• Journal of the Korean Society for Precision Engineering
• /
• v.14 no.5
• /
• pp.42-52
• /
• 1997

Computer aided process planning and Offline programming are decisive factors in successful implementation of automated robotic production. However, conventional offline programming procedure has proven ineffective due to time-consuming teaching process for robot programming and due to inefficient system modeling. The paper presents an efficient procedure to semi-automatically generate robot job programs for ship block welding applications. In the research, the teaching positions are automatically determined by predefined rules which are functions of the type and the dimensions of the given welding section of ship block. And a sequence of robot movements and welding conditions such as welding type, welding current, welding speed, and welding torch orientation, are determined by use of Standard Program which is experimentally proved to work well for the welding wection group. Finally, a robot program for the welding section is generated automatically. Based on the algorithm, a offline automatic teaching software is developed. The paper presents also the algorithm and structure of the software.

• Proceedings of the KWS Conference
• /
• 2003.05a
• /
• pp.138-139
• /
• 2003

This paper describes the control system which was designed and implemented for a 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 call be transmitted and the welding process data can be monitored.

• Journal of Welding and Joining
• /
• v.16 no.5
• /
• pp.119-133
• /
• 1998

To implement full automation in pipe welding, it si most important to develop special sensors and their related systems which act like human operator when detecting irregular groove conditions. In this study, an automatic pipe Gas Metal Arc Welding (GMAW) system was proposed to full control pipe welding procedure with intelligent sensor systems. A five-axes manipulator was proposed for welding torch to automatically access to exact welding position when pipe size and welding angle were given. Pool status and torch position were measured by using a weld-pool image monitoring and processing technique in root-pass welding for weld seam tracking and weld pool control. To overcome the intensive arc light, pool image was captured at the instance of short circuit of welding power loop. Captured image was processed to determine weld pool shape. For weld seam tracking, the relative distance of a torch position from the pool center was calculated in the extracted pool shape to move torch just onto the groove center. To control penetration of root pas, gap was calculated in the extracted pool image, and then weld conditions were controlled for obtaining appropriate penetration. welding speed was determined with a fuzzy logic, and welding current and voltage were determined from a data base to correspond to the gap. For automatic fill-pass welding, the function of human operator of real time weld seam control can be substituted by a sensor system. In this study, an arc sensor system was proposed based on a fuzzy control logic. Using the proposed automatic system, root-pass welding of pipe which had gap variation was assured to be appropriately controlled in welding conditions and in torch position by showing sound welding result and good seam tracking capability. Fill-pass welding by the proposed system also showed very successful result by tracking along the offset welding line without any control of human operator.

• Proceedings of the Korean Society of Precision Engineering Conference
• /
• 1996.04a
• /
• pp.680-684
• /
• 1996

Welding systems cannot adapt to changes in the joint geometry which may occur due to a variety of reason. Automatic seam tracking technigue is essential to adjust the welding torch position in real time as it moves along the seam. Automatic tracking system must keep the welding speed constant unrelation to the change of the welding path. Therefore, the information from the laser displacement sensor must be converted into the input to operate the X-Y table and to rotate the desired torch position by proposed algorithm. In this research, laser displacement sensor is used as a seam finder in the automatic tracking system. X-Y moving table manipulated by ac servo motor controls the position and velocity of the torch-and-sensor part. DC motor controls the position and velocity of the torch. X-Y table controls the position of sensor and relative position of torch is controlled by dc motor which is mounted at sensor-and-torch part. Sensor is always ahead of torch to preview the weld line. From the experimental results, we could see the possiblity that the laser displacement sensor can be used as a seam finder in welding process and that the seam tracking system controlled by proposed algorithm is well done.

• Proceedings of the KIEE Conference
• /
• 2004.07d
• /
• pp.2284-2287
• /
• 2004

In this paper, an automatic welding DB system using a panel PC is developed. In the developed system, a automatic welding system is remotely controlled to overcome the restriction of operating condition by a portable panel PC, and the DB system such as the operating condition and control data of automatic welding carriage is developed by ATMega128.

• Journal of the Korean Society of Manufacturing Process Engineers
• /
• v.11 no.6
• /
• pp.158-163
• /
• 2012

This study investigates numerical analysis for robot welder fume flow and gantry structure. The solvers are STAR-CCM+ and ANSYS workbench used on flow and structural analysis. The results show that fume is diffused in factory when the welding fume is remove at dust collector. But dust collector intercepts the fume diffusion into workroom by removing most of welding fume. Structure analysis result shows that the reinforcement rod is evaluated to main the safety by supporting sufficient structure.

• Journal of Welding and Joining
• /
• v.16 no.3
• /
• pp.44-54
• /
• 1998

In this study a new arc sensor algorithm for automatic weld seam tracking was proposed, which uses the relative welding current variation according to the tip-to-workpiece distance in GMA welding. Since the new developed arc sensor algorithm is not sensitive to unstable factors of arc signal, the system is expected to get rid of the problems of already existing arc sensor system which include the difficulty of modeling the process for various welding conditions and limitation of application to thick plate welding. Thus the system is applicable not only to thick plate welding but also to thin plate welding. To implement the new arc sensor algorithm the system parameters which include sampling time, averaging range, weighting factor of moving averaging, basic compensation time, and basic compensation distance were determined by experimental analysis. Consequently this system has shown the successful tracking capability for the various welding conditions.

• Journal of Welding and Joining
• /
• v.19 no.1
• /
• pp.6-7
• /
• 2001

• 제어로봇시스템학회:학술대회논문집
• /
• 1997.10a
• /
• pp.361-364
• /
• 1997

There has been requested to automate the welding process in shipyard due to its dependence on skilled operators and the inferior working environments. According to these demands, multiple robot welding system for sub-assembly welding line has been developed, realized and installed at Keoje Shipyard. In order to realize automatic welding system, robots have to be equipped with the sensing system to recognize the position of the welding panels. In this research, a camera vision system is developed to detect the position of base panels for subassembly line in shipbuilding. Two camera vision systems are used in two different stages (Mounting and Welding) to automate the recognition and positioning of welding lines. For automatic recognition of panel position, various image processing algorithms are proposed in this paper.

• Journal of Institute of Control, Robotics and Systems
• /
• v.5 no.3
• /
• pp.344-352
• /
• 1999

There has been requested to automate the welding process in shipyard due to its dependence on skilled operators and the inferior working environments. According to these demands, multiple robot welding system for sub-assembly welding line has been developed, realized and installed at Keoje shipyard. In order to realize automatic welding system, robots have to be equipped with a sensing system to recognize the position of the welding panels. In this research, a camera vision system(CVS) is developed to detect the position of base panels for sub-assembly line in shipbuilding. Two camera vision systems are used in two different stages (fitting and welding) to automate the recognition and positioning of welding lines. For automatic recognition of panel position, various image processing algorithms are proposed in this paper.