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History of Robotics Research and Development of Japan2001BusinessDevelopment of Marking/Cutting and Welding Robot Systems for thick steel pipes

Masami KobayashiKawasaki Heavy Industries, Ltd.
Takashi KuboyamaKawasaki Heavy Industries, Ltd.
Satoru YamasumiKawasaki Heavy Industries, Ltd.
Masashi KoikeKawasaki Heavy Industries, Ltd.
Mikio MurakamiKawasaki Heavy Industries, Ltd.
We have developed Marking/Cutting Robot System and Welding Robot System for thick steel pipes which are used stadiums, steel tower and so on. In general, steps of steel pipes cutting are marking cutting line on the surface of steel pipes and gas cutting along the cutting line by manual. Because these works are skilled jobs, the productivity and accuracy are serious issue. Moreover, dedicated cutting machines often fail to cut of pipes with complex cutting shape by reason of restrictions of attitude of cutting torch and cutting conditions. The Marking/Cutting Robot System which we have developed has vertical articulated robot for the purpose of getting rid of these restrictions. The system has off-line teaching functions which generate robot programs automatically. In addition, the system can marking/cutting process considering tolerance of pipes by sensing the shape of pipes and correcting the position of the robot. As a result, we have been able to reduce processing time by almost 70 % and improve processing accuracy extremely. Refer to welding of steel pipes, it is often difficult to use the data-base of welding conditions and advanced plans of multi-layer welding because of assembling error of works and thermal strain when welding. For such a reason, many robot welding systems are not able to apply as the real site system. Therefore we have developed technologies of automatic generation of welding conditions and multi-layer welding plans. We have also developed the laser sensor which measures shapes of groove of welding. These have realized the reduction of processing time by almost 50% and the stabilization of high quality. 6th RSJ Technical Innovations Award in 2001.
罫書き・切断ロボットシステムの外観
Outline of Marking & Cutting Robot System for Steel Pipes
オフライン教示システムの画面例
Screen image of Off-line Teaching System
溶接ロボットシステムの外観
Outline of Welding Robot System for Steel Pipes
開発したレーザセンサ
Developed Laser Sensor

Movies

Correspondence papers

Masami Kobayashi, Hironobu Urabe, Sokichi Ogawa, Yasuyuki Haruta, Masahiko Akamatsu, and Masashi Koike：Off-line Teaching System of a Robot Cell for Steel Pipes

Proceedings of 18th Annual Conference of the RSJ, vol. 2, pp. 707-708, 2000 (in Japanese).

Masashi koike, Yasuhiro Kumon, Yasuyuki Haruta, Masahiko Akamatsu, Masami Kobayashi, and Tadao Shimada：Development of Marking & Cutting Robot System for Steel Pipes

Preprints of the National Meeting of Japan Welding Society (67), pp. 494-495, 2000 (in Japanese) .

Satoru Yamasumi, Takahisa Iizuka, Yasuyuki Haruta, Mikio Murakami, Takao Kanamaru, and Takashi Kuboyama：Development of Arc Welding Robot System for Joints of Thick Steel Pipes

Preprints of the National Meeting of Japan Welding Society (67), pp. 14-15, 2000 (in Japanese) .

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