• 한국산업보건학회지
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• 제9권1호
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• pp.56-72
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• 1999

Airborne concentrations of welding fumes in which 13 different metals such as Al, Cd, Cr, Cu, Fe, Mn, Mo, Ni, Pb, Si, Sn, Ti, and Zn were analyzed were measured at 18 factories including automobile assembly and manufactures, steel heavy industries and shipyards. Air samples were collected by personal sampler at each worker's worksite(n=339). Blood levels of Cd, Cu, Fe, Mn, Pb and Zn were also measured from samples taken from 447 welders by atomic absorption spectrometry and compared with control values obtained from 127 non-exposed workers. The results were as follows ; 1. Among various welding types, $CO_2$ welding 70.2 % were widely used, shielded metal arc welding(SMAW) 22.1 % came next, and rest of them were metal inert gas(MIG) welding, submerged arc welding(SAW), spot welding(SPOT) and tungsten inert gas(TIG) welding. 2. Welding fume concentration was $0.92mg/m^3$($0.02{\sim}15.33mg/m^3$) at automobile assembly and manufactures, $4.10mg/m^3$($0.02{\sim}70.75mg/m^3$) at steel heavy industries and $5.59mg/m^3$($0.30{\sim}91.16mg/m^3$) at shipyards, respectively, showing significant difference among industry types. Workers exposed to high concentration of welding fumes above Korean Permissible Exposure Limit(KPEL) amounted to 7.9 % and 12.5 %, in $CO_2$ welding and in SMAW at automobile assembly and manufactures and 62.7 % in $CO_2$ welding, and 12.5 % in SMAW at shipyards, and 66.2 % in $CO_2$ welding and 70.6 % in SMAW at steel heavy industries. 3. Geometric mean of airborne concentration of each metal released from welding fumes was below one 10th of KPEL in all welding types. Percentage of workers, however, exposed to airborne concentration of metals above KPEL amounted to 16.8 % in Mn and 7.6 % in Fe in $CO_2$ welding; 37.5 % in Cu in SAW, 30 % in Cu in TIG; and 25 % in Pb in SPOT welding. As a whole, 76 Workers(22.4%) were exposed to high concentration of any of the metals above KPEL. 4. There were differences in airborne concentration of metals such as Al, Cd, Cr, Cu. Fe. Mn, Mo, Ni, Pb, Si, Sn, Ti and Zn by industry types. These concentrations were higher in shipyards and steel heavy industries than in automobile assembly and manufactures. Workers exposed to higher concentration of Pb above KPEI amounted to 7.4 % of workers(7/94) in automobile assembly and manufactures. In shipyards, 19.2 % of workers(19/99) were over-exposed to Mn and 7.1 % (7/99) to Fe above KPEL. In steel heavy industries, 14.4 %(21/146), 7.5 %(11/146) and 13 %(19/146) were over-exposed to Mn, Fe and Cu, respectively. As a whole, 76 out of 339 workers(22.4%) were exposed to any of the metals above KPEL. 5. Blood levels of Cd, Cu, Fe, Mn, Pb, and Zn in welders were $0.11{\mu}g/100m{\ell}$, $0.84{\mu}g/m{\ell}$, $424.4{\mu}g/m{\ell}$, $1.26{\mu}g/100m{\ell}$, $5.01{\mu}g/100m{\ell}$ and $5.68{\mu}g/m{\ell}$, respectively, in contrast to $0.09{\mu}g/100m{\ell}$, $0.70{\mu}g/m{\ell}$, $477.2{\mu}g/m{\ell}$, $0.73{\mu}g/100m{\ell}$, $3.14{\mu}g/100m{\ell}$ and $6.15{\mu}g/m{\ell}$ in non-exposed control groups, showing significantly higher values in welders but Fe and Zn.

