• 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.

• 한국레이저가공학회지
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• 제3권2호
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• pp.45-51
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• 2000

In this paper, the possibilities and the limits of the laser seam welding were studied to utilize the advantageous properties of amorphous metal foils. For the conventional welding method, the high heat transfer makes the crystallized zone of the work material unavoidable. The laser is able to weld the amorphous metal without a crystallized zone, because heat transfer is limited within a very small restricted volume. The crystallized zone is restricted in the neighbor of welding spot and not in the melting area. This can be proved directly by the etching and indirectly by the tensile shear test, micro hardness test and bending test. The overlapping of welding bead could form the formation of wider and thicker amorphous zone.

• Journal of Welding and Joining
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• 제14권2호
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• pp.96-105
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• 1996

Robot systems are widely utilized in the shipbuilding industry to enhance the productivity by automating the welding process. In order to increase productivity, it is necessary to reduce the time used for robot teaching. In this work, the automatic teaching system is developed for the subassembly process in the shipbuilding industry. A alser/vision sensor is designed to detect the weld seam and the image of the fillet joint is processed using the arm method. Positions of weld seams defined in the CAD database are transformed into the robot coordinate, and the dynamic programming technique is applied to find the sub-optimum weld path. Experiments are carried out to verify the system performance. The results show that the proposed automatic teaching system performs successfully and can be applied to the robot system in the subassembly process.

• 한국레이저가공학회지
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• 제12권1호
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• pp.19-24
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• 2009

Because of its fast and precise welding performance, laser welding is becoming a new excellent welding method. However, the precise focusing and robust seam tracking are required to apply laser welding to the practical fields. In order to laser weld a type of T joint like a circular pipe on a square pipe, which could be met in the three dimensional structure such as an aluminum space frame, a visual sensor system was developed for automation of focusing and seam tracking. The developed sensor system consists of a digital CCD camera, a structured laser, and a vision processor. It is moved and positioned by a 2-axis motorized stage, which is attached to a 6 axis robot manipulator with a laser welding head. After stripe-type structured laser illuminates a target surface, images are captured through the digital CCD camera. From the image, seam error and defocusing error are calculated using image processing algorithms which includes efficient techniques handling continuously changed image patterns. These errors are corrected by the stage off-line during welding or teaching. Laser welding of a circular pipe on a square pipe was successful with the vision tracking system by reducing the path positioning and de focusing errors due to the robot teaching or a geometrical variation of specimens and jig holding.

• 소성∙가공
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• 제18권4호
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• pp.336-341
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• 2009

Hydroformed parts have higher dimensional accuracy, structural strength, and dimensional repeatability. Particularly in the automotive industry, manufacturing of parts with complex shapes from tubular materials sometimes requires one or more pre-forming operations such as bending before the hydroforming process. The pre-bending process is an important process for the successful hydroforming in the case where the perimeter of the blank is nearly the same as that of final product. The bendability of a tube depends on the parameters such as the bending radius, welding methods, mechanical properties and hardness. Through the stainless steel tubes bent by rotary draw bending machine, this study shows the following : (1) The influence on spring back ratio variation with stress level in the welded bent tube. (2) The Cross-section ovality variation with weld seam position and bending radius. (3) The relation between elongation and thickness reduction of tension zone with weld seam position and bending radius. (4) Workability evaluation of bent stainless steel tubes through the hardness of materials and hardness increment. The results of this study may help to understanding of characteristics on bendability of stainless steel tubes.

• 한국정보통신학회:학술대회논문집
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• 한국정보통신학회 2013년도 춘계학술대회
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• pp.540-543
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• 2013

선박은 판과 보강재를 효율적으로 조립한 매우 복잡한 구조물이고, 이동하는 구조물로써는 최대규모의 구조물이다. 특히, 선체 구조의 설계란 "예상되는 모든 하중에 충분히 견딜 수 있는 강도(strength)와 강성(stiffness)을 가진 부재의 크기를 결정하고 적절히 배치하는 과정이다." 라고 말할 수 있다. 선체 구조의 설계는 부재의 배치가 얼마나 적절하게 잘되어 있는가에 달려 있다고 하여도 과언이 아닐 정도로 매우 중요하다. 주요 구조 부재의 부재 배치에 대한 기본적인 개념은 판 부재의 용접선(seam line), 종, 횡늑골의 간격, 종거어더 등을 예로 들 수 있으며, 부재의 배치는 최적 설계 및 공작상의 관점으로부터 선정되어야 하며, 또한 선체 전체의 구조적인 연결이 불연속이 되지 않도록 하여야 한다. 특히, 판 부재의 용접선은 여러 가지 표준치수로 생산되는 판 들 중, 판의 기준 폭이 얼마인 것을 사용하는 것이 공작상 또는 배치상 가장 편리한 가를 생각하여야 한다. 이것은 선박의 크기에 따라 다르겠지만, 조선소 크레인의 용량 및 가공상, 강도상의 문제를 고려하여 가능한 한용접선의 수를 줄이는 것이 바람직하다. 용접선을 줄이기 위해서는 판 부재의 폭을 넓게 하면 되나, 철강회사에서 표준으로 생산 판매하는 주판의 폭보다 넓은 판을 주문 구입 한다는 것은 곧 생산비용의 증가로 이어지는 것으로 이는 주판 구입 경비 측면에서는 바람직하지 않다. 따라 서, 주판 구입경비의 최소화를 유도하면서도 주판 폭의 적정 및 용접선 개수 최소화를 유지할 수 있도록 설계하는 것은 중요하지만, 용접선 배치의 문제는 다양한 입력 변수를 고려해야 하는 복잡한 문제이기 때문에 그간 최적화 관점에서 접근하지 못하고 시니어급 엔지니어가 가진 경험과 조선소의 지침서에 기재된 절차에 따라 대략적인 해를 결정하여 왔다. 본 연구는 이러한 복잡한 문제를 최적화 방법인 당금질(Simulated Annealing) 방법을 이용하여 해결한 결과를 소개하며, 그 결과와 효용성에 대해 논하도록 하겠다.

