Cantilever Type Steel Structure Welding Robot

Mode A: model driven welding

1. The operator imports the 3D model of the workpiece (STEP or IFC); the software parses the geometry and the topological relations.
2. A laser line scan performs coarse locating of the real workpiece and confirms how it is actually placed.
3. The software extracts the weld seams automatically, matches welding parameters and plans the trajectory.
4. Full-path collision detection is run; only after it passes is the programme sent to the robot.
5. The robot scans each seam for fine positioning and then welds it.

Mode B: no-model reverse engineering welding

1. The operator tack-welds the workpiece at station 1; the robot moves there and the global camera scans the whole part, and can recognise several parts at once.
2. The captured point cloud is reverse modelled into a digital twin of the real workpiece.
3. The software extracts the weld seams automatically, matches welding parameters and plans the trajectory.
4. Full-path collision detection is run; only after it passes is the programme sent to the robot.
5. The robot scans each seam for fine positioning and then welds it.

Teaching-free programming

Seams are found by scanning and from the model, not by jogging the robot point by point. Programming time drops from hours to minutes, and a new workpiece can be started the same day.

Two modes in one machine

Model-driven welding for digital plants, reverse-engineering welding for sites without a usable 3D model. The same workstation covers both, so it does not depend on data quality.

Full-path collision detection

Every trajectory is checked against the surrounding stiffeners and the fixture before it is sent to the robot, which avoids the expensive crashes that stop production.

Long-reach cantilever

The boom reaches over the workpiece instead of beside it, so 13.5 m long beams, columns, crane beams and tanks can be welded without re-clamping the part.

Stable 0.2 mm accuracy

Ground racks, heavy-duty linear guides and planetary gearboxes on all three travel axes keep positioning accuracy within 0.2 mm along a 15 m rail.

Single-rail dual machine

Two robots can share one rail to raise output, with hardware and software anti-collision protection built in so the two units never interfere.

Wide welding process library

MIG DC and pulse welding, seven weaving patterns, contact wire sensing, laser and arc tracking, multi-layer multi-pass and arc-break restart are all supported.

Manual teaching still available

For narrow spaces or weld joints that a camera cannot reach, the operator can keep using the torch pendant to teach the point, and the robot then applies the matched welding process automatically.

Software system

Intelligent welding operating system, industrial PC and operator console with simulation, seam extraction, collision checking and production reporting.

Vision system

One 3D line-laser camera for seam tracking and one global line-scan camera for full-workpiece locating, both supplied with mounting brackets.

Welding package

500 A class welding power source, water-cooled 500 A robot torch, wire feeder and a torch cleaning station that cleans, cuts the wire and sprays anti-spatter oil.

Travel system

9-axis cantilever travel structure with a 15 m rail, centralised lubrication, fully enclosed bridge-type drag chains, and servo motors of 5.5 kW on X, 2 kW on Y and 3 kW on Z.

Transmission

Hardened module 3 racks and ground pinions, heavy-duty linear guides on all three axes and planetary gearboxes sized per axis for the 500 kg head load.

Safety equipment

Mechanical hard limits plus limit sensors on the travel axes with zero-position marking, so the carriage cannot overrun the rail.

Column and boom assembly

The travelling column carries the boom, the Z-axis slide and the cable management. The robot is mounted at the end of the boom on a rotary mounting plate.

Side elevation

The side view shows the vertical Z-axis stroke and the single floor rail. The boom extends over the workpiece, so the robot can reach the far side of a wide beam.

Front elevation

The front view shows the working relationship between the boom, the robot arm and the workpiece, including the headroom needed above the fixture.

General arrangement

Overall dimensions: 15,000 mm rail with about 13,500 mm effective travel, 2,400 mm boom extension, 1,500 mm Z stroke and roughly 7,000 mm overall height.

Building steel structures

H-beam columns, roof beams, crane beams, runway beams, corbels and purlin supports, welded with consistent leg length across the whole run.

Bridges

Bridge diaphragms, stiffeners and girder segments, where the long reach removes the need to reposition the girder during welding.

Shipbuilding

Ship sub-assemblies and block panels, using the reverse-engineering mode where a full 3D model is not available for every block.

Energy and transformer equipment

Transformer oil tanks and similar enclosed frames, where the boom reaches into the open box and welds the internal stiffeners.

16 years in steel structure equipment

YOMI has been building cutting, welding, drilling and beveling equipment for steel structure fabrication since 2009, across two factories and nine workshops covering 11,000 square metres.

Exported to over 120 countries

A team of more than 200 people supports installations and after-sales service worldwide, with documented commissioning procedures for each cell.

Certified quality system

ISO 9001 quality management, recognised high-tech enterprise status, more than 100 patents and 6S shop-floor management.

Commissioning and training

The workstation is delivered with process parameter packs for your workpiece families, on-site commissioning and operator training, so the cell reaches production quickly.