• 제어로봇시스템학회:학술대회논문집
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• 1999.10a
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• pp.194-197
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• 1999

Automatic weld bead removal system is consisted of bead removal tool, bead profile measurement system and tool motion control system. In this paper, design of weld bead profile measurement system which is used for automatic weld bead removal system is described. The system measures the weld bead position, normal vector of the auto-body and weld bead profile. The optical sensor with structured laser beam is used as a sensor and comparison of the sensor that can be used for this purpose is discussed in detail. The measurement process and the related software developed for this purpose are also described. A median filter, average filter and long line filters are used and their effects in bead profile measurement are discussed. The measurement system is integrated into automatic bead removal system and is used to remove weld bead in rear pillar of automotive body. The whole system operates well in automotive body assembly line and thus the system is proved to be good for this purpose.

• Proceedings of the KWS Conference
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• 2006.05a
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• pp.304-306
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• 2006

Positioning the workpiece accurately and preventing the weld distortion, tack welding is often performed before main welding in the construction of welded structures. The weld bead size of the tack weld is determined according to the workpiece thickness, weld length, weld joint type etc. However, this tack weld deteriorates the final weld bead profile, so that the grinding process is usually adopted for the uniform weld bead profile. In this study, an experimental method for the selection of optimal welding condition was proposed in the fillet weld which was done over the tack weld. This method uses the response surface analysis in which the leg length and the reinforcement height of weld bead were chosen as the quality variables of weld bead profile. The overall desirability function, which was combined desirability function for the two quality variables, was used as the objective function for getting the optimal welding condition. From the result, it was revealed that a uniform weld bead can be obtained by adopting the optimal welding condition which was determined according to the method proposed.

• Journal of the Korean Society for Railway
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• v.7 no.2
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• pp.125-129
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• 2004

This study investigates the fatigue lift estimation of butt weld specimen for the railway vehicle by examining butt weld bead profiles. The butt weld beads, which are welded by semi-robot method, have non-uniform bead profiles described by $\theta$, p and h. The stress concentration factors, K$\_$t/, are changed by different $\theta$, p and h from 1.395 to 2.863. Hence, the sensitivity of K$\_$k/ is changed by each $\theta$, p and h. As $\theta$ becomes lower and p and h become higher, K$\_$t/ increases. The fatigue life can be estimated very closely for the AAY specimens without residual stress using only butt weld bead profiles. But, for the AAN specimens with residual stress, the fatigue life must be estimated by considering both the weld bead profiles and the residual stress data.

• Journal of Welding and Joining
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• v.24 no.5
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• pp.29-36
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• 2006

In this study, an experimental method for the selection of optimal welding condition was proposed in the fillet weld which was done over the tack weld. This method used the response surface analysis in which the leg length and the reinforcement height were chosen as the quality variables of the weld bead profile. The overall desirability function, which was combined desirability function fur the two quality variables, was employed as the objective function for getting the optimal welding condition. In the experiments, the target values of the leg length and the reinforcement height are 6m and zero respectively for the horizontal fillet weld of 10mm thickness mild steel. The optimal welding conditions could predict the weld bead profile(leg length and reinforcement height) as 6.00mm and 0.19mm without tack weld and 6.00mm and 0.48mm with tack weld. from a series of welding test, it was revealed that a uniform weld bead can be obtained by adopting the optimal welding condition which was determined according to the method proposed.

• Journal of the Korean Society for Precision Engineering
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• v.21 no.12
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• pp.146-153
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• 2004

We compared the fatigue characteristics of weld metal with those of base metal, and not heat-treated with heat-treated. Also, we examined the influence of bead in a viewpoint of fatigue life. From the experimental results, it has been seen that the fatigue characteristics of welded specimens grinded the toe of bead are slightly better than not grinded. We have seen that the fatigue life is affected more by the stress concentration on the profile change in the weld toe rather than by residual stress influence, because heat-treated or not had almost no influence on the fatigue characteristics.