• 한국산업보건학회지
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• 제8권2호
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• pp.209-223
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• 1998

The aim of this study was to evaluate welders' exposure to hexavalent chromium (Cr(VI)) and nickel (Ni) during welding operations in a Korean shipyard. The airborne Cr(VI) and Ni concentrations were measured during metal inert gas (MIG) welding on mild and stainless steel, and manual metal arc (MMA) welding on mild steel. The geometric mean (GM) of Cr(VI) concentrations inside the welding helmet during MIG welding on mild steel were $0.0018mg/m^3$ inside a ship section, and $0.0015-0.0026mg/m^3$ at the welding shops. All of the personal breathing zone air samples were below the American Conference of Governmental Industrial Hygienists (ACGIH) Threshold Limit Value ($TLV^{(R)}$) of $0.01mg/m^3$. Conversely, eighty-eight percent(21 of 24) of the personal breathing zone air samples exceeded the National Institute for Occupational Safety and Health (NIOSH) recommended exposure limit of $0.001mg/m^3$. Ni was not detected on 20 of 23 air samples collected during MIG welding on mild steel. The three Ni samples above the limit of detection ranged from 0.015 to $0.044mg/m^3$. The GM of Cr(VI) concentrations during MMA welding on mild steel were $0.0013mg/m^3$, but Ni was not detected in the air samples during this operation. It is assumed that the airborne Cr(VI) and Ni during mild steel welding were derived from the base metals which contained about 0.03% Cr and 0.03% Ni. The GM of airborne total Cr, Cr(VI) and Ni concentrations during MIG welding on stainless steel were 4.02, 0.13 and $0.86mg/m^3$, respectively, and the levels of Cr(VI) and Ni were above the ACGIH-$TLV^{(R)}$. Cr(VI) comprised about 35.5% of the total chromium(Cr) from MIG welding on mild steel, and about 8.4% of total Cr from MIG welding on stainless steel. The ratios of Cr(VI) to total Cr were significantly different among welding shops. It was concluded that welders were exposed to high levels of Cr(VI) and Ni during welding on stainless steel, and were exposed to low levels of Cr(VI) even during welding on mild steel.

• Journal of Preventive Medicine and Public Health
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• 제22권1호
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• pp.153-161
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• 1989

Authors studied on the prevalence of 94 cases of pneumoconiosis who were found out through the screening test on 1,062 workers engaged in welding process at 36 shipyard in Pusan area from March 1st, 1986 to November 30th, 1986. The result were as follows; 1. Dust concentration was measured $4.49{\pm}0.54mg/m^3$ in the small scale shipyard while it was $6.25{\pm}1.08mg/m^3$ in the large one. 2. The prevalence of welder's lung was 8.9% (male:8.5%, female:12.0%) and this is consist of 4.9% suspected pneumoconiosis and 4.0% pneumoconiosis more than category 1/0. 3. The prevalence was significantly increased according to the duration of dust exposure(p<0.05), and it showed the increasing tendency by the age group. 4. The prevalence was significantly higher in the large scale shipyard than is the small scale one(p<0.01). 5. The type and shape of opacities were 71.4% of p type and 28.6% of q type, however no pneumoconiosis with r type observed in this study. 6. The main subjective symptoms were the sputum(29.8%), coughing(25.5%), shortness of breath(20.2%), fatique(6.4%), and chest pain(5.3%). In other hand, 57.4% of pneumoconiosis were asymptomatic. 7. The prevalence of pulmonary tuberculosis was radiologically 1.7% in all subjects including 5.3% in pneumoconiosis and 1.3% in no pneumoconiosis(p<0.01).

