• 제어로봇시스템학회:학술대회논문집
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• 2005.06a
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• pp.1137-1140
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• 2005

Automatic welding has been used frequently on pipeline projects. The productivity and reliability are most essential features of the automatic welding system. The mechanized GMAW process is the most widely used welding process and the carriage and band system is most effective welding system for pipeline laying. This application-oriented paper introduces new automatic welding equipment for pipeline construction. It is based on cutting-edge design and practical welding physics to minimize downtime. This paper also describes the control system which was designed and implemented for new automatic welding equipment. The system has the self diagnostic function which facilitates maintenance and repairs, and also has the network function via which the welding task data can be transmitted and the welding process data can be monitored. The laser vision sensor was designed for narrow welding groove in order to implement higher accuracy of seam tracking and fully automatic operation.

• Journal of the Korea Institute of Building Construction
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• v.8 no.6
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• pp.161-166
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• 2008

This study is focused on the welding performance of automatic gas pressure welding machine adapted to korean construction site by external appearance investigation. As gas pressure welding is more economical and has good performances compared with other steel bar jointing methods, as arc welding and mechanical joint etc, in Japan, the gas pressure welding is one of the typical connection of steel reinforcement when connecting the D29 and thicker steel bars, But in Korea, gas pressure welding joint method is not widely used caused by the shortage of skilled workers. so to activate the gas pressure welding in Korea, the automatic gas pressure welding machine is developed. In this study, the welding performances of gas pressure welding joint samples using korean automatic gas pressure welding machine are measured by external appearance investigation - blown diameters, blown length, welding face disagreement, central axis eccentric ratio, bending, sag and crack. The results of welding performances on the gas pressure welding joint samples show that samples are satisfied with the standard value regulated in KS D 0244 and JIS Z 3120.

• 제어로봇시스템학회:학술대회논문집
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• 1996.10b
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• pp.1396-1399
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• 1996

With the progress in process automation, it becomes necessary that a robot should have various sophisticated capabilities. A robot programming language is a tool that can give a robot such capabilities without any change in robot architecture. Especially a task level automatic programming system enables a robot able to perform a job intelligently. Therefore anyone who is not an expert on welding or robot programming can easily use it. In this research, basic automatic welding program is combined with workspace information, which makes users do an arc welding job automatically.

• International Journal of Korean Welding Society
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• v.1 no.1
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• pp.17-22
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• 2001

Because the quantitative relationships between welding parameters and welding result are not yet blown, optimal values of welding parameters for $CO_2$ robotic arc welding is a difficult task. Using the various artificial data processing methods may solve this difficulty. This research aims to develop an expert system for $CO_2$ robotic arc welding to recommend the optimal values of welding parameters. This system has three main functions. First is the recommendation of reasonable values of welding parameters. For such work, the relationships in between the welding parameters are investigated by the use of regression analysis and fuzzy system. The second is the estimation of bead shape by a neural network system. In this study the welding current voltage, speed, weaving width, and root gap are considered as the main parameters influencing a bead shape. The neural network system uses the 3-layer back-propagation model and a generalized delta rule as teaming algorithm. The last is the optimization of the parameters for the correction of undesirable weld bead. The causalities of undesirable weld bead are represented in the form of rules. The inference engine derives conclusions from these rules. The conclusions give the corrected values of the welding parameters. This expert system was developed as a PC-based system of which can be used for the automatic or semi-automatic $CO_2$ fillet welding with 1.2, 1.4, and 1.6mm diameter the solid wires or flux-cored wires.

• Proceedings of the KWS Conference
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• 2003.05a
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• pp.135-137
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• 2003

This paper introduces a new automatic welding equipment for offshore pipeline construction. This paper also describes the design technology and functions of the automatic welding equipment, which features the reliability of the equipment.