• Journal of Welding and Joining
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• v.27 no.1
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• pp.95-101
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• 2009

In case of manufacturing the high quality welds or pipeline, the full penetration weld has to be made along the weld joint. Thus the root pass welding is very important and has to be selected carefully. In this study, an experimental method for the selection of optimal welding condition was proposed in the root pass welding which was done along the V-grooved butt weld joint. This method uses the response surface analysis in which the width and height of back bead were chosen as the quality variables of the weld. The overall desirability function, which is the combined desirability function for the two quality variables, was used as the objective function for getting the optimal welding condition. In the experiments, the target values of the back bead width and the height are 6mm and zero respectively for the V-grooved butt weld joint of 8mm thickness mild steel. The optimal welding conditions could predict the back bead profile(bead width and height) as 6.003mm and -0.003mm. From a series of welding test, it was revealed that a uniform and full penetration weld bead can be obtained by adopting the optimal welding condition which was determined according to the method proposed.

• Journal of Welding and Joining
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• v.20 no.1
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• pp.62-68
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• 2002

This study investigated the feasibility of penetration depth measurement using infrared temperature sensing on the weld surface. The detection point was optimized by FEM analysis in the laser keyhole welding. The profile of the weld surface temperature was measured using infrared detector array. Surface temperature behind the weld pool is proportional or exponentially proportional to penetration depth and bead width. From the results, the monitoring device of surface temperature using infrared detector array was applicable fur real time penetration depth control.

• Journal of Welding and Joining
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• v.14 no.6
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• pp.93-100
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• 1996

Effect of a flux composition on weld metal toughness in submerged arc welding with 60kgf/$\textrm{mm}^2$ grade C-Mo type wires was investigated and interpreted in terms of weld metal microstructure and hardenability. Flux workability was also studied by characterizing a weld bead profile. Compared to other weld metals, .weld metal used alumina basic flux with nickel showed lowest oxygen content, highest hardenability and the most acicular ferrite. The highest impact toughness of that weld metal, however, was attributed to the tough matrix due to the nickel rather than to the larger amount of acicular ferrite. Manganese silicate flux had better workability than alumina basic flux, showing broader welding conditions resulting in a depth-to-width ratio of 0.5. The composition of oxides in the weld metal was dependent on the flux composition, showing MnO-SiO$_2$-TiO in manganese silicate flux and MnO-SiO$_2$-Al$_2$O$_3$-TiO in alumina basic flux. MnO-SiO$_2$composition in both oxides was similar to a tephroite.

• Journal of the Korean Society for Railway
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• v.9 no.4 s.35
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• pp.371-378
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• 2006

This study investigates the effects of the material properties and the fatigue behaviors in the SM490A material butt weld specimens due to the heat-treatment and the grinding. In the fatigue behavior, the heat-treatment affects the fatigue life. The S-N curves of both matrix specimen and butt weld specimen are reversed at some cycle by the existence or nonexistence of heat-treatment. The grinding on the bead makes the fatigue limit decrease in the all specimens. But the reinforcement removed, the fatigue limit increases at the high cycle. Also, this study investigates the fatigue life estimation by examining butt weld bead profiles. The butt weld beads, which are welded by semi-robot method, have non-uniform bead profiles described by $\theta,\;\rho$ and h. The stress concentration factors $K_t$, are changed by each different $\theta,\;\rho$ and h from 1.395 to 2.863. Hence, the sensitivity of $K_t$ is changed by each $\theta,\;\rho$ and h. As $\theta$ becomes lower and $\rho$ and h become higher, $K_t$ increases. The fatigue life can he estimated very closely for the AAY specimens without residual stress using only butt weld bead profiles. But, fur the AAN specimens with residual stress, the fatigue life must be estimated by considering both the weld bead profiles and the residual stress data.

• Proceedings of the KSR Conference
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• 2004.06a
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• pp.859-864
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• 2004

In this study, we compared the fatigue characteristics of weld metal with those of base metal. Also we examined the influence of heat treatment and weld bead profiles for the fatigue life of weld metals. From the experimental results, it was seen that the fatigue characteristics of welded specimens with a grinded toe of bead are slightly better than those are not grinded. Also the fatigue life is affected more by the stress concentration on the profile change in the weld toe rather than by residual stress influence, because the fatigue characteristic of weld metals was not influenced whether the heat treatment is conducted or not.