falling of the slag into the weld seam zone
 Buffered dust was discharged with the shielding gas
Current research topics in robotic welding
 Path/motion planning
 Image processing
 Artificial intelligence
Challenges in robotic welding
 Achieving stable, high-quality, and efficient welding is the important
points in the field of welding robots
 Since welding is a highly nonlinear and multi-variable process, it is
extremely difficult to control the quality of weld formation
 Needs to adopt multi-disciplinary knowledge
Future scope
 Visual control technology
 Virtual reality technology
 Intelligent cooperative control technology of welding robot will be the
main research directions in the future.
References
1. Real-time sensing and monitoring in robotic gas metal arc welding
C S Wu1, J Q Gao1 and J K Hu1 Published 14 December 2006 • 2007 IOP Publishing Ltd
2. C Kim, K Hong, H Han. “PC-based off-line programming using VRML for welding robots in
shipbuilding.” IEEE Conference on Robotics, Automation & Mechatronics. IEEE, 2004.
3. ‘KUKA Industrial Robots‘ http://www.kuka-robotics.com
4.‘FAUNAC Robotics America’ www.fanucrobotics.com.
5.‘PANASONIC Robotics’ http://www.panasonicrobotics.eu
6. ‘YASKAWA MOTOMAN Robotics’ http://www.motoman.com
7. ‘CLOOS Robots’ www.cloosrobot.com
8.‘DAIHEN Robotics’ www.daihen-usa.com
9.Labanowski Jerzy, Fydrych Dariusz, Rogalski Grzegorz. Underwater welding-a review. Advances in
Materials Sciences,2009, 8(3):11 − 22.
10. Labanowski Jerzy. Development of under-water welding techniques. Welding International, 2011,
25(12):933 − 937.
11. Sung, B.; Kim, I.; Xue, Y.; Kim, H.; Cha, Y., Fuzzy regression model to predict the bead geometry in the
robotic welding process. Acta Metallurgica Sinica (English Letters) 2007, 20 (6), 391-397.
12. Xue, Y.; Kim, I.; Son, J.; Park, C.; Kim, H.; Sung, B.; Kim, I.; Kim, H.; Kang, B., Fuzzy regression
method for prediction and control the bead width in the robotic arc-welding process. Journal of Materials
Processing Technology 2005, 164, 1134-1139.
13. Hirai, A.; Kaneko, Y.; Hosoda, T.; Yamane, S.; Oshima, K. In Sensing and control of weld pool by fuzzy-
neural network in robotic welding system, Industrial Electronics Society, 2001. IECON'01. The 27th Annual
Conference of the IEEE, IEEE: 2001; pp 238-242.
14. Wu, Y. Q.; Yuan, Z. H.; Wang, J. H., A fuzzy controller design of seam tracking for welding robot.
Advanced Materials Research 2012, 442, 370-374.
15. Fateh, M. M., Fuzzy task-space control of a welding robot. International Journal of Robotics &
Automation 2010, 25 (4).
16. Fateh, M. M.; Farahani, S. S.; Khatamianfar, A., Task space control of a welding robot using a fuzzy
coordinator. International Journal of Control, Automation and Systems 2010, 8 (3), 574-582.
Thank you

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