• 대한용접접합학회:학술대회논문집
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• 대한용접접합학회 2002년도 Proceedings of the International Welding/Joining Conference-Korea
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• pp.82-88
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• 2002

Simulation systems allow a close inspection of the relation between welding parameters and the resulting weld seam. These systems are very useful in education of weld staff as well as production and planning. In training the influence of variations of parameters can be investigated without the need for real welding experiments. In the design phase requirements of the welding process can be taken into account without several iteration cycles. By estimating a good parameter set for the given welding task the set up phase for a new production cycle can be reduced

• 대한기계학회:학술대회논문집
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• 대한기계학회 2008년도 추계학술대회A
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• pp.132-137
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• 2008

A failure analysis of ammonia converter which suffered hydrogen attack in two years since its initial operating time was presented. It is constructed from 2.25 Cr.1 Mo steel. Analysis showed that the failure on closing seam weld joint was due to local improper post weld heat treatment (PWHT). Improper PWHT can introduce high residual stresses in thick-walled pressure vessel. High residual stress level in weld joint is very prone to hydrogen attack for any components which are operating in hydrogen gas environment. The repair procedures based on the principle to decrease the residual stress then proposed. The repair was controlled very carefully by applying several nondestructive tests in the each stage of repair. To assure the successful of the proposed repair, after one year since repair time, high temperature ultrasonic and TOFD methods were applied on-stream to this equipment in order to evaluate its post repair condition. The two methods showed good results on the repaired area.

• 대한용접접합학회:학술대회논문집
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• 대한용접접합학회 2010년도 춘계학술발표대회 초록집
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• pp.43-46
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• 2010

As the nuclear power plant has been constructed continuously for several decades in Korea, the welding technology for components manufacturing and installation has been improved largely. Standardization for weld test and qualification was also established systematically according to the concerned code. The welding for the main components requires the high reliability to keep the constant quality level, which means the repeatability of weld quality. Therefore the weld process qualified by thorough test and evaluation is able to be applied for manufacturing. Narrow gap SAW and GTAW process are usually applied for girth seam welding of pressure vessel like Reactor vessel, steam generator, and etc. For the surface cladding with stainless steel and Inconel material, strip welding process is mainly used. Inside cladding of nozzles is additionally applied with Hot wire GTAW and semi-auto welding process. Especially the weld joint having elliptical weld line on curved surface needs a specialized weld system which is automatically rotating with adjusting position of the head torch. The small sized pipe, tube, and internal parts of reactor vessel requests precise weld processes like an automatic GTAW and electron beam welding. Welding of dissimilar materials including Inconel690 material has high possibility of weld defects like a lack of fusion, various types of crack. To avoid these kinds of problem, optimum weld parameters and sequence should be set up through the many tests. As the life extension of nuclear power plant is general trend, weld technologies having higher reliability is required gradually. More development of specialized welding systems, weld part analysis and evaluation, and life prediction for main components should be taken into a consideration extensively.

• 융합신호처리학회논문지
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• 제11권4호
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• pp.338-344
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• 2010

선박 블록의 용접 공정에서는 용접선의 양쪽 끝이 벽에 의해 막혀있는 경우가 많다. 본 연구에서는 이러한 벽이 있는 환경에서 맞대기 용접의 자동화를 위한 용접선 검출 시스템을 개발하였다. 용접선 검출 시스템은 벽에서 캐리지의 위치를 측정하고, 초층의 용접선을 검출하게 된다. 시스템은 레이저 변위센서와 초음파센서로 구성되어 있다. 레이저 변위센서는 모터에 의해 회전 왕복 운동하며 용접 모재까지의 거리를 측정하게 되고, 초음파센서는 양쪽 벽면까지의 거리를 측정한다. 초음파센서로 측정된 거리정보를 활용하여 용접선의 X(주행)좌표와 용접 시작 및 끝 위치를 판별한다. 그리고 레이저 변위센서에 의해 측정된 거리정보와 센서의 자세정보를 활용하여 용접선의 Y(위빙), Z(높이)좌표를 검출하게 된다. 용접선 검출 시스템은 용접 캐리지와 독립적인 구동을 위해 DSP를 이용하여 별도의 제어기를 구성하였다. 용접 도중 용접선 검출 시스템과 용접 토치(Torch)와 간섭을 피하고, 측정 불가능한 구간이 발생하지 않도록 용접선 검출 시스템을 캐리지의 양쪽에 부착할 수 있게 설계하였다. 최종적으로 용접 캐리지에 부착하고 실험을 수행하여 개발된 용접선 검출 시스템의 효용성을 확인하였다.