• 한국산학기술학회논문지
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• 제16권2호
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• pp.1339-1347
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• 2015

본 연구는 현장의 GMAW 용접기에 더블 와이어 릴을 겸비한 원격제어토치의 시스템에 관한 것이다. 산업현장 용접에서는 용접기 본체로부터 와이어 송급장치까지의 거리가 약 30m 떨어져 있고 송급장치로부터 토치까지의 거리는 약 3~5m 정도이다. 이에 따라 차량 및 탱크 내부의 용접에서 제어 패널을 볼 수 없는 곳이나 작업장이 먼 곳 등에서 용접사가 용접을 하면서 용접조건에 맞는 전류와 전압을 조절할 수가 없고 또한 용접와이어가 완전히 소모되면 용접을 중단하고 와이어 릴을 갈아 끼워야하는 번거로운 문제점이 있다. 이 때문에 전류와 전압 조절 및 와이어를 교체하기 위해 용접을 중단하고 잦은 이동으로 용접구조물의 순간적인 냉각에 의해 용접결함이 발생된다. 본 연구에서는 이러한 제반 문제를 감소하기 위해 기존의 GMAW 용접기의 제반기능을 토대로 간소화 및 합리화하여 더블 와이어 릴을 겸비한 원격제어토치를 자체 제작하였다. 실험은 SM50A 용접구조용 압연강재 6mm를 사용하여 와이어 더블 릴을 겸비한 원격제어 토치와 기존 $CO_2$ /MAG 용접토치를 V형 맞대기 수직자세로 용접을 실행하였다. 용접 완료 후 용접부의 표면비드 상태의 형상을 육안검사 관찰하고 또한 이를 방사선투과검사를 통해 용접부의 내부 용접품질에 대하여 용접현상을 분석하였다. 이 연구를 통해 용접결함 감소, 원가절감 및 기존 상용용접기에 교체사용에 대한 성능 및 호환성여부에 미치는 영향에 대해 평가하였다.

• 한국전자통신학회논문지
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• 제8권3호
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• pp.439-445
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• 2013

본 연구는 발전기와 충전기를 통합하여 필요에 따라서 용접기 또는 발전기로 사용할 수 있는 시스템에 관한 것이다. 구체적으로는, 발전기를 제어하는 제어장치와 다기능 용접기를 사용할 수 있도록 하는 선택 스위치로 구성된 하이브리드 용접기로써 그 기능은 발전기 전원을 충전지에 충전이 완료되면, 발전기는 자동 정지하도록 구성하는 부분과 Co2 MMA TIG MIG MAG 용접기를 모제와 용제에 따라서 공급하는 가스를 제어하도록 제안하였다. 이는 한 번에 한 가지 또는 두 가지 정도만을 선택하는 기존 용접기의 성능과 편리성을 개선하기 위해 전압, 고주파, 모터 그리고 가스 밸브를 제어하는 시스템을 구현하였다.

• Journal of Welding and Joining
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• 제14권6호
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• pp.68-80
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• 1996

When a workpiece is to be arc welded around the outside corner, continuous welding without welding seam in the neighborhood of comer still remains a very difficult technique. Skilled welders weld comers by delicate“hand-eye coordination”while turning the workpiece manually, However, there is not a very clear solution to this problem in robotized arc welding process. In order to solve this problem, the coordination of a robot and a positioner with one or two axes is necessary. This paper presents a method of continuous welding around the corner of workpiece using the coordinated motion of a robot and a positioner. The positioner is either revolute jointed or prismatic jointed. In this paper, a clothoid curve is chosen for welding trajectory. The clothoid curve is excellent in connecting straight and curved weld-lines with good continuity and accommodates various welding conditions. By using this welding trajectory, the deceleration, which leads to widening of the melt and the heat affected zone, at comer area is reduced with strategic rotation of robot torch in coordination with a positioner providing smooth transition of welding torch orientation. Two types of special clothoid curves are developed for different weld slope conditions. These clothoid curves are applied to the case of linear and rotary Positioners at arc welding robot work-cell.