• Journal of the Korea Institute of Building Construction
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• v.5 no.3 s.17
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• pp.131-138
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• 2005

The study is focused on the settling the developing direction of korean gas pressure welding machine which can be applied in korean construction sites with moderate and high performance. Gas pressure welding is more economical and has good performances than other steel bar jointing methods, as arc welding and mechanical joint etc. Therefore in Japan, the gas pressure welding, which has less loss of steel bars and low performance of joints, when connecting the D29 and thicker steel bars, Is one of the typical connection of steel reinforcement. But in Korea, the gas pressure welding method is not widely used caused by the shortage of skilled workers, and this situation in Korea can not be solved in short period. The training of the skilled workers takes long period(around $6\~10$ years), and there is no certification system for gas pressure welding. So to activate the gas pressure welding in Korea, the development of the automatic gas pressure welding machine is necessary, which gives regular performance of the steel bar joints and can be operated by not sufficient skilled workers. The automatic gas pressure welding machine was developed in Japan, but this machine has many problems when applied in korean construction sites. Therefore, it is necessary to develop a korean automatic gas pressure welding machine to overcome this problems. To develop korean automatic gas pressure welding machine, the problems, which shows when applied in korean construction sites, need to be investigated. According to the investigation, counterproposals are presented for the pragmatical development of the korean automatic gas pressure welding machine.

• The Transactions of the Korean Institute of Electrical Engineers P
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• v.53 no.4
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• pp.183-189
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• 2004

In this paper, an automatic welding system is developed. In the developed system, an automatic welding system is remotely controlled by a portable panel PC. Additional, the DB system such as the operating condition and control data of automatic welding carriage is developed by ATMega128. Therefore, the developed system can overcome the restriction of operating condition, and reduce the weight of welding system and the risk of safety. The effectiveness of the developed system has been verified by the simulation and experimental results respectively.

• 제어로봇시스템학회:학술대회논문집
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• 2004.08a
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• pp.499-503
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• 2004

This application-oriented paper describes an automated welding carriage system to weld a thin corrugated workpiece with welding seam tracking function. Hyundai Heavy Industries Corporation has developed an automatic welding carriage system, which utilizes pulsed plasma arc welding process for corrugated sheets. It can obtain high speed welding more than 2 times faster than traditional TIG based welding system. The aim of this development is to increase the productivity by using automatic plasma welding carriage systems, to track weld seam line using vision sensor automatically, and finally to provide a convenience to operator in order to carry out welding. In this paper a robust image processing and a distance based tracking algorithms are introduced for corrugated workpiece welding. The automatic welding carriage system is controlled by the programmable logic controller(PLC), and the automatic welding seam tracking system is controlled by the industrial personal computer(IPC) equipped with embedded OS. The system was tested at actual workpiece to show the feasibility and performance of proposed algorithm and to confirm the reliability of developed controller.

• 제어로봇시스템학회:학술대회논문집
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• 1986.10a
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• pp.448-451
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• 1986

An automatic welding system is designed for a part of fork lift. The system is composed of articulated type welding robot, welding positioners, shuttle for robot, system controller and welding equipment. From the application of the system, stable weld quality and production cost saving are achieved. In this paper, the hardware features and control structure of the system are presented.

• Journal of Welding and Joining
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• v.8 no.3
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• pp.70-78
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• 1990

The harsh nature of welding environments makes welding a prime candidate for process automation. Among the variety of welding processes available, gas metal arc welding is one of the most frequently used methods, primarily because it is highly suited to a wide range of applications, and also to automation. Automatic seam tracking method is one of the most demanded techniques for automatic control of arc welding. In this study a seam tracking system has been developed by using the welding arc itself as a sensor. This paper described the principle and experimental result of the arc sensor system, as well as the development and application of the automatic CO_2$ welding for the horizontal fillet welding. A basic problem in horizontal fillet welding is the prevention of hanging bead formation such as undercut at the vertical plate and overlap at the horizontal plate. To produce the symmetric bead shape, the relationship of bead shape to welding parameters(welding velocity, weaving width, weaving speed, tip to workpiece distance) was also investigated.