• 제어로봇시스템학회:학술대회논문집
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• 1992.10b
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• pp.382-387
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• 1992

In order to obtain desired arc welding performance, we already developed an arc welding robot system that enabled coordinated motions of dual arm robots. In this system one robot arm holds a welding target as a positioning device, and the other robot moves the welding torch. Concerning to such a dual arm robot system, the positioning accuracy of robots is one important problem, since nowadays conventional industrial robots unfortunately don't have enough absolute accuracy in position. In order to cope with this problem, our robot system employed teaching playback method, where absolute error are compensated by the operator's visual feedback. Due to this system, an ideal arc welding considering the posture of the welding target and the directions of the gravity has become possible. Another problem still remains, while we developed an original teaching method of the dual arm robots with coordinated motions. The problem is that manual teaching tasks are still tedious since they need fine movements with intensive attentions. Therefore, we developed a 3-dimensional vision guided robot control method for our welding robot system with coordinated motions. In this paper we show our 3-dimensional vision sensor to guide our arc welding robot system with coordinated motions. A sensing device is compactly designed and is mounted on the tip of the arc welding robot. The sensor detects the 3-dimensional shape of groove on the target work which needs to be weld. And the welding robot is controlled to trace the grooves with accuracy. The principle of the 3-dimensional measurement is depend on the slit-ray projection method. In order to realize a slit-ray projection method, two laser slit-ray projectors and one CCD TV camera are compactly mounted. Tactful image processing enabled 3-dimensional data processing without suffering from disturbance lights. The 3-dimensional information of the target groove is combined with the rough teaching data they are given by the operator in advance. Therefore, the teaching tasks are simplified

• Journal of Institute of Control, Robotics and Systems
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• v.8 no.9
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• pp.776-787
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• 2002

Automation of welding process in shipyards is ultimately necessary, since the welding site is spatially enclosed by floors and girders, and therefore welding operators are exposed to hostile working conditions. To solve this problem, a welding mobile robot that can navigate autonomously within the enclosure has been developed. To achieve the welding task in the closed space, the robotic welding system needs a sensor system for the working environment recognition and the weld seam tracking, and a specially designed environment recognition strategy. In this paper, a three-dimensional laser vision system is developed based on the optical triangulation technology in order to provide robots with 3D work environmental map. Using this sensor system, a spatial filter based on neural network technology is designed for extracting the center of laser stripe, and evaluated in various situations. An environment modeling algorithm structure is proposed and tested, which is composed of the laser scanning module for 3D voxel modeling and the plane reconstruction module for mobile robot localization. Finally, an environmental recognition strategy for welding mobile robot is developed in order to recognize the work environments efficiently. The design of the sensor system, the algorithm for sensing the partially structured environment with plane segments, and the recognition strategy and tactics for sensing the work environment are described and discussed with a series of experiments in detail.

• Transactions of the Korean Society of Pressure Vessels and Piping
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• v.19 no.2
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• pp.75-83
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• 2023

For three-dimensional finite element welding residual stress simulation, several methods are available. Two widely used methods are the moving heat source model using heat flux and the temperature boundary condition model using the temperature profile of the welded beads. However, each model has pros and cons in terms of calculation times and difficulties in determining welding parameters. In this paper, a new method using the moving temperature profile model is proposed to perform efficiently 3-D FE welding residual stress analysis for large structures. Comparison with existing experimental residual stress measurement data of two-pass welding pipe and SNL(Sandia National Laboratories) mock-up canister shows the accuracy and efficiency of the proposed method.

• Journal of Welding and Joining
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• v.29 no.1
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• pp.90-98
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• 2011

Al-Si coated Boron steel and Zn coated DP steel were welded using DISK laser and the microstructure and hardness of the weld were investigated. Full penetration was obtained, when the welding speed was lower than 4m/min. In the specimen welded with laser power of 3 kW and welding speed of 2 m/min, the hardness was the highest in the heat affect zone in the boron steel (HAZ-B) and that of the heat affect zone in the DP steel (HAZ-D) was lower than HAZ-B. The hardness of fusion zone was in between those of HAZ-B and HAZ-D. The decreased hardness from each HAZ to base metal(BM) could be explained that ferrite contents increases when access to the BM. The variation of hardness in the welds could be explained by the difference of microstructure, that is, full martensite in HAZ-B, mixture of martensite and bainite in the fusion zone, and the mixture of martensite, ferrite and bainite in HAZ-D.

