• 대한조선학회 특별논문집
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• 대한조선학회 2006년도 특별논문집
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• pp.112-121
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• 2006

The vertical displacement of a ship on the basis of the sea level is an important parameter for its stability and control. To indicate the displacement on operating conditions, "draft marks" are carved on the hull of the ship in various ways. One of the methods is welding. The position, shape and size of the marks are specified on the shipbuilding rules by classification societies to be checked by shipbuilders. In most cases, high-skilled workers do the welding along the drawing for the marks and welding bead becomes the marks. But the inaccuracies due to human errors and high labor cost increase the needs for automating the work process of the draft marks. In the preceding work, an indoor robot was developed for automatic marking system on flat surfaces and the work proved that the robot welding was more effective and accurate than manual welding. However, many parts of the hull structure constructed at the outdoor are cowed shapes, which is beyond the capability of the robot developed for the indoor works on the flat surface. The marking on the curved steel surface requiring the 25m elevations is one of the main challenges to the conventional robots. In the present paper, the robot capable of climbing vertical curved steel surfaces and performing the welding at the marked position by effectively solving the problems mentioned earlier is presented.

• Journal of Welding and Joining
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• 제10권4호
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• pp.107-116
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• 1992

자동차 공업에서의 용접은 주로 차체조립공정에서 많은 사용되고 있으며 전기저항용접, ARC 용접, GAS용접등이 쓰이고 있지만 특히 전기저항용접의 SPOT WELDING이 그 대부분을 차 지하고 있다. 자사의 경우 AUTO GUN이나 ROBOT의 적용으로 차종에 따라 자동화가 거의 90%에 이르며 이 수치는 향후 더욱 증가 되리라 본다. 최근의 연비향상을 위한 경량화와 장 기방청성 요구추세에 따른 새로운 소재 즉 Al, 2층도금강판등의 채택에 따라 자사실정에 맞는 적합한 용접기술개발이 필요하다. 본론에서는 점용접의 검사 방법과 검사기준, 용접 신뢰성 확 보를 위한 제시도와 신소재 적용에 대응한 개발의 필요성, 용접 자동화등의 현황들을 자사를 중심으로 실례를 들어 소개하고자 한다.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 1995년도 추계학술대회 논문집
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• pp.1138-1141
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• 1995

An arc sensor for seam tracking is developed to automate sub-assembly welding in shipbuilding. We utilize a moving average method, which produces an effect of low-pass filter, to generate the position compensation. Therefore the sensor is able to modify the path of the weld seam in real time. By simplifying the compension process, the tunning time is reduced so that operators react quickly. It turns out that this sensor is highly reliable and it is installed and being used in SHI Keoje shipbuilding yard.

• Journal of Welding and Joining
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• 제17권5호
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• pp.40-46
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• 1999

The sensors employed in the robotic are welding system must detect the changes in weld characteristics and produce the output that is in some way related to the change being detected. Such adaptive systems, which synchronise the robot arm and eyes using a primitive brain will form the basis for the development of robotic GMA(Gas Metal Arc) welding which increasingly higher levels of artificial intelligence. The objective of this paper is to realize the mapping characteristics of bead height through learning. After learning, the neural estimation can estimate the bead height desired from the learning mapping characteristic. The design parameters of the neural network estimator(the number of hidden layers and the number of nodes in a layer) are chosen from an estimation error analysis. A series of bead of bead-on-plate GMA welding experiments was carried out in order to verify the performance of the neural network estimator. The experimental results show that the proposed neural network estimator can predict the bead height with reasonable accuracy and guarantee the uniform weld quality.

• International Journal of Korean Welding Society
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• 제3권1호
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• pp.2-7
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• 2003

Laser welding application for car body manufacturing has many advantages in the stiffness and the lightness of vehicle, the productivity of assembly line, and the degree of freedom in design. This presentation will express the innovation of car body manufacturing including parameter optimization, process modeling, and system integration. In this application the investment for systems was cut down dramatically by real time switching over the laser path between two welding stations. Points of technical discussion are as follows; optimization of parameters such as laser power, robot speed and trajectory, compact and useful design of jig & fixture to assure welding quality for 3 sheet-layer zinc-coated steel, system integration between 4㎾ Nd:YAG laser device and the other systems, on-line real time welding quality monitoring system, perfect safety standards for high power laser, minimization of consumption costs such as arc lamp, protective glass for optic, etc. This application was successfully launched mass production line in 2001. The laser-welded line of side panel consists of 122 stitches totally. And the length is about 2.4m.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 1993년도 추계학술대회 논문집
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• pp.575-581
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• 1993

This paper deals with analysis of articulated robot manipulator used for Arc welding and Material handling. Compared with present robot of which weight holding capacity is 6kg, this robot shows wider and symmetric working range for it's serial type mechanism. The link length is determined to have widest working range by using optimal simulation. To reduce body's weight, small AC servo motor is adopted and driving peak torque exerted at each joint is reduced by using dynamic analysis. So it is possible to reduce body's weight by 40% compared with the same class's robot and get wider working range. And by adopting modular design concept, each axis is designed to be changed easily for user's special need and repair.

