• Proceedings of the KWS Conference
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• 1996.10a
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• pp.142-144
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• 1996

This paper discusses the application of infra-red thermography in monitoring the robotic arc welding process, and it's potential for weld bead dimension and seam tracking control. Thermal images illustrating weld pool formation dynamics and heat distribution phenomena are digitized and their characteristics are measured. At each sampling point the maximum depth of penetration is recorded together with additional information regarding weld bead placement in relation to the seam location. Deficiencies such as incomplete penetration and lack of side wall fusion are readily identified and can be remained during the process. The technique can help an increase in productivity and weld quality by minimizing the amount of post process rework and inspection efforts needed otherwise.

• Journal of Welding and Joining
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• v.18 no.5
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• pp.49-54
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• 2000

High speed rotating arc process, forming a flat bead surface with shallow penetration depth, can be applied to the automatic seam tracking, because the amplitude of current waveform increases at high rotation speed. Two high speed arc rotation mechanisms have been developed in Japan and Germany b rotating the electrode nozzle using an external motor, which are used prevalently for narrow gap and conventional seam welding. In this study, a new rotation mechanism was developed by using a hallow shaft motor designed to be installed in the electrode nozzle. By rotating the welding arc, the amplitude of current waveform increases remarkably since the self-regulation of arc is not fully performed. Experiments show that the arc sensor with high-speed rotation arc has improved its responsiveness and sensitivity.

• Journal of Welding and Joining
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• v.10 no.4
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• pp.190-198
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• 1992

Among the variety of welding processes available, the flux cored arc welding is one of the most frequently used process, because of its wide range of application and high productivity. The weld joint tracking is indispensable to improve the flexibility of the arc welding robot application for the flux cored arc welding (FCAW) process. In this study, an arc sensor which utilizes the electrical signal obtained from the welding arc itself was developed for weld joint tracking in FCAW. Because a model of the welding arc in flux cored arc welding was required to develop the arc sensor, a mathematical model was proposed by analysing the welding arc behaviour, and also an experimental model by using the factorial experiment and least square method. For overcoming the fluctuation in the welding current signal during tracking the weld joint, it was fitted to a curve which is inversely proportional to a trace of tip-to-workpiece distance by using the quadratic curve-fitting method.

• Proceedings of the Korean Operations and Management Science Society Conference
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• 1992.04b
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• pp.91-101
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• 1992

본 연구에서는 용접선 추출의 방법으로 현재 많이 사용되고 있는 용접선을 따라 연속적으로 이미지를 얻어 처리하는 사전관찰(preview)기법을 개선하여 용접모재를 한번에 촬영(snapshot)하여 화상처리를 거친 후 용접정보가 들어 있는 CAD database와 비교, 매칭시켜 필요한 용접정보를 획득하는 새로운 방법을 제시한다. 또한 정확한 꼭지점을 추출하기 위해서는 정확한 직선식이 필요한데 이의 계산에는 허프변환(Hough Transform)이 이용되고 있지만 계산시간이 많이 소요되며 부정확하다. 계산시간의 감소 및 정확도의 향상을 위해 기존의 허프변환(Hough Transform)을 개선한 수정된 허프변환(Modified HoughTranform)을 개발하였다.

• Proceedings of the KWS Conference
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• 1994.10a
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• pp.134-137
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• 1994

In this study, The mean weld current is used to correct depth direction, and weight-value, specially devised to check right-left deviation by placing more weight on the left- and right-most part of weld current during weaving, to correct weaving direction. The methodology of “design of experiments” was introduced to find out dorminant weld parameters affecting these for values.

• Proceedings of the KWS Conference
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• 2002.10a
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• pp.336-341
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• 2002

Recent developments in sensor hardware and in advanced software have made it feasible to consider automating some of the most difficult welding operations. This paper describes some techniques used to automate successfully multipass submerged arc welding operations typically used in pressure vessel manufacture, shipbuilding, production of offshore structures and in pipe mills.

• Journal of Welding and Joining
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• v.31 no.1
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• pp.33-37
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• 2013

Robotized MIG welding of large aluminium components for high speed trains is state-of-the-art. The implementation of online laser cameras enables seam tracking and adoptive modification of welding parameters. A constant fill is achieved regardless of the gap tolerances. Friction Stir Welding has been introduced to the market as a reliable and fast joining technology. The advantages of high welding speeds and the elimination of arc light, fumes and liquefaction in the welding spot lead to economical realisation of heavy-duty gantry systems. FSW robots offer a high flexibility with regard to welding of curved parts, and can be equipped with laser cameras for exact joint tracking.

• Proceedings of the Korean Institute of Information and Commucation Sciences Conference
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• v.9 no.2
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• pp.195-199
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• 2005

Semi automatic welding method to use carriage for welding at large size block manufacture welding process of present shipbuilding industry is used much. Carriage is device that transfer welding torch in horizontal fillet weld here, but because it is no function that chase welding like robot welding method, use can be impossible in curved line welding, and simply use in straight line welding. Also, because it is no function that chase welding, though welding mistake corrects this happening often in straight line welding, much times and expense are cost. Added welding chase sensor and 80C196KC microcontroller that use strain gauge to carriage that is using present in paper that see hereupon and manufacture a private line model and container box model welding because developing system that can chase welding automatically straight line and curved line welding establishing and investigate about chase phenomenon.

• Proceedings of the Korea Committee for Ocean Resources and Engineering Conference
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• 2006.11a
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• pp.281-284
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• 2006

After building a ship in a shipyard, there are so many repeated inspection of welding seam defects and painting status before delivering to the ship's owner. An inspection on the bottom part of a ship in commercial service should be done in every two years for the purpose of safety and for the prevention of ship speed deterioration. conventional welding seam inspection systems are rely on the visual inspection by human or the ultrasonic inspection for the selective part of a ship. This paper suggests a remote controlled inspection system for the examination of large ships or steel structures. The proposed system moves in contact with the ship under inspection and have a CCD camera to provide visual-guidance information to a remotely located human worker. Additionally this system utilizes a weld line tracking algorithm for an optimal position control. We verified the effectiveness of the inspection system by experimental data.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 1993.10a
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• pp.550-555
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• 1993

The aim of this paper is to present the development of visual seam tracking system equipped with visual range finder. The visual range finder, which consists of a CCD camera and a diode laser system with line generating optics, developed to recognize the types of weld joints and detect the location of weld joints. In practical applications, however, images of the weld joints are often degraded due to spatters, are flares, surface specularity, and welding smoke. To overcome the problem, this paper proposes a syntactic approach which is a class of artificial intelligence techniques. In the approach, the type of weld joint is inferred based upon the production rules which are linguiques grammars consisting of a set of line and junction primitives of laser strip image projected on weld joint. The production rules eliminate several noisy primitives to create new primitives through the merging process of primitives. After the recognition of weld joint, arc welding is started and the location of weld joints is repeatedly detected using a spring model-based template matching in which the template model is a by-product of the recognition process of weld joint. To show the effectiveness of the proposed approach a series of experiments-identification and robotic tracking-are conducted for four different types of weld joints.