Welding robot for welding horizontal fillet seams in polygonal compartment constructions

摘要

The invention relates to the area of welding technology used in particular in shipbuilding. The aim of the invention is to increase the degree of automation in shipbuilding section fabrication. The object of the invention is to create a gantry-supported welding robot for the controlled transitionless welding of the horizontal fillet seams in polygonal compartment constructions. This object is achieved by a welding robot which is essentially composed of a working unit and a control unit. The working unit consists of a mobile gantry which movably accommodates a robot unit in x- and y-coordinates. The robot unit can be lowered into the compartment construction and can rotate about a perpendicular axis. Due to the possible translatory and rotational movements, the robot unit is able to follow the course of the weld in the closed compartment construction. The robot unit is controlled on the basis of a sensor-orientated positioning control system which is coupled to a welding-process control system. <IMAGE>