• 대한산업공학회지
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• 제24권2호
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• pp.167-173
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• 1998

Many workers like welders work in squatting postures with the object on the ground during an entire work shift. It is suspected that such prolonged squatting without any supporting stool would gradually cause musculoskeletal injuries to workers. This study is to examine the physical stress caused by the prolonged squatting and to recommend a safe work/rest schedule for a welding task with squatting posture based on the lab experiments. In this study, 8 healthy student subjects participated in the experiment. They maintained a squatting work posture for 16 minutes with 4 different stool height conditions: no stool; 10cm height; 15cm height; and 20cm height. Every 2 minutes, the discomfort was subjectively assessed with the magnitude estimation method for the whole body, lower back, upper leg and lower leg. Based on discomfort ratings, we found that a 10cm height stool relieved the workload most. Discomfort rating results also indicated that a 20cm height stool showed the highest workload, and the there were no difference in workload between a 15cm height stool and no stool. We recommend to use low height stools and to maintain such working postures no longer than 6 minutes for prolonged squatting tasks.

• Tribology and Lubricants
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• 제34권4호
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• pp.132-137
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• 2018

Ultrasonic waves are used in various applications in multiple devices, sensors, and high-power machinery, such as processing machines, welders, and cleaners, because the acoustic vibration frequencies are above the human audible frequency range. In ultrasonic machining, electrical energy at a high frequency of 20 kHz or more is converted into mechanical vibration by a vibrator and an amplifier. This technique allows instantaneous separation between a tool and a workpiece during machining, machining by pulse impulse force at the time of re-contact and minimizes the minute elastic deformations of the workpiece and machine tools due to the cutting effect. The Al7075 alloy used in this study is a typical aluminum alloy with superior strength that is mainly used in aircrafts, automobiles, and sporting goods. To investigate the optimal conditions for machining aluminum alloy using ultrasonic vibration, the present experiment utilized the Taguchi orthogonal array method, and the coefficient of friction was analyzed using the characteristics of the Taguchi technique. In ultrasonic friction and abrasion tests, the changes in the friction coefficient were measured in the absence of ultrasonic vibrations and at 28 kHz and 40 kHz. As a result, the most considerable influence on the friction coefficient was found to be the normal load, and the frequency of ultrasonic vibrations increases, the coefficient of friction increases. It was thus confirmed that the amount of wear increases when ultrasonic vibration is applied.

• Journal of Mechanical Science and Technology
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• 제19권3호
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• pp.756-767
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• 2005

This paper presents a decentralized motion control method of welding mobile manipulators which use for welding in many industrial fields. Major requirements of welding robots are accuracy, robust, and reliability so that they can substitute for the welders in hazardous and worse environment. To do this, the manipulator has to take the torch tracking along a welding trajectory with a constant velocity and a constant heading angle, and the mobile-platform has to move to avoid the singularities of the manipulator. In this paper, we develop a kinematic model of the mobile-platform and the manipulator as two separate subsystems. With the idea that the manipulator can avoid the singularities by keeping its initial configuration in the welding process, the redundancy problem of system is solved by introducing the platform mobility to realize this idea. Two controllers for the mobile-platform and the manipulator were designed, respectively, and the relationships between two controllers are the velocities of two subsystems. Control laws are obtained based on the Lyapunov function to ensure the asymptotical stability of the system. The simulation and experimental results show the effectiveness of the proposed controllers.

• 대한용접접합학회:학술대회논문집
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• 대한용접접합학회 2002년도 Proceedings of the International Welding/Joining Conference-Korea
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• pp.706-713
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• 2002

In the multi-pass welding of pressure vessels or ships, the mechanical touch sensor system is generally used together with a manipulator to measure the gap and depth of the narrow gap to perform seam tracking. Unfortunately, such mechanical touch sensors may commit measuring errors caused by the eterioration of the measuring device. An automation system of narrow gap multi-pass welding using a laser vision system which can track the seam line of narrow gap and which can control welding power has been developed. The joint profile of the narrow gap, with 250mm depth and 28mm width, can be captured by laser vision camera. The image is then processed for defining tracking positions of the torch during welding. Then, the real-time correction of lateral and vertical position of the torch can be done by the laser vision system. The adaptive control of welding conditions like welding Currents and welding speeds, can also be performed by the laser vision system, which cannot be done by conventional mechanical touch systems. The developed automation system will be adopted to reduce the idle time of welders, which happens frequently in conventional long welding processes, and to improve the reliability of the weld quality as well.