• Journal of Sensor Science and Technology
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• v.33 no.3
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• pp.179-184
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• 2024

In the car industry, welding is a fundamental linking technique used for joining components, such as steel, molds, and automobile parts. However, accurate inspection is required to test the reliability of the welding components. In this study, we investigate the detection of weld beads using 2D image processing in an automatic recognition system. The sample image is obtained using a 2D vision camera embedded in a lighting system, from where a portion of the bead is successfully extracted after image processing. In this process, the soot removal algorithm plays an important role in accurate weld bead detection, and adopts adaptive local gamma correction and gray color coordinates. Using this automatic recognition system, geometric parameters of the weld bead, such as its length, width, angle, and defect size can also be defined. Finally, on comparing the obtained data with the industrial standards, we can determine whether the weld bead is at an acceptable level or not.

• Journal of Welding and Joining
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• v.4 no.3
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• pp.26-31
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• 1986

(1) Implant 용접저온귀열시험은 용접 열cycle에 따른 금속조직의 경향과 구속상태의 경향을 분 리하여 평가할 수 있는 사용한 시험법이다. (2) 한계파단응력(.sfgma.$_{cr}$ .)은 재료의 탄소다량( $C_{eq}$ .) 및 융접부 광산성수소량 ( $H_{D}$)과 밀접한 관계를 가지며 $C_{eq}$ . 및 $H_{D}$가 작을수록 .sfgma.$_{cr}$ .가 높다. (3) 시험편의 notch형상이 circular이든 spiral이든 한계파단응력은 동일하다. (4) 시험편의 파단은 notch로 부터 발생하기 시작하여 그 부분에서는 수소포화 의벽개파면은 나타낸다.

• The Transactions of the Korean Institute of Power Electronics
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• v.4 no.3
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• pp.294-303
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• 1999

Resistance spot welding is commonly used for welding products of high quality because of clean welding and short w welding-time. But. conventional spot welders bring about the depreciation of welding products, iuespective of dynamic r resistance characteristics during welding time. This paper discussed dynamic resistance database implementation in t terms of welding performance improvement. On different welding conditions, we compared dynamic resistance, r respectively, about pure iron and Sn-Pb alloy on Copper. Also, it investigated the relation of tensile shear strength and d dynamic resistance in welded workpiece.

• International Journal of Korean Welding Society
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• v.4 no.1
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• pp.10-14
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• 2004

In this paper, a study on the residual stress of plate with longitudinal stiffeners is explained in terms of the welding sequences. In order to verify the results of numerical analysis, the hole drilling method (HDM) is performed, to measuring the residual stresses of the test plates in $CO_2$ Flux Cored Arc Welding (FCAW) under various welding conditions. The non-linear transient analysis technique for the numerical analysis in a large and complicate structure is considered. The residual stress of plate in consideration of the welding sequences and directions is evaluated by some numerical simulations and also by experiments. Comparison of numerical analysis results with experimental data shows the accuracy and validity of the proposed method.

• Journal of Welding and Joining
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• v.5 no.3
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• pp.1-10
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• 1987

용접과정에 필요한 데이타를 신속하게 얻을 수 잇는 용접데이타 시스템(1)을 개발하였다. 용접데이타 시스템은 철강재료의 용접에 적용할 수 있고 관계형 데이타베이스 시스템을 채택하고 있으며 용접 데이타베이스, dBASE 3 PLUS 및 응용 프로그램으로 구성되어 있다. 용접데이타는 용접법, 모재, 용접재료, 이음부 형상, 용접시공 데이타를 수록하고 있으며, 응용프로그램은 데이타의 신규입력, 수정, 삭제, 검색의 4부분으로 구성되어 있고 사용자의 편의를 위해 I/O format program과 graphic 처리를 위한 BASIC 프로그램이 포함되어 있다. 프린터로의 출력은 현장에서 이용 가능한 PQR의 형태를 취하고 있다.

• Tribology and Lubricants
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• v.39 no.3
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• pp.118-122
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• 2023

In our study, we develop a finite element model based on Archard's wear law to predict the cumulative wear and the evolution of the tool profile in friction stir welding (FSW) applications. Our model considers the rotational and translational behaviors of the tool, providing a comprehensive description of the wear process. We validate the accuracy of our model by comparing it against experimental results, examining both the predicted cumulative wear and the resulting changes to the tool profile caused by wear. We perform a detailed comparison between the predictions of the model and experimental data by manipulating non-dimensional coefficients comprising model parameters, such as element sizes and time increments. This comparison facilitates the identification of a specific non-dimensional coefficient condition that best replicates the experimentally observed cumulative wear. We also directly compare the worn tool profiles predicted by the model using this specific non-dimensional coefficient condition with the profiles obtained from wear experiments. Through this process, we identify the model settings that yield a tool wear profile closely aligning with the experimental results. Our research demonstrates that carefully selecting non-dimensional coefficients can significantly enhance the predictive accuracy of finite element models for tool wear in FSW processes. The results from our study hold potential implications for enhancing tool longevity and welding quality in industrial applications.