• Journal of the Korean Society of Manufacturing Process Engineers
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• v.16 no.1
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• pp.112-117
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• 2017

The arc, generated by Tungsten Inert Gas(TIG) welding, is stable and provides excellent quality of the weld. Since automation is difficult, a lot of work is performed by hand. In addition, to obtain the uniform weld quality is difficult when using a base metal having a nonuniform welding line, or when welding inside a pipe. Generally, TIG welding power has the characteristic of constant-current. The welding voltage is changed in proportion to the arc length. Hence, the automatic voltage control equipment should be applied at the TIG welding system. The automatic voltage control equipment has been designed using LabVIEW software. It consists of a manufactured voltage divider circuit, and jig for moving the torch. The voltage measurements and driving of the motor were performed through the algorithm implementation in LabVIEW. Welding was conducted while increasing the arc length. In this process, it was confirmed that the automatic voltage control equipment kept the arc length constant.

• Journal of Mechanical Science and Technology
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• v.19 no.3
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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.

• 제어로봇시스템학회:학술대회논문집
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• 1996.10b
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• pp.792-795
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• 1996

In TIG welding of pipe, back bead size monitoring is important for weld quality assurance. Many researches have been performed on estimation of the back bead size by heat conduction analysis. However numerical conduction model based on many uncertain thermal parameters causes remarkable errors and thermomechanical phenomena in molten pool can not be considered. In this paper, filler wire feeding force in addition to weld current, wire feedrate, torch travel speed and orbital position angle is monitored to estimate back bead size in orbital TIG welding. Monitored welding process variables are fed into an artificial neural network estimator which has been trained with the monitored process variables (input patterns) and actual back bead size (output patterns). Experimental verification of the proposed estimation method was performed. The predicted results are in a good agreement with the actual back bead shape. The results are quite promising in that estimation of invisible back bead shape can be achieved by analyzing the welding parameters without any conventional NDT of welds.

• Journal of Welding and Joining
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• v.15 no.6
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• pp.57-65
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• 1997

A study was undertaken to determine the influence of welding variables such as shielding and plasma gases, torch standoff, travel speed and heat input, etc. on the quality of plasma arc welds in Zircaloy-4 sheet, 2mm thick. Effect of shielding gases and their flow rates on the mechanical properties of Zircaloy-4 welds by plasma arc welding were determined in terms of tensile, bardness and bend tests. The microstructure and fracture surface of Zircaloy-4 welds were investigated by optical and scanning electron microscopies. In addition, the causes of porosity and undercut in plasma arc welds of Zircaloy-4 were also investigated. Zircaloy-4 weld bead width and depth by helium shielding gas showed a wider and deeper than those by argon. It was found that Zircaloy-4 welds with shielding gas of helium did dxhibit a little smoother and uniform weld beads than those with shielding gas of argon. It was also found that the optimum gas flow rates for Zircaloy-4 welding were 0.45l/min for plasma gas with Ar and 4.5 - 6 l/min for shielding gas with He. In addition, there was no big difference in the microstructure and fracture surface of the weld metals made by either Ar shielding gas or He shielding gas.

• Journal of Institute of Control, Robotics and Systems
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• v.20 no.10
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• pp.1051-1056
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• 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
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• 2009.11a
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• pp.78-78
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• 2009

Glass sealing method is used glass bond as called frit in LCD, PDP process. but new sealing method is need to consider the endurance and economy. This paper present the new glass sealing method using high density gas torch in the furnace and process variable are defined by experiment. Taguchi Robust Experimental Design methods were applied for optimizing these four main processing parameters.

• Journal of Welding and Joining
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• v.15 no.1
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• pp.66-80
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• 1997

This paper describes a newly developed arc-sensing algorithm of seam-tracking for FCA W (flux-cored arc welding) horizontal fillet welding. In this algorithm, arc current and the Weighted-Are-Current (WAC) are used to adjust the position of a weld torch in directions of bead throat and weaving, respectively. The WAC, which is newly devised in this study, means that arc current in the vicinity of weaving end is more emphasized than that in the center of weaving. The reason of this is because there usually exists much noise in the center of weaving due to abrupt change of arc length in case some empty gaps exist in a fillet joint Variance analysis was performed in order to check the effect of weld parameters on arc current and the WAC. As a result, the relationships between tip-to-workpiece distance and arc current, and between weaving offset and the WAC were established.To check "the validity of the algorithm, seam-tracking experiments were performed ;mder various welding condition. The result of experiments showed a satisfactory tracking performance in the presence of empty gaps in a horizontal fillet joint.et joint.

• Journal of Welding and Joining
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• v.20 no.4
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• pp.517-524
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• 2002

An overlaying of the seating surfaces of engine valves by OAW, GTAW or PTA weldings are common practice. The OAW method of a lower torch energy density compared to GTAW and PTA methods produces smoother deposits but the pain size at the vicinity of the interface is increased remarkably up to $30~50{\mu\textrm{m}}$ (that of base metal is about $10\mu\textrm{m}$). It's grain coarsening and the solute dilution are related to the decarburizing during OAW could be minimized by reducing the preheating temperature and by maintaining the carbide precipitates in base metal prior to welding. The formation of columnar structures and carbide precipitation zone in the vicinity of the GTAW welded interface, because of the high heat concentration, causes weakened zone on the valve seat face. The width of the reaction boundary zone is about $50\mu\textrm{m}$ for PTA and GTAW overlaying, and about $150\mu\textrm{m}$ for OAW welding. The smaller width of the reaction boundary zone is the less the solute-dilution rate. Thereby PTA welding may be recommended for overlaying of the seating surfaces.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.32 no.11
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• pp.978-983
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• 2008

An application of innovative laser+GMA hybrid welding process is presented for reducing bead humping defects in high speed welding and increasing side wall fusion in narrow groove welding without torch or wire oscillation. In this hybrid process, the laser heat input is applied adjacent to the weld pool at a relatively low power density to produce a wider, flatter weld bead. In bead on plate in sheet metal gauges, the hybrid process was able to produce hump-free welds from 70ipm (${\sim}1780mm/min$) to over 150ipm (${\sim}3810mm/min$) of the travel speed compared to the un-assisted GMAW process. A square-butt joint in 15mm A572 Gr50 steel welds was investigated. A square butt joint with a gap of 3.2mm was filled with 6 passes. Liquid Nitrogen calorimetry and innovative $CO_2$ laser reflective optics were also developed to demonstrate the concept of hybrid welding.

• Journal of Welding and Joining
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• v.29 no.1
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• pp.80-84
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• 2011

The weight reduction of the transportations has become an important technical subject Al and Al alloys, especially Al 5052 alloys have been being applied as door materials for automobile. One of the most widely known car weight-reduction methods is to use light and corrosion-resistant aluminum alloys. However, because of high electrical and thermal conductivity and a low melting point, it is difficult to obtain good weld quality when working with the aluminum alloys. Also, Pulse MIG welding is the typical aluminum welding process, but it is difficult to apply to the thin plate, because of melt-through and humping-bead. In order to enhance weld quality, welding parameters should be considered in optimizing the welding process. In this experiment, Al 5052 sheets were used as specimens, and these materials were welded by adopting new Cold Metal Transfer (CMT) pulse process. The proper welding conditions such as welding current, welding speed, torch angle $50^{\circ}$ and gap 0~1mm are determined by tensile test and bead shape. Through this study, range of welding current are confirmed from 100A to 120A. And, the range of welding speed is confirmed from 1.2m/min to 1.5m/min.