• International Journal of Korean Welding Society
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• 제4권1호
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• pp.30-37
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• 2004

There have been continuous efforts on automating welding processes. This automation process could be said to fall into two categories, weld seam tracking and weld quality evaluation. Recently, the attempts to achieve these two functions simultaneously are on the increase. For the study presented in this paper, a vision sensor is made, a vision system is constructed and using this, the 3 dimensional geometry of the bead is measured on-line. For the application as in welding, which is the characteristic of nonlinear process, a fuzzy controller is designed. And with this, an adaptive control system is proposed which acquires the bead height and the coordinates of the point on the bead along the horizontal fillet joint, performs seam tracking with those data, and also at the same time, controls the bead geometry to a uniform shape. A communication system, which enables the communication with the industrial robot, is designed to control the bead geometry and to track the weld seam. Experiments are made with varied offset angles from the pre-taught weld path, and they showed the adaptive system works favorable results.

• Journal of Welding and Joining
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• 제31권5호
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• pp.35-40
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• 2013

In this paper, we propose the Tangible Virtual Reality Representation Method to using haptic device and feature to morphology of created bead from Flux Cored Arc Welding. The virtual reality was started to rising for reduce to consumable materials and welding training risk. And, we will expected maximize virtual reality from virtual welding training. In this paper proposed method is get the database to changing the input factor such as work angle, travelling angle, speed, CTWD. And, it is visualization to bead from extract to optimal morphological feature information to using the Neural Network algorithm. The database was building without error to extract data from automatic robot welder. Also, the Neural Network algorithm was set a dataset of the highest accuracy from verification process in many times. The bead was created in virtual reality from extract to morphological feature information. We were implementation to final shape of bead and overlapped in process by time to using bead generation algorithm and calibration algorithm for generate to same bead shape to real database in process of generating bead. The best advantage of virtual welding training, it can be get the many data to training evaluation. In this paper, we were representation bead to similar shape from generated bead to Flux Cored Arc Welding. Therefore, we were reduce the gap to virtual welding training and real welding training. In addition, we were confirmed be able to maximize the performance of education from more effective evaluation system.

• Journal of Welding and Joining
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• 제33권3호
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• pp.12-18
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• 2015

The ultimate goal of developing body is revealed the "lightweight" at latest EuroCarBody conference 2012 and the most core technology is joining process to make lightweight car body design. Accordingly, in this study, the car body assembly line for the assembly process applies to any introduction, particularly in the assembly of aluminum alloy and composite materials applied by the process for the introductory approached. Process were largely classified by welding (laser, arc, resistance, and friction stir welding), bonding (epoxy bonding) and mechanical fastening (FDS, SPR, Bolting and clinching). Applications for each process issues in the case and the applicable award was presented, based on the absolute strength of the test specimens and joining characteristics for comparative analysis were summarized. Finally, through this paper, we would tried to establish the characteristics of the joint for lightweight structure.

• 한국정보통신학회논문지
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• 제6권8호
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• pp.1374-1380
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• 2002

용접을 하는데 있어서 보다 균일한 용접상태를 유지하고, 용접품질의 향상 및 동일시간에 보다 많은 용접을 함으로써 생산성 향상을 위해 로봇의 이용이 점차로 증가하고 있다. 로봇용접의 과정 중 실제 용접을 실시하기 위해 로봇을 움직이기 이전에 용접할 부위의 검출이 선행되어야 하고, 그 검출방법에 있어서 크게 접촉식과 비접촉식의 센서가 활용이 되고 있다. 본 논문에서는 비접촉식 중 비전센서인 레이저 다이오드와 CCD 카메라를 이용하여 CCD 카메라를 거친 영상을 처리하여 용접선을 추적하고 용접을 하도록 하고 있다. 레이저 다이오드를 용접모재와 일정 각도를 가지도록 조사하게 되면 모재표면의 형상에 따라 반사되는 굴곡면이 달라지게 되는데 이 형상이 CCD 카메라를 통해 입력되고, 이 입력된 화상을 이미지 보드와 프로그램을 통하여 분석을 하고, 얻어진 용접선의 화상의 좌표 값을 토대로 로봇을 이동시킴으로써 용접을 하도록 하고 있다. 용접은 실시간으로 이루어짐으로써 생산성 향상에 크게 기여할 수 있다. 또한 모재에 따라 굴곡이 다른 1차원 평면의 용접인 경우는 약간의 프로그램 수정으로 대부분 추적 가능하다는 것을 확인할 수 있었다.