• Journal of Welding and Joining
• /
• v.25 no.6
• /
• pp.44-52
• /
• 2007

A welding process of a lifting lug for lifting heavy objects is one of the important welding processes directly related to the safety in shipbuilding. Welding a lifting lug is done in the manually and takes about forty minutes. Working environment for the lifting lug welding is very poor due to an radiant heat and a harmful fume. The purpose of this study is to develop methods of multi-pass welding using the lifting lug welding robot system. This study shows robot welding methods to achieve proper corner, straight and connection welding and an effectiveness of application.

• 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.

• Journal of Welding and Joining
• /
• v.27 no.2
• /
• pp.57-62
• /
• 2009

This research was carried out to improve the productivity in the subassembly process of shipbuilding through optimal work planning for the shortest work time. The work time consist of welding time, moving time of gantry, teaching time of robot and robot motion time. The shortest work time is accomplished by even distribution of work and the shortest welding sequence. Even distribution of work was done by appling the simple algorithm. The shortest work sequence was determined by using GA. The optimal work planning decreased the total work time of the subassembly process by 4.1%. The result showed the effectiveness of the suggested simple algorithm for even distribution of work and GA for the shortest welding sequence.

• Journal of Institute of Control, Robotics and Systems
• /
• v.20 no.10
• /
• pp.1051-1056
• /
• 2014

In this paper, we introduce an intelligent robotic arc welding system which exploits sensors like as LVS (Laser Vision Sensor), Hall effect sensor, voltmeter and so on. The use of industrial robot is saturated because of its own limitation, and one of the major limitations is that industrial robot cannot recognize the environment. Lately, sensor-based environmental awareness research of the industrial robot is performed actively to overcome such limitation, and it can expand application field and improve productivity. We classify the sensor-based intelligent arc welding robot system by the goal and the sensing data. The goals can be categorized into detection of a welding start point, tracking of a welding line and correction of a torch deformation. The Sensing data can be categorized into welding data (i.e. current, voltage and short circuit detection) and displacement data (i.e. distance, position). This paper covers not only the explanation of the each category but also its advantage and limitation.

• Proceedings of the KWS Conference
• /
• 2002.10a
• /
• pp.412-417
• /
• 2002

In manufacturing of ships, problems to be solved are improvement of productivity and stabilization of quality due to the shortage of skilled workers. Working environment, in particular welding environment, is also to be improved. One solution among these problems is to rationalize and automate these working. This paper is focused on the welding automation technologies in shipbuilding industry. The features of shipbuilding in the aspect of automation are described, and the main welding robot systems to be developed by SRI are introduced in each working stages.

• Transactions on Control, Automation and Systems Engineering
• /
• v.3 no.2
• /
• pp.124-132
• /
• 2001

Autonomous of welding process in shipyard is ultimately necessary., since welding site is spatially enclosed by floors and girders, and therefore welding operators are exposed to hostile working conditions. To solve this problem, a welding robot that can navigate autonomously within the enclosure needs to be developed. To achieve the welding ra나, the robotic welding systems needs a sensor system for the recognition of the working environments and the weld seam tracking, and a specially designed environment recognition strategy. In this paper, a three-dimensional laser vision system is developed based on the optical triangulation technology in order to provide robots with work environmental map. At the same time a strategy for environment recognition for welding mobile robot is proposed in order to recognize the work environment efficiently. The design of the sensor system, the algorithm for sensing the structured environment, and the recognition strategy and tactics for sensing the work environment are described and dis-cussed in detail.

• Journal of Welding and Joining
• /
• v.28 no.2
• /
• pp.27-31
• /
• 2010

Generally, angle pieces at the corners of cargo tank of membrane type LNG carrier ship are manually welded, due to their various shapes and positions. In this study, a GTA welding robot system was developed in order to improve productivity, which consists of a 7-axis manipulator, a system controller, a GTA welding power source, and peripheral devices. The welding system is characterized by capabilities of welding corrugated work pieces as well as 90/135 degree linear work pieces, and controlling the entire weld cycle automatically. The developed system was field tested on actual work pieces and its performance was proven to be successful.

• Journal of the Korean Society for Precision Engineering
• /
• v.16 no.4 s.97
• /
• pp.37-45
• /
• 1999

Many automated welding equipment are used in the industry. However, there are some problems to get quality welds because of the geometric error, thermal distortion, and incorrect joint fit-up. These factors can make the gap between base plates in case of a thick plate welding. The welding product with the quality welds can not be obtained without consideration of the gap. In this paper, the robot path and welding conditions are modified to get the quality weld by detecting the position and size of the gap. In this work, a low-priced laser range sensor is used. The 3-dimensional information is obtained using the motion of a robot, which holds a laser range sensor. The position and size of the gap is calculated using signal processing of the measured 3-dimensional information of joint profile geometry. The data measured by a laser range sensor is segmented by an iterative end point method. The segmented data is optimized by the least square method. The existence of gap is detected by comparing the data with the segmented shape of template. The effects of robot measuring speed and gap size are also tested. The recognizability fo the gap is verified as good by comparing the real joint profile and the calculated joint profile using the signal processing.

• Proceedings of the Korean Society of Precision Engineering Conference
• /
• 2003.06a
• /
• pp.185-190
• /
• 2003

At the present, a stud bolt welding was achieved by the manual method. The manual method caused many problems of work evasion. In order to work out these problems, an automatic welding system is designed for a stud bolt welding system. The system is composed of articulated type welding robot, stud gun, stud feeder, stud controller and various jig.

• Proceedings of the KWS Conference
• /
• 2002.10a
• /
• pp.314-319
• /
• 2002

The Automation and Control Group at the University of Brasilia is developing an automatic welding station based on an industrial robot and a controllable welding machine. Several techniques were applied in order to improve the quality of the welding joints. This paper deals with the implementation of a laser-based computer vision system to guide the robotic manipulator during the welding process. Currently the robot is taught to follow a prescribed trajectory which is recorded a repeated over and over relying on the repeatability specification from the robot manufacturer. The objective of the computer vision system is monitoring the actual trajectory followed by the welding torch and to evaluate deviations from the desired trajectory. The position errors then being transfer to a control algorithm in order to actuate the robotic manipulator and cancel the trajectory errors. The computer vision systems consists of a CCD camera attached to the welding torch, a laser emitting diode circuit, a PC computer-based frame grabber card, and a computer vision algorithm. The laser circuit establishes a sharp luminous reference line which images are captured through the video camera. The raw image data is then digitized and stored in the frame grabber card for further processing using specifically written algorithms. These image-processing algorithms give the actual welding path, the relative position between the pieces and the required corrections. Two case studies are considered: the first is the joining of two flat metal pieces; and the second is concerned with joining a cylindrical-shape piece to a flat surface. An implementation of this computer vision system using parallel computer processing